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117 lines
4.3 KiB
C++
117 lines
4.3 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2014, 2015 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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/**
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* @file gnss.hpp
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*
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* UAVCAN <--> ORB bridge for GNSS messages:
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* uavcan.equipment.gnss.Fix (deprecated, but still supported for backward compatibility)
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* uavcan.equipment.gnss.Fix2
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*
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* @author Pavel Kirienko <pavel.kirienko@gmail.com>
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* @author Andrew Chambers <achamber@gmail.com>
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*/
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#pragma once
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#include <uORB/uORB.h>
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#include <uORB/topics/vehicle_gps_position.h>
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#include <uavcan/uavcan.hpp>
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#include <uavcan/equipment/gnss/Fix.hpp>
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#include <uavcan/equipment/gnss/Fix2.hpp>
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#include "sensor_bridge.hpp"
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class UavcanGnssBridge : public IUavcanSensorBridge
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{
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static constexpr unsigned ORB_TO_UAVCAN_FREQUENCY_HZ = 10;
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public:
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static const char *const NAME;
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UavcanGnssBridge(uavcan::INode &node);
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~UavcanGnssBridge();
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const char *get_name() const override { return NAME; }
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int init() override;
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unsigned get_num_redundant_channels() const override;
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void print_status() const override;
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private:
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/**
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* GNSS fix message will be reported via this callback.
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*/
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void gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix> &msg);
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void gnss_fix2_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix2> &msg);
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template <typename FixType>
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void process_fixx(const uavcan::ReceivedDataStructure<FixType> &msg,
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const float (&pos_cov)[9],
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const float (&vel_cov)[9],
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const bool valid_pos_cov,
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const bool valid_vel_cov);
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void broadcast_from_orb(const uavcan::TimerEvent &);
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typedef uavcan::MethodBinder < UavcanGnssBridge *,
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void (UavcanGnssBridge::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix> &) >
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FixCbBinder;
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typedef uavcan::MethodBinder < UavcanGnssBridge *,
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void (UavcanGnssBridge::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix2> &) >
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Fix2CbBinder;
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typedef uavcan::MethodBinder<UavcanGnssBridge *,
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void (UavcanGnssBridge::*)(const uavcan::TimerEvent &)>
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TimerCbBinder;
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uavcan::INode &_node;
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uavcan::Subscriber<uavcan::equipment::gnss::Fix, FixCbBinder> _sub_fix;
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uavcan::Subscriber<uavcan::equipment::gnss::Fix2, Fix2CbBinder> _sub_fix2;
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uavcan::Publisher<uavcan::equipment::gnss::Fix2> _pub_fix2;
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uavcan::TimerEventForwarder<TimerCbBinder> _orb_to_uavcan_pub_timer;
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int _receiver_node_id = -1;
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bool _old_fix_subscriber_active = true;
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orb_advert_t _report_pub; ///< uORB pub for gnss position
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int _orb_sub_gnss = -1; ///< uORB sub for gnss position, used for bridging uORB --> UAVCAN
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bool _system_clock_set = false; ///< Have we set the system clock at least once from GNSS data?
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};
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