sensor_bridge.cpp

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/**
 * @author Pavel Kirienko <pavel.kirienko@gmail.com>
 */

#include "sensor_bridge.hpp"
#include <cassert>

#include "gnss.hpp"
#include "mag.hpp"
#include "baro.hpp"
#include "flow.hpp"
#include "battery.hpp"

/*
 * IUavcanSensorBridge
 */
void IUavcanSensorBridge::make_all(uavcan::INode &node, List<IUavcanSensorBridge *> &list)
{
    list.add(new UavcanBarometerBridge(node));
    list.add(new UavcanMagnetometerBridge(node));
    list.add(new UavcanGnssBridge(node));
    list.add(new UavcanFlowBridge(node));
    list.add(new UavcanBatteryBridge(node));
}

/*
 * UavcanCDevSensorBridgeBase
 */
UavcanCDevSensorBridgeBase::~UavcanCDevSensorBridgeBase()
{
    for (unsigned i = 0; i < _max_channels; i++) {
        if (_channels[i].node_id >= 0) {
            (void)unregister_class_devname(_class_devname, _channels[i].class_instance);
        }
    }

    delete [] _channels;
}

void
UavcanCDevSensorBridgeBase::publish(const int node_id, const void *report)
{
    Channel *channel = nullptr;

    // Checking if such channel already exists
    for (unsigned i = 0; i < _max_channels; i++) {
        if (_channels[i].node_id == node_id) {
            channel = _channels + i;
            break;
        }
    }

    // No such channel - try to create one
    if (channel == nullptr) {
        if (_out_of_channels) {
            return;           // Give up immediately - saves some CPU time
        }

        DEVICE_LOG("adding channel %d...", node_id);

        // Search for the first free channel
        for (unsigned i = 0; i < _max_channels; i++) {
            if (_channels[i].node_id < 0) {
                channel = _channels + i;
                break;
            }
        }

        // No free channels left
        if (channel == nullptr) {
            _out_of_channels = true;
            DEVICE_LOG("out of channels");
            return;
        }

        // update device id as we now know our device node_id
        _device_id.devid_s.address = static_cast<uint8_t>(node_id);

        // Ask the CDev helper which class instance we can take
        const int class_instance = register_class_devname(_class_devname);

        if (class_instance < 0 || class_instance >= int(_max_channels)) {
            _out_of_channels = true;
            DEVICE_LOG("out of class instances");
            (void)unregister_class_devname(_class_devname, class_instance);
            return;
        }

        // Publish to the appropriate topic, abort on failure
        channel->node_id        = node_id;
        channel->class_instance = class_instance;

        channel->orb_advert = orb_advertise_multi(_orb_topic, report, &channel->orb_instance, ORB_PRIO_VERY_HIGH);

        if (channel->orb_advert == nullptr) {
            DEVICE_LOG("ADVERTISE FAILED");
            (void)unregister_class_devname(_class_devname, class_instance);
            *channel = Channel();
            return;
        }

        DEVICE_LOG("channel %d class instance %d ok", channel->node_id, channel->class_instance);
    }

    assert(channel != nullptr);

    (void)orb_publish(_orb_topic, channel->orb_advert, report);
}

unsigned
UavcanCDevSensorBridgeBase::get_num_redundant_channels() const
{
    unsigned out = 0;

    for (unsigned i = 0; i < _max_channels; i++) {
        if (_channels[i].node_id >= 0) {
            out += 1;
        }
    }

    return out;
}

void
UavcanCDevSensorBridgeBase::print_status() const
{
    printf("devname: %s\n", _class_devname);

    for (unsigned i = 0; i < _max_channels; i++) {
        if (_channels[i].node_id >= 0) {
            printf("channel %d: node id %d --> class instance %d\n",
                   i, _channels[i].node_id, _channels[i].class_instance);

        } else {
            printf("channel %d: empty\n", i);
        }
    }
}