Daniel Agar
6 years ago
committed by
GitHub
13 changed files with 392 additions and 744 deletions
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############################################################################ |
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# |
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# Copyright (c) 2019 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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px4_add_library(drivers_rangefinder PX4Rangefinder.cpp) |
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/****************************************************************************
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* |
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* Copyright (c) 2019 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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#include "PX4Rangefinder.hpp" |
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#include <lib/drivers/device/Device.hpp> |
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PX4Rangefinder::PX4Rangefinder(uint32_t device_id, uint8_t priority, uint8_t rotation) : |
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CDev(nullptr), |
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_distance_sensor_pub{ORB_ID(distance_sensor), priority}, |
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_rotation{rotation} |
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{ |
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_class_device_instance = register_class_devname(RANGE_FINDER_BASE_DEVICE_PATH); |
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// TODO: range finders should have device ids
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//_distance_sensor_pub.get().device_id = device_id;
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_distance_sensor_pub.get().orientation = rotation; |
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} |
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PX4Rangefinder::~PX4Rangefinder() |
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{ |
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if (_class_device_instance != -1) { |
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unregister_class_devname(RANGE_FINDER_BASE_DEVICE_PATH, _class_device_instance); |
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} |
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} |
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void |
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PX4Rangefinder::set_device_type(uint8_t devtype) |
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{ |
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// TODO: range finders should have device ids
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// // current DeviceStructure
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// union device::Device::DeviceId device_id;
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// device_id.devid = _distance_sensor_pub.get().device_id;
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// // update to new device type
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// device_id.devid_s.devtype = devtype;
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// // copy back to report
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// _distance_sensor_pub.get().device_id = device_id.devid;
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} |
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void |
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PX4Rangefinder::update(hrt_abstime timestamp, float distance, int8_t quality) |
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{ |
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distance_sensor_s &report = _distance_sensor_pub.get(); |
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report.timestamp = timestamp; |
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report.current_distance = distance; |
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report.signal_quality = quality; |
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_distance_sensor_pub.update(); |
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} |
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void |
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PX4Rangefinder::print_status() |
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{ |
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PX4_INFO(RANGE_FINDER_BASE_DEVICE_PATH " device instance: %d", _class_device_instance); |
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print_message(_distance_sensor_pub.get()); |
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} |
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/****************************************************************************
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* |
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* Copyright (c) 2019 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, |
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
||||
* 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 <drivers/drv_hrt.h> |
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#include <drivers/drv_range_finder.h> |
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#include <lib/cdev/CDev.hpp> |
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#include <lib/conversion/rotation.h> |
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#include <uORB/uORB.h> |
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#include <uORB/Publication.hpp> |
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#include <uORB/topics/distance_sensor.h> |
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class PX4Rangefinder : public cdev::CDev |
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{ |
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public: |
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PX4Rangefinder(uint32_t device_id, uint8_t priority, uint8_t rotation); |
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~PX4Rangefinder() override; |
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void set_device_type(uint8_t devtype); |
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//void set_error_count(uint64_t error_count) { _distance_sensor_pub.get().error_count = error_count; }
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void set_min_distance(float distance) { _distance_sensor_pub.get().min_distance = distance; } |
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void set_max_distance(float distance) { _distance_sensor_pub.get().max_distance = distance; } |
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void set_hfov(float fov) { _distance_sensor_pub.get().h_fov = fov; } |
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void set_vfov(float fov) { _distance_sensor_pub.get().v_fov = fov; } |
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void set_fov(float fov) { set_hfov(fov); set_vfov(fov); } |
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void update(hrt_abstime timestamp, float distance, int8_t quality = -1); |
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void print_status(); |
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private: |
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uORB::PublicationData<distance_sensor_s> _distance_sensor_pub; |
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const uint8_t _rotation; |
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int _class_device_instance{-1}; |
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}; |
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