ardupilot/libraries/AP_GPS/AP_GPS_DroneCAN.h

/*
   This program is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation, either version 3 of the License, or
   (at your option) any later version.

   This program is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.

   You should have received a copy of the GNU General Public License
   along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

//
//  DroneCAN GPS driver
//
#pragma once

#include "AP_GPS_config.h"

#if AP_GPS_DRONECAN_ENABLED

#include <AP_Common/AP_Common.h>
#include <AP_HAL/AP_HAL.h>
#include "AP_GPS.h"
#include "GPS_Backend.h"
#include "RTCM3_Parser.h"
#include <AP_DroneCAN/AP_DroneCAN.h>

class AP_GPS_DroneCAN : public AP_GPS_Backend {
public:
    AP_GPS_DroneCAN(AP_GPS &_gps, AP_GPS::Params &_params, AP_GPS::GPS_State &_state, AP_GPS::GPS_Role role);
    ~AP_GPS_DroneCAN();

    bool read() override;

    bool is_healthy(void) const override;

    bool logging_healthy(void) const override;

    bool is_configured(void) const override;

    const char *name() const override { return _name; }

    static bool subscribe_msgs(AP_DroneCAN* ap_dronecan);
    static AP_GPS_Backend* probe(AP_GPS &_gps, AP_GPS::GPS_State &_state);

    static void handle_fix2_msg_trampoline(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_gnss_Fix2& msg);

    static void handle_aux_msg_trampoline(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_gnss_Auxiliary& msg);
    static void handle_heading_msg_trampoline(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const ardupilot_gnss_Heading& msg);
    static void handle_status_msg_trampoline(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const ardupilot_gnss_Status& msg);
#if GPS_MOVING_BASELINE
    static void handle_moving_baseline_msg_trampoline(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const ardupilot_gnss_MovingBaselineData& msg);
    static void handle_relposheading_msg_trampoline(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const ardupilot_gnss_RelPosHeading& msg);
#endif
    static bool inter_instance_pre_arm_checks(char failure_msg[], uint16_t failure_msg_len);
    void inject_data(const uint8_t *data, uint16_t len) override;

    bool get_error_codes(uint32_t &error_codes) const override { error_codes = error_code; return seen_status; };

#if GPS_MOVING_BASELINE
    bool get_RTCMV3(const uint8_t *&data, uint16_t &len) override;
    void clear_RTCMV3() override;
#endif

#if AP_DRONECAN_SEND_GPS
    static bool instance_exists(const AP_DroneCAN* ap_dronecan);
#endif

private:

    bool param_configured = true;
    enum config_step {
        STEP_SET_TYPE = 0,
        STEP_SET_MB_CAN_TX,
        STEP_SAVE_AND_REBOOT,
        STEP_FINISHED
    };
    uint8_t cfg_step;
    bool requires_save_and_reboot;

    // returns true once configuration has finished
    bool do_config(void);

    void handle_fix2_msg(const uavcan_equipment_gnss_Fix2& msg, uint64_t timestamp_usec);
    void handle_aux_msg(const uavcan_equipment_gnss_Auxiliary& msg);
    void handle_heading_msg(const ardupilot_gnss_Heading& msg);
    void handle_status_msg(const ardupilot_gnss_Status& msg);
    void handle_velocity(const float vx, const float vy, const float vz);

#if GPS_MOVING_BASELINE
    void handle_moving_baseline_msg(const ardupilot_gnss_MovingBaselineData& msg, uint8_t node_id);
    void handle_relposheading_msg(const ardupilot_gnss_RelPosHeading& msg, uint8_t node_id);
#endif

    static bool take_registry();
    static void give_registry();
    static AP_GPS_DroneCAN* get_dronecan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id);

    bool _new_data;
    AP_GPS::GPS_State interim_state;

    HAL_Semaphore sem;

    uint8_t _detected_module;
    bool seen_message;
    bool seen_fix2;
    bool seen_aux;
    bool seen_status;
    bool seen_relposheading;

    bool healthy;
    uint32_t status_flags;
    uint32_t error_code;
    char _name[16];

    // Module Detection Registry
    static struct DetectedModules {
        AP_DroneCAN* ap_dronecan;
        uint8_t node_id;
        uint8_t instance;
        uint32_t last_inject_ms;
        AP_GPS_DroneCAN* driver;
    } _detected_modules[GPS_MAX_RECEIVERS];

    static HAL_Semaphore _sem_registry;

#if GPS_MOVING_BASELINE
    // RTCM3 parser for when in moving baseline base mode
    RTCM3_Parser *rtcm3_parser;
#endif
    // the role set from GPS_TYPE
    AP_GPS::GPS_Role role;

    FUNCTOR_DECLARE(param_int_cb, bool, AP_DroneCAN*, const uint8_t, const char*, int32_t &);
    FUNCTOR_DECLARE(param_float_cb, bool, AP_DroneCAN*, const uint8_t, const char*, float &);
    FUNCTOR_DECLARE(param_save_cb, void, AP_DroneCAN*, const uint8_t, bool);

    bool handle_param_get_set_response_int(AP_DroneCAN* ap_dronecan, const uint8_t node_id, const char* name, int32_t &value);
    bool handle_param_get_set_response_float(AP_DroneCAN* ap_dronecan, const uint8_t node_id, const char* name, float &value);
    void handle_param_save_response(AP_DroneCAN* ap_dronecan, const uint8_t node_id, bool success);
    void send_rtcm(void);

    // GNSS RTCM injection
    struct {
        uint32_t last_send_ms;
        ByteBuffer *buf;
    } _rtcm_stream;

    // returns true if the supplied GPS_Type is a DroneCAN GPS type
    static bool is_dronecan_gps_type(AP_GPS::GPS_Type type) {
        return (
            type == AP_GPS::GPS_TYPE_UAVCAN ||
            type == AP_GPS::GPS_TYPE_UAVCAN_RTK_BASE ||
            type == AP_GPS::GPS_TYPE_UAVCAN_RTK_ROVER
       );
    }
};

#endif  // AP_GPS_DRONECAN_ENABLED