AP_DDS: Wrap services in defines

Signed-off-by: Ryan Friedman <[email protected]>
ArduPilot · Oct 20, 2024 · 2d77970 · 2d77970
1 parent a22e28c
commit 2d77970
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Showing 5 changed files with 40 additions and 12 deletions.
diff --git a/libraries/AP_DDS/AP_DDS_Client.cpp b/libraries/AP_DDS/AP_DDS_Client.cpp
@@ -1,5 +1,6 @@
 #include <AP_HAL/AP_HAL_Boards.h>
 
+#include "AP_DDS_config.h"
 #if AP_DDS_ENABLED
 #include <uxr/client/util/ping.h>
 
@@ -12,16 +13,22 @@
 #include <GCS_MAVLink/GCS.h>
 #include <AP_BattMonitor/AP_BattMonitor.h>
 #include <AP_AHRS/AP_AHRS.h>
+#if AP_DDS_ARM_SERVER_ENABLED
 #include <AP_Arming/AP_Arming.h>
+# endif // AP_DDS_ARM_SERVER_ENABLED
 #include <AP_Vehicle/AP_Vehicle.h>
 #include <AP_ExternalControl/AP_ExternalControl_config.h>
 
+#if AP_DDS_ARM_SERVER_ENABLED
 #include "ardupilot_msgs/srv/ArmMotors.h"
+#endif // AP_DDS_ARM_SERVER_ENABLED
+#if AP_DDS_MODE_SWITCH_SERVER_ENABLED
 #include "ardupilot_msgs/srv/ModeSwitch.h"
+#endif // AP_DDS_MODE_SWITCH_SERVER_ENABLED
 
 #if AP_EXTERNAL_CONTROL_ENABLED
 #include "AP_DDS_ExternalControl.h"
-#endif
+#endif // AP_EXTERNAL_CONTROL_ENABLED
 #include "AP_DDS_Frames.h"
 
 #include "AP_DDS_Client.h"
@@ -667,7 +674,7 @@ void AP_DDS_Client::on_topic(uxrSession* uxr_session, uxrObjectId object_id, uin
         break;
     }
 #endif // AP_DDS_JOY_SUB_ENABLED
-#if AP_DDS_DYNAMIC_TF_SUB
+#if AP_DDS_DYNAMIC_TF_SUB_ENABLED
     case topics[to_underlying(TopicIndex::DYNAMIC_TRANSFORMS_SUB)].dr_id.id: {
         const bool success = tf2_msgs_msg_TFMessage_deserialize_topic(ub, &rx_dynamic_transforms_topic);
         if (success == false) {
@@ -684,7 +691,7 @@ void AP_DDS_Client::on_topic(uxrSession* uxr_session, uxrObjectId object_id, uin
         }
         break;
     }
-#endif // AP_DDS_DYNAMIC_TF_SUB
+#endif // AP_DDS_DYNAMIC_TF_SUB_ENABLED
 #if AP_DDS_VEL_CTRL_ENABLED
     case topics[to_underlying(TopicIndex::VELOCITY_CONTROL_SUB)].dr_id.id: {
         const bool success = geometry_msgs_msg_TwistStamped_deserialize_topic(ub, &rx_velocity_control_topic);
@@ -732,6 +739,7 @@ void AP_DDS_Client::on_request(uxrSession* uxr_session, uxrObjectId object_id, u
     (void) request_id;
     (void) length;
     switch (object_id.id) {
+#if AP_DDS_ARM_SERVER_ENABLED
     case services[to_underlying(ServiceIndex::ARMING_MOTORS)].rep_id: {
         ardupilot_msgs_srv_ArmMotors_Request arm_motors_request;
         ardupilot_msgs_srv_ArmMotors_Response arm_motors_response;
@@ -761,6 +769,8 @@ void AP_DDS_Client::on_request(uxrSession* uxr_session, uxrObjectId object_id, u
         GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s Request for Arming/Disarming : %s", msg_prefix, arm_motors_response.result ? "SUCCESS" : "FAIL");
         break;
     }
+#endif // AP_DDS_ARM_SERVER_ENABLED
+#if AP_DDS_MODE_SWITCH_SERVER_ENABLED
     case services[to_underlying(ServiceIndex::MODE_SWITCH)].rep_id: {
         ardupilot_msgs_srv_ModeSwitch_Request mode_switch_request;
         ardupilot_msgs_srv_ModeSwitch_Response mode_switch_response;
@@ -789,6 +799,7 @@ void AP_DDS_Client::on_request(uxrSession* uxr_session, uxrObjectId object_id, u
         GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s Request for Mode Switch : %s", msg_prefix, mode_switch_response.status ? "SUCCESS" : "FAIL");
         break;
     }
+#endif // AP_DDS_MODE_SWITCH_SERVER_ENABLED
     }
 }
 

diff --git a/libraries/AP_DDS/AP_DDS_Client.h b/libraries/AP_DDS/AP_DDS_Client.h
@@ -195,10 +195,10 @@ class AP_DDS_Client
     // incoming REP147 goal interface global position
     static ardupilot_msgs_msg_GlobalPosition rx_global_position_control_topic;
 #endif // AP_DDS_GLOBAL_POS_CTRL_ENABLED
-#if AP_DDS_DYNAMIC_TF_SUB
+#if AP_DDS_DYNAMIC_TF_SUB_ENABLED
     // incoming transforms
     static tf2_msgs_msg_TFMessage rx_dynamic_transforms_topic;
-#endif // AP_DDS_DYNAMIC_TF_SUB
+#endif // AP_DDS_DYNAMIC_TF_SUB_ENABLED
     HAL_Semaphore csem;
 
     // connection parametrics

diff --git a/libraries/AP_DDS/AP_DDS_Service_Table.h b/libraries/AP_DDS/AP_DDS_Service_Table.h
@@ -1,8 +1,13 @@
 #include "uxr/client/client.h"
+#include <AP_DDS/AP_DDS_config.h>
 
 enum class ServiceIndex: uint8_t {
+#if AP_DDS_ARM_SERVER_ENABLED
     ARMING_MOTORS,
+#endif // #if AP_DDS_ARM_SERVER_ENABLED
+#if AP_DDS_MODE_SWITCH_SERVER_ENABLED
     MODE_SWITCH
+#endif // AP_DDS_MODE_SWITCH_SERVER_ENABLED
 };
 
 static inline constexpr uint8_t to_underlying(const ServiceIndex index)
@@ -12,6 +17,7 @@ static inline constexpr uint8_t to_underlying(const ServiceIndex index)
 }
 
 constexpr struct AP_DDS_Client::Service_table AP_DDS_Client::services[] = {
+#if AP_DDS_ARM_SERVER_ENABLED
     {
         .req_id = to_underlying(ServiceIndex::ARMING_MOTORS),
         .rep_id = to_underlying(ServiceIndex::ARMING_MOTORS),
@@ -28,6 +34,8 @@ constexpr struct AP_DDS_Client::Service_table AP_DDS_Client::services[] = {
             .depth = 5,
         },
     },
+#endif // AP_DDS_ARM_SERVER_ENABLED
+#if AP_DDS_MODE_SWITCH_SERVER_ENABLED
     {
         .req_id = to_underlying(ServiceIndex::MODE_SWITCH),
         .rep_id = to_underlying(ServiceIndex::MODE_SWITCH),
@@ -38,4 +46,5 @@ constexpr struct AP_DDS_Client::Service_table AP_DDS_Client::services[] = {
         .request_topic_name = "rq/ap/mode_switchRequest",
         .reply_topic_name = "rr/ap/mode_switchReply",
     },
+#endif // AP_DDS_MODE_SWITCH_SERVER_ENABLED
 };
diff --git a/libraries/AP_DDS/AP_DDS_Topic_Table.h b/libraries/AP_DDS/AP_DDS_Topic_Table.h
@@ -51,9 +51,9 @@ enum class TopicIndex: uint8_t {
 #if AP_DDS_JOY_SUB_ENABLED
     JOY_SUB,
 #endif // AP_DDS_JOY_SUB_ENABLED
-#if AP_DDS_DYNAMIC_TF_SUB
+#if AP_DDS_DYNAMIC_TF_SUB_ENABLED
     DYNAMIC_TRANSFORMS_SUB,
-#endif // AP_DDS_DYNAMIC_TF_SUB
+#endif // AP_DDS_DYNAMIC_TF_SUB_ENABLED
 #if AP_DDS_VEL_CTRL_ENABLED
     VELOCITY_CONTROL_SUB,
 #endif // AP_DDS_VEL_CTRL_ENABLED
@@ -286,7 +286,7 @@ constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = {
         },
     },
 #endif // AP_DDS_JOY_SUB_ENABLED
-#if AP_DDS_DYNAMIC_TF_SUB
+#if AP_DDS_DYNAMIC_TF_SUB_ENABLED
     {
         .topic_id = to_underlying(TopicIndex::DYNAMIC_TRANSFORMS_SUB),
         .pub_id = to_underlying(TopicIndex::DYNAMIC_TRANSFORMS_SUB),
@@ -303,7 +303,7 @@ constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = {
             .depth = 5,
         },
     },
-#endif // AP_DDS_DYNAMIC_TF_SUB
+#endif // AP_DDS_DYNAMIC_TF_SUB_ENABLED
 #if AP_DDS_VEL_CTRL_ENABLED
     {
         .topic_id = to_underlying(TopicIndex::VELOCITY_CONTROL_SUB),

diff --git a/libraries/AP_DDS/AP_DDS_config.h b/libraries/AP_DDS/AP_DDS_config.h
@@ -78,15 +78,23 @@
 #define AP_DDS_GLOBAL_POS_CTRL_ENABLED 1
 #endif
 
-#ifndef AP_DDS_DYNAMIC_TF_SUB
-#define AP_DDS_DYNAMIC_TF_SUB 1
+#ifndef AP_DDS_DYNAMIC_TF_SUB_ENABLED
+#define AP_DDS_DYNAMIC_TF_SUB_ENABLED 1
+#endif
+
+#ifndef AP_DDS_ARM_SERVER_ENABLED
+#define AP_DDS_ARM_SERVER_ENABLED 1
+#endif
+
+#ifndef AP_DDS_MODE_SWITCH_SERVER_ENABLED
+#define AP_DDS_MODE_SWITCH_SERVER_ENABLED 1
 #endif
 
 // Whether to include Twist support
 #define AP_DDS_NEEDS_TWIST AP_DDS_VEL_CTRL_ENABLED || AP_DDS_LOCAL_VEL_PUB_ENABLED
 
 // Whether to include Transform support
-#define AP_DDS_NEEDS_TRANSFORMS AP_DDS_DYNAMIC_TF_SUB || AP_DDS_STATIC_TF_PUB_ENABLED
+#define AP_DDS_NEEDS_TRANSFORMS AP_DDS_DYNAMIC_TF_SUB_ENABLED || AP_DDS_STATIC_TF_PUB_ENABLED
 
 #ifndef AP_DDS_DEFAULT_UDP_IP_ADDR
 #if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS