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AP_DDS: Parametrize the GPS instance number

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Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
This commit is contained in:
Ryan Friedman 2023-03-24 14:15:54 -06:00 committed by Andrew Tridgell
parent ee59d527e8
commit a610474cdc
2 changed files with 13 additions and 9 deletions
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20
libraries/AP_DDS/AP_DDS_Client.cpp
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@ -12,7 +12,6 @@
static constexpr uint16_t DELAY_TIME_TOPIC_MS = 10; static constexpr uint16_t DELAY_TIME_TOPIC_MS = 10;
static constexpr uint16_t DELAY_NAV_SAT_FIX_TOPIC_MS = 1000; static constexpr uint16_t DELAY_NAV_SAT_FIX_TOPIC_MS = 1000;
static constexpr uint8_t GPS_INSTANCE_NO = 0; // Use primary GPS
static char WGS_84_FRAME_ID[] = "WGS-84"; static char WGS_84_FRAME_ID[] = "WGS-84";
AP_HAL::UARTDriver *dds_port; AP_HAL::UARTDriver *dds_port;
@ -37,20 +36,24 @@ void AP_DDS_Client::update_topic(builtin_interfaces_msg_Time& msg)
} }
void AP_DDS_Client::update_topic(sensor_msgs_msg_NavSatFix& msg) void AP_DDS_Client::update_topic(sensor_msgs_msg_NavSatFix& msg, const uint8_t instance)
{ {
// Add a lambda that takes in navsatfix msg and populates the cov // Add a lambda that takes in navsatfix msg and populates the cov
// Make it constexpr if possible // Make it constexpr if possible
// https://www.fluentcpp.com/2021/12/13/the-evolutions-of-lambdas-in-c14-c17-and-c20/ // https://www.fluentcpp.com/2021/12/13/the-evolutions-of-lambdas-in-c14-c17-and-c20/
// constexpr auto times2 = [] (sensor_msgs_msg_NavSatFix* msg) { return n * 2; }; // constexpr auto times2 = [] (sensor_msgs_msg_NavSatFix* msg) { return n * 2; };
// assert(instance >= GPS_MAX_RECEIVERS);
if (instance >= GPS_MAX_RECEIVERS) {
return;
}
update_topic(msg.header.stamp); update_topic(msg.header.stamp);
strcpy(msg.header.frame_id, WGS_84_FRAME_ID); strcpy(msg.header.frame_id, WGS_84_FRAME_ID);
msg.status.service = 0; // SERVICE_GPS msg.status.service = 0; // SERVICE_GPS
msg.status.status = -1; // STATUS_NO_FIX msg.status.status = -1; // STATUS_NO_FIX
if (!AP::gps().is_healthy()) { if (!AP::gps().is_healthy(instance)) {
msg.status.status = -1; // STATUS_NO_FIX msg.status.status = -1; // STATUS_NO_FIX
msg.status.service = 0; // No services supported msg.status.service = 0; // No services supported
msg.position_covariance_type = 0; // COVARIANCE_TYPE_UNKNOWN msg.position_covariance_type = 0; // COVARIANCE_TYPE_UNKNOWN
@ -62,7 +65,7 @@ void AP_DDS_Client::update_topic(sensor_msgs_msg_NavSatFix& msg)
//! This will be properly designed and implemented to spec in #23277 //! This will be properly designed and implemented to spec in #23277
msg.status.service = 1; // SERVICE_GPS msg.status.service = 1; // SERVICE_GPS
const auto status = AP::gps().status(GPS_INSTANCE_NO); const auto status = AP::gps().status(instance);
switch (status) { switch (status) {
case AP_GPS::NO_GPS: case AP_GPS::NO_GPS:
case AP_GPS::NO_FIX: case AP_GPS::NO_FIX:
@ -88,7 +91,7 @@ void AP_DDS_Client::update_topic(sensor_msgs_msg_NavSatFix& msg)
//! @todo Can we not just use an enum class and not worry about this condition? //! @todo Can we not just use an enum class and not worry about this condition?
break; break;
} }
const auto loc = AP::gps().location(GPS_INSTANCE_NO); const auto loc = AP::gps().location(instance);
msg.latitude = loc.lat * 1E-7; msg.latitude = loc.lat * 1E-7;
msg.longitude = loc.lng * 1E-7; msg.longitude = loc.lng * 1E-7;
@ -105,9 +108,9 @@ void AP_DDS_Client::update_topic(sensor_msgs_msg_NavSatFix& msg)
// https://github.com/ros-drivers/nmea_navsat_driver/blob/indigo-devel/src/libnmea_navsat_driver/driver.py#L110-L114 // https://github.com/ros-drivers/nmea_navsat_driver/blob/indigo-devel/src/libnmea_navsat_driver/driver.py#L110-L114
//! @todo This calculation will be moved to AP::gps and fixed in #23259 //! @todo This calculation will be moved to AP::gps and fixed in #23259
//! It is a placeholder for now matching the ROS1 nmea_navsat_driver behavior //! It is a placeholder for now matching the ROS1 nmea_navsat_driver behavior
const auto hdop = AP::gps().get_hdop(GPS_INSTANCE_NO); const auto hdop = AP::gps().get_hdop(instance);
const auto hdopSq = hdop * hdop; const auto hdopSq = hdop * hdop;
const auto vdop = AP::gps().get_vdop(GPS_INSTANCE_NO); const auto vdop = AP::gps().get_vdop(instance);
const auto vdopSq = vdop * vdop; const auto vdopSq = vdop * vdop;
msg.position_covariance[0] = hdopSq; msg.position_covariance[0] = hdopSq;
msg.position_covariance[4] = hdopSq; msg.position_covariance[4] = hdopSq;
@ -287,7 +290,8 @@ void AP_DDS_Client::update()
} }
if (cur_time_ms - last_nav_sat_fix_time_ms > DELAY_NAV_SAT_FIX_TOPIC_MS) { if (cur_time_ms - last_nav_sat_fix_time_ms > DELAY_NAV_SAT_FIX_TOPIC_MS) {
update_topic(nav_sat_fix_topic); constexpr uint8_t instance = 0;
update_topic(nav_sat_fix_topic, instance);
last_nav_sat_fix_time_ms = cur_time_ms; last_nav_sat_fix_time_ms = cur_time_ms;
write_nav_sat_fix_topic(); write_nav_sat_fix_topic();
} }

2
libraries/AP_DDS/AP_DDS_Client.h
View File

@ -48,7 +48,7 @@ private:
bool connected = true; bool connected = true;
static void update_topic(builtin_interfaces_msg_Time& msg); static void update_topic(builtin_interfaces_msg_Time& msg);
static void update_topic(sensor_msgs_msg_NavSatFix& msg); static void update_topic(sensor_msgs_msg_NavSatFix& msg, const uint8_t instance);
// The last ms timestamp AP_DDS wrote a Time message // The last ms timestamp AP_DDS wrote a Time message
uint64_t last_time_time_ms; uint64_t last_time_time_ms;