mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-22 09:37:35 +08:00
Damien SIX
112 lines
3.6 KiB
C++
112 lines
3.6 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2022 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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#pragma once
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#include <px4_platform_common/module.h>
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#include <px4_platform_common/module_params.h>
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#include <src/modules/microdds_client/dds_topics.h>
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#include <lib/timesync/Timesync.hpp>
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class MicroddsClient : public ModuleBase<MicroddsClient>, public ModuleParams
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{
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public:
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enum class Transport {
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Serial,
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Udp
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};
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MicroddsClient(Transport transport, const char *device, int baudrate, const char *host, const char *port,
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bool localhost_only, bool custom_participant, const char *client_namespace);
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~MicroddsClient();
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/** @see ModuleBase */
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static int task_spawn(int argc, char *argv[]);
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/** @see ModuleBase */
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static MicroddsClient *instantiate(int argc, char *argv[]);
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/** @see ModuleBase */
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static int custom_command(int argc, char *argv[]);
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/** @see ModuleBase */
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static int print_usage(const char *reason = nullptr);
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/** @see ModuleBase::run() */
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void run() override;
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/** @see ModuleBase::print_status() */
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int print_status() override;
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private:
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int setBaudrate(int fd, unsigned baud);
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const bool _localhost_only;
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const bool _custom_participant;
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const char *_client_namespace;
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// max port characters (5+'\0')
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static const uint8_t PORT_MAX_LENGTH = 6;
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// max agent ip characters (15+'\0')
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static const uint8_t AGENT_IP_MAX_LENGTH = 16;
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#if defined(CONFIG_NET) || defined(__PX4_POSIX)
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char _port[PORT_MAX_LENGTH];
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char _agent_ip[AGENT_IP_MAX_LENGTH];
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#endif
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SendTopicsSubs *_subs{nullptr};
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RcvTopicsPubs *_pubs{nullptr};
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uxrSerialTransport *_transport_serial{nullptr};
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uxrUDPTransport *_transport_udp{nullptr};
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uxrCommunication *_comm{nullptr};
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int _fd{-1};
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int _last_payload_tx_rate{}; ///< in B/s
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int _last_payload_rx_rate{}; ///< in B/s
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bool _connected{false};
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Timesync _timesync{timesync_status_s::SOURCE_PROTOCOL_DDS};
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DEFINE_PARAMETERS(
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(ParamInt<px4::params::XRCE_DDS_DOM_ID>) _param_xrce_dds_dom_id,
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(ParamInt<px4::params::XRCE_DDS_KEY>) _param_xrce_key
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)
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};
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