ardupilot/libraries/AP_GPS/AP_GPS_UAVCAN.h

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/*
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/>.
*/
//
// UAVCAN GPS driver
//
#pragma once
#include <AP_Common/AP_Common.h>
#include <AP_HAL/AP_HAL.h>
#include "AP_GPS.h"
#include "GPS_Backend.h"
#include <AP_UAVCAN/AP_UAVCAN.h>
class FixCb;
class Fix2Cb;
class AuxCb;
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class HeadingCb;
class StatusCb;
class AP_GPS_UAVCAN : public AP_GPS_Backend {
public:
AP_GPS_UAVCAN(AP_GPS &_gps, AP_GPS::GPS_State &_state);
~AP_GPS_UAVCAN();
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 void subscribe_msgs(AP_UAVCAN* ap_uavcan);
static AP_GPS_Backend* probe(AP_GPS &_gps, AP_GPS::GPS_State &_state);
static void handle_fix_msg_trampoline(AP_UAVCAN* ap_uavcan, uint8_t node_id, const FixCb &cb);
static void handle_fix2_msg_trampoline(AP_UAVCAN* ap_uavcan, uint8_t node_id, const Fix2Cb &cb);
static void handle_aux_msg_trampoline(AP_UAVCAN* ap_uavcan, uint8_t node_id, const AuxCb &cb);
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static void handle_heading_msg_trampoline(AP_UAVCAN* ap_uavcan, uint8_t node_id, const HeadingCb &cb);
static void handle_status_msg_trampoline(AP_UAVCAN* ap_uavcan, uint8_t node_id, const StatusCb &cb);
static bool backends_healthy(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; };
private:
void handle_fix_msg(const FixCb &cb);
void handle_fix2_msg(const Fix2Cb &cb);
void handle_aux_msg(const AuxCb &cb);
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void handle_heading_msg(const HeadingCb &cb);
void handle_status_msg(const StatusCb &cb);
static bool take_registry();
static void give_registry();
static AP_GPS_UAVCAN* get_uavcan_backend(AP_UAVCAN* ap_uavcan, 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 healthy;
uint32_t status_flags;
uint32_t error_code;
char _name[15];
// Module Detection Registry
static struct DetectedModules {
AP_UAVCAN* ap_uavcan;
uint8_t node_id;
uint8_t instance;
AP_GPS_UAVCAN* driver;
} _detected_modules[GPS_MAX_RECEIVERS];
static HAL_Semaphore _sem_registry;
};