px4_autopilot/src/drivers/uavcan_v1/SubscriptionManager.hpp

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/**
 * @file SubscriptionManager.hpp
 *
 * Manages the UAVCAN subscriptions
 *
 * @author Peter van der Perk <peter.vanderperk@nxp.com>
 */

#pragma once


#include <px4_platform_common/defines.h>
#include <drivers/drv_hrt.h>
#include "Subscribers/DynamicPortSubscriber.hpp"
#include "CanardInterface.hpp"

#include "ServiceClients/GetInfo.hpp"
#include "ServiceClients/Access.hpp"
#include "Subscribers/BaseSubscriber.hpp"
#include "Subscribers/Heartbeat.hpp"
#include "Subscribers/DS-015/Battery.hpp"
#include "Subscribers/DS-015/Esc.hpp"
#include "Subscribers/DS-015/Gnss.hpp"
#include "Subscribers/legacy/LegacyBatteryInfo.hpp"
#include "Subscribers/uORB/sensor_gps.hpp"

typedef struct {
	const char *px4_name;
	UavcanDynamicPortSubscriber *(*create_sub)(CanardInstance &ins, UavcanParamManager &pmgr) {};
	const char *subject_name;
	const uint8_t instance;
} UavcanDynSubBinder;

class SubscriptionManager
{
public:
	SubscriptionManager(CanardInstance &ins, UavcanParamManager &pmgr) : _canard_instance(ins), _param_manager(pmgr) {}
	~SubscriptionManager();

	void subscribe();
	void printInfo();
	void updateParams();

private:
	void updateDynamicSubscriptions();

	CanardInstance &_canard_instance;
	UavcanParamManager &_param_manager;
	UavcanDynamicPortSubscriber *_dynsubscribers {NULL};

	UavcanHeartbeatSubscriber _heartbeat_sub {_canard_instance};

	// GetInfo response
	UavcanGetInfoResponse _getinfo_rsp {_canard_instance};

	// Process register requests
	UavcanAccessResponse  _access_rsp {_canard_instance, _param_manager};

	const UavcanDynSubBinder _uavcan_subs[6] {
		{
			"UCAN1_ESC0_SUB",
			[](CanardInstance & ins, UavcanParamManager & pmgr) -> UavcanDynamicPortSubscriber *
			{
				return new UavcanEscSubscriber(ins, pmgr, 0);
			},
			"esc",
			0
		},
		{
			"UCAN1_GPS0_SUB",
			[](CanardInstance & ins, UavcanParamManager & pmgr) -> UavcanDynamicPortSubscriber *
			{
				return new UavcanGnssSubscriber(ins, pmgr, 0);
			},
			"gps",
			0
		},
		{
			"UCAN1_GPS1_SUB",
			[](CanardInstance & ins, UavcanParamManager & pmgr) -> UavcanDynamicPortSubscriber *
			{
				return new UavcanGnssSubscriber(ins, pmgr, 1);
			},
			"gps",
			1
		},
		{
			"UCAN1_BMS_ES_SUB",
			[](CanardInstance & ins, UavcanParamManager & pmgr) -> UavcanDynamicPortSubscriber *
			{
				return new UavcanBmsSubscriber(ins, pmgr, 0);
			},
			"energy_source",
			0
		},
		{
			"UCAN1_LG_BMS_SUB",
			[](CanardInstance & ins, UavcanParamManager & pmgr) -> UavcanDynamicPortSubscriber *
			{
				return new UavcanLegacyBatteryInfoSubscriber(ins, pmgr, 0);
			},
			"legacy_bms",
			0
		},
		{
			"UCAN1_UORB_GPS",
			[](CanardInstance & ins, UavcanParamManager & pmgr) -> UavcanDynamicPortSubscriber *
			{
				return new UORB_over_UAVCAN_sensor_gps_Subscriber(ins, pmgr, 0);
			},
			"uorb.sensor_gps",
			0
		},
	};
};