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134 lines
4.3 KiB
C++
134 lines
4.3 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2014 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 Pavel Kirienko <pavel.kirienko@gmail.com>
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*/
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#pragma once
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#include <containers/List.hpp>
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#include <uavcan/uavcan.hpp>
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#include <drivers/device/device.h>
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#include <drivers/drv_orb_dev.h>
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/**
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* A sensor bridge class must implement this interface.
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*/
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class IUavcanSensorBridge : uavcan::Noncopyable, public ListNode<IUavcanSensorBridge*>
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{
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public:
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static constexpr unsigned MAX_NAME_LEN = 20;
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virtual ~IUavcanSensorBridge() { }
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/**
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* Returns ASCII name of the bridge.
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*/
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virtual const char *get_name() const = 0;
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/**
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* Starts the bridge.
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* @return Non-negative value on success, negative on error.
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*/
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virtual int init() = 0;
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/**
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* Returns number of active redundancy channels.
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*/
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virtual unsigned get_num_redundant_channels() const = 0;
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/**
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* Prints current status in a human readable format to stdout.
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*/
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virtual void print_status() const = 0;
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/**
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* Sensor bridge factory.
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* Creates a bridge object by its ASCII name, e.g. "gnss", "mag".
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* @return nullptr if such bridge can't be created.
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*/
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static void make_all(uavcan::INode &node, List<IUavcanSensorBridge*> &list);
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};
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/**
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* This is the base class for redundant sensors with an independent ORB topic per each redundancy channel.
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* For example, sensor_mag0, sensor_mag1, etc.
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*/
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class UavcanCDevSensorBridgeBase : public IUavcanSensorBridge, public device::CDev
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{
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struct Channel
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{
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int node_id = -1;
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orb_id_t orb_id = nullptr;
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orb_advert_t orb_advert = -1;
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int class_instance = -1;
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};
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const unsigned _max_channels;
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const char *const _class_devname;
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orb_id_t *const _orb_topics;
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Channel *const _channels;
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bool _out_of_channels = false;
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protected:
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template <unsigned MaxChannels>
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UavcanCDevSensorBridgeBase(const char *name, const char *devname, const char *class_devname,
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const orb_id_t (&orb_topics)[MaxChannels]) :
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device::CDev(name, devname),
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_max_channels(MaxChannels),
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_class_devname(class_devname),
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_orb_topics(new orb_id_t[MaxChannels]),
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_channels(new Channel[MaxChannels])
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{
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memcpy(_orb_topics, orb_topics, sizeof(orb_id_t) * MaxChannels);
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_device_id.devid_s.bus_type = DeviceBusType_UAVCAN;
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_device_id.devid_s.bus = 0;
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}
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/**
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* Sends one measurement into appropriate ORB topic.
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* New redundancy channels will be registered automatically.
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* @param node_id Sensor's Node ID
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* @param report Pointer to ORB message object
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*/
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void publish(const int node_id, const void *report);
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public:
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virtual ~UavcanCDevSensorBridgeBase();
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unsigned get_num_redundant_channels() const override;
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void print_status() const override;
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};
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