AccessRequest.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 <uavcan/_register/Access_1_0.h>
class UavcanAccessServiceRequest
{
public:
UavcanAccessServiceRequest(CanardInstance &ins) :
_canard_instance(ins) { };
void setPortId(CanardNodeID node_id, const char *register_name, uint16_t port_id)
{
int result {0};
uavcan_register_Access_Request_1_0 request_msg;
strncpy((char *)&request_msg.name.name.elements[0], register_name, sizeof(uavcan_register_Name_1_0));
request_msg.name.name.count = strlen(register_name);
uavcan_register_Value_1_0_select_natural16_(&request_msg.value);
request_msg.value.natural16.value.count = 1;
request_msg.value.natural16.value.elements[0] = port_id;
uint8_t request_payload_buffer[uavcan_register_Access_Request_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_];
CanardTransfer transfer = {
.timestamp_usec = hrt_absolute_time(), // Zero if transmission deadline is not limited.
.priority = CanardPriorityNominal,
.transfer_kind = CanardTransferKindRequest,
.port_id = uavcan_register_Access_1_0_FIXED_PORT_ID_, // This is the subject-ID.
.remote_node_id = node_id, // Messages cannot be unicast, so use UNSET.
.transfer_id = access_request_transfer_id,
.payload_size = uavcan_register_Access_Request_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_,
.payload = &request_payload_buffer,
};
result = uavcan_register_Access_Request_1_0_serialize_(&request_msg, request_payload_buffer, &transfer.payload_size);
if (result == 0) {
// set the data ready in the buffer and chop if needed
++access_request_transfer_id; // The transfer-ID shall be incremented after every transmission on this subject.
result = canardTxPush(&_canard_instance, &transfer);
}
};
private:
CanardInstance &_canard_instance;
CanardTransferID access_request_transfer_id = 0;
};