gnss.hpp
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/****************************************************************************
*
* Copyright (c) 2014-2019 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.
*
****************************************************************************/
/**
* @file gnss.hpp
*
* UAVCAN <--> ORB bridge for GNSS messages:
* uavcan.equipment.gnss.Fix (deprecated, but still supported for backward compatibility)
* uavcan.equipment.gnss.Fix2
*
* @author Pavel Kirienko <pavel.kirienko@gmail.com>
* @author Andrew Chambers <achamber@gmail.com>
*/
#pragma once
#include <uORB/Subscription.hpp>
#include <uORB/PublicationMulti.hpp>
#include <uORB/topics/sensor_gps.h>
#include <uORB/topics/gps_inject_data.h>
#include <uavcan/uavcan.hpp>
#include <uavcan/equipment/gnss/Auxiliary.hpp>
#include <uavcan/equipment/gnss/Fix.hpp>
#include <uavcan/equipment/gnss/Fix2.hpp>
#include <uavcan/equipment/gnss/RTCMStream.hpp>
#include <lib/perf/perf_counter.h>
#include "sensor_bridge.hpp"
class UavcanGnssBridge : public UavcanSensorBridgeBase
{
static constexpr unsigned ORB_TO_UAVCAN_FREQUENCY_HZ = 10;
public:
static const char *const NAME;
UavcanGnssBridge(uavcan::INode &node);
~UavcanGnssBridge();
const char *get_name() const override { return NAME; }
int init() override;
void update() override;
void print_status() const override;
private:
/**
* GNSS fix message will be reported via this callback.
*/
void gnss_auxiliary_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Auxiliary> &msg);
void gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix> &msg);
void gnss_fix2_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix2> &msg);
template <typename FixType>
void process_fixx(const uavcan::ReceivedDataStructure<FixType> &msg,
uint8_t fix_type,
const float (&pos_cov)[9], const float (&vel_cov)[9],
const bool valid_pos_cov, const bool valid_vel_cov);
void handleInjectDataTopic();
bool injectData(const uint8_t *data, size_t data_len);
typedef uavcan::MethodBinder < UavcanGnssBridge *,
void (UavcanGnssBridge::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Auxiliary> &) >
AuxiliaryCbBinder;
typedef uavcan::MethodBinder < UavcanGnssBridge *,
void (UavcanGnssBridge::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix> &) >
FixCbBinder;
typedef uavcan::MethodBinder < UavcanGnssBridge *,
void (UavcanGnssBridge::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix2> &) >
Fix2CbBinder;
typedef uavcan::MethodBinder<UavcanGnssBridge *,
void (UavcanGnssBridge::*)(const uavcan::TimerEvent &)>
TimerCbBinder;
uavcan::INode &_node;
uavcan::Subscriber<uavcan::equipment::gnss::Auxiliary, AuxiliaryCbBinder> _sub_auxiliary;
uavcan::Subscriber<uavcan::equipment::gnss::Fix, FixCbBinder> _sub_fix;
uavcan::Subscriber<uavcan::equipment::gnss::Fix2, Fix2CbBinder> _sub_fix2;
uavcan::Publisher<uavcan::equipment::gnss::RTCMStream> _pub_rtcm;
uint64_t _last_gnss_auxiliary_timestamp{0};
float _last_gnss_auxiliary_hdop{0.0f};
float _last_gnss_auxiliary_vdop{0.0f};
uORB::Subscription _orb_inject_data_sub{ORB_ID(gps_inject_data)};
bool _system_clock_set{false}; ///< Have we set the system clock at least once from GNSS data?
bool *_channel_using_fix2; ///< Flag for whether each channel is using Fix2 or Fix msg
perf_counter_t _rtcm_perf;
};