UAVCAN: Refactored and generalized sensor bridge support

1 files changed, 0 insertions, 138 deletions

diff --git a/src/modules/uavcan/esc_controller.cpp b/src/modules/uavcan/esc_controller.cpp
deleted file mode 100644
index 406eba88c..000000000
--- a/src/modules/uavcan/esc_controller.cpp
+++ /dev/null
@@ -1,138 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2014 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.
- *
- ****************************************************************************/
-
-/**
- * @file esc_controller.cpp
- *
- * @author Pavel Kirienko <pavel.kirienko@gmail.com>
- */
-
-#include "esc_controller.hpp"
-#include <systemlib/err.h>
-
-UavcanEscController::UavcanEscController(uavcan::INode &node) :
-	_node(node),
-	_uavcan_pub_raw_cmd(node),
-	_uavcan_sub_status(node),
-	_orb_timer(node)
-{
-}
-
-UavcanEscController::~UavcanEscController()
-{
-	perf_free(_perfcnt_invalid_input);
-	perf_free(_perfcnt_scaling_error);
-}
-
-int UavcanEscController::init()
-{
-	// ESC status subscription
-	int res = _uavcan_sub_status.start(StatusCbBinder(this, &UavcanEscController::esc_status_sub_cb));
-	if (res < 0)
-	{
-		warnx("ESC status sub failed %i", res);
-		return res;
-	}
-
-	// ESC status will be relayed from UAVCAN bus into ORB at this rate
-	_orb_timer.setCallback(TimerCbBinder(this, &UavcanEscController::orb_pub_timer_cb));
-	_orb_timer.startPeriodic(uavcan::MonotonicDuration::fromMSec(1000 / ESC_STATUS_UPDATE_RATE_HZ));
-
-	return res;
-}
-
-void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs)
-{
-	if ((outputs == nullptr) || (num_outputs > MAX_ESCS)) {
-		perf_count(_perfcnt_invalid_input);
-		return;
-	}
-
-	/*
-	 * Rate limiting - we don't want to congest the bus
-	 */
-	const auto timestamp = _node.getMonotonicTime();
-	if ((timestamp - _prev_cmd_pub).toUSec() < (1000000 / MAX_RATE_HZ)) {
-		return;
-	}
-	_prev_cmd_pub = timestamp;
-
-	/*
-	 * Fill the command message
-	 * If unarmed, we publish an empty message anyway
-	 */
-	uavcan::equipment::esc::RawCommand msg;
-
-	if (_armed) {
-		for (unsigned i = 0; i < num_outputs; i++) {
-
-			float scaled = (outputs[i] + 1.0F) * 0.5F * uavcan::equipment::esc::RawCommand::CMD_MAX;
-			if (scaled < 1.0F) {
-				scaled = 1.0F;  // Since we're armed, we don't want to stop it completely
-			}
-
-			if (scaled < uavcan::equipment::esc::RawCommand::CMD_MIN) {
-				scaled = uavcan::equipment::esc::RawCommand::CMD_MIN;
-				perf_count(_perfcnt_scaling_error);
-			} else if (scaled > uavcan::equipment::esc::RawCommand::CMD_MAX) {
-				scaled = uavcan::equipment::esc::RawCommand::CMD_MAX;
-				perf_count(_perfcnt_scaling_error);
-			} else {
-				; // Correct value
-			}
-
-			msg.cmd.push_back(static_cast<unsigned>(scaled));
-		}
-	}
-
-	/*
-	 * Publish the command message to the bus
-	 * Note that for a quadrotor it takes one CAN frame
-	 */
-	(void)_uavcan_pub_raw_cmd.broadcast(msg);
-}
-
-void UavcanEscController::arm_esc(bool arm)
-{
-	_armed = arm;
-}
-
-void UavcanEscController::esc_status_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::Status> &msg)
-{
-	// TODO save status into a local storage; publish to ORB later from orb_pub_timer_cb()
-}
-
-void UavcanEscController::orb_pub_timer_cb(const uavcan::TimerEvent&)
-{
-	// TODO publish to ORB
-}