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author | Anton Babushkin <anton.babushkin@me.com> | 2014-09-28 13:41:21 +0400 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2014-09-28 13:41:21 +0400 |
commit | 1cc5f3778dd6c18f3a14c64959d28f978b0305ef (patch) | |
tree | f2b8138e6f85b5f760fa22bbe3aecbce61539277 /src/modules/uavcan/sensors/sensor_bridge.cpp | |
parent | cf4604f5c3614bc5cd1b82dfee693cbac36181ab (diff) | |
parent | 8a18cfa3869555389e7e9ff8f104d83f9c54cb43 (diff) | |
download | px4-firmware-1cc5f3778dd6c18f3a14c64959d28f978b0305ef.tar.gz px4-firmware-1cc5f3778dd6c18f3a14c64959d28f978b0305ef.tar.bz2 px4-firmware-1cc5f3778dd6c18f3a14c64959d28f978b0305ef.zip |
Merge branch 'master' into takeoff_fix
Diffstat (limited to 'src/modules/uavcan/sensors/sensor_bridge.cpp')
-rw-r--r-- | src/modules/uavcan/sensors/sensor_bridge.cpp | 158 |
1 files changed, 158 insertions, 0 deletions
diff --git a/src/modules/uavcan/sensors/sensor_bridge.cpp b/src/modules/uavcan/sensors/sensor_bridge.cpp new file mode 100644 index 000000000..9608ce680 --- /dev/null +++ b/src/modules/uavcan/sensors/sensor_bridge.cpp @@ -0,0 +1,158 @@ +/**************************************************************************** + * + * 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. + * + ****************************************************************************/ + +/** + * @author Pavel Kirienko <pavel.kirienko@gmail.com> + */ + +#include "sensor_bridge.hpp" +#include <cassert> + +#include "gnss.hpp" +#include "mag.hpp" +#include "baro.hpp" + +/* + * IUavcanSensorBridge + */ +void IUavcanSensorBridge::make_all(uavcan::INode &node, List<IUavcanSensorBridge*> &list) +{ + list.add(new UavcanBarometerBridge(node)); + list.add(new UavcanMagnetometerBridge(node)); + list.add(new UavcanGnssBridge(node)); +} + +/* + * UavcanCDevSensorBridgeBase + */ +UavcanCDevSensorBridgeBase::~UavcanCDevSensorBridgeBase() +{ + for (unsigned i = 0; i < _max_channels; i++) { + if (_channels[i].node_id >= 0) { + (void)unregister_class_devname(_class_devname, _channels[i].class_instance); + } + } + delete [] _orb_topics; + delete [] _channels; +} + +void UavcanCDevSensorBridgeBase::publish(const int node_id, const void *report) +{ + assert(report != nullptr); + + Channel *channel = nullptr; + + // Checking if such channel already exists + for (unsigned i = 0; i < _max_channels; i++) { + if (_channels[i].node_id == node_id) { + channel = _channels + i; + break; + } + } + + // No such channel - try to create one + if (channel == nullptr) { + if (_out_of_channels) { + return; // Give up immediately - saves some CPU time + } + + log("adding channel %d...", node_id); + + // Search for the first free channel + for (unsigned i = 0; i < _max_channels; i++) { + if (_channels[i].node_id < 0) { + channel = _channels + i; + break; + } + } + + // No free channels left + if (channel == nullptr) { + _out_of_channels = true; + log("out of channels"); + return; + } + + // Ask the CDev helper which class instance we can take + const int class_instance = register_class_devname(_class_devname); + if (class_instance < 0 || class_instance >= int(_max_channels)) { + _out_of_channels = true; + log("out of class instances"); + (void)unregister_class_devname(_class_devname, class_instance); + return; + } + + // Publish to the appropriate topic, abort on failure + channel->orb_id = _orb_topics[class_instance]; + channel->node_id = node_id; + channel->class_instance = class_instance; + + channel->orb_advert = orb_advertise(channel->orb_id, report); + if (channel->orb_advert < 0) { + log("ADVERTISE FAILED"); + (void)unregister_class_devname(_class_devname, class_instance); + *channel = Channel(); + return; + } + + log("channel %d class instance %d ok", channel->node_id, channel->class_instance); + } + assert(channel != nullptr); + + (void)orb_publish(channel->orb_id, channel->orb_advert, report); +} + +unsigned UavcanCDevSensorBridgeBase::get_num_redundant_channels() const +{ + unsigned out = 0; + for (unsigned i = 0; i < _max_channels; i++) { + if (_channels[i].node_id >= 0) { + out += 1; + } + } + return out; +} + +void UavcanCDevSensorBridgeBase::print_status() const +{ + printf("devname: %s\n", _class_devname); + + for (unsigned i = 0; i < _max_channels; i++) { + if (_channels[i].node_id >= 0) { + printf("channel %d: node id %d --> class instance %d\n", + i, _channels[i].node_id, _channels[i].class_instance); + } else { + printf("channel %d: empty\n", i); + } + } +} |