uavcan: add optical flow support (Here Flow)

* move uavcan dsdlc generation to module
 * 20200.Measurement.uavcan sync with upstream project (https://github.com/OpenMotorDrive/flow/blob/master/dsdl/com/hex/equipment/flow/20200.Measurement.uavcan)

Signed-off-by: DanielePettenuzzo <daniele@px4.io>

src/drivers/uavcan/CMakeLists.txt

@@ -71,12 +71,31 @@ add_compile_options(-Wno-cast-align) # TODO: fix and enable
 add_subdirectory(libuavcan EXCLUDE_FROM_ALL)
 add_dependencies(uavcan prebuild_targets)
 
+
+# generated DSDL
+set(DSDLC_INPUTS "${CMAKE_CURRENT_SOURCE_DIR}/dsdl/com" "${CMAKE_CURRENT_SOURCE_DIR}/libuavcan/dsdl/uavcan")
+set(DSDLC_OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/include/dsdlc_generated")
+
+set(DSDLC_INPUT_FILES)
+foreach(DSDLC_INPUT ${DSDLC_INPUTS})
+	file(GLOB_RECURSE DSDLC_NEW_INPUT_FILES ${CMAKE_CURRENT_SOURCE_DIR} "${DSDLC_INPUT}/*.uavcan")
+	list(APPEND DSDLC_INPUT_FILES ${DSDLC_NEW_INPUT_FILES})
+endforeach(DSDLC_INPUT)
+add_custom_command(OUTPUT px4_uavcan_dsdlc_run.stamp
+                   COMMAND ${PYTHON} ${CMAKE_CURRENT_SOURCE_DIR}/libuavcan/libuavcan/dsdl_compiler/libuavcan_dsdlc ${DSDLC_INPUTS} -O${DSDLC_OUTPUT}
+                   COMMAND ${CMAKE_COMMAND} -E touch px4_uavcan_dsdlc_run.stamp
+                   DEPENDS ${DSDLC_INPUT_FILES}
+		   COMMENT "PX4 UAVCAN dsdl compiler"
+		   )
+add_custom_target(px4_uavcan_dsdlc DEPENDS px4_uavcan_dsdlc_run.stamp)
+
 px4_add_module(
 	MODULE modules__uavcan
 	MAIN uavcan
 	STACK_MAIN 3200
 	STACK_MAX 1500
 	INCLUDES
+		${DSDLC_OUTPUT}
 		${PX4_SOURCE_DIR}/mavlink/include/mavlink
 		libuavcan/libuavcan/include
 		libuavcan/libuavcan/include/dsdlc_generated
@@ -97,15 +116,17 @@ px4_add_module(
 		sensors/gnss.cpp
 		sensors/mag.cpp
 		sensors/baro.cpp
+		sensors/flow.cpp
 
 	DEPENDS
+		px4_uavcan_dsdlc
+
 		mixer
 		version
 
 		git_uavcan
 
 		# within libuavcan
-		libuavcan_dsdlc
 		uavcan
 		uavcan_${UAVCAN_PLATFORM}_driver
 	)

src/drivers/uavcan/dsdl/com/hex/equipment/flow/20200.Measurement.uavcan

@@ -0,0 +1,4 @@
+float32 integration_interval
+float32[2] rate_gyro_integral
+float32[2] flow_integral
+uint8 quality

src/drivers/uavcan/sensors/flow.cpp

@@ -0,0 +1,83 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * 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
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "flow.hpp"
+
+#include <drivers/drv_hrt.h>
+
+const char *const UavcanFlowBridge::NAME = "flow";
+
+UavcanFlowBridge::UavcanFlowBridge(uavcan::INode &node) :
+	UavcanCDevSensorBridgeBase("uavcan_flow", "/dev/uavcan/flow", "/dev/flow", ORB_ID(optical_flow)),
+	_sub_flow(node)
+{
+}
+
+int
+UavcanFlowBridge::init()
+{
+	int res = device::CDev::init();
+
+	if (res < 0) {
+		return res;
+	}
+
+	res = _sub_flow.start(FlowCbBinder(this, &UavcanFlowBridge::flow_sub_cb));
+
+	if (res < 0) {
+		DEVICE_LOG("failed to start uavcan sub: %d", res);
+		return res;
+	}
+
+	return 0;
+}
+
+void
+UavcanFlowBridge::flow_sub_cb(const uavcan::ReceivedDataStructure<com::hex::equipment::flow::Measurement> &msg)
+{
+	optical_flow_s flow{};
+
+	flow.timestamp = hrt_absolute_time();
+	flow.pixel_flow_x_integral = msg.flow_integral[0];
+	flow.pixel_flow_y_integral = msg.flow_integral[1];
+
+	flow.gyro_x_rate_integral = msg.rate_gyro_integral[0];
+	flow.gyro_y_rate_integral = msg.rate_gyro_integral[1];
+
+	flow.quality = msg.quality;
+	flow.max_flow_rate = 5.0f;       // Datasheet: 7.4 rad/s
+	flow.min_ground_distance = 0.1f; // Datasheet: 80mm
+	flow.max_ground_distance = 30.0f; // Datasheet: infinity
+
+	publish(msg.getSrcNodeID().get(), &flow);
+}

src/drivers/uavcan/sensors/flow.hpp

@@ -0,0 +1,67 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * 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
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "sensor_bridge.hpp"
+
+#include <stdint.h>
+#include <sys/ioctl.h>
+
+#include <uORB/topics/optical_flow.h>
+
+#include <com/hex/equipment/flow/Measurement.hpp>
+
+class UavcanFlowBridge : public UavcanCDevSensorBridgeBase
+{
+public:
+	static const char *const NAME;
+
+	UavcanFlowBridge(uavcan::INode &node);
+
+	const char *get_name() const override { return NAME; }
+
+	int init() override;
+
+private:
+
+	void flow_sub_cb(const uavcan::ReceivedDataStructure<com::hex::equipment::flow::Measurement> &msg);
+
+	typedef uavcan::MethodBinder < UavcanFlowBridge *,
+		void (UavcanFlowBridge::*)
+		(const uavcan::ReceivedDataStructure<com::hex::equipment::flow::Measurement> &) >
+		FlowCbBinder;
+
+	uavcan::Subscriber<com::hex::equipment::flow::Measurement, FlowCbBinder> _sub_flow;
+
+};

src/drivers/uavcan/sensors/sensor_bridge.cpp

@@ -41,6 +41,7 @@
 #include "gnss.hpp"
 #include "mag.hpp"
 #include "baro.hpp"
+#include "flow.hpp"
 
 /*
  * IUavcanSensorBridge
@@ -50,6 +51,7 @@ void IUavcanSensorBridge::make_all(uavcan::INode &node, List<IUavcanSensorBridge
 	list.add(new UavcanBarometerBridge(node));
 	list.add(new UavcanMagnetometerBridge(node));
 	list.add(new UavcanGnssBridge(node));
+	list.add(new UavcanFlowBridge(node));
 }
 
 /*