PX4-Autopilot/src/drivers/uavcan/sensors/sensor_bridge.cpp

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 * modification, are permitted provided that the following conditions
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/**
 * @author Pavel Kirienko <pavel.kirienko@gmail.com>
 */

#include "sensor_bridge.hpp"
#include <cassert>

#include "differential_pressure.hpp"
#include "baro.hpp"
#include "battery.hpp"
#include "airspeed.hpp"
#include "gnss.hpp"
#include "flow.hpp"
#include "mag.hpp"

/*
 * IUavcanSensorBridge
 */
void IUavcanSensorBridge::make_all(uavcan::INode &node, List<IUavcanSensorBridge *> &list)
{
	list.add(new UavcanBarometerBridge(node));
	list.add(new UavcanMagnetometerBridge(node));
	list.add(new UavcanGnssBridge(node));
	list.add(new UavcanFlowBridge(node));
	list.add(new UavcanBatteryBridge(node));
	list.add(new UavcanAirspeedBridge(node));
	list.add(new UavcanDifferentialPressureBridge(node));
}

/*
 * UavcanCDevSensorBridgeBase
 */
UavcanCDevSensorBridgeBase::~UavcanCDevSensorBridgeBase()
{
	for (unsigned i = 0; i < _max_channels; i++) {
		if (_channels[i].node_id >= 0) {
			(void)unregister_class_devname(_class_devname, _channels[i].class_instance);
		}
	}

	delete [] _channels;
}

void
UavcanCDevSensorBridgeBase::publish(const int node_id, const void *report)
{
	assert(report != nullptr);

	uavcan_bridge::Channel *channel = nullptr;

	// Checking if such channel already exists
	for (unsigned i = 0; i < _max_channels; i++) {
		if (_channels[i].node_id == node_id) {
			channel = _channels + i;
			break;
		}
	}

	// No such channel - try to create one
	if (channel == nullptr) {
		if (_out_of_channels) {
			return;  // Give up immediately - saves some CPU time
		}

		DEVICE_LOG("adding channel %d...", node_id);

		// Search for the first free channel
		for (unsigned i = 0; i < _max_channels; i++) {
			if (_channels[i].node_id < 0) {
				channel = _channels + i;
				break;
			}
		}

		// No free channels left
		if (channel == nullptr) {
			_out_of_channels = true;
			DEVICE_LOG("out of channels");
			return;
		}

		// update device id as we now know our device node_id
		_device_id.devid_s.address = static_cast<uint8_t>(node_id);

		// Ask the CDev helper which class instance we can take
		const int class_instance = register_class_devname(_class_devname);

		if (class_instance < 0 || class_instance >= int(_max_channels)) {
			_out_of_channels = true;
			DEVICE_LOG("out of class instances");
			(void)unregister_class_devname(_class_devname, class_instance);
			return;
		}

		// Publish to the appropriate topic, abort on failure
		channel->node_id        = node_id;
		channel->class_instance = class_instance;
		DEVICE_LOG("channel %d class instance %d ok", channel->node_id, channel->class_instance);

		channel->orb_advert = orb_advertise_multi(_orb_topic, report, &channel->orb_instance, ORB_PRIO_VERY_HIGH);

		if (channel->orb_advert == nullptr) {
			DEVICE_LOG("uORB advertise failed. Out of instances?");
			(void)unregister_class_devname(_class_devname, class_instance);
			*channel = uavcan_bridge::Channel();
			_out_of_channels = true;
			return;
		}

		DEVICE_LOG("channel %d class instance %d ok", channel->node_id, channel->orb_instance);
	}

	assert(channel != nullptr);

	(void)orb_publish(_orb_topic, channel->orb_advert, report);
}

uavcan_bridge::Channel *UavcanCDevSensorBridgeBase::get_channel_for_node(int node_id)
{
	uavcan_bridge::Channel *channel = nullptr;

	// Checking if such channel already exists
	for (unsigned i = 0; i < _max_channels; i++) {
		if (_channels[i].node_id == node_id) {
			channel = _channels + i;
			break;
		}
	}

	// No such channel - try to create one
	if (channel == nullptr) {
		if (_out_of_channels) {
			// We already determined we're out of class or uORB instances
			return channel;
		}

		DEVICE_LOG("adding channel %d...", node_id);

		// Search for the first free channel
		for (unsigned i = 0; i < _max_channels; i++) {
			if (_channels[i].node_id < 0) {
				channel = _channels + i;
				break;
			}
		}

		// No free channels left
		if (channel == nullptr) {
			_out_of_channels = true;
			DEVICE_LOG("out of channels");
			return channel;
		}

		// initialize the driver, which registers the class device name and uORB publisher
		channel->node_id = node_id;
		int ret = init_driver(channel);

		if (ret != PX4_OK) {
			// Driver initialization failed - probably out of channels.  Return nullptr so
			// the callback exits gracefully, and clear the assigned node_id for the channel
			// so future callbacks exit immediately.
			DEVICE_LOG("INIT ERROR node %d errno %d", channel->node_id, ret);
			channel->node_id = -1;
			_out_of_channels = true;
			return nullptr;
		}

		DEVICE_LOG("channel %d class instance %d ok", channel->node_id, channel->class_instance);
	}

	return channel;
}

unsigned UavcanCDevSensorBridgeBase::get_num_redundant_channels() const
{
	unsigned out = 0;

	for (unsigned i = 0; i < _max_channels; i++) {
		if (_channels[i].node_id >= 0) {
			out += 1;
		}
	}

	return out;
}

int8_t UavcanCDevSensorBridgeBase::get_channel_index_for_node(int node_id)
{
	int8_t ch = -1;

	for (unsigned i = 0; i < _max_channels; i++) {
		if (_channels[i].node_id == node_id) {
			ch = i;
			break;
		}
	}

	return ch;
}

void UavcanCDevSensorBridgeBase::print_status() const
{
	printf("devname: %s\n", _class_devname);

	for (unsigned i = 0; i < _max_channels; i++) {
		if (_channels[i].node_id >= 0) {
			printf("channel %d: node id %d --> class instance %d\n",
			       i, _channels[i].node_id, _channels[i].class_instance);

		} else {
			printf("channel %d: empty\n", i);
		}
	}
}