ardupilot/libraries/AP_RangeFinder/AP_RangeFinder_UAVCAN.cpp

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#include <AP_HAL/AP_HAL.h>
#if HAL_WITH_UAVCAN
#include "AP_RangeFinder_UAVCAN.h"
#include <AP_BoardConfig/AP_BoardConfig_CAN.h>
#include <AP_UAVCAN/AP_UAVCAN.h>
#include <uavcan/equipment/range_sensor/Measurement.hpp>
extern const AP_HAL::HAL& hal;
#define debug_range_finder_uavcan(level_debug, can_driver, fmt, args...) do { if ((level_debug) <= AP::can().get_debug_level_driver(can_driver)) { hal.console->printf(fmt, ##args); }} while (0)
//UAVCAN Frontend Registry Binder
UC_REGISTRY_BINDER(MeasurementCb, uavcan::equipment::range_sensor::Measurement);
/*
constructor - registers instance at top RangeFinder driver
*/
AP_RangeFinder_UAVCAN::AP_RangeFinder_UAVCAN(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params) :
AP_RangeFinder_Backend(_state, _params)
{}
//links the rangefinder uavcan message to this backend
void AP_RangeFinder_UAVCAN::subscribe_msgs(AP_UAVCAN* ap_uavcan)
{
if (ap_uavcan == nullptr) {
return;
}
auto* node = ap_uavcan->get_node();
uavcan::Subscriber<uavcan::equipment::range_sensor::Measurement, MeasurementCb> *measurement_listener;
measurement_listener = new uavcan::Subscriber<uavcan::equipment::range_sensor::Measurement, MeasurementCb>(*node);
// Register method to handle incoming RangeFinder measurement
const int measurement_listener_res = measurement_listener->start(MeasurementCb(ap_uavcan, &handle_measurement));
if (measurement_listener_res < 0) {
AP_HAL::panic("UAVCAN RangeFinder subscriber start problem\n\r");
return;
}
}
//Method to find the backend relating to the node id
AP_RangeFinder_UAVCAN* AP_RangeFinder_UAVCAN::get_uavcan_backend(AP_UAVCAN* ap_uavcan, uint8_t node_id, uint8_t address, bool create_new)
{
if (ap_uavcan == nullptr) {
return nullptr;
}
AP_RangeFinder_UAVCAN* driver = nullptr;
RangeFinder &frontend = *AP::rangefinder();
//Scan through the Rangefinder params to find UAVCAN RFND with matching address.
for (uint8_t i = 0; i < RANGEFINDER_MAX_INSTANCES; i++) {
if ((RangeFinder::Type)frontend.params[i].type.get() == RangeFinder::Type::UAVCAN &&
frontend.params[i].address == address) {
driver = (AP_RangeFinder_UAVCAN*)frontend.drivers[i];
}
//Double check if the driver was initialised as UAVCAN Type
if (driver != nullptr && (driver->_backend_type == RangeFinder::Type::UAVCAN)) {
if (driver->_ap_uavcan == ap_uavcan &&
driver->_node_id == node_id) {
return driver;
} else {
//we found a possible duplicate addressed sensor
//we return nothing in such scenario
return nullptr;
}
}
}
if (create_new) {
for (uint8_t i = 0; i < RANGEFINDER_MAX_INSTANCES; i++) {
if ((RangeFinder::Type)frontend.params[i].type.get() == RangeFinder::Type::UAVCAN &&
frontend.params[i].address == address) {
WITH_SEMAPHORE(frontend.detect_sem);
if (frontend.drivers[i] != nullptr) {
//we probably initialised this driver as something else, reboot is required for setting
//it up as UAVCAN type
return nullptr;
}
frontend.drivers[i] = new AP_RangeFinder_UAVCAN(frontend.state[i], frontend.params[i]);
driver = (AP_RangeFinder_UAVCAN*)frontend.drivers[i];
if (driver == nullptr) {
break;
}
gcs().send_text(MAV_SEVERITY_INFO, "RangeFinder[%u]: added UAVCAN node %u addr %u",
unsigned(i), unsigned(node_id), unsigned(address));
//Assign node id and respective uavcan driver, for identification
if (driver->_ap_uavcan == nullptr) {
driver->_ap_uavcan = ap_uavcan;
driver->_node_id = node_id;
break;
}
}
}
}
return driver;
}
//Called from frontend to update with the readings received by handler
void AP_RangeFinder_UAVCAN::update()
{
WITH_SEMAPHORE(_sem);
if ((AP_HAL::millis() - _last_reading_ms) > 500) {
//if data is older than 500ms, report NoData
set_status(RangeFinder::Status::NoData);
} else if (_status == RangeFinder::Status::Good && new_data) {
//copy over states
state.distance_cm = _distance_cm;
state.last_reading_ms = _last_reading_ms;
update_status();
new_data = false;
} else if (_status != RangeFinder::Status::Good) {
//handle additional states received by measurement handler
set_status(_status);
}
}
//RangeFinder message handler
void AP_RangeFinder_UAVCAN::handle_measurement(AP_UAVCAN* ap_uavcan, uint8_t node_id, const MeasurementCb &cb)
{
//fetch the matching uavcan driver, node id and sensor id backend instance
AP_RangeFinder_UAVCAN* driver = get_uavcan_backend(ap_uavcan, node_id, cb.msg->sensor_id, true);
if (driver == nullptr) {
return;
}
WITH_SEMAPHORE(driver->_sem);
switch (cb.msg->reading_type) {
case uavcan::equipment::range_sensor::Measurement::READING_TYPE_VALID_RANGE:
{
//update the states in backend instance
driver->_distance_cm = cb.msg->range*100.0f;
driver->_last_reading_ms = AP_HAL::millis();
driver->_status = RangeFinder::Status::Good;
driver->new_data = true;
break;
}
//Additional states supported by RFND message
case uavcan::equipment::range_sensor::Measurement::READING_TYPE_TOO_CLOSE:
{
driver->_last_reading_ms = AP_HAL::millis();
driver->_status = RangeFinder::Status::OutOfRangeLow;
break;
}
case uavcan::equipment::range_sensor::Measurement::READING_TYPE_TOO_FAR:
{
driver->_last_reading_ms = AP_HAL::millis();
driver->_status = RangeFinder::Status::OutOfRangeHigh;
break;
}
default:
{
break;
}
}
//copy over the sensor type of Rangefinder
switch (cb.msg->sensor_type) {
case uavcan::equipment::range_sensor::Measurement::SENSOR_TYPE_SONAR:
{
driver->_sensor_type = MAV_DISTANCE_SENSOR_ULTRASOUND;
break;
}
case uavcan::equipment::range_sensor::Measurement::SENSOR_TYPE_LIDAR:
{
driver->_sensor_type = MAV_DISTANCE_SENSOR_LASER;
break;
}
case uavcan::equipment::range_sensor::Measurement::SENSOR_TYPE_RADAR:
{
driver->_sensor_type = MAV_DISTANCE_SENSOR_RADAR;
break;
}
default:
{
driver->_sensor_type = MAV_DISTANCE_SENSOR_UNKNOWN;
break;
}
}
}
#endif // HAL_WITH_UAVCAN