move uavcan from modules to drivers

2026-10-19 00:53:34 +08:00 · 2018-12-04 01:06:54 -05:00
parent bbab66d974
commit 75b2053243
109 changed files with 84 additions and 71 deletions
@@ -0,0 +1,166 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2014 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 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#include "sensor_bridge.hpp"
+#include <cassert>
+
+#include "gnss.hpp"
+#include "mag.hpp"
+#include "baro.hpp"
+
+/*
+ * IUavcanSensorBridge
+ */
+void IUavcanSensorBridge::make_all(uavcan::INode &node, List<IUavcanSensorBridge *> &list)
+{
+	list.add(new UavcanBarometerBridge(node));
+	list.add(new UavcanMagnetometerBridge(node));
+	list.add(new UavcanGnssBridge(node));
+}
+
+/*
+ * UavcanCDevSensorBridgeBase
+ */
+UavcanCDevSensorBridgeBase::~UavcanCDevSensorBridgeBase()
+{
+	for (unsigned i = 0; i < _max_channels; i++) {
+		if (_channels[i].node_id >= 0) {
+			(void)unregister_class_devname(_class_devname, _channels[i].class_instance);
+		}
+	}
+
+	delete [] _channels;
+}
+
+void UavcanCDevSensorBridgeBase::publish(const int node_id, const void *report)
+{
+	assert(report != nullptr);
+
+	Channel *channel = nullptr;
+
+	// Checking if such channel already exists
+	for (unsigned i = 0; i < _max_channels; i++) {
+		if (_channels[i].node_id == node_id) {
+			channel = _channels + i;
+			break;
+		}
+	}
+
+	// No such channel - try to create one
+	if (channel == nullptr) {
+		if (_out_of_channels) {
+			return;           // Give up immediately - saves some CPU time
+		}
+
+		DEVICE_LOG("adding channel %d...", node_id);
+
+		// Search for the first free channel
+		for (unsigned i = 0; i < _max_channels; i++) {
+			if (_channels[i].node_id < 0) {
+				channel = _channels + i;
+				break;
+			}
+		}
+
+		// No free channels left
+		if (channel == nullptr) {
+			_out_of_channels = true;
+			DEVICE_LOG("out of channels");
+			return;
+		}
+
+		// update device id as we now know our device node_id
+		_device_id.devid_s.address = static_cast<uint8_t>(node_id);
+
+		// Ask the CDev helper which class instance we can take
+		const int class_instance = register_class_devname(_class_devname);
+
+		if (class_instance < 0 || class_instance >= int(_max_channels)) {
+			_out_of_channels = true;
+			DEVICE_LOG("out of class instances");
+			(void)unregister_class_devname(_class_devname, class_instance);
+			return;
+		}
+
+		// Publish to the appropriate topic, abort on failure
+		channel->node_id        = node_id;
+		channel->class_instance = class_instance;
+
+		channel->orb_advert = orb_advertise_multi(_orb_topic, report, &channel->orb_instance, ORB_PRIO_VERY_HIGH);
+
+		if (channel->orb_advert == nullptr) {
+			DEVICE_LOG("ADVERTISE FAILED");
+			(void)unregister_class_devname(_class_devname, class_instance);
+			*channel = Channel();
+			return;
+		}
+
+		DEVICE_LOG("channel %d class instance %d ok", channel->node_id, channel->class_instance);
+	}
+
+	assert(channel != nullptr);
+
+	(void)orb_publish(_orb_topic, channel->orb_advert, report);
+}
+
+unsigned UavcanCDevSensorBridgeBase::get_num_redundant_channels() const
+{
+	unsigned out = 0;
+
+	for (unsigned i = 0; i < _max_channels; i++) {
+		if (_channels[i].node_id >= 0) {
+			out += 1;
+		}
+	}
+
+	return out;
+}
+
+void UavcanCDevSensorBridgeBase::print_status() const
+{
+	printf("devname: %s\n", _class_devname);
+
+	for (unsigned i = 0; i < _max_channels; i++) {
+		if (_channels[i].node_id >= 0) {
+			printf("channel %d: node id %d --> class instance %d\n",
+			       i, _channels[i].node_id, _channels[i].class_instance);
+
+		} else {
+			printf("channel %d: empty\n", i);
+		}
+	}
+}