BaseSubscriber.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 BaseSubscriber.hpp
*
* Defines basic functionality of UAVCAN v1 subscriber class
*
* @author Jacob Crabill <jacob@flyvoly.com>
*/
#pragma once
#include <px4_platform_common/px4_config.h>
#include <lib/parameters/param.h>
#include "../CanardInterface.hpp"
class UavcanBaseSubscriber
{
public:
static constexpr uint16_t CANARD_PORT_ID_UNSET = 65535U;
UavcanBaseSubscriber(CanardInstance &ins, const char *subject_name, uint8_t instance = 0) :
_canard_instance(ins), _subject_name(subject_name), _instance(instance) { };
virtual void subscribe() = 0;
virtual void unsubscribe() { canardRxUnsubscribe(&_canard_instance, CanardTransferKindMessage, _port_id); };
virtual void callback(const CanardTransfer &msg) = 0;
CanardPortID id() { return _port_id; };
void printInfo()
{
if (_port_id != CANARD_PORT_ID_UNSET) {
PX4_INFO("Subscribed %s.%d on port %d", _subject_name, _instance, _port_id);
}
}
protected:
CanardInstance &_canard_instance;
CanardRxSubscription _canard_sub;
const char *_subject_name;
uint8_t _instance {0};
/// TODO: 'type' parameter? uavcan.pub.PORT_NAME.type (see 384.Access.1.0.uavcan)
CanardPortID _port_id {CANARD_PORT_ID_UNSET};
};