NodeIDAllocationData.hpp
4.18 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
/****************************************************************************
*
* 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 NodeIDAllocationData.hpp
*
* Defines basic functionality of UAVCAN NodeIDAllocationData.1.0 subscription
*
* @author Peter van der Perk <peter.vanderperk@nxp.com>
*/
#pragma once
#include "../NodeManager.hpp"
//Quick and Dirty PNP imlementation only V1 for now as well
#include <uavcan/node/ID_1_0.h>
#include <uavcan/pnp/NodeIDAllocationData_1_0.h>
#include <uavcan/pnp/NodeIDAllocationData_2_0.h>
#define PNP1_PORT_ID uavcan_pnp_NodeIDAllocationData_1_0_FIXED_PORT_ID_
#define PNP1_PAYLOAD_SIZE uavcan_pnp_NodeIDAllocationData_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_
#define PNP2_PORT_ID uavcan_pnp_NodeIDAllocationData_2_0_FIXED_PORT_ID_
#define PNP2_PAYLOAD_SIZE uavcan_pnp_NodeIDAllocationData_2_0_SERIALIZATION_BUFFER_SIZE_BYTES_
#include "BaseSubscriber.hpp"
class UavcanNodeIDAllocationDataSubscriber : public UavcanBaseSubscriber
{
public:
UavcanNodeIDAllocationDataSubscriber(CanardInstance &ins, NodeManager &nmgr) :
UavcanBaseSubscriber(ins, "NodeIDAllocationData", 0), _nmgr(nmgr) { };
void subscribe() override
{
// Subscribe to messages uavcan.pnp.NodeIDAllocationData
canardRxSubscribe(&_canard_instance,
CanardTransferKindMessage,
(_canard_instance.mtu_bytes == CANARD_MTU_CAN_FD ? PNP2_PORT_ID : PNP1_PORT_ID), // The fixed Subject-ID
(_canard_instance.mtu_bytes == CANARD_MTU_CAN_FD ? PNP2_PAYLOAD_SIZE : PNP1_PAYLOAD_SIZE),
CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC,
&_canard_sub);
_port_id = _canard_instance.mtu_bytes == CANARD_MTU_CAN_FD ? PNP2_PORT_ID : PNP1_PORT_ID;
};
void callback(const CanardTransfer &receive) override
{
PX4_INFO("NodeIDAllocationData");
if (_canard_instance.mtu_bytes == CANARD_MTU_CAN_FD) {
uavcan_pnp_NodeIDAllocationData_2_0 node_id_alloc_msg {};
size_t msg_size_in_bytes = receive.payload_size;
uavcan_pnp_NodeIDAllocationData_2_0_deserialize_(&node_id_alloc_msg, (const uint8_t *)receive.payload,
&msg_size_in_bytes);
/// do something with the data
_nmgr.HandleNodeIDRequest(node_id_alloc_msg);
} else {
uavcan_pnp_NodeIDAllocationData_1_0 node_id_alloc_msg {};
size_t msg_size_in_bytes = receive.payload_size;
uavcan_pnp_NodeIDAllocationData_1_0_deserialize_(&node_id_alloc_msg, (const uint8_t *)receive.payload,
&msg_size_in_bytes);
/// do something with the data
_nmgr.HandleNodeIDRequest(node_id_alloc_msg);
}
};
private:
NodeManager &_nmgr;
};