DynamicPortSubscriber.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 DynamicPortSubscriber.hpp
*
* Defines basic functionality of UAVCAN v1 subscriber class with Non-fixed unregulated port identifier
*
* @author Jacob Crabill <jacob@flyvoly.com>
*/
#pragma once
#include <px4_platform_common/px4_config.h>
#include <lib/parameters/param.h>
#include <uavcan/_register/Access_1_0.h>
#include "DynamicPortSubscriber.hpp"
#include "../CanardInterface.hpp"
#include "../ParamManager.hpp"
class UavcanDynamicPortSubscriber : public UavcanBaseSubscriber
{
public:
UavcanDynamicPortSubscriber(CanardInstance &ins, UavcanParamManager &pmgr, const char *subject_name,
uint8_t instance = 0) :
UavcanBaseSubscriber(ins, subject_name, instance), _param_manager(pmgr) { };
void updateParam()
{
SubjectSubscription *curSubj = &_subj_sub;
while (curSubj != NULL) {
char uavcan_param[90];
snprintf(uavcan_param, sizeof(uavcan_param), "uavcan.sub.%s.%d.id", curSubj->_subject_name, _instance);
// Set _port_id from _uavcan_param
uavcan_register_Value_1_0 value;
if (_param_manager.GetParamByName(uavcan_param, value)) {
int32_t new_id = value.integer32.value.elements[0];
/* FIXME how about partial subscribing */
if (curSubj->_canard_sub._port_id != new_id) {
if (new_id == CANARD_PORT_ID_UNSET) {
// Cancel subscription
unsubscribe();
} else {
if (curSubj->_canard_sub._port_id != CANARD_PORT_ID_UNSET) {
// Already active; unsubscribe first
unsubscribe();
}
// Subscribe on the new port ID
curSubj->_canard_sub._port_id = (CanardPortID)new_id;
PX4_INFO("Subscribing %s.%d on port %d", curSubj->_subject_name, _instance, curSubj->_canard_sub._port_id);
subscribe();
}
}
}
curSubj = curSubj->next;
}
};
protected:
UavcanParamManager &_param_manager;
};