improve udral actuators

RaccoonlabDev · Oct 9, 2023 · ac4ff30 · ac4ff30
1 parent f29e407
commit ac4ff30
Show file tree

Hide file tree

Showing 2 changed files with 9 additions and 6 deletions.
diff --git a/Udral/actuator.cpp b/Udral/actuator.cpp
@@ -13,7 +13,7 @@ SetpointSubscriber::SetpointSubscriber(Cyphal* driver_) :
 int8_t SetpointSubscriber::init() {
     port_id = paramsGetIntegerValue(IntParamsIndexes::SETPOINT_ID);
     if (driver->subscribe(this,
-                reg_udral_service_actuator_common_sp_Vector4_0_1_EXTENT_BYTES_,
+                reg_udral_service_actuator_common_sp_Vector31_0_1_EXTENT_BYTES_,
                 CanardTransferKindMessage) < 0) {
         return -1;
     }
@@ -24,11 +24,12 @@ int8_t SetpointSubscriber::init() {
 void SetpointSubscriber::callback(const CanardRxTransfer& transfer) {
     const uint8_t* payload = static_cast<const uint8_t*>(transfer.payload);
     size_t payload_len = transfer.payload_size;
-    reg_udral_service_actuator_common_sp_Vector4_0_1_deserialize_(&msg, payload, &payload_len);
+    reg_udral_service_actuator_common_sp_Vector31_0_1_deserialize_(&msg, payload, &payload_len);
+    _setpoint_size = payload_len / 2;
     _recv_counter++;
 }
 
-const reg_udral_service_actuator_common_sp_Vector4_0_1& SetpointSubscriber::get_setpoint() const {
+const reg_udral_service_actuator_common_sp_Vector31_0_1& SetpointSubscriber::get_setpoint() const {
     return msg;
 }
 

diff --git a/Udral/actuator.hpp b/Udral/actuator.hpp
@@ -7,20 +7,22 @@
 
 #include "cyphal.hpp"
 #include "reg/udral/service/actuator/common/sp/Scalar_0_1.h"
-#include "reg/udral/service/actuator/common/sp/Vector4_0_1.h"
+#include "reg/udral/service/actuator/common/sp/Vector31_0_1.h"
 #include "reg/udral/service/common/Readiness_0_1.h"
 
 
 struct SetpointSubscriber: public CyphalSubscriber {
     SetpointSubscriber(Cyphal* driver);
     int8_t init();
     void callback(const CanardRxTransfer& transfer) override;
-    const reg_udral_service_actuator_common_sp_Vector4_0_1& get_setpoint() const;
+    const reg_udral_service_actuator_common_sp_Vector31_0_1& get_setpoint() const;
+    uint8_t get_setpoint_size() const {return _setpoint_size;};
     uint32_t get_recv_counter() const;
     void clear_recv_counter();
 private:
-    reg_udral_service_actuator_common_sp_Vector4_0_1 msg = {};
+    reg_udral_service_actuator_common_sp_Vector31_0_1 msg = {};
     uint32_t _recv_counter{0};
+    uint8_t _setpoint_size{0};
 };