df_isl29501_wrapper.cpp

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/**
 * @file df_isl29501_wrapper.cpp
 * Driver to access the ISL29501 of the DriverFramework.
 *
 * @author Zach Lovett <zach.lovett@3drobotics.com>
 * @author Siddharth B Purohit <sid@3drobotics.com>
 */

#include <px4_platform_common/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_platform_common/getopt.h>
#include <errno.h>
#include <string>

#include <perf/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/distance_sensor.h>

#include <board_config.h>

#include <isl29501/isl29501.hpp>
#include <DevMgr.hpp>


extern "C" { __EXPORT int df_isl29501_wrapper_main(int argc, char *argv[]); }

using namespace DriverFramework;


class DfISL29501Wrapper : public ISL29501
{
public:
    DfISL29501Wrapper();
    ~DfISL29501Wrapper();


    /**
     * Start automatic measurement.
     *
     * @return 0 on success
     */
    int     start();

    /**
     * Stop automatic measurement.
     *
     * @return 0 on success
     */
    int     stop();

private:
    int _publish(struct range_sensor_data &data);

    orb_advert_t        _range_topic;

    int         _orb_class_instance;

    // perf_counter_t       _range_sample_perf;

};

DfISL29501Wrapper::DfISL29501Wrapper(/*enum Rotation rotation*/) :
    ISL29501(ISL_DEVICE_PATH),
    _range_topic(nullptr),
    _orb_class_instance(-1)
{
}

DfISL29501Wrapper::~DfISL29501Wrapper()
{
}

int DfISL29501Wrapper::start()
{
    int ret;
    ret = ISL29501::init();

    if (ret != 0) {
        PX4_ERR("ISL init fail: %d", ret);
        return ret;
    }

    ret = ISL29501::start();

    if (ret != 0) {
        PX4_ERR("ISL start fail: %d", ret);
        return ret;
    }

    return 0;
}

int DfISL29501Wrapper::stop()
{
    /* Stop sensor. */
    int ret = ISL29501::stop();

    if (ret != 0) {
        PX4_ERR("ISL stop fail: %d", ret);
        return ret;
    }

    return 0;
}

int DfISL29501Wrapper::_publish(struct range_sensor_data &data)
{
    struct distance_sensor_s d;

    memset(&d, 0, sizeof(d));

    d.timestamp = hrt_absolute_time();

    d.min_distance = float(ISL_MIN_DISTANCE); /* m */

    d.max_distance = float(ISL_MAX_DISTANCE); /* m */

    d.current_distance = float(data.dist);

    d.type = distance_sensor_s::MAV_DISTANCE_SENSOR_LASER;

    d.id = 0; // TODO set proper ID

    d.variance = 0.0f;

    d.signal_quality = -1;

    if (_range_topic == nullptr) {
        _range_topic = orb_advertise_multi(ORB_ID(distance_sensor), &d,
                           &_orb_class_instance, ORB_PRIO_DEFAULT);

    } else {
        orb_publish(ORB_ID(distance_sensor), _range_topic, &d);
    }

    return 0;
};


namespace df_isl29501_wrapper
{

DfISL29501Wrapper *g_dev = nullptr;

int start();
int stop();
int info();
int probe();
int calibration();
void usage();

int start()
{
    PX4_ERR("start");
    g_dev = new DfISL29501Wrapper();

    if (g_dev == nullptr) {
        PX4_ERR("failed instantiating DfISL29501Wrapper object");
        return -1;
    }

    int ret = g_dev->start();

    if (ret != 0) {
        PX4_ERR("DfISL29501Wrapper start failed");
        return ret;
    }

    // Open the range sensor
    DevHandle h;
    DevMgr::getHandle(ISL_DEVICE_PATH, h);

    if (!h.isValid()) {
        DF_LOG_INFO("Error: unable to obtain a valid handle for the receiver at: %s (%d)",
                ISL_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;
}

/**
 * Who am i
 */
int
probe()
{
    int ret;

    if (g_dev == nullptr) {
        ret = start();

        if (ret) {
            PX4_ERR("Failed to start");
            return ret;
        }
    }

    ret = g_dev->probe();

    if (ret) {
        PX4_ERR("Failed to probe");
        return ret;
    }

    PX4_DEBUG("state @ %p", g_dev);

    return 0;
}

/**
 * Calibration
 * runs calibration routine for ISL29501
 * TODO: implement calibration user interface and parameter system to store calib
 * Note: Currently only serves debugging purpose, user is required to manually
 * set offset inside code.
 */
int
calibration()
{
    int ret;

    if (g_dev == nullptr) {
        ret = start();

        if (ret) {
            PX4_ERR("Failed to start");
            return ret;
        }
    }

    ret = g_dev->calibration();

    if (ret) {
        PX4_ERR("Failed to calibrate");
        return ret;
    }

    PX4_DEBUG("state @ %p", g_dev);

    return 0;
}


void
usage()
{
    PX4_WARN("Usage: df_isl_wrapper 'start', 'info', 'stop', 'calib', 'probe'");
}

} // namespace df_isl_wrapper


int
df_isl29501_wrapper_main(int argc, char *argv[])
{
    int ret = 0;
    int myoptind = 1;

    if (argc <= 1) {
        df_isl29501_wrapper::usage();
        return 1;
    }

    const char *verb = argv[myoptind];


    if (!strcmp(verb, "start")) {
        ret = df_isl29501_wrapper::start(/*rotation*/);
    }

    else if (!strcmp(verb, "stop")) {
        ret = df_isl29501_wrapper::stop();
    }

    else if (!strcmp(verb, "info")) {
        ret = df_isl29501_wrapper::info();
    }

    else if (!strcmp(verb, "probe")) {
        ret = df_isl29501_wrapper::probe();
    }

    else if (!strcmp(verb, "calib")) {
        df_isl29501_wrapper::calibration();
        return 1;
    }

    else {
        df_isl29501_wrapper::usage();
        return 1;
    }

    return ret;
}