sensor_gps.hpp
3.07 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
/****************************************************************************
*
* 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.
*
****************************************************************************/
/**
* @file sensor_gps.hpp
*
* Defines uORB over UAVCANv1 sensor_gps subscriber
*
* @author Peter van der Perk <peter.vanderperk@nxp.com>
*/
#pragma once
#include <uORB/topics/sensor_gps.h>
#include <uORB/PublicationMulti.hpp>
#include "../DynamicPortSubscriber.hpp"
class UORB_over_UAVCAN_sensor_gps_Subscriber : public UavcanDynamicPortSubscriber
{
public:
UORB_over_UAVCAN_sensor_gps_Subscriber(CanardInstance &ins, UavcanParamManager &pmgr, uint8_t instance = 0) :
UavcanDynamicPortSubscriber(ins, pmgr, "uorb.sensor_gps", instance) { };
void subscribe() override
{
// Subscribe to messages uORB sensor_gps payload over UAVCAN
canardRxSubscribe(&_canard_instance,
CanardTransferKindMessage,
_subj_sub._canard_sub._port_id,
sizeof(struct sensor_gps_s),
CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC * 10000,
&_subj_sub._canard_sub);
};
void callback(const CanardTransfer &receive) override
{
//PX4_INFO("uORB sensor_gps Callback");
if (receive.payload_size == sizeof(struct sensor_gps_s)) {
sensor_gps_s *gps_msg = (sensor_gps_s *)receive.payload;
_sensor_gps_pub.publish(*gps_msg);
} else {
PX4_ERR("uORB over UAVCAN %s playload size mismatch got %d expected %d",
_subj_sub._subject_name, receive.payload_size, sizeof(struct sensor_gps_s));
}
};
private:
uORB::PublicationMulti<sensor_gps_s> _sensor_gps_pub{ORB_ID(sensor_gps)};
};