From 6cb659c8efa0cc12a0de5679bf3965535b9b771c Mon Sep 17 00:00:00 2001 From: Michael Schaeuble Date: Mon, 24 Oct 2016 14:37:33 +0200 Subject: [PATCH] BebopRangeFinder: Add DF wrapper for Bebop's height sensor --- .../CMakeLists.txt | 46 +++ .../df_bebop_rangefinder_wrapper.cpp | 310 ++++++++++++++++++ 2 files changed, 356 insertions(+) create mode 100644 src/platforms/posix/drivers/df_bebop_rangefinder_wrapper/CMakeLists.txt create mode 100644 src/platforms/posix/drivers/df_bebop_rangefinder_wrapper/df_bebop_rangefinder_wrapper.cpp diff --git a/src/platforms/posix/drivers/df_bebop_rangefinder_wrapper/CMakeLists.txt b/src/platforms/posix/drivers/df_bebop_rangefinder_wrapper/CMakeLists.txt new file mode 100644 index 0000000000..0dd83e8726 --- /dev/null +++ b/src/platforms/posix/drivers/df_bebop_rangefinder_wrapper/CMakeLists.txt @@ -0,0 +1,46 @@ +############################################################################ +# +# 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 : diff --git a/src/platforms/posix/drivers/df_bebop_rangefinder_wrapper/df_bebop_rangefinder_wrapper.cpp b/src/platforms/posix/drivers/df_bebop_rangefinder_wrapper/df_bebop_rangefinder_wrapper.cpp new file mode 100644 index 0000000000..f956ed5351 --- /dev/null +++ b/src/platforms/posix/drivers/df_bebop_rangefinder_wrapper/df_bebop_rangefinder_wrapper.cpp @@ -0,0 +1,310 @@ +/**************************************************************************** + * + * 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 + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +#include +#include + +#include +#include +#include + +#include + +#include +#include + + +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; +}