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drivers/uavcannode: Add RTCMStream subscriber and fix RTCMStream Publisher (#20056)

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* Add cannode RTCMStream subscriber
* Fix uavcan RTCMStream publisher
* Break out CANNODE_SUB_RTCM and CANNODE_SUB_MBD
This commit is contained in:
Alex Klimaj
2022-09-09 15:16:09 -04:00
committed by GitHub
parent 9d1aeb6aa7
commit efcf4c95fd
5 changed files with 149 additions and 12 deletions
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src/drivers/uavcannode/UavcanNode.cpp
+15 -5
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@@ -55,6 +55,7 @@
#include "Subscribers/BeepCommand.hpp"
#include "Subscribers/LightsCommand.hpp"
#include "Subscribers/MovingBaselineData.hpp"
#include "Subscribers/RTCMStream.hpp"
using namespace time_literals;
@@ -301,12 +302,11 @@ int UavcanNode::init(uavcan::NodeID node_id, UAVCAN_DRIVER::BusEvent &bus_events
_publisher_list.add(new RawAirData(this, _node));
_publisher_list.add(new RelPosHeadingPub(this, _node));
int32_t enable_movingbaselinedata = 0;
param_get(param_find("CANNODE_GPS_RTCM"), &enable_movingbaselinedata);
int32_t cannode_pub_mbd = 0;
param_get(param_find("CANNODE_PUB_MBD"), &cannode_pub_mbd);
if (enable_movingbaselinedata != 0) {
if (cannode_pub_mbd == 1) {
_publisher_list.add(new MovingBaselineDataPub(this, _node));
}
_publisher_list.add(new SafetyButton(this, _node));
@@ -316,10 +316,20 @@ int UavcanNode::init(uavcan::NodeID node_id, UAVCAN_DRIVER::BusEvent &bus_events
_subscriber_list.add(new BeepCommand(_node));
_subscriber_list.add(new LightsCommand(_node));
if (enable_movingbaselinedata != 0) {
int32_t cannode_sub_mdb = 0;
param_get(param_find("CANNODE_SUB_MDB"), &cannode_sub_mdb);
if (cannode_sub_mdb == 1) {
_subscriber_list.add(new MovingBaselineData(_node));
}
int32_t cannode_sub_rtcm = 0;
param_get(param_find("CANNODE_SUB_RTCM"), &cannode_sub_rtcm);
if (cannode_sub_rtcm == 1) {
_subscriber_list.add(new RTCMStream(_node));
}
for (auto &subscriber : _subscriber_list) {
subscriber->init();
}