mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-18 11:33:33 +08:00
ll40ls: cleanup and create PX4Rangerfinder helper class (#12567)
This commit is contained in:
Daniel Agar
@@ -1,6 +1,6 @@
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############################################################################
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#
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# Copyright (c) 2017 PX4 Development Team. All rights reserved.
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# Copyright (c) 2017-2019 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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@@ -39,5 +39,6 @@ add_subdirectory(gyroscope)
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add_subdirectory(led)
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add_subdirectory(linux_gpio)
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add_subdirectory(magnetometer)
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add_subdirectory(rangefinder)
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add_subdirectory(smbus)
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add_subdirectory(tone_alarm)
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@@ -0,0 +1,34 @@
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############################################################################
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#
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# Copyright (c) 2019 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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px4_add_library(drivers_rangefinder PX4Rangefinder.cpp)
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@@ -0,0 +1,92 @@
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/****************************************************************************
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*
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* Copyright (c) 2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include "PX4Rangefinder.hpp"
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#include <lib/drivers/device/Device.hpp>
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PX4Rangefinder::PX4Rangefinder(uint32_t device_id, uint8_t priority, uint8_t rotation) :
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CDev(nullptr),
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_distance_sensor_pub{ORB_ID(distance_sensor), priority},
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_rotation{rotation}
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{
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_class_device_instance = register_class_devname(RANGE_FINDER_BASE_DEVICE_PATH);
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// TODO: range finders should have device ids
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//_distance_sensor_pub.get().device_id = device_id;
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_distance_sensor_pub.get().orientation = rotation;
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}
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PX4Rangefinder::~PX4Rangefinder()
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{
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if (_class_device_instance != -1) {
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unregister_class_devname(RANGE_FINDER_BASE_DEVICE_PATH, _class_device_instance);
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}
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}
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void
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PX4Rangefinder::set_device_type(uint8_t devtype)
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{
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// TODO: range finders should have device ids
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// // current DeviceStructure
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// union device::Device::DeviceId device_id;
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// device_id.devid = _distance_sensor_pub.get().device_id;
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// // update to new device type
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// device_id.devid_s.devtype = devtype;
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// // copy back to report
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// _distance_sensor_pub.get().device_id = device_id.devid;
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}
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void
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PX4Rangefinder::update(hrt_abstime timestamp, float distance, int8_t quality)
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{
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distance_sensor_s &report = _distance_sensor_pub.get();
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report.timestamp = timestamp;
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report.current_distance = distance;
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report.signal_quality = quality;
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_distance_sensor_pub.update();
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}
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void
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PX4Rangefinder::print_status()
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{
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PX4_INFO(RANGE_FINDER_BASE_DEVICE_PATH " device instance: %d", _class_device_instance);
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print_message(_distance_sensor_pub.get());
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}
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@@ -0,0 +1,73 @@
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/****************************************************************************
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*
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* Copyright (c) 2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
|
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#pragma once
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#include <drivers/drv_hrt.h>
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#include <drivers/drv_range_finder.h>
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#include <lib/cdev/CDev.hpp>
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#include <lib/conversion/rotation.h>
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#include <uORB/uORB.h>
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#include <uORB/Publication.hpp>
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#include <uORB/topics/distance_sensor.h>
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class PX4Rangefinder : public cdev::CDev
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{
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public:
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PX4Rangefinder(uint32_t device_id, uint8_t priority, uint8_t rotation);
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~PX4Rangefinder() override;
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void set_device_type(uint8_t devtype);
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//void set_error_count(uint64_t error_count) { _distance_sensor_pub.get().error_count = error_count; }
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void set_min_distance(float distance) { _distance_sensor_pub.get().min_distance = distance; }
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void set_max_distance(float distance) { _distance_sensor_pub.get().max_distance = distance; }
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void set_hfov(float fov) { _distance_sensor_pub.get().h_fov = fov; }
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void set_vfov(float fov) { _distance_sensor_pub.get().v_fov = fov; }
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void set_fov(float fov) { set_hfov(fov); set_vfov(fov); }
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void update(hrt_abstime timestamp, float distance, int8_t quality = -1);
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void print_status();
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private:
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uORB::PublicationData<distance_sensor_s> _distance_sensor_pub;
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const uint8_t _rotation;
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int _class_device_instance{-1};
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};
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