UAVCAN: GNSS sensor bridge: Support multiple pubs

UavcanGnssBridge did not support more than 1 GNSS callback/publisher.
This has now been fixed; it works the same as the baro, mag, and flow
sensor bridges.  The EKF2 still doesn't support more than 2 GPS
publishers, however.

src/drivers/uavcan/sensors/gnss.cpp

@@ -52,19 +52,36 @@ using namespace time_literals;
 const char *const UavcanGnssBridge::NAME = "gnss";
 
 UavcanGnssBridge::UavcanGnssBridge(uavcan::INode &node) :
+	UavcanCDevSensorBridgeBase("uavcan_gnss", "/dev/uavcan/gnss", "/dev/gnss", ORB_ID(vehicle_gps_position)),
 	_node(node),
 	_sub_auxiliary(node),
 	_sub_fix(node),
 	_sub_fix2(node),
 	_pub_fix2(node),
-	_orb_to_uavcan_pub_timer(node, TimerCbBinder(this, &UavcanGnssBridge::broadcast_from_orb))
+	_orb_to_uavcan_pub_timer(node, TimerCbBinder(this, &UavcanGnssBridge::broadcast_from_orb)),
+	_report_pub(nullptr),
+	_channel_using_fix2(new bool[_max_channels])
 {
+	for (uint8_t i = 0; i < _max_channels; i++) {
+		_channel_using_fix2[i] = false;
+	}
+}
+
+UavcanGnssBridge::~UavcanGnssBridge()
+{
+	delete [] _channel_using_fix2;
 }
 
 int
 UavcanGnssBridge::init()
 {
-	int res = _pub_fix2.init(uavcan::TransferPriority::MiddleLower);
+	int res = device::CDev::init();
+
+	if (res < 0) {
+		return res;
+	}
+
+	res = _pub_fix2.init(uavcan::TransferPriority::MiddleLower);
 
 	if (res < 0) {
 		PX4_WARN("GNSS fix2 pub failed %i", res);
@@ -97,26 +114,6 @@ UavcanGnssBridge::init()
 	return res;
 }
 
-unsigned
-UavcanGnssBridge::get_num_redundant_channels() const
-{
-	return (_receiver_node_id < 0) ? 0 : 1;
-}
-
-void
-UavcanGnssBridge::print_status() const
-{
-	printf("RX errors: %d, using old Fix: %d, receiver node id: ",
-	       _sub_fix.getFailureCount(), int(_old_fix_subscriber_active));
-
-	if (_receiver_node_id < 0) {
-		printf("N/A\n");
-
-	} else {
-		printf("%d\n", _receiver_node_id);
-	}
-}
-
 void
 UavcanGnssBridge::gnss_auxiliary_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Auxiliary> &msg)
 {
@@ -129,6 +126,14 @@ UavcanGnssBridge::gnss_auxiliary_sub_cb(const uavcan::ReceivedDataStructure<uavc
 void
 UavcanGnssBridge::gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix> &msg)
 {
+	// Check to see if this node is also publishing a Fix2 message.
+	// If so, ignore the old "Fix" message for this node.
+	const int8_t ch = get_channel_index_for_node(msg.getSrcNodeID().get());
+
+	if (ch > -1 && _channel_using_fix2[ch]) {
+		return;
+	}
+
 	const bool valid_pos_cov = !msg.position_covariance.empty();
 	const bool valid_vel_cov = !msg.velocity_covariance.empty();
 
@@ -144,11 +149,11 @@ UavcanGnssBridge::gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavcan::eq
 void
 UavcanGnssBridge::gnss_fix2_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix2> &msg)
 {
-	if (_old_fix_subscriber_active) {
+	const int8_t ch = get_channel_index_for_node(msg.getSrcNodeID().get());
-		PX4_INFO("GNSS Fix2 message detected, disabling support for the old Fix message");
+
-		_sub_fix.stop();
+	if (ch > -1 && !_channel_using_fix2[ch]) {
-		_old_fix_subscriber_active = false;
+		PX4_WARN("GNSS Fix2 msg detected for ch %d; disabling Fix msg for this node", ch);
-		_receiver_node_id = -1;
+		_channel_using_fix2[ch] = true;
 	}
 
 	float pos_cov[9] {};
@@ -263,18 +268,7 @@ void UavcanGnssBridge::process_fixx(const uavcan::ReceivedDataStructure<FixType>
 				    const float (&pos_cov)[9], const float (&vel_cov)[9],
 				    const bool valid_pos_cov, const bool valid_vel_cov)
 {
-	// This bridge does not support redundant GNSS receivers yet.
+	auto report = ::vehicle_gps_position_s();
-	if (_receiver_node_id < 0) {
-		_receiver_node_id = msg.getSrcNodeID().get();
-		PX4_INFO("GNSS receiver node ID: %d", _receiver_node_id);
-
-	} else {
-		if (_receiver_node_id != msg.getSrcNodeID().get()) {
-			return;  // This GNSS receiver is the redundant one, ignore it.
-		}
-	}
-
-	vehicle_gps_position_s report{};
 
 	/*
 	 * FIXME HACK
@@ -400,14 +394,7 @@ void UavcanGnssBridge::process_fixx(const uavcan::ReceivedDataStructure<FixType>
 	report.heading = NAN;
 	report.heading_offset = NAN;
 
-	// Publish to a multi-topic
+	publish(msg.getSrcNodeID().get(), &report);
-	_gps_pub.publish(report);
-
-	// Doing less time critical stuff here
-	if (_orb_to_uavcan_pub_timer.isRunning()) {
-		_orb_to_uavcan_pub_timer.stop();
-		PX4_INFO("GNSS ORB->UAVCAN bridge stopped, because there are other GNSS publishers");
-	}
 }
 
 void

src/drivers/uavcan/sensors/gnss.hpp

@@ -55,7 +55,7 @@
 
 #include "sensor_bridge.hpp"
 
-class UavcanGnssBridge : public IUavcanSensorBridge
+class UavcanGnssBridge : public UavcanCDevSensorBridgeBase
 {
 	static constexpr unsigned ORB_TO_UAVCAN_FREQUENCY_HZ = 10;
 
@@ -63,16 +63,12 @@ public:
 	static const char *const NAME;
 
 	UavcanGnssBridge(uavcan::INode &node);
-	~UavcanGnssBridge() = default;
+	~UavcanGnssBridge();
 
 	const char *get_name() const override { return NAME; }
 
 	int init() override;
 
-	unsigned get_num_redundant_channels() const override;
-
-	void print_status() const override;
-
 private:
 	/**
 	 * GNSS fix message will be reported via this callback.
@@ -123,6 +119,10 @@ private:
 
 	int	_receiver_node_id{-1};
 	bool	_old_fix_subscriber_active{true};
-	bool	_system_clock_set{false};			///< Have we set the system clock at least once from GNSS data?
 
+	orb_advert_t _report_pub;                ///< uORB pub for gnss position
+
+	bool _system_clock_set{false};  ///< Have we set the system clock at least once from GNSS data?
+
+	bool *_channel_using_fix2; ///< Flag for whether each channel is using Fix2 or Fix msg
 };

src/drivers/uavcan/sensors/sensor_bridge.cpp

@@ -154,8 +154,21 @@ UavcanCDevSensorBridgeBase::get_num_redundant_channels() const
 	return out;
 }
 
-void
+int8_t UavcanCDevSensorBridgeBase::get_channel_index_for_node(int node_id)
-UavcanCDevSensorBridgeBase::print_status() const
+{
+	int8_t ch = -1;
+
+	for (unsigned i = 0; i < _max_channels; i++) {
+		if (_channels[i].node_id == node_id) {
+			ch = i;
+			break;
+		}
+	}
+
+	return ch;
+}
+
+void UavcanCDevSensorBridgeBase::print_status() const
 {
 	printf("devname: %s\n", _class_devname);
 

src/drivers/uavcan/sensors/sensor_bridge.hpp

@@ -94,7 +94,6 @@ class UavcanCDevSensorBridgeBase : public IUavcanSensorBridge, public device::CD
 		int orb_instance	 = -1;
 	};
 
-	const unsigned _max_channels;
 	const char *const _class_devname;
 	const orb_id_t _orb_topic;
 	Channel *const _channels;
@@ -102,15 +101,16 @@ class UavcanCDevSensorBridgeBase : public IUavcanSensorBridge, public device::CD
 
 protected:
 	static constexpr unsigned DEFAULT_MAX_CHANNELS = 5;
+	const unsigned _max_channels;
 
 	UavcanCDevSensorBridgeBase(const char *name, const char *devname, const char *class_devname,
 				   const orb_id_t orb_topic_sensor,
 				   const unsigned max_channels = DEFAULT_MAX_CHANNELS) :
 		device::CDev(name, devname),
-		_max_channels(max_channels),
 		_class_devname(class_devname),
 		_orb_topic(orb_topic_sensor),
-		_channels(new Channel[max_channels])
+		_channels(new Channel[max_channels]),
+		_max_channels(max_channels)
 	{
 		_device_id.devid_s.bus_type = DeviceBusType_UAVCAN;
 		_device_id.devid_s.bus = 0;
@@ -129,5 +129,7 @@ public:
 
 	unsigned get_num_redundant_channels() const override;
 
+	int8_t get_channel_index_for_node(int node_id);
+
 	void print_status() const override;
 };