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109 lines
3.7 KiB
C++
109 lines
3.7 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2021 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file Publisher.hpp
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*
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* Defines basic functionality of UAVCAN v1 publisher class
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*
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* @author Jacob Crabill <jacob@flyvoly.com>
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*/
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#pragma once
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#include <px4_platform_common/px4_config.h>
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#include <lib/parameters/param.h>
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#include <uavcan/_register/Access_1_0.h>
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#include "../CanardInterface.hpp"
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#include "../ParamManager.hpp"
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/* This is a default baseline timeout for publishers
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* Still it's recommended for implementers to check if their publisher
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* has timing requirements and if it should drop messages that are too old in favour of newer messages
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*/
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#define PUBLISHER_DEFAULT_TIMEOUT_USEC 100000UL
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class UavcanPublisher
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{
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public:
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static constexpr uint16_t CANARD_PORT_ID_UNSET = 65535U;
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UavcanPublisher(CanardInstance &ins, UavcanParamManager &pmgr, const char *subject_name, uint8_t instance = 0) :
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_canard_instance(ins), _param_manager(pmgr), _subject_name(subject_name), _instance(instance) { };
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// Update the uORB Subscription and broadcast a UAVCAN message
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virtual void update() = 0;
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CanardPortID id() { return _port_id; };
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void updateParam()
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{
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char uavcan_param[256];
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snprintf(uavcan_param, sizeof(uavcan_param), "uavcan.pub.%s.%d.id", _subject_name, _instance);
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// Set _port_id from _uavcan_param
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uavcan_register_Value_1_0 value;
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_param_manager.GetParamByName(uavcan_param, value);
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int32_t new_id = value.integer32.value.elements[0];
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if (_port_id != new_id) {
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if (new_id == CANARD_PORT_ID_UNSET) {
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PX4_INFO("Disabling publication of subject %s.%d", _subject_name, _instance);
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} else {
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_port_id = (CanardPortID)new_id;
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PX4_INFO("Enabling subject %s.%d on port %d", _subject_name, _instance, _port_id);
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}
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}
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};
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void printInfo()
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{
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if (_port_id != CANARD_PORT_ID_UNSET) {
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PX4_INFO("Enabled subject %s.%d on port %d", _subject_name, _instance, _port_id);
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}
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}
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protected:
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CanardInstance &_canard_instance;
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UavcanParamManager &_param_manager;
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const char *_subject_name;
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uint8_t _instance {0};
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CanardPortID _port_id {CANARD_PORT_ID_UNSET};
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CanardTransferID _transfer_id {0};
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};
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