FlowMeasurement.hpp
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/****************************************************************************
*
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#pragma once
#include "UavcanPublisherBase.hpp"
#include <com/hex/equipment/flow/Measurement.hpp>
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/topics/optical_flow.h>
namespace uavcannode
{
class FlowMeasurement :
public UavcanPublisherBase,
public uORB::SubscriptionCallbackWorkItem,
private uavcan::Publisher<com::hex::equipment::flow::Measurement>
{
public:
FlowMeasurement(px4::WorkItem *work_item, uavcan::INode &node) :
UavcanPublisherBase(com::hex::equipment::flow::Measurement::DefaultDataTypeID),
uORB::SubscriptionCallbackWorkItem(work_item, ORB_ID(optical_flow)),
uavcan::Publisher<com::hex::equipment::flow::Measurement>(node)
{}
void PrintInfo() override
{
if (uORB::SubscriptionCallbackWorkItem::advertised()) {
printf("\t%s -> %s:%d\n",
uORB::SubscriptionCallbackWorkItem::get_topic()->o_name,
com::hex::equipment::flow::Measurement::getDataTypeFullName(),
com::hex::equipment::flow::Measurement::DefaultDataTypeID);
}
}
void BroadcastAnyUpdates() override
{
// optical_flow -> com::hex::equipment::flow::Measurement
optical_flow_s optical_flow;
if (uORB::SubscriptionCallbackWorkItem::update(&optical_flow)) {
com::hex::equipment::flow::Measurement measurement{};
measurement.integration_interval = optical_flow.integration_timespan * 1e-6f; // us -> s
measurement.rate_gyro_integral[0] = optical_flow.gyro_x_rate_integral;
measurement.rate_gyro_integral[1] = optical_flow.gyro_y_rate_integral;
measurement.flow_integral[0] = optical_flow.pixel_flow_x_integral;
measurement.flow_integral[1] = optical_flow.pixel_flow_y_integral;
measurement.quality = optical_flow.quality;
uavcan::Publisher<com::hex::equipment::flow::Measurement>::broadcast(measurement);
// ensure callback is registered
uORB::SubscriptionCallbackWorkItem::registerCallback();
}
}
};
} // namespace uavcannode