mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-13 01:17:35 +08:00
Daniel Agar
cea185268e
- update all msgs to be directly compatible with ROS2 - microdds_client improvements - timesync - reduced code size - add to most default builds if we can afford it - lots of other little changes - purge fastrtps (I tried to save this multiple times, but kept hitting roadblocks)
99 lines
3.2 KiB
C++
99 lines
3.2 KiB
C++
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2022 PX4 Development Team. All rights reserved.
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions
|
|
* are met:
|
|
*
|
|
* 1. Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* 2. Redistributions in binary form must reproduce the above copyright
|
|
* notice, this list of conditions and the following disclaimer in
|
|
* the documentation and/or other materials provided with the
|
|
* distribution.
|
|
* 3. Neither the name PX4 nor the names of its contributors may be
|
|
* used to endorse or promote products derived from this software
|
|
* without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*
|
|
****************************************************************************/
|
|
|
|
#pragma once
|
|
|
|
#include <px4_platform_common/module.h>
|
|
#include <px4_platform_common/module_params.h>
|
|
|
|
#include <src/modules/microdds_client/dds_topics.h>
|
|
|
|
#include <lib/timesync/Timesync.hpp>
|
|
|
|
class MicroddsClient : public ModuleBase<MicroddsClient>, public ModuleParams
|
|
{
|
|
public:
|
|
enum class Transport {
|
|
Serial,
|
|
Udp
|
|
};
|
|
|
|
MicroddsClient(Transport transport, const char *device, int baudrate, const char *host, const char *port,
|
|
bool localhost_only, const char *client_namespace);
|
|
|
|
~MicroddsClient();
|
|
|
|
/** @see ModuleBase */
|
|
static int task_spawn(int argc, char *argv[]);
|
|
|
|
/** @see ModuleBase */
|
|
static MicroddsClient *instantiate(int argc, char *argv[]);
|
|
|
|
/** @see ModuleBase */
|
|
static int custom_command(int argc, char *argv[]);
|
|
|
|
/** @see ModuleBase */
|
|
static int print_usage(const char *reason = nullptr);
|
|
|
|
/** @see ModuleBase::run() */
|
|
void run() override;
|
|
|
|
/** @see ModuleBase::print_status() */
|
|
int print_status() override;
|
|
|
|
private:
|
|
int setBaudrate(int fd, unsigned baud);
|
|
|
|
const bool _localhost_only;
|
|
const char *_client_namespace;
|
|
|
|
SendTopicsSubs *_subs{nullptr};
|
|
RcvTopicsPubs *_pubs{nullptr};
|
|
|
|
uxrSerialTransport *_transport_serial{nullptr};
|
|
uxrUDPTransport *_transport_udp{nullptr};
|
|
uxrCommunication *_comm{nullptr};
|
|
int _fd{-1};
|
|
|
|
int _last_payload_tx_rate{}; ///< in B/s
|
|
int _last_payload_rx_rate{}; ///< in B/s
|
|
bool _connected{false};
|
|
|
|
Timesync _timesync{};
|
|
|
|
DEFINE_PARAMETERS(
|
|
(ParamInt<px4::params::XRCE_DDS_DOM_ID>) _param_xrce_dds_dom_id
|
|
)
|
|
};
|
|
|