flow.cpp
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/****************************************************************************
*
* Copyright (c) 2019 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.
*
****************************************************************************/
#include "flow.hpp"
#include <drivers/drv_hrt.h>
const char *const UavcanFlowBridge::NAME = "flow";
UavcanFlowBridge::UavcanFlowBridge(uavcan::INode &node) :
UavcanSensorBridgeBase("uavcan_flow", ORB_ID(optical_flow)),
_sub_flow(node)
{
}
int
UavcanFlowBridge::init()
{
int res = _sub_flow.start(FlowCbBinder(this, &UavcanFlowBridge::flow_sub_cb));
if (res < 0) {
DEVICE_LOG("failed to start uavcan sub: %d", res);
return res;
}
return 0;
}
void UavcanFlowBridge::flow_sub_cb(const uavcan::ReceivedDataStructure<com::hex::equipment::flow::Measurement> &msg)
{
optical_flow_s flow{};
// We're only given an 8 bit field for sensor ID; just use the UAVCAN node ID
flow.sensor_id = msg.getSrcNodeID().get();
flow.timestamp = hrt_absolute_time();
flow.integration_timespan = 1.e6f * msg.integration_interval; // s -> micros
flow.pixel_flow_x_integral = msg.flow_integral[0];
flow.pixel_flow_y_integral = msg.flow_integral[1];
flow.gyro_x_rate_integral = msg.rate_gyro_integral[0];
flow.gyro_y_rate_integral = msg.rate_gyro_integral[1];
flow.quality = msg.quality;
flow.max_flow_rate = 5.0f; // Datasheet: 7.4 rad/s
flow.min_ground_distance = 0.1f; // Datasheet: 80mm
flow.max_ground_distance = 30.0f; // Datasheet: infinity
publish(msg.getSrcNodeID().get(), &flow);
}