rangefinder.hpp
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/****************************************************************************
*
* Copyright (c) 2020 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.
*
****************************************************************************/
/**
* @author RJ Gritter <rjgritter657@gmail.com>
*/
#pragma once
#include "sensor_bridge.hpp"
#include <uORB/topics/distance_sensor.h>
#include <drivers/rangefinder/PX4Rangefinder.hpp>
#include <uavcan/equipment/range_sensor/Measurement.hpp>
class UavcanRangefinderBridge : public UavcanSensorBridgeBase
{
public:
static const char *const NAME;
UavcanRangefinderBridge(uavcan::INode &node);
const char *get_name() const override { return NAME; }
int init() override;
private:
int init_driver(uavcan_bridge::Channel *channel) override;
void range_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::range_sensor::Measurement> &msg);
typedef uavcan::MethodBinder < UavcanRangefinderBridge *,
void (UavcanRangefinderBridge::*)
(const uavcan::ReceivedDataStructure<uavcan::equipment::range_sensor::Measurement> &) >
RangeCbBinder;
uavcan::Subscriber<uavcan::equipment::range_sensor::Measurement, RangeCbBinder> _sub_range_data;
float _range_min_m{0.0f};
float _range_max_m{0.0f};
bool _inited{false};
};