RangeSensorMeasurement.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 <uavcan/equipment/range_sensor/Measurement.hpp>
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/topics/distance_sensor.h>
namespace uavcannode
{
class RangeSensorMeasurement :
public UavcanPublisherBase,
public uORB::SubscriptionCallbackWorkItem,
private uavcan::Publisher<uavcan::equipment::range_sensor::Measurement>
{
public:
RangeSensorMeasurement(px4::WorkItem *work_item, uavcan::INode &node, uint8_t instance = 0) :
UavcanPublisherBase(uavcan::equipment::range_sensor::Measurement::DefaultDataTypeID),
uORB::SubscriptionCallbackWorkItem(work_item, ORB_ID(distance_sensor), instance),
uavcan::Publisher<uavcan::equipment::range_sensor::Measurement>(node)
{}
void PrintInfo() override
{
if (uORB::SubscriptionCallbackWorkItem::advertised()) {
printf("\t%s -> %s:%d\n",
uORB::SubscriptionCallbackWorkItem::get_topic()->o_name,
uavcan::equipment::range_sensor::Measurement::getDataTypeFullName(),
uavcan::equipment::range_sensor::Measurement::DefaultDataTypeID);
}
}
void BroadcastAnyUpdates() override
{
// distance_sensor[] -> uavcan::equipment::range_sensor::Measurement
distance_sensor_s dist;
if (uORB::SubscriptionCallbackWorkItem::update(&dist)) {
uavcan::equipment::range_sensor::Measurement range_sensor{};
range_sensor.sensor_id = get_instance();
range_sensor.range = dist.current_distance;
range_sensor.field_of_view = dist.h_fov;
// sensor type
switch (dist.type) {
case distance_sensor_s::MAV_DISTANCE_SENSOR_LASER:
range_sensor.sensor_type = uavcan::equipment::range_sensor::Measurement::SENSOR_TYPE_LIDAR;
break;
case distance_sensor_s::MAV_DISTANCE_SENSOR_ULTRASOUND:
range_sensor.sensor_type = uavcan::equipment::range_sensor::Measurement::SENSOR_TYPE_SONAR;
break;
case distance_sensor_s::MAV_DISTANCE_SENSOR_RADAR:
range_sensor.sensor_type = uavcan::equipment::range_sensor::Measurement::SENSOR_TYPE_RADAR;
break;
case distance_sensor_s::MAV_DISTANCE_SENSOR_INFRARED:
default:
range_sensor.sensor_type = uavcan::equipment::range_sensor::Measurement::SENSOR_TYPE_UNDEFINED;
break;
}
// reading_type
if (dist.current_distance >= dist.max_distance) {
range_sensor.reading_type = uavcan::equipment::range_sensor::Measurement::READING_TYPE_TOO_FAR;
} else if (dist.current_distance <= dist.min_distance) {
range_sensor.reading_type = uavcan::equipment::range_sensor::Measurement::READING_TYPE_TOO_CLOSE;
} else if (dist.signal_quality != 0) {
range_sensor.reading_type = uavcan::equipment::range_sensor::Measurement::READING_TYPE_VALID_RANGE;
} else {
range_sensor.reading_type = uavcan::equipment::range_sensor::Measurement::READING_TYPE_UNDEFINED;
}
uavcan::Publisher<uavcan::equipment::range_sensor::Measurement>::broadcast(range_sensor);
// ensure callback is registered
uORB::SubscriptionCallbackWorkItem::registerCallback();
}
}
};
} // namespace uavcannode