mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-16 11:03:34 +08:00
Alexis Paques
abc629c2bb
* Update Zenoh-pico from 0.7.0 to 1.0.0 * Update the zenoh-pico version to use PX4/dev/1.0.0-px4 * Remove the rostopic and rt/ prefix * Unlike zenoh-bridge-dds we were using, zenoh-bridge-ros2dds is now adding the rt/ prefix automagically.
111 lines
3.6 KiB
C++
111 lines
3.6 KiB
C++
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2023 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.
|
|
*
|
|
****************************************************************************/
|
|
|
|
/**
|
|
* @file uorb_subscriber.hpp
|
|
*
|
|
* Defines generic, templatized uORB over Zenoh / ROS2
|
|
*
|
|
* @author Peter van der Perk <peter.vanderperk@nxp.com>
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include "zenoh_subscriber.hpp"
|
|
#include <uORB/topics/input_rc.h>
|
|
#include <uORB/PublicationMulti.hpp>
|
|
#include <uORB/topics/actuator_outputs.h>
|
|
|
|
class uORB_Zenoh_Subscriber : public Zenoh_Subscriber
|
|
{
|
|
public:
|
|
uORB_Zenoh_Subscriber(const orb_metadata *meta, const uint32_t *ops) :
|
|
Zenoh_Subscriber(),
|
|
_uorb_meta{meta},
|
|
_cdr_ops(ops)
|
|
{
|
|
int instance = 0;
|
|
_uorb_pub_handle = orb_advertise_multi(_uorb_meta, nullptr, &instance);
|
|
};
|
|
|
|
~uORB_Zenoh_Subscriber() override = default;
|
|
|
|
// Update the uORB Subscription and broadcast a Zenoh ROS2 message
|
|
void data_handler(const z_loaned_sample_t *sample)
|
|
{
|
|
char data[_uorb_meta->o_size];
|
|
|
|
const z_loaned_bytes_t *payload = z_sample_payload(sample);
|
|
size_t len = z_bytes_len(payload);
|
|
|
|
dds_istream_t is = {.m_buffer = (unsigned char *)(payload), .m_size = static_cast<int>(len),
|
|
.m_index = 4, .m_xcdr_version = DDSI_RTPS_CDR_ENC_VERSION_2
|
|
};
|
|
dds_stream_read(&is, data, &dds_allocator, _cdr_ops);
|
|
|
|
// As long as we don't have timesynchronization between Zenoh nodes
|
|
// we've to manually set the timestamp
|
|
fix_timestamp(data);
|
|
|
|
// ORB_ID::input_rc needs additional timestamp fixup
|
|
if (static_cast<ORB_ID>(_uorb_meta->o_id) == ORB_ID::input_rc) {
|
|
memcpy(&data[8], data, sizeof(hrt_abstime));
|
|
}
|
|
|
|
orb_publish(_uorb_meta, _uorb_pub_handle, &data);
|
|
};
|
|
|
|
void fix_timestamp(char *data)
|
|
{
|
|
hrt_abstime now = hrt_absolute_time();
|
|
memcpy(data, &now, sizeof(hrt_abstime));
|
|
}
|
|
|
|
void print()
|
|
{
|
|
Zenoh_Subscriber::print("uORB", _uorb_meta->o_name);
|
|
}
|
|
|
|
protected:
|
|
// Default payload-size function -- can specialize in derived class
|
|
size_t get_payload_size()
|
|
{
|
|
return _uorb_meta->o_size;
|
|
}
|
|
|
|
private:
|
|
const orb_metadata *_uorb_meta;
|
|
orb_advert_t _uorb_pub_handle;
|
|
const uint32_t *_cdr_ops;
|
|
};
|