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76 lines
2.7 KiB
C++
76 lines
2.7 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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/**
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* @author RJ Gritter <rjgritter657@gmail.com>
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*/
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#pragma once
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#include "sensor_bridge.hpp"
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#include <uORB/topics/distance_sensor.h>
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#include <drivers/rangefinder/PX4Rangefinder.hpp>
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#include <uavcan/equipment/range_sensor/Measurement.hpp>
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class UavcanRangefinderBridge : public UavcanSensorBridgeBase
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{
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public:
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static const char *const NAME;
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UavcanRangefinderBridge(uavcan::INode &node);
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const char *get_name() const override { return NAME; }
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int init() override;
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private:
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int init_driver(uavcan_bridge::Channel *channel) override;
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void range_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::range_sensor::Measurement> &msg);
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typedef uavcan::MethodBinder < UavcanRangefinderBridge *,
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void (UavcanRangefinderBridge::*)
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(const uavcan::ReceivedDataStructure<uavcan::equipment::range_sensor::Measurement> &) >
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RangeCbBinder;
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uavcan::Subscriber<uavcan::equipment::range_sensor::Measurement, RangeCbBinder> _sub_range_data;
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float _range_min_m{0.0f};
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float _range_max_m{0.0f};
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bool _inited{false};
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};
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