PX4Rangefinder.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 "PX4Rangefinder.hpp"
#include <lib/drivers/device/Device.hpp>
PX4Rangefinder::PX4Rangefinder(const uint32_t device_id, const uint8_t device_orientation)
{
set_device_id(device_id);
set_orientation(device_orientation);
set_rangefinder_type(distance_sensor_s::MAV_DISTANCE_SENSOR_LASER); // Default to type LASER
}
PX4Rangefinder::~PX4Rangefinder()
{
_distance_sensor_pub.unadvertise();
}
void PX4Rangefinder::set_device_type(uint8_t device_type)
{
// current DeviceStructure
union device::Device::DeviceId device_id;
device_id.devid = _distance_sensor_pub.get().device_id;
// update to new device type
device_id.devid_s.devtype = device_type;
// copy back to report
_distance_sensor_pub.get().device_id = device_id.devid;
}
void PX4Rangefinder::set_orientation(const uint8_t device_orientation)
{
_distance_sensor_pub.get().orientation = device_orientation;
}
void PX4Rangefinder::update(const hrt_abstime ×tamp_sample, const float distance, const int8_t quality)
{
distance_sensor_s &report = _distance_sensor_pub.get();
report.timestamp = timestamp_sample;
report.current_distance = distance;
report.signal_quality = quality;
// if quality is unavailable (-1) set to 0 if distance is outside bounds
if (quality < 0) {
if ((distance < report.min_distance) || (distance > report.max_distance)) {
report.signal_quality = 0;
}
}
_distance_sensor_pub.update();
}