diff options
Diffstat (limited to 'src/modules/uavcan/sensors/sensor_bridge.cpp')
-rw-r--r-- | src/modules/uavcan/sensors/sensor_bridge.cpp | 93 |
1 files changed, 92 insertions, 1 deletions
diff --git a/src/modules/uavcan/sensors/sensor_bridge.cpp b/src/modules/uavcan/sensors/sensor_bridge.cpp index 5752d5524..05d589b58 100644 --- a/src/modules/uavcan/sensors/sensor_bridge.cpp +++ b/src/modules/uavcan/sensors/sensor_bridge.cpp @@ -36,12 +36,15 @@ */ #include "sensor_bridge.hpp" -#include <systemlib/err.h> +#include <cassert> #include "gnss.hpp" #include "mag.hpp" #include "baro.hpp" +/* + * IUavcanSensorBridge + */ IUavcanSensorBridge* IUavcanSensorBridge::make(uavcan::INode &node, const char *bridge_name) { /* @@ -64,3 +67,91 @@ void IUavcanSensorBridge::print_known_names(const char *prefix) printf("%s%s\n", prefix, UavcanMagnetometerBridge::NAME); printf("%s%s\n", prefix, UavcanBarometerBridge::NAME); } + +/* + * UavcanCDevSensorBridgeBase + */ +UavcanCDevSensorBridgeBase::~UavcanCDevSensorBridgeBase() +{ + for (unsigned i = 0; i < _max_channels; i++) { + if (_channels[i].redunancy_channel_id >= 0) { + (void)unregister_class_devname(_class_devname, _channels[i].class_instance); + } + } + delete [] _orb_topics; + delete [] _channels; +} + +void UavcanCDevSensorBridgeBase::publish(const int redundancy_channel_id, const void *report) +{ + Channel *channel = nullptr; + + // Checking if such channel already exists + for (unsigned i = 0; i < _max_channels; i++) { + if (_channels[i].redunancy_channel_id == redundancy_channel_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...", redundancy_channel_id); + + // Search for the first free channel + for (unsigned i = 0; i < _max_channels; i++) { + if (_channels[i].redunancy_channel_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->redunancy_channel_id = redundancy_channel_id; + channel->class_instance = class_instance; + + channel->orb_advert = orb_advertise(channel->orb_id, report); + if (channel->orb_advert < 0) { + log("ADVERTISE FAILED"); + *channel = Channel(); + return; + } + + log("channel %d class instance %d ok", channel->redunancy_channel_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].redunancy_channel_id >= 0) { + out += 1; + } + } + return out; +} |