From ee96d209d78510fe7bcc2c34e526648fa79c0135 Mon Sep 17 00:00:00 2001
From: Alex Klimaj <alex@arkelectron.com>
Date: Wed, 24 May 2023 19:27:50 -0600
Subject: [PATCH] drivers/uavcannode: add GNSS Auxiliary publisher

---
 .../uavcannode/Publishers/GnssAuxiliary.hpp   | 100 ++++++++++++++++++
 src/drivers/uavcannode/UavcanNode.cpp         |   2 +
 2 files changed, 102 insertions(+)
 create mode 100644 src/drivers/uavcannode/Publishers/GnssAuxiliary.hpp

diff --git a/src/drivers/uavcannode/Publishers/GnssAuxiliary.hpp b/src/drivers/uavcannode/Publishers/GnssAuxiliary.hpp
new file mode 100644
index 0000000000..6a57cccdc7
--- /dev/null
+++ b/src/drivers/uavcannode/Publishers/GnssAuxiliary.hpp
@@ -0,0 +1,100 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2023 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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <cmath>
+
+#include "UavcanPublisherBase.hpp"
+
+#include <uavcan/equipment/gnss/Auxiliary.hpp>
+
+#include <uORB/SubscriptionCallback.hpp>
+#include <uORB/topics/sensor_gps.h>
+
+namespace uavcannode
+{
+
+class GnssAuxiliary :
+	public UavcanPublisherBase,
+	public uORB::SubscriptionCallbackWorkItem,
+	private uavcan::Publisher<uavcan::equipment::gnss::Auxiliary>
+{
+public:
+	GnssAuxiliary(px4::WorkItem *work_item, uavcan::INode &node) :
+		UavcanPublisherBase(uavcan::equipment::gnss::Auxiliary::DefaultDataTypeID),
+		uORB::SubscriptionCallbackWorkItem(work_item, ORB_ID(sensor_gps)),
+		uavcan::Publisher<uavcan::equipment::gnss::Auxiliary>(node)
+	{
+		this->setPriority(uavcan::TransferPriority::Default);
+	}
+
+	void PrintInfo() override
+	{
+		if (uORB::SubscriptionCallbackWorkItem::advertised()) {
+			printf("\t%s -> %s:%d\n",
+			       uORB::SubscriptionCallbackWorkItem::get_topic()->o_name,
+			       uavcan::equipment::gnss::Auxiliary::getDataTypeFullName(),
+			       id());
+		}
+	}
+
+	void BroadcastAnyUpdates() override
+	{
+		using uavcan::equipment::gnss::Auxiliary;
+
+		// sensor_gps -> uavcan::equipment::gnss::Auxiliary
+		sensor_gps_s gps;
+
+		if (uORB::SubscriptionCallbackWorkItem::update(&gps)) {
+			uavcan::equipment::gnss::Auxiliary auxiliary{};
+
+			//auxiliary.gdop = gps.gdop;
+			//auxiliary.pdop = gps.pdop;
+			auxiliary.hdop = gps.hdop;
+			auxiliary.vdop = gps.vdop;
+			//auxiliary.tdop = gps.tdop;
+			//auxiliary.ndop = gps.ndop;
+			//auxiliary.edop = gps.edop;
+
+			auxiliary.sats_visible = gps.satellites_used;
+			auxiliary.sats_used = gps.satellites_used;
+
+			uavcan::Publisher<uavcan::equipment::gnss::Auxiliary>::broadcast(auxiliary);
+
+			// ensure callback is registered
+			uORB::SubscriptionCallbackWorkItem::registerCallback();
+		}
+	}
+};
+} // namespace uavcannode
diff --git a/src/drivers/uavcannode/UavcanNode.cpp b/src/drivers/uavcannode/UavcanNode.cpp
index 8ac153380e..810a4fd0ca 100644
--- a/src/drivers/uavcannode/UavcanNode.cpp
+++ b/src/drivers/uavcannode/UavcanNode.cpp
@@ -58,6 +58,7 @@
 
 #if defined(CONFIG_UAVCANNODE_GNSS_FIX)
 #include "Publishers/GnssFix2.hpp"
+#include "Publishers/GnssAuxiliary.hpp"
 #endif // CONFIG_UAVCANNODE_GNSS_FIX
 
 #if defined(CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH)
@@ -366,6 +367,7 @@ int UavcanNode::init(uavcan::NodeID node_id, UAVCAN_DRIVER::BusEvent &bus_events
 
 #if defined(CONFIG_UAVCANNODE_GNSS_FIX)
 	_publisher_list.add(new GnssFix2(this, _node));
+	_publisher_list.add(new GnssAuxiliary(this, _node));
 #endif // CONFIG_UAVCANNODE_GNSS_FIX
 
 #if defined(CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH)