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Modify the LeddarOne driver class to utilize the PX4RangeFinder library.

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This commit is contained in:
mcsauder
2019-09-06 11:59:29 +02:00
committed by Julian Oes
parent 94d39e4466
commit ddd9a97d42
3 changed files with 56 additions and 52 deletions
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src/lib/drivers/rangefinder/PX4Rangefinder.cpp
+13 -9
View File
@@ -35,16 +35,14 @@
#include <lib/drivers/device/Device.hpp>
PX4Rangefinder::PX4Rangefinder(uint32_t device_id, uint8_t priority, uint8_t rotation) :
PX4Rangefinder::PX4Rangefinder(const uint32_t device_id, const uint8_t priority, const uint8_t device_orientation) :
CDev(nullptr),
_distance_sensor_pub{ORB_ID(distance_sensor), priority}
{
_class_device_instance = register_class_devname(RANGE_FINDER_BASE_DEVICE_PATH);
// TODO: range finders should have device ids
//_distance_sensor_pub.get().device_id = device_id;
_distance_sensor_pub.get().orientation = rotation;
set_device_id(device_id);
set_orientation(device_orientation);
}
PX4Rangefinder::~PX4Rangefinder()
@@ -55,7 +53,7 @@ PX4Rangefinder::~PX4Rangefinder()
}
void
PX4Rangefinder::set_device_type(uint8_t devtype)
PX4Rangefinder::set_device_type(uint8_t device_type)
{
// TODO: range finders should have device ids
@@ -71,13 +69,19 @@ PX4Rangefinder::set_device_type(uint8_t devtype)
}
void
PX4Rangefinder::update(hrt_abstime timestamp, float distance, int8_t quality)
PX4Rangefinder::set_orientation(const uint8_t device_orientation)
{
_distance_sensor_pub.get().orientation = device_orientation;
}
void
PX4Rangefinder::update(const hrt_abstime timestamp, const float distance, const int8_t quality)
{
distance_sensor_s &report = _distance_sensor_pub.get();
report.timestamp = timestamp;
report.current_distance = distance;
report.signal_quality = quality;
report.signal_quality = quality;
report.timestamp = timestamp;
_distance_sensor_pub.update();
}
src/lib/drivers/rangefinder/PX4Rangefinder.hpp
+21 -15
View File
@@ -45,27 +45,33 @@ class PX4Rangefinder : public cdev::CDev
{
public:
PX4Rangefinder(uint32_t device_id, uint8_t priority, uint8_t rotation);
PX4Rangefinder(const uint32_t device_id,
const uint8_t priority,
const uint8_t device_orientation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
~PX4Rangefinder() override;
void set_device_type(uint8_t devtype);
//void set_error_count(uint64_t error_count) { _distance_sensor_pub.get().error_count = error_count; }
void set_min_distance(float distance) { _distance_sensor_pub.get().min_distance = distance; }
void set_max_distance(float distance) { _distance_sensor_pub.get().max_distance = distance; }
void set_hfov(float fov) { _distance_sensor_pub.get().h_fov = fov; }
void set_vfov(float fov) { _distance_sensor_pub.get().v_fov = fov; }
void set_fov(float fov) { set_hfov(fov); set_vfov(fov); }
void update(hrt_abstime timestamp, float distance, int8_t quality = -1);
void print_status();
void set_device_type(uint8_t device_type);
//void set_error_count(uint64_t error_count) { _distance_sensor_pub.get().error_count = error_count; }
void set_device_id(const uint8_t device_id) { _distance_sensor_pub.get().id = device_id; };
void set_fov(const float fov) { set_hfov(fov); set_vfov(fov); }
void set_hfov(const float fov) { _distance_sensor_pub.get().h_fov = fov; }
void set_vfov(const float fov) { _distance_sensor_pub.get().v_fov = fov; }
void set_max_distance(const float distance) { _distance_sensor_pub.get().max_distance = distance; }
void set_min_distance(const float distance) { _distance_sensor_pub.get().min_distance = distance; }
void set_orientation(const uint8_t device_orientation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
void update(const hrt_abstime timestamp, const float distance, const int8_t quality = -1);
private:
uORB::PublicationMultiData<distance_sensor_s> _distance_sensor_pub;
uORB::PublicationMultiData<distance_sensor_s> _distance_sensor_pub;
int _class_device_instance{-1};
int _class_device_instance{-1};
};