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79 lines
2.8 KiB
C++
79 lines
2.8 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2020 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include <drivers/drv_hrt.h>
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#include "analog_measurement.hpp"
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const char *const UavcanAnalogMeasurementBridge::NAME = "analog_measurement";
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UavcanAnalogMeasurementBridge::UavcanAnalogMeasurementBridge(uavcan::INode &node) :
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UavcanCDevSensorBridgeBase("uavcan_airspeed", "/dev/uavcan/analog_measurement", "/dev/analog_measurement", ORB_ID(analog_measurement)),
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_sub_analog_data(node)
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{ }
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int UavcanAnalogMeasurementBridge::init()
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{
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int res = device::CDev::init();
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if (res < 0) {
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return res;
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}
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res = _sub_analog_data.start(AnalogCbBinder(this, &UavcanAnalogMeasurementBridge::analog_measurement_sub_cb));
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if (res < 0) {
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DEVICE_LOG("failed to start uavcan sub: %d", res);
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return res;
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}
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return 0;
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}
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void
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UavcanAnalogMeasurementBridge::analog_measurement_sub_cb(const
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uavcan::ReceivedDataStructure<com::volansi::equipment::adc::AnalogMeasurement> &msg)
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{
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analog_measurement_s report{};
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int node_id = msg.getSrcNodeID().get();
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report.id = node_id;
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int numIndices = msg.values.size();
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for (int i = 0; i < numIndices; i++) {
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report.values[i] = msg.values[i];
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report.unit_type[i] = msg.unit_type[i];
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}
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publish(node_id, &report);
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}
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