Uavcannode hygrometer support: temp and humidity

Signed-off-by: dirksavage88 <dirksavage88@gmail.com>

src/drivers/uavcannode/Publishers/HygrometerMeasurement.hpp

@@ -0,0 +1,93 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "UavcanPublisherBase.hpp"
+
+#include <dronecan/sensors/hygrometer/Hygrometer.hpp>
+#include <uORB/SubscriptionCallback.hpp>
+#include <uORB/topics/sensor_hygrometer.h>
+
+namespace uavcannode
+{
+
+class HygrometerMeasurement :
+	public UavcanPublisherBase,
+	public uORB::SubscriptionCallbackWorkItem,
+	private uavcan::Publisher<dronecan::sensors::hygrometer::Hygrometer>
+{
+public:
+	HygrometerMeasurement(px4::WorkItem *work_item, uavcan::INode &node) :
+		UavcanPublisherBase(dronecan::sensors::hygrometer::Hygrometer::DefaultDataTypeID),
+		uORB::SubscriptionCallbackWorkItem(work_item, ORB_ID(sensor_hygrometer)),
+		uavcan::Publisher<dronecan::sensors::hygrometer::Hygrometer>(node)
+	{
+		this->setPriority(uavcan::TransferPriority::MiddleLower);
+	}
+
+	void PrintInfo() override
+	{
+		if (uORB::SubscriptionCallbackWorkItem::advertised()) {
+			printf("\t%s -> %s:%d\n",
+			       uORB::SubscriptionCallbackWorkItem::get_topic()->o_name,
+			       dronecan::sensors::hygrometer::Hygrometer::getDataTypeFullName(),
+			       dronecan::sensors::hygrometer::Hygrometer::DefaultDataTypeID);
+		}
+	}
+
+	void BroadcastAnyUpdates() override
+	{
+		// sensor_hygrometer -> dronecan::sensors::hyrometer::Hygrometer
+		sensor_hygrometer_s hygro;
+
+		if ((hrt_elapsed_time(&_last_hygrometer_publish) > 1_s) && uORB::SubscriptionCallbackWorkItem::update(&hygro)) {
+
+			// hygrometer temp in degrees C, humidity in percent
+			dronecan::sensors::hygrometer::Hygrometer hygro_measurement{};
+
+			hygro_measurement.temperature = hygro.temperature;
+			hygro_measurement.humidity = hygro.humidity;
+
+			uavcan::Publisher<dronecan::sensors::hygrometer::Hygrometer>::broadcast(hygro_measurement);
+
+			// ensure callback is registered
+			uORB::SubscriptionCallbackWorkItem::registerCallback();
+
+			_last_hygrometer_publish = hrt_absolute_time();
+		}
+	}
+private:
+	hrt_abstime _last_hygrometer_publish{0};
+};
+} // namespace uavcannode

src/drivers/uavcannode/UavcanNode.cpp

@@ -42,6 +42,7 @@
 
 #include "Publishers/BatteryInfo.hpp"
 #include "Publishers/FlowMeasurement.hpp"
+#include "Publishers/HygrometerMeasurement.hpp"
 #include "Publishers/GnssFix2.hpp"
 #include "Publishers/MagneticFieldStrength2.hpp"
 #include "Publishers/MovingBaselineData.hpp"
@@ -296,6 +297,7 @@ int UavcanNode::init(uavcan::NodeID node_id, UAVCAN_DRIVER::BusEvent &bus_events
 	// TODO: make runtime (and build time?) configurable
 	_publisher_list.add(new BatteryInfo(this, _node));
 	_publisher_list.add(new FlowMeasurement(this, _node));
+	_publisher_list.add(new HygrometerMeasurement(this, _node));
 	_publisher_list.add(new GnssFix2(this, _node));
 	_publisher_list.add(new MagneticFieldStrength2(this, _node));
 	_publisher_list.add(new RangeSensorMeasurement(this, _node));