TFMINI.hpp

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/**
 * @file tfmini.cpp
 * @author Lorenz Meier <lm@inf.ethz.ch>
 * @author Greg Hulands
 * @author Ayush Gaud <ayush.gaud@gmail.com>
 * @author Christoph Tobler <christoph@px4.io>
 * @author Mohammed Kabir <mhkabir@mit.edu>
 *
 * Driver for the Benewake TFmini laser rangefinder series
 */

#pragma once

#include <termios.h>

#include <drivers/drv_hrt.h>
#include <lib/perf/perf_counter.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/module.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <lib/drivers/rangefinder/PX4Rangefinder.hpp>
#include <uORB/topics/distance_sensor.h>

#include "tfmini_parser.h"

#define TFMINI_DEFAULT_PORT "/dev/ttyS3"

using namespace time_literals;

class TFMINI : public px4::ScheduledWorkItem
{
public:
    TFMINI(const char *port, uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
    virtual ~TFMINI();

    int init();

    void print_info();

private:

    int collect();

    void Run() override;

    void start();
    void stop();

    PX4Rangefinder  _px4_rangefinder;

    TFMINI_PARSE_STATE _parse_state {TFMINI_PARSE_STATE::STATE0_UNSYNC};

    char _linebuf[10] {};
    char _port[20] {};

    static constexpr int kCONVERSIONINTERVAL{9_ms};

    int _fd{-1};

    unsigned int _linebuf_index{0};

    hrt_abstime _last_read{0};

    perf_counter_t _comms_errors{perf_alloc(PC_COUNT, MODULE_NAME": com_err")};
    perf_counter_t _sample_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": read")};

};