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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_DDS/AP_DDS_Service_Table.h
Views: 1798
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#include "uxr/client/client.h"

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#include <AP_DDS/AP_DDS_config.h>

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enum class ServiceIndex: uint8_t {

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#if AP_DDS_ARM_SERVER_ENABLED

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    ARMING_MOTORS,

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#endif // #if AP_DDS_ARM_SERVER_ENABLED

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#if AP_DDS_MODE_SWITCH_SERVER_ENABLED

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    MODE_SWITCH,

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#endif // AP_DDS_MODE_SWITCH_SERVER_ENABLED

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#if AP_DDS_ARM_CHECK_SERVER_ENABLED

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    PREARM_CHECK,

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#endif // AP_DDS_ARM_CHECK_SERVER_ENABLED

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#if AP_DDS_VTOL_TAKEOFF_SERVER_ENABLED

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    TAKEOFF,

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#endif // AP_DDS_VTOL_TAKEOFF_SERVER_ENABLED

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#if AP_DDS_PARAMETER_SERVER_ENABLED

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    SET_PARAMETERS,

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    GET_PARAMETERS

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#endif // AP_DDS_PARAMETER_SERVER_ENABLED

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};

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static inline constexpr uint8_t to_underlying(const ServiceIndex index)

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{

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    static_assert(sizeof(index) == sizeof(uint8_t));

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    return static_cast<uint8_t>(index);

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}

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constexpr struct AP_DDS_Client::Service_table AP_DDS_Client::services[] = {

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#if AP_DDS_ARM_SERVER_ENABLED

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    {

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        .req_id = to_underlying(ServiceIndex::ARMING_MOTORS),

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        .rep_id = to_underlying(ServiceIndex::ARMING_MOTORS),

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        .service_rr = Service_rr::Replier,

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        .service_name = "rs/ap/arm_motorsService",

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        .request_type = "ardupilot_msgs::srv::dds_::ArmMotors_Request_",

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        .reply_type = "ardupilot_msgs::srv::dds_::ArmMotors_Response_",

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        .request_topic_name = "rq/ap/arm_motorsRequest",

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        .reply_topic_name = "rr/ap/arm_motorsReply",

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        .qos = {

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            .durability = UXR_DURABILITY_TRANSIENT_LOCAL,

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            .reliability = UXR_RELIABILITY_RELIABLE,

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            .history = UXR_HISTORY_KEEP_LAST,

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            .depth = 5,

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        },

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    },

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#endif // AP_DDS_ARM_SERVER_ENABLED

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#if AP_DDS_MODE_SWITCH_SERVER_ENABLED

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    {

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        .req_id = to_underlying(ServiceIndex::MODE_SWITCH),

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        .rep_id = to_underlying(ServiceIndex::MODE_SWITCH),

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        .service_rr = Service_rr::Replier,

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        .service_name = "rs/ap/mode_switchService",

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        .request_type = "ardupilot_msgs::srv::dds_::ModeSwitch_Request_",

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        .reply_type = "ardupilot_msgs::srv::dds_::ModeSwitch_Response_",

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        .request_topic_name = "rq/ap/mode_switchRequest",

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        .reply_topic_name = "rr/ap/mode_switchReply",

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    },

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#endif // AP_DDS_MODE_SWITCH_SERVER_ENABLED

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#if AP_DDS_ARM_CHECK_SERVER_ENABLED

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    {

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        .req_id = to_underlying(ServiceIndex::PREARM_CHECK),

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        .rep_id = to_underlying(ServiceIndex::PREARM_CHECK),

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        .service_rr = Service_rr::Replier,

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        .service_name = "rs/ap/prearm_checkService",

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        .request_type = "std_srvs::srv::dds_::Trigger_Request_",

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        .reply_type = "std_srvs::srv::dds_::Trigger_Response_",

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        .request_topic_name = "rq/ap/prearm_checkRequest",

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        .reply_topic_name = "rr/ap/prearm_checkReply",

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    },

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#endif // AP_DDS_ARM_CHECK_SERVER_ENABLED    

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#if AP_DDS_VTOL_TAKEOFF_SERVER_ENABLED

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    {

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        .req_id = to_underlying(ServiceIndex::TAKEOFF),

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        .rep_id = to_underlying(ServiceIndex::TAKEOFF),

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        .service_rr = Service_rr::Replier,

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        .service_name = "rs/ap/experimental/takeoffService",

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        .request_type = "ardupilot_msgs::srv::dds_::Takeoff_Request_",

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        .reply_type = "ardupilot_msgs::srv::dds_::Takeoff_Response_",

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        .request_topic_name = "rq/ap/experimental/takeoffRequest",

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        .reply_topic_name = "rr/ap/experimental/takeoffReply",

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    },

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#endif // AP_DDS_VTOL_TAKEOFF_SERVER_ENABLED

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#if AP_DDS_PARAMETER_SERVER_ENABLED

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    {

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        .req_id = to_underlying(ServiceIndex::SET_PARAMETERS),

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        .rep_id = to_underlying(ServiceIndex::SET_PARAMETERS),

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        .service_rr = Service_rr::Replier,

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        .service_name = "rs/ap/set_parametersService",

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        .request_type = "rcl_interfaces::srv::dds_::SetParameters_Request_",

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        .reply_type = "rcl_interfaces::srv::dds_::SetParameters_Response_",

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        .request_topic_name = "rq/ap/set_parametersRequest",

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        .reply_topic_name = "rr/ap/set_parametersReply",

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    },

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    {

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        .req_id = to_underlying(ServiceIndex::GET_PARAMETERS),

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        .rep_id = to_underlying(ServiceIndex::GET_PARAMETERS),

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        .service_rr = Service_rr::Replier,

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        .service_name = "rs/ap/get_parameterService",

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        .request_type = "rcl_interfaces::srv::dds_::GetParameters_Request_",

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        .reply_type = "rcl_interfaces::srv::dds_::GetParameters_Response_",

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        .request_topic_name = "rq/ap/get_parametersRequest",

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        .reply_topic_name = "rr/ap/get_parametersReply",

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    },

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#endif // AP_DDS_PARAMETER_SERVER_ENABLED

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};

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