DISTANCE_SENSOR.hpp
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/****************************************************************************
*
* Copyright (c) 2020 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.
*
****************************************************************************/
#ifndef DISTANCE_SENSOR_HPP
#define DISTANCE_SENSOR_HPP
#include <uORB/SubscriptionMultiArray.hpp>
#include <uORB/topics/distance_sensor.h>
class MavlinkStreamDistanceSensor : public MavlinkStream
{
public:
static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamDistanceSensor(mavlink); }
static constexpr const char *get_name_static() { return "DISTANCE_SENSOR"; }
static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_DISTANCE_SENSOR; }
const char *get_name() const override { return get_name_static(); }
uint16_t get_id() override { return get_id_static(); }
unsigned get_size() override
{
return _distance_sensor_subs.advertised_count() * (MAVLINK_MSG_ID_DISTANCE_SENSOR_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES);
}
private:
explicit MavlinkStreamDistanceSensor(Mavlink *mavlink) : MavlinkStream(mavlink) {}
uORB::SubscriptionMultiArray<distance_sensor_s> _distance_sensor_subs{ORB_ID::distance_sensor};
bool send() override
{
bool updated = false;
for (int i = 0; i < _distance_sensor_subs.size(); i++) {
distance_sensor_s dist_sensor;
if (_distance_sensor_subs[i].update(&dist_sensor)) {
mavlink_distance_sensor_t msg{};
msg.time_boot_ms = dist_sensor.timestamp / 1000; /* us to ms */
switch (dist_sensor.type) {
case MAV_DISTANCE_SENSOR_ULTRASOUND:
msg.type = MAV_DISTANCE_SENSOR_ULTRASOUND;
break;
case MAV_DISTANCE_SENSOR_LASER:
msg.type = MAV_DISTANCE_SENSOR_LASER;
break;
case MAV_DISTANCE_SENSOR_INFRARED:
msg.type = MAV_DISTANCE_SENSOR_INFRARED;
break;
default:
msg.type = MAV_DISTANCE_SENSOR_LASER;
break;
}
msg.current_distance = dist_sensor.current_distance * 1e2f; // m to cm
msg.id = i;
msg.max_distance = dist_sensor.max_distance * 1e2f; // m to cm
msg.min_distance = dist_sensor.min_distance * 1e2f; // m to cm
msg.orientation = dist_sensor.orientation;
msg.covariance = dist_sensor.variance * 1e4f; // m^2 to cm^2
mavlink_msg_distance_sensor_send_struct(_mavlink->get_channel(), &msg);
updated = true;
}
}
return updated;
}
};
#endif // DISTANCE_SENSOR