AccessReply.hpp
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/****************************************************************************
*
* Copyright (c) 2021 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 Access.hpp
*
* Defines a Access Service invoker and process Access responses
*
* @author Peter van der Perk <peter.vanderperk@nxp.com>
*/
#pragma once
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/module.h>
#include <version/version.h>
#include "../NodeManager.hpp"
#include <uavcan/_register/Access_1_0.h>
#include "../Subscribers/BaseSubscriber.hpp"
class UavcanAccessServiceReply : public UavcanBaseSubscriber
{
public:
UavcanAccessServiceReply(CanardInstance &ins, NodeManager &nmgr) :
UavcanBaseSubscriber(ins, "Access", 0), _nmgr(nmgr) { };
void subscribe() override
{
// Subscribe to requests uavcan.pnp.NodeIDAllocationData
canardRxSubscribe(&_canard_instance,
CanardTransferKindResponse,
uavcan_register_Access_1_0_FIXED_PORT_ID_,
uavcan_register_Access_Response_1_0_EXTENT_BYTES_,
CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC,
&_canard_sub);
_port_id = uavcan_register_Access_1_0_FIXED_PORT_ID_;
};
void callback(const CanardTransfer &receive) override
{
PX4_INFO("Access response");
};
private:
NodeManager &_nmgr;
};