Access.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 response to a Access request
*
* @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 "../ParamManager.hpp"
#include <uavcan/node/ID_1_0.h>
#include <uavcan/node/GetInfo_1_0.h>
#include "../Subscribers/BaseSubscriber.hpp"
class UavcanAccessResponse : public UavcanBaseSubscriber
{
public:
UavcanAccessResponse(CanardInstance &ins, UavcanParamManager &pmgr) :
UavcanBaseSubscriber(ins, "Access", 0), _param_manager(pmgr) { };
void subscribe() override
{
// Subscribe to requests uavcan.pnp.NodeIDAllocationData
canardRxSubscribe(&_canard_instance,
CanardTransferKindRequest,
uavcan_register_Access_1_0_FIXED_PORT_ID_,
uavcan_register_Access_Response_1_0_EXTENT_BYTES_,
CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC,
&_subj_sub._canard_sub);
};
void callback(const CanardTransfer &receive) override
{
PX4_INFO("Access request");
uavcan_register_Access_Request_1_0 msg;
uavcan_register_Access_Request_1_0_initialize_(&msg);
size_t register_in_size_bits = receive.payload_size;
uavcan_register_Access_Request_1_0_deserialize_(&msg, (const uint8_t *)receive.payload, ®ister_in_size_bits);
int result {0};
uavcan_register_Value_1_0 value = msg.value;
uavcan_register_Name_1_0 name = msg.name;
/// TODO: get/set parameter based on whether empty or not
if (uavcan_register_Value_1_0_is_empty_(&value)) { // Tag Type: uavcan_primitive_Empty_1_0
// Value is empty -- 'Get' only
result = _param_manager.GetParamByName(name, value) ? 0 : -1;
} else {
// Set value
result = _param_manager.SetParamByName(name, value) ? 0 : -1;
}
/// TODO: Access_Response
uavcan_register_Access_Response_1_0 response {};
response.value = value;
uint8_t response_payload_buffer[uavcan_register_Access_Response_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_];
CanardTransfer transfer = {
.timestamp_usec = hrt_absolute_time() + PUBLISHER_DEFAULT_TIMEOUT_USEC,
.priority = CanardPriorityNominal,
.transfer_kind = CanardTransferKindResponse,
.port_id = uavcan_register_Access_1_0_FIXED_PORT_ID_, // This is the subject-ID.
.remote_node_id = receive.remote_node_id, // Messages cannot be unicast, so use UNSET.
.transfer_id = access_response_transfer_id, /// TODO: track register Access _response_ separately?
.payload_size = uavcan_register_Access_Response_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_,
.payload = &response_payload_buffer,
};
result = uavcan_register_Access_Response_1_0_serialize_(&response, response_payload_buffer, &transfer.payload_size);
if (result == 0) {
// set the data ready in the buffer and chop if needed
++access_response_transfer_id; // The transfer-ID shall be incremented after every transmission on this subject.
result = canardTxPush(&_canard_instance, &transfer);
}
//return result;
};
private:
UavcanParamManager &_param_manager;
CanardTransferID access_response_transfer_id = 0;
};