PX4-Autopilot/src/drivers/cyphal/PublicationManager.hpp

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/**
 * @file PublicationManager.hpp
 *
 * Manages the dynamic (run-time configurable) UAVCAN publications
 *
 * @author Peter van der Perk <peter.vanderperk@nxp.com>
 * @author Jacob Crabill <jacob@flyvoly.com>
 */

#pragma once

#include <px4_platform_common/px4_config.h>

#ifndef CONFIG_CYPHAL_GNSS_PUBLISHER
#define CONFIG_CYPHAL_GNSS_PUBLISHER 0
#endif

#ifndef CONFIG_CYPHAL_ESC_CONTROLLER
#define CONFIG_CYPHAL_ESC_CONTROLLER 0
#endif

#ifndef CONFIG_CYPHAL_READINESS_PUBLISHER
#define CONFIG_CYPHAL_READINESS_PUBLISHER 0
#endif

#ifndef CONFIG_CYPHAL_UORB_ACTUATOR_OUTPUTS_PUBLISHER
#define CONFIG_CYPHAL_UORB_ACTUATOR_OUTPUTS_PUBLISHER 0
#endif

#ifndef CONFIG_CYPHAL_UORB_SENSOR_GPS_PUBLISHER
#define CONFIG_CYPHAL_UORB_SENSOR_GPS_PUBLISHER 0
#endif

/* Preprocessor calculation of publisher count */

#define UAVCAN_PUB_COUNT CONFIG_CYPHAL_GNSS_PUBLISHER + \
	CONFIG_CYPHAL_ESC_CONTROLLER + \
	CONFIG_CYPHAL_READINESS_PUBLISHER + \
	CONFIG_CYPHAL_UORB_ACTUATOR_OUTPUTS_PUBLISHER + \
	CONFIG_CYPHAL_UORB_SENSOR_GPS_PUBLISHER

#include <px4_platform_common/defines.h>
#include <drivers/drv_hrt.h>
#include "Publishers/Publisher.hpp"
#include "CanardInterface.hpp"

#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/sensor_gps.h>

#include "Actuators/EscClient.hpp"
#include "Publishers/udral/Readiness.hpp"
#include "Publishers/udral/Gnss.hpp"
#include "Publishers/uORB/uorb_publisher.hpp"

typedef struct {
	UavcanPublisher *(*create_pub)(CanardHandle &handle, UavcanParamManager &pmgr) {};
	const char *subject_name;
	const uint8_t instance;
} UavcanDynPubBinder;

class PublicationManager
{
public:
	PublicationManager(CanardHandle &handle, UavcanParamManager &pmgr) : _canard_handle(handle), _param_manager(pmgr) {}
	~PublicationManager();

	void update();
	void printInfo();
	void updateParams();

private:
	void updateDynamicPublications();

	CanardHandle &_canard_handle;
	UavcanParamManager &_param_manager;
	List<UavcanPublisher *> _dynpublishers;


	const UavcanDynPubBinder _uavcan_pubs[UAVCAN_PUB_COUNT] {
#if CONFIG_CYPHAL_GNSS_PUBLISHER
		{
			[](CanardHandle & handle, UavcanParamManager & pmgr) -> UavcanPublisher *
			{
				return new UavcanGnssPublisher(handle, pmgr, 0);
			},
			"gps",
			0
		},
#endif
#if CONFIG_CYPHAL_ESC_CONTROLLER
		{
			[](CanardHandle & handle, UavcanParamManager & pmgr) -> UavcanPublisher *
			{
				return new UavcanEscController(handle, pmgr);
			},
			"esc",
			0
		},
#endif
#if CONFIG_CYPHAL_READINESS_PUBLISHER
		{
			[](CanardHandle & handle, UavcanParamManager & pmgr) -> UavcanPublisher *
			{
				return new UavcanReadinessPublisher(handle, pmgr, 0);
			},
			"readiness",
			0
		},
#endif
#if CONFIG_CYPHAL_UORB_ACTUATOR_OUTPUTS_PUBLISHER
		{
			[](CanardHandle & handle, UavcanParamManager & pmgr) -> UavcanPublisher *
			{
				return new uORB_over_UAVCAN_Publisher<actuator_outputs_s>(handle, pmgr, ORB_ID(actuator_outputs));
			},
			"uorb.actuator_outputs",
			0
		},
#endif
#if CONFIG_CYPHAL_UORB_SENSOR_GPS_PUBLISHER
		{
			[](CanardHandle & handle, UavcanParamManager & pmgr) -> UavcanPublisher *
			{
				return new uORB_over_UAVCAN_Publisher<sensor_gps_s>(handle, pmgr, ORB_ID(sensor_gps));
			},
			"uorb.sensor_gps",
			0
		},
#endif
	};
};