Readiness.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 Readiness.hpp
*
* Defines the UAVCAN v1 readiness publisher
* readiness state is used to command or report the availability status
*
* @author Peter van der Perk <peter.vanderperk@nxp.com>
*/
#pragma once
// DS-15 Specification Messages
#include <reg/drone/service/common/Readiness_0_1.h>
#include "Publisher.hpp"
class UavcanReadinessPublisher : public UavcanPublisher
{
public:
UavcanReadinessPublisher(CanardInstance &ins, UavcanParamManager &pmgr, uint8_t instance = 0) :
UavcanPublisher(ins, pmgr, "readiness", instance)
{
};
// Update the uORB Subscription and broadcast a UAVCAN message
virtual void update() override
{
// Not sure if actuator_armed is a good indication of readiness but seems close to it
if (_actuator_armed_sub.updated() && _port_id != CANARD_PORT_ID_UNSET && _port_id != 0) {
actuator_armed_s armed {};
_actuator_armed_sub.update(&armed);
reg_drone_service_common_Readiness_0_1 readiness {};
if (armed.armed) {
readiness.value = reg_drone_service_common_Readiness_0_1_ENGAGED;
} else {
readiness.value = reg_drone_service_common_Readiness_0_1_STANDBY;
}
uint8_t readiness_payload_buffer[reg_drone_service_common_Readiness_0_1_SERIALIZATION_BUFFER_SIZE_BYTES_];
CanardTransfer transfer = {
.timestamp_usec = hrt_absolute_time() + PUBLISHER_DEFAULT_TIMEOUT_USEC,
.priority = CanardPriorityNominal,
.transfer_kind = CanardTransferKindMessage,
.port_id = _port_id, // This is the subject-ID.
.remote_node_id = CANARD_NODE_ID_UNSET,
.transfer_id = _transfer_id,
.payload_size = reg_drone_service_common_Readiness_0_1_SERIALIZATION_BUFFER_SIZE_BYTES_,
.payload = &readiness_payload_buffer,
};
int32_t result = reg_drone_service_common_Readiness_0_1_serialize_(&readiness, readiness_payload_buffer,
&transfer.payload_size);
if (result == 0) {
// set the data ready in the buffer and chop if needed
++_transfer_id; // The transfer-ID shall be incremented after every transmission on this subject.
result = canardTxPush(&_canard_instance, &transfer);
}
}
};
private:
uORB::Subscription _actuator_armed_sub{ORB_ID(actuator_armed)};
};