BebopRangeFinder: Add DF wrapper for Bebop's height sensor

src/platforms/posix/drivers/df_bebop_rangefinder_wrapper/CMakeLists.txt

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+############################################################################
+#
+#   Copyright (c) 2016 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.
+#
+############################################################################
+
+include_directories(../../../../lib/DriverFramework/drivers)
+
+px4_add_module(
+	MODULE platforms__posix__drivers__df_bebop_rangefinder_wrapper
+	MAIN df_bebop_rangefinder_wrapper
+	SRCS
+		df_bebop_rangefinder_wrapper.cpp
+	DEPENDS
+		platforms__common
+		df_driver_framework
+		df_bebop_rangefinder
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix :

src/platforms/posix/drivers/df_bebop_rangefinder_wrapper/df_bebop_rangefinder_wrapper.cpp

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+/****************************************************************************
+ *
+ * Copyright (c) 2016 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file df_bebop_rangefinder_wrapper.cpp
+ * Driver to access the Bebop rangefinder of the DriverFramework.
+ */
+
+#include <px4_config.h>
+
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <stdint.h>
+#include <stddef.h>
+#include <stdlib.h>
+#include <string.h>
+#include <math.h>
+#include <unistd.h>
+#include <px4_getopt.h>
+#include <errno.h>
+#include <string>
+
+#include <systemlib/perf_counter.h>
+#include <systemlib/err.h>
+
+#include <drivers/drv_range_finder.h>
+#include <drivers/drv_hrt.h>
+
+#include <uORB/uORB.h>
+#include <uORB/topics/subsystem_info.h>
+#include <uORB/topics/distance_sensor.h>
+
+#include <board_config.h>
+
+#include <bebop_rangefinder/BebopRangeFinder.hpp>
+#include <DevMgr.hpp>
+
+
+extern "C" { __EXPORT int df_bebop_rangefinder_wrapper_main(int argc, char *argv[]); }
+
+using namespace DriverFramework;
+
+
+class DfBebopRangeFinderWrapper : public BebopRangeFinder
+{
+public:
+	DfBebopRangeFinderWrapper();
+	~DfBebopRangeFinderWrapper() = default;
+
+
+	/**
+	 * Start automatic measurement.
+	 *
+	 * @return 0 on success
+	 */
+	int		start();
+
+	/**
+	 * Stop automatic measurement.
+	 *
+	 * @return 0 on success
+	 */
+	int		stop();
+
+private:
+	int _publish(struct bebop_range &data);
+
+	orb_advert_t		_range_topic;
+
+	int			_orb_class_instance;
+
+	// perf_counter_t		_range_sample_perf;
+
+};
+
+DfBebopRangeFinderWrapper::DfBebopRangeFinderWrapper(/*enum Rotation rotation*/) :
+	BebopRangeFinder(BEBOP_RANGEFINDER_DEVICE_PATH),
+	_range_topic(nullptr),
+	_orb_class_instance(-1)
+{
+}
+
+int DfBebopRangeFinderWrapper::start()
+{
+	/* Init device and start sensor. */
+	int ret = init();
+
+	if (ret != 0) {
+		PX4_ERR("BebopRangeFinder init fail: %d", ret);
+		return ret;
+	}
+
+	ret = BebopRangeFinder::start();
+
+	if (ret != 0) {
+		PX4_ERR("BebopRangeFinder start fail: %d", ret);
+		return ret;
+	}
+
+	return 0;
+}
+
+int DfBebopRangeFinderWrapper::stop()
+{
+	/* Stop sensor. */
+	int ret = BebopRangeFinder::stop();
+
+	if (ret != 0) {
+		PX4_ERR("BebopRangeFinder stop fail: %d", ret);
+		return ret;
+	}
+
+	return 0;
+}
+
+int DfBebopRangeFinderWrapper::_publish(struct bebop_range &data)
+{
+	struct distance_sensor_s distance_data;
+
+	memset(&distance_data, 0, sizeof(distance_sensor_s));
+
+	distance_data.timestamp = hrt_absolute_time();
+	distance_data.min_distance = float(BEBOP_RANGEFINDER_MIN_DISTANCE_M); /* m */
+	distance_data.max_distance = float(BEBOP_RANGEFINDER_MAX_DISTANCE_M); /* m */
+
+	distance_data.current_distance = float(data.height_m);
+
+	distance_data.type = distance_sensor_s::MAV_DISTANCE_SENSOR_ULTRASOUND;
+
+	distance_data.id = 0; // TODO set proper ID
+
+	distance_data.orientation = 25; // MAV_SENSOR_ROTATION_PITCH_270 TODO check if this is correct
+
+	distance_data.covariance = 0.0f;
+
+	if (_range_topic == nullptr) {
+		_range_topic = orb_advertise_multi(ORB_ID(distance_sensor), &distance_data,
+						   &_orb_class_instance, ORB_PRIO_DEFAULT);
+
+	} else {
+		orb_publish(ORB_ID(distance_sensor), _range_topic, &distance_data);
+	}
+
+	/* Notify anyone waiting for data. */
+	DevMgr::updateNotify(*this);
+
+	return 0;
+};
+
+
+namespace df_bebop_rangefinder_wrapper
+{
+
+DfBebopRangeFinderWrapper *g_dev = nullptr;
+
+int start();
+int stop();
+int info();
+void usage();
+
+int start()
+{
+	g_dev = new DfBebopRangeFinderWrapper();
+
+	if (g_dev == nullptr) {
+		PX4_ERR("failed instantiating DfBebopRangeFinderWrapper object");
+		return -1;
+	}
+
+	int ret = g_dev->start();
+
+	if (ret != 0) {
+		PX4_ERR("DfBebopRangeFinderWrapper start failed");
+		return ret;
+	}
+
+	// Open the range sensor
+	DevHandle h;
+	DevMgr::getHandle(BEBOP_RANGEFINDER_DEVICE_PATH, h);
+
+	if (!h.isValid()) {
+		DF_LOG_INFO("Error: unable to obtain a valid handle for the receiver at: %s (%d)",
+			    BEBOP_RANGEFINDER_DEVICE_PATH, h.getError());
+		return -1;
+	}
+
+	DevMgr::releaseHandle(h);
+
+	return 0;
+}
+
+int stop()
+{
+	if (g_dev == nullptr) {
+		PX4_ERR("driver not running");
+		return 1;
+	}
+
+	int ret = g_dev->stop();
+
+	if (ret != 0) {
+		PX4_ERR("driver could not be stopped");
+		return ret;
+	}
+
+	delete g_dev;
+	g_dev = nullptr;
+	return 0;
+}
+
+/**
+ * Print a little info about the driver.
+ */
+int
+info()
+{
+	if (g_dev == nullptr) {
+		PX4_ERR("driver not running");
+		return 1;
+	}
+
+	PX4_DEBUG("state @ %p", g_dev);
+
+	return 0;
+}
+
+void
+usage()
+{
+	PX4_WARN("Usage: df_bebop_rangefinder_wrapper 'start', 'info', 'stop'");
+}
+
+} // namespace df_bebop_rangefinder_wrapper
+
+
+int
+df_bebop_rangefinder_wrapper_main(int argc, char *argv[])
+{
+	int ch;
+	int ret = 0;
+	int myoptind = 1;
+	const char *myoptarg = NULL;
+
+	/* jump over start/off/etc and look at options first */
+	while ((ch = px4_getopt(argc, argv, "R:", &myoptind, &myoptarg)) != EOF) {
+		switch (ch) {
+		  // Add rotation if necessary
+		default:
+			df_bebop_rangefinder_wrapper::usage();
+			return 0;
+		}
+	}
+
+	if (argc <= 1) {
+		df_bebop_rangefinder_wrapper::usage();
+		return 1;
+	}
+
+	const char *verb = argv[myoptind];
+
+
+	if (!strcmp(verb, "start")) {
+		ret = df_bebop_rangefinder_wrapper::start(/*rotation*/);
+	}
+
+	else if (!strcmp(verb, "stop")) {
+		ret = df_bebop_rangefinder_wrapper::stop();
+	}
+
+	else if (!strcmp(verb, "info")) {
+		ret = df_bebop_rangefinder_wrapper::info();
+	}
+
+	else {
+		df_bebop_rangefinder_wrapper::usage();
+		return 1;
+	}
+
+	return ret;
+}