ardupilot/libraries/AP_GPS/AP_GPS_DroneCAN.h

143 lines
5.2 KiB
C++

/*
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_Common/AP_Common.h>
#include <AP_HAL/AP_HAL.h>
#if HAL_ENABLE_LIBUAVCAN_DRIVERS
#include "AP_GPS.h"
#include "GPS_Backend.h"
#include "RTCM3_Parser.h"
#include <AP_DroneCAN/AP_DroneCAN.h>
class AP_GPS_UAVCAN : public AP_GPS_Backend {
public:
AP_GPS_UAVCAN(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_GPS::GPS_Role role);
~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_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 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; };
#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_UAVCAN* get_uavcan_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[15];
// Module Detection Registry
static struct DetectedModules {
AP_DroneCAN* ap_dronecan;
uint8_t node_id;
uint8_t instance;
AP_GPS_UAVCAN* 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);
};
#endif