TFMINI.hpp
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/****************************************************************************
*
* Copyright (c) 2017-2019 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 tfmini.cpp
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Greg Hulands
* @author Ayush Gaud <ayush.gaud@gmail.com>
* @author Christoph Tobler <christoph@px4.io>
* @author Mohammed Kabir <mhkabir@mit.edu>
*
* Driver for the Benewake TFmini laser rangefinder series
*/
#pragma once
#include <termios.h>
#include <drivers/drv_hrt.h>
#include <lib/perf/perf_counter.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/module.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <lib/drivers/rangefinder/PX4Rangefinder.hpp>
#include <uORB/topics/distance_sensor.h>
#include "tfmini_parser.h"
#define TFMINI_DEFAULT_PORT "/dev/ttyS3"
using namespace time_literals;
class TFMINI : public px4::ScheduledWorkItem
{
public:
TFMINI(const char *port, uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
virtual ~TFMINI();
int init();
void print_info();
private:
int collect();
void Run() override;
void start();
void stop();
PX4Rangefinder _px4_rangefinder;
TFMINI_PARSE_STATE _parse_state {TFMINI_PARSE_STATE::STATE0_UNSYNC};
char _linebuf[10] {};
char _port[20] {};
static constexpr int kCONVERSIONINTERVAL{9_ms};
int _fd{-1};
unsigned int _linebuf_index{0};
hrt_abstime _last_read{0};
perf_counter_t _comms_errors{perf_alloc(PC_COUNT, MODULE_NAME": com_err")};
perf_counter_t _sample_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": read")};
};