#include <gnss.hpp>

Inheritance diagram for UavcanGnssBridge:

Collaboration diagram for UavcanGnssBridge:

Public Member Functions
	UavcanGnssBridge (uavcan::INode &node)

	~UavcanGnssBridge ()=default

const char *	get_name () const override
	Returns ASCII name of the bridge. More...

int	init () override
	Starts the bridge. More...

unsigned	get_num_redundant_channels () const override
	Returns number of active redundancy channels. More...

void	print_status () const override
	Prints current status in a human readable format to stdout. More...

Public Member Functions inherited from IUavcanSensorBridge
virtual	~IUavcanSensorBridge ()=default

Public Member Functions inherited from ListNode< IUavcanSensorBridge *>
void	setSibling (IUavcanSensorBridge * sibling)

const IUavcanSensorBridge *	getSibling () const

Static Public Attributes
static const char *const	NAME = "gnss"

Static Public Attributes inherited from IUavcanSensorBridge
static constexpr unsigned	MAX_NAME_LEN = 20

Private Types
typedef uavcan::MethodBinder< UavcanGnssBridge , void(UavcanGnssBridge::)(const uavcan::ReceivedDataStructure< uavcan::equipment::gnss::Auxiliary > &) >	AuxiliaryCbBinder

typedef uavcan::MethodBinder< UavcanGnssBridge , void(UavcanGnssBridge::)(const uavcan::ReceivedDataStructure< uavcan::equipment::gnss::Fix > &) >	FixCbBinder

typedef uavcan::MethodBinder< UavcanGnssBridge , void(UavcanGnssBridge::)(const uavcan::ReceivedDataStructure< uavcan::equipment::gnss::Fix2 > &) >	Fix2CbBinder

typedef uavcan::MethodBinder< UavcanGnssBridge , void(UavcanGnssBridge::)(const uavcan::TimerEvent &)>	TimerCbBinder

Private Member Functions
void	gnss_auxiliary_sub_cb (const uavcan::ReceivedDataStructure< uavcan::equipment::gnss::Auxiliary > &msg)
	GNSS fix message will be reported via this callback. More...

void	gnss_fix_sub_cb (const uavcan::ReceivedDataStructure< uavcan::equipment::gnss::Fix > &msg)

void	gnss_fix2_sub_cb (const uavcan::ReceivedDataStructure< uavcan::equipment::gnss::Fix2 > &msg)

template<typename FixType >
void	process_fixx (const uavcan::ReceivedDataStructure< FixType > &msg, const float(&pos_cov)[9], const float(&vel_cov)[9], const bool valid_pos_cov, const bool valid_vel_cov)

void	broadcast_from_orb (const uavcan::TimerEvent &)

Private Attributes
uavcan::INode &	_node

uavcan::Subscriber< uavcan::equipment::gnss::Auxiliary, AuxiliaryCbBinder >	_sub_auxiliary

uavcan::Subscriber< uavcan::equipment::gnss::Fix, FixCbBinder >	_sub_fix

uavcan::Subscriber< uavcan::equipment::gnss::Fix2, Fix2CbBinder >	_sub_fix2

uavcan::Publisher< uavcan::equipment::gnss::Fix2 >	_pub_fix2

uavcan::TimerEventForwarder< TimerCbBinder >	_orb_to_uavcan_pub_timer

uint64_t	_last_gnss_auxiliary_timestamp {0}

float	_last_gnss_auxiliary_hdop {0.0f}

float	_last_gnss_auxiliary_vdop {0.0f}

uORB::PublicationMulti< vehicle_gps_position_s >	_gps_pub {ORB_ID(vehicle_gps_position), ORB_PRIO_DEFAULT}

uORB::Subscription	_orb_sub_gnss {ORB_ID(vehicle_gps_position)}

int	_receiver_node_id {-1}

bool	_old_fix_subscriber_active {true}

bool	_system_clock_set {false}
	Have we set the system clock at least once from GNSS data? More...

Static Private Attributes
static constexpr unsigned	ORB_TO_UAVCAN_FREQUENCY_HZ = 10

Additional Inherited Members
Static Public Member Functions inherited from IUavcanSensorBridge
static void	make_all (uavcan::INode &node, List< IUavcanSensorBridge *> &list)
	Sensor bridge factory. More...

Protected Attributes inherited from ListNode< IUavcanSensorBridge *>
IUavcanSensorBridge *	_list_node_sibling

Detailed Description

Definition at line 58 of file gnss.hpp.

Member Typedef Documentation

◆ AuxiliaryCbBinder

typedef uavcan::MethodBinder< UavcanGnssBridge *, void (UavcanGnssBridge::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Auxiliary> &) > UavcanGnssBridge::AuxiliaryCbBinder

private

Definition at line 93 of file gnss.hpp.

◆ Fix2CbBinder

typedef uavcan::MethodBinder< UavcanGnssBridge *, void (UavcanGnssBridge::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix2> &) > UavcanGnssBridge::Fix2CbBinder

private

Definition at line 101 of file gnss.hpp.

◆ FixCbBinder

typedef uavcan::MethodBinder< UavcanGnssBridge *, void (UavcanGnssBridge::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix> &) > UavcanGnssBridge::FixCbBinder

private

Definition at line 97 of file gnss.hpp.

◆ TimerCbBinder

typedef uavcan::MethodBinder<UavcanGnssBridge *, void (UavcanGnssBridge::*)(const uavcan::TimerEvent &)> UavcanGnssBridge::TimerCbBinder

private

Definition at line 105 of file gnss.hpp.

Constructor & Destructor Documentation

◆ UavcanGnssBridge()

UavcanGnssBridge::UavcanGnssBridge ( uavcan::INode & node )

Definition at line 54 of file gnss.cpp.

◆ ~UavcanGnssBridge()

UavcanGnssBridge::~UavcanGnssBridge ( )

default

Member Function Documentation

◆ broadcast_from_orb()

void UavcanGnssBridge::broadcast_from_orb ( const uavcan::TimerEvent & )

private

Definition at line 414 of file gnss.cpp.

References _orb_sub_gnss, _pub_fix2, msg, and uORB::Subscription::update().

Referenced by get_name().

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◆ get_name()

const char* UavcanGnssBridge::get_name ( ) const

inlineoverridevirtual

Returns ASCII name of the bridge.

Implements IUavcanSensorBridge.

Definition at line 68 of file gnss.hpp.

References broadcast_from_orb(), get_num_redundant_channels(), gnss_auxiliary_sub_cb(), gnss_fix2_sub_cb(), gnss_fix_sub_cb(), init(), msg, NAME, print_status(), and process_fixx().

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◆ get_num_redundant_channels()

unsigned UavcanGnssBridge::get_num_redundant_channels ( ) const

overridevirtual

Returns number of active redundancy channels.

Implements IUavcanSensorBridge.

Definition at line 101 of file gnss.cpp.

References _receiver_node_id.

Referenced by get_name().

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◆ gnss_auxiliary_sub_cb()

void UavcanGnssBridge::gnss_auxiliary_sub_cb ( const uavcan::ReceivedDataStructure< uavcan::equipment::gnss::Auxiliary > & msg )

private

GNSS fix message will be reported via this callback.

Definition at line 121 of file gnss.cpp.

References _last_gnss_auxiliary_hdop, _last_gnss_auxiliary_timestamp, _last_gnss_auxiliary_vdop, and hrt_absolute_time().

Referenced by get_name(), and init().

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◆ gnss_fix2_sub_cb()

void UavcanGnssBridge::gnss_fix2_sub_cb ( const uavcan::ReceivedDataStructure< uavcan::equipment::gnss::Fix2 > & msg )

private

Definition at line 145 of file gnss.cpp.

References _old_fix_subscriber_active, _receiver_node_id, _sub_fix, and process_fixx().

Referenced by get_name(), and init().

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◆ gnss_fix_sub_cb()

void UavcanGnssBridge::gnss_fix_sub_cb ( const uavcan::ReceivedDataStructure< uavcan::equipment::gnss::Fix > & msg )

private

Definition at line 130 of file gnss.cpp.

References process_fixx().

Referenced by get_name(), and init().

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◆ init()

int UavcanGnssBridge::init ( )

overridevirtual

Starts the bridge.

Returns: Non-negative value on success, negative on error.

Implements IUavcanSensorBridge.

Definition at line 65 of file gnss.cpp.

References _orb_to_uavcan_pub_timer, _pub_fix2, _sub_auxiliary, _sub_fix, _sub_fix2, gnss_auxiliary_sub_cb(), gnss_fix2_sub_cb(), gnss_fix_sub_cb(), and ORB_TO_UAVCAN_FREQUENCY_HZ.

Referenced by get_name().

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◆ print_status()

void UavcanGnssBridge::print_status ( ) const

overridevirtual

Prints current status in a human readable format to stdout.

Implements IUavcanSensorBridge.

Definition at line 107 of file gnss.cpp.

References _old_fix_subscriber_active, _receiver_node_id, and _sub_fix.

Referenced by get_name().

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◆ process_fixx()

template<typename FixType >

void UavcanGnssBridge::process_fixx	(	const uavcan::ReceivedDataStructure< FixType > &	msg,
		const float(&)	pos_cov[9],
		const float(&)	vel_cov[9],
		const bool	valid_pos_cov,
		const bool	valid_vel_cov
	)

private

Definition at line 262 of file gnss.cpp.

References _gps_pub, _last_gnss_auxiliary_hdop, _last_gnss_auxiliary_timestamp, _last_gnss_auxiliary_vdop, _orb_to_uavcan_pub_timer, _receiver_node_id, _system_clock_set, hrt_absolute_time(), hrt_elapsed_time(), math::max(), uORB::PublicationMulti< T >::publish(), and vehicle_gps_position_s::timestamp.

Referenced by get_name(), gnss_fix2_sub_cb(), and gnss_fix_sub_cb().

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Member Data Documentation

◆ _gps_pub

uORB::PublicationMulti<vehicle_gps_position_s> UavcanGnssBridge::_gps_pub {ORB_ID(vehicle_gps_position), ORB_PRIO_DEFAULT}

private

Definition at line 121 of file gnss.hpp.

Referenced by process_fixx().

◆ _last_gnss_auxiliary_hdop

float UavcanGnssBridge::_last_gnss_auxiliary_hdop {0.0f}

private

Definition at line 118 of file gnss.hpp.

Referenced by gnss_auxiliary_sub_cb(), and process_fixx().

◆ _last_gnss_auxiliary_timestamp

uint64_t UavcanGnssBridge::_last_gnss_auxiliary_timestamp {0}

private

Definition at line 117 of file gnss.hpp.

Referenced by gnss_auxiliary_sub_cb(), and process_fixx().

◆ _last_gnss_auxiliary_vdop

float UavcanGnssBridge::_last_gnss_auxiliary_vdop {0.0f}

private

Definition at line 119 of file gnss.hpp.

Referenced by gnss_auxiliary_sub_cb(), and process_fixx().

◆ _node

uavcan::INode& UavcanGnssBridge::_node

private

Definition at line 107 of file gnss.hpp.

◆ _old_fix_subscriber_active

bool UavcanGnssBridge::_old_fix_subscriber_active {true}

private

Definition at line 125 of file gnss.hpp.

Referenced by gnss_fix2_sub_cb(), and print_status().

◆ _orb_sub_gnss

uORB::Subscription UavcanGnssBridge::_orb_sub_gnss {ORB_ID(vehicle_gps_position)}

private

Definition at line 122 of file gnss.hpp.

Referenced by broadcast_from_orb().

◆ _orb_to_uavcan_pub_timer

uavcan::TimerEventForwarder<TimerCbBinder> UavcanGnssBridge::_orb_to_uavcan_pub_timer

private

Definition at line 115 of file gnss.hpp.

Referenced by init(), and process_fixx().

◆ _pub_fix2

uavcan::Publisher<uavcan::equipment::gnss::Fix2> UavcanGnssBridge::_pub_fix2

private

Definition at line 113 of file gnss.hpp.

Referenced by broadcast_from_orb(), and init().

◆ _receiver_node_id

int UavcanGnssBridge::_receiver_node_id {-1}

private

Definition at line 124 of file gnss.hpp.

Referenced by get_num_redundant_channels(), gnss_fix2_sub_cb(), print_status(), and process_fixx().

◆ _sub_auxiliary

uavcan::Subscriber<uavcan::equipment::gnss::Auxiliary, AuxiliaryCbBinder> UavcanGnssBridge::_sub_auxiliary

private

Definition at line 109 of file gnss.hpp.

Referenced by init().

◆ _sub_fix

uavcan::Subscriber<uavcan::equipment::gnss::Fix, FixCbBinder> UavcanGnssBridge::_sub_fix

private

Definition at line 110 of file gnss.hpp.

Referenced by gnss_fix2_sub_cb(), init(), and print_status().

◆ _sub_fix2

uavcan::Subscriber<uavcan::equipment::gnss::Fix2, Fix2CbBinder> UavcanGnssBridge::_sub_fix2

private

Definition at line 111 of file gnss.hpp.

Referenced by init().

◆ _system_clock_set

bool UavcanGnssBridge::_system_clock_set {false}

private

Have we set the system clock at least once from GNSS data?

Definition at line 126 of file gnss.hpp.

Referenced by process_fixx().

◆ NAME

const char *const UavcanGnssBridge::NAME = "gnss"

static

Definition at line 63 of file gnss.hpp.

Referenced by get_name().

◆ ORB_TO_UAVCAN_FREQUENCY_HZ

constexpr unsigned UavcanGnssBridge::ORB_TO_UAVCAN_FREQUENCY_HZ = 10

staticprivate

Definition at line 60 of file gnss.hpp.

Referenced by init().

The documentation for this class was generated from the following files:

src/drivers/uavcan/sensors/gnss.hpp
src/drivers/uavcan/sensors/gnss.cpp

Public Member Functions

Static Public Attributes

Private Types

Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ AuxiliaryCbBinder

◆ Fix2CbBinder

◆ FixCbBinder

◆ TimerCbBinder

Constructor & Destructor Documentation

◆ UavcanGnssBridge()

◆ ~UavcanGnssBridge()

Member Function Documentation

◆ broadcast_from_orb()

◆ get_name()

◆ get_num_redundant_channels()

◆ gnss_auxiliary_sub_cb()

◆ gnss_fix2_sub_cb()

◆ gnss_fix_sub_cb()

◆ init()

◆ print_status()

◆ process_fixx()

Member Data Documentation

◆ _gps_pub

◆ _last_gnss_auxiliary_hdop

◆ _last_gnss_auxiliary_timestamp

◆ _last_gnss_auxiliary_vdop

◆ _node

◆ _old_fix_subscriber_active

◆ _orb_sub_gnss

◆ _orb_to_uavcan_pub_timer

◆ _pub_fix2

◆ _receiver_node_id

◆ _sub_auxiliary

◆ _sub_fix

◆ _sub_fix2

◆ _system_clock_set

◆ NAME

◆ ORB_TO_UAVCAN_FREQUENCY_HZ