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5e91459b1a
Micro XRCE-DDS expects the application to supply open/close/write/read callbacks for the wire transport. Add a single dispatcher that registers the selected backend via rmw_uros_set_custom_transport(), plus two backends: transport/microros_transport_udp.c BSD-socket UDP backend. Opens an AF_INET/SOCK_DGRAM socket, resolves CONFIG_MICROROS_AGENT_IP/PORT, connect()s it, and uses send/recv. The socket fd is stashed in uxrCustomTransport->args so no module-level state is needed. transport/microros_transport_serial.c termios serial backend. Opens CONFIG_MICROROS_SERIAL_DEVICE with O_RDWR|O_NOCTTY|O_CLOEXEC, switches to raw 8N1 at CONFIG_MICROROS_SERIAL_BAUD, and uses poll/read/write. Fd is again stashed in uxrCustomTransport->args. Both backends are mutually exclusive at compile time via Kconfig; the dispatcher selects which set of callbacks to register. Wired into both the legacy Make build (CSRCS in system/microros/Makefile) and the CMake build (separate microros_transport static library with the transport directory only exposed to its INTERFACE). Signed-off-by: Arjav Patel <arjav1528@gmail.com>
67 lines
2.7 KiB
C
67 lines
2.7 KiB
C
/****************************************************************************
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* apps/system/microros/transport/microros_transport.h
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*
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* SPDX-License-Identifier: Apache-2.0
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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#ifndef __APPS_SYSTEM_MICROROS_TRANSPORT_MICROROS_TRANSPORT_H
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#define __APPS_SYSTEM_MICROROS_TRANSPORT_MICROROS_TRANSPORT_H
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <stdbool.h>
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#include <stddef.h>
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#include <stdint.h>
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#include <uxr/client/profile/transport/custom/custom_transport.h>
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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/****************************************************************************
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* Public Function Prototypes
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****************************************************************************/
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/* Backend callbacks. Exposed for testing only. */
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bool microros_udp_open(struct uxrCustomTransport *transport);
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bool microros_udp_close(struct uxrCustomTransport *transport);
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size_t microros_udp_write(struct uxrCustomTransport *transport,
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const uint8_t *buf, size_t len, uint8_t *err);
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size_t microros_udp_read(struct uxrCustomTransport *transport,
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uint8_t *buf, size_t len,
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int timeout_ms, uint8_t *err);
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bool microros_serial_open(struct uxrCustomTransport *transport);
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bool microros_serial_close(struct uxrCustomTransport *transport);
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size_t microros_serial_write(struct uxrCustomTransport *transport,
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const uint8_t *buf, size_t len, uint8_t *err);
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size_t microros_serial_read(struct uxrCustomTransport *transport,
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uint8_t *buf, size_t len,
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int timeout_ms, uint8_t *err);
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#ifdef __cplusplus
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}
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#endif
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#endif /* __APPS_SYSTEM_MICROROS_TRANSPORT_MICROROS_TRANSPORT_H */
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