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/****************************************************************************
*
* 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);
}
}
}
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