mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-07 02:20:34 +08:00
David Sidrane
90 lines
3.5 KiB
C++
90 lines
3.5 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2021 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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#pragma once
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#include "UavcanPublisherBase.hpp"
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#include <uavcan/equipment/air_data/StaticTemperature.hpp>
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#include <uORB/SubscriptionCallback.hpp>
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#include <uORB/topics/sensor_baro.h>
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namespace uavcannode
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{
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class StaticTemperature :
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public UavcanPublisherBase,
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public uORB::SubscriptionCallbackWorkItem,
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private uavcan::Publisher<uavcan::equipment::air_data::StaticTemperature>
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{
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public:
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StaticTemperature(px4::WorkItem *work_item, uavcan::INode &node) :
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UavcanPublisherBase(uavcan::equipment::air_data::StaticTemperature::DefaultDataTypeID),
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uORB::SubscriptionCallbackWorkItem(work_item, ORB_ID(sensor_baro)),
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uavcan::Publisher<uavcan::equipment::air_data::StaticTemperature>(node)
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{
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this->setPriority(uavcan::TransferPriority::MiddleLower);
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}
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void PrintInfo() override
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{
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if (uORB::SubscriptionCallbackWorkItem::advertised()) {
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printf("\t%s -> %s:%d\n",
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uORB::SubscriptionCallbackWorkItem::get_topic()->o_name,
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uavcan::equipment::air_data::StaticTemperature::getDataTypeFullName(),
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uavcan::equipment::air_data::StaticTemperature::DefaultDataTypeID);
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}
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}
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void BroadcastAnyUpdates() override
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{
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// sensor_baro -> uavcan::equipment::air_data::StaticTemperature
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sensor_baro_s baro;
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if ((hrt_elapsed_time(&_last_static_temperature_publish) > 1_s) && uORB::SubscriptionCallbackWorkItem::update(&baro)) {
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uavcan::equipment::air_data::StaticTemperature static_temperature{};
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static_temperature.static_temperature = baro.temperature - CONSTANTS_ABSOLUTE_NULL_CELSIUS;
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uavcan::Publisher<uavcan::equipment::air_data::StaticTemperature>::broadcast(static_temperature);
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// ensure callback is registered
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uORB::SubscriptionCallbackWorkItem::registerCallback();
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_last_static_temperature_publish = hrt_absolute_time();
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}
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}
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private:
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hrt_abstime _last_static_temperature_publish{0};
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};
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} // namespace uavcannode
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