ardupilot/libraries/AP_GPS/AP_GPS_UAVCAN.cpp

84 lines
2.2 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/>.
*/
//
// UAVCAN GPS driver
//
#include "AP_GPS_UAVCAN.h"
#include <stdint.h>
#if HAL_WITH_UAVCAN
#include <AP_UAVCAN/AP_UAVCAN.h>
#include <AP_BoardConfig/AP_BoardConfig.h>
#include <AP_BoardConfig/AP_BoardConfig_CAN.h>
extern const AP_HAL::HAL& hal;
#define debug_gps_uavcan(level, fmt, args...) do { if ((level) <= AP_BoardConfig_CAN::get_can_debug()) { printf(fmt, ##args); }} while (0)
AP_GPS_UAVCAN::AP_GPS_UAVCAN(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port) :
AP_GPS_Backend(_gps, _state, _port)
{
_new_data = false;
_sem_gnss = hal.util->new_semaphore();
}
// For each instance we need to deregister from AP_UAVCAN class
AP_GPS_UAVCAN::~AP_GPS_UAVCAN()
{
if (hal.can_mgr[_manager] != nullptr) {
AP_UAVCAN *ap_uavcan = hal.can_mgr[_manager]->get_UAVCAN();
if (ap_uavcan != nullptr) {
ap_uavcan->remove_gps_listener(this);
debug_gps_uavcan(2, "AP_GPS_UAVCAN destructed\n\r");
}
}
}
void AP_GPS_UAVCAN::set_uavcan_manager(uint8_t mgr)
{
_manager = mgr;
}
// Consume new data and mark it received
bool AP_GPS_UAVCAN::read(void)
{
if (_sem_gnss->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
if (_new_data) {
_new_data = false;
state = _interm_state;
_sem_gnss->give();
return true;
}
_sem_gnss->give();
}
return false;
}
void AP_GPS_UAVCAN::handle_gnss_msg(const AP_GPS::GPS_State &msg)
{
if (_sem_gnss->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
_interm_state = msg;
_new_data = true;
_sem_gnss->give();
}
}
#endif // HAL_WITH_UAVCAN