UAVCAN: Refactored and generalized sensor bridge support

4 files changed, 362 insertions, 0 deletions

diff --git a/src/modules/uavcan/sensors/gnss.cpp b/src/modules/uavcan/sensors/gnss.cpp
new file mode 100644
index 000000000..4fc0743ff
--- /dev/null
+++ b/src/modules/uavcan/sensors/gnss.cpp
@@ -0,0 +1,156 @@
+/****************************************************************************
+ *
+ *   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 gnss.cpp
+ *
+ * @author Pavel Kirienko <pavel.kirienko@gmail.com>
+ * @author Andrew Chambers <achamber@gmail.com>
+ *
+ */
+
+#include "gnss.hpp"
+#include <systemlib/err.h>
+#include <mathlib/mathlib.h>
+
+#define MM_PER_CM 			10	// Millimeters per centimeter
+
+UavcanGnssBridge::UavcanGnssBridge(uavcan::INode &node) :
+_node(node),
+_uavcan_sub_status(node),
+_report_pub(-1)
+{
+}
+
+const char *UavcanGnssBridge::get_name() const { return "gnss"; }
+
+int UavcanGnssBridge::init()
+{
+	int res = -1;
+
+	// GNSS fix subscription
+	res = _uavcan_sub_status.start(FixCbBinder(this, &UavcanGnssBridge::gnss_fix_sub_cb));
+	if (res < 0)
+	{
+		warnx("GNSS fix sub failed %i", res);
+		return res;
+	}
+
+	// Clear the uORB GPS report
+	memset(&_report, 0, sizeof(_report));
+
+	warnx("gnss sensor bridge init ok");
+	return res;
+}
+
+void UavcanGnssBridge::gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix> &msg)
+{
+	_report.timestamp_position = hrt_absolute_time();
+	_report.lat = msg.lat_1e7;
+	_report.lon = msg.lon_1e7;
+	_report.alt = msg.alt_1e2 * MM_PER_CM;	// Convert from centimeter (1e2) to millimeters (1e3)
+
+	_report.timestamp_variance = _report.timestamp_position;
+
+
+	// Check if the msg contains valid covariance information
+	const bool valid_position_covariance = !msg.position_covariance.empty();
+	const bool valid_velocity_covariance = !msg.velocity_covariance.empty();
+
+	if (valid_position_covariance) {
+		float pos_cov[9];
+		msg.position_covariance.unpackSquareMatrix(pos_cov);
+
+		// Horizontal position uncertainty
+		const float horizontal_pos_variance = math::max(pos_cov[0], pos_cov[4]);
+		_report.eph = (horizontal_pos_variance > 0) ? sqrtf(horizontal_pos_variance) : -1.0F;
+
+		// Vertical position uncertainty
+		_report.epv = (pos_cov[8] > 0) ? sqrtf(pos_cov[8]) : -1.0F;
+	} else {
+		_report.eph = -1.0F;
+		_report.epv = -1.0F;
+	}
+
+	if (valid_velocity_covariance) {
+	    float vel_cov[9];
+	    msg.velocity_covariance.unpackSquareMatrix(vel_cov);
+		_report.s_variance_m_s = math::max(math::max(vel_cov[0], vel_cov[4]), vel_cov[8]);
+
+		/* There is a nonlinear relationship between the velocity vector and the heading.
+		 * Use Jacobian to transform velocity covariance to heading covariance
+		 *
+		 * Nonlinear equation:
+		 * heading = atan2(vel_e_m_s, vel_n_m_s)
+		 * For math, see http://en.wikipedia.org/wiki/Atan2#Derivative
+		 *
+		 * To calculate the variance of heading from the variance of velocity,
+		 * cov(heading) = J(velocity)*cov(velocity)*J(velocity)^T
+		 */
+		float vel_n = msg.ned_velocity[0];
+		float vel_e = msg.ned_velocity[1];
+		float vel_n_sq = vel_n * vel_n;
+		float vel_e_sq = vel_e * vel_e;
+		_report.c_variance_rad =
+				(vel_e_sq * vel_cov[0] +
+						-2 * vel_n * vel_e * vel_cov[1] +	// Covariance matrix is symmetric
+						vel_n_sq* vel_cov[4]) / ((vel_n_sq + vel_e_sq) * (vel_n_sq + vel_e_sq));
+
+	} else {
+		_report.s_variance_m_s = -1.0F;
+		_report.c_variance_rad = -1.0F;
+	}
+
+	_report.fix_type = msg.status;
+
+	_report.timestamp_velocity = _report.timestamp_position;
+	_report.vel_n_m_s = msg.ned_velocity[0];
+	_report.vel_e_m_s = msg.ned_velocity[1];
+	_report.vel_d_m_s = msg.ned_velocity[2];
+	_report.vel_m_s = sqrtf(_report.vel_n_m_s * _report.vel_n_m_s + _report.vel_e_m_s * _report.vel_e_m_s + _report.vel_d_m_s * _report.vel_d_m_s);
+	_report.cog_rad = atan2f(_report.vel_e_m_s, _report.vel_n_m_s);
+	_report.vel_ned_valid = true;
+
+	_report.timestamp_time = _report.timestamp_position;
+	_report.time_gps_usec = uavcan::UtcTime(msg.gnss_timestamp).toUSec();	// Convert to microseconds
+
+	_report.satellites_used = msg.sats_used;
+
+	if (_report_pub > 0) {
+		orb_publish(ORB_ID(vehicle_gps_position), _report_pub, &_report);
+
+	} else {
+		_report_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report);
+	}
+
+}
diff --git a/src/modules/uavcan/sensors/gnss.hpp b/src/modules/uavcan/sensors/gnss.hpp
new file mode 100644
index 000000000..eec595ad1
--- /dev/null
+++ b/src/modules/uavcan/sensors/gnss.hpp
@@ -0,0 +1,88 @@
+/****************************************************************************
+ *
+ *   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 gnss.hpp
+ *
+ * UAVCAN --> ORB bridge for GNSS messages:
+ *     uavcan.equipment.gnss.Fix
+ *
+ * @author Pavel Kirienko <pavel.kirienko@gmail.com>
+ * @author Andrew Chambers <achamber@gmail.com>
+ */
+
+#pragma once
+
+#include <drivers/drv_hrt.h>
+
+#include <uORB/uORB.h>
+#include <uORB/topics/vehicle_gps_position.h>
+
+#include <uavcan/uavcan.hpp>
+#include <uavcan/equipment/gnss/Fix.hpp>
+
+#include "sensor_bridge.hpp"
+
+class UavcanGnssBridge : public IUavcanSensorBridge
+{
+public:
+	UavcanGnssBridge(uavcan::INode& node);
+
+	const char *get_name() const override;
+
+	int init() override;
+
+private:
+	/**
+	 * GNSS fix message will be reported via this callback.
+	 */
+	void gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix> &msg);
+
+
+	typedef uavcan::MethodBinder<UavcanGnssBridge*,
+		void (UavcanGnssBridge::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix>&)>
+		FixCbBinder;
+
+	/*
+	 * libuavcan related things
+	 */
+	uavcan::INode							&_node;
+	uavcan::Subscriber<uavcan::equipment::gnss::Fix, FixCbBinder>	_uavcan_sub_status;
+
+	/*
+	 * uORB
+	 */
+	struct vehicle_gps_position_s 	_report;					///< uORB topic for gnss position
+	orb_advert_t			_report_pub;					///< uORB pub for gnss position
+
+};
diff --git a/src/modules/uavcan/sensors/sensor_bridge.cpp b/src/modules/uavcan/sensors/sensor_bridge.cpp
new file mode 100644
index 000000000..ba27d6c71
--- /dev/null
+++ b/src/modules/uavcan/sensors/sensor_bridge.cpp
@@ -0,0 +1,48 @@
+/****************************************************************************
+ *
+ *   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 "gnss.hpp"
+
+IUavcanSensorBridge* IUavcanSensorBridge::make(uavcan::INode &node, const char *bridge_name)
+{
+	if (!std::strncmp("gnss", bridge_name, MaxNameLen)) {
+		return new UavcanGnssBridge(node);
+	} else {
+		return nullptr;
+	}
+}
diff --git a/src/modules/uavcan/sensors/sensor_bridge.hpp b/src/modules/uavcan/sensors/sensor_bridge.hpp
new file mode 100644
index 000000000..1667c2b57
--- /dev/null
+++ b/src/modules/uavcan/sensors/sensor_bridge.hpp
@@ -0,0 +1,70 @@
+/****************************************************************************
+ *
+ *   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>
+ */
+
+#pragma once
+
+#include <containers/List.hpp>
+#include <uavcan/uavcan.hpp>
+
+/**
+ * A sensor bridge class must implement this interface.
+ */
+class IUavcanSensorBridge : uavcan::Noncopyable, public ListNode<IUavcanSensorBridge*>
+{
+public:
+	static constexpr unsigned MaxNameLen = 20;
+
+	virtual ~IUavcanSensorBridge() { }
+
+	/**
+	 * Returns ASCII name of the bridge.
+	 */
+	virtual const char *get_name() const = 0;
+
+	/**
+	 * Starts the bridge.
+	 * @return Non-negative value on success, negative on error.
+	 */
+	virtual int init() = 0;
+
+	/**
+	 * Sensor bridge factory.
+	 * Creates a bridge object by its ASCII name, e.g. "gnss", "mag".
+	 * @return nullptr if such bridge can't be created.
+	 */
+	static IUavcanSensorBridge* make(uavcan::INode &node, const char *bridge_name);
+};