PX4Rangefinder.cpp

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#include "PX4Rangefinder.hpp"

#include <lib/drivers/device/Device.hpp>

PX4Rangefinder::PX4Rangefinder(const uint32_t device_id, const uint8_t priority, const uint8_t device_orientation) :
    CDev(nullptr),
    _distance_sensor_pub{ORB_ID(distance_sensor), priority}
{
    _class_device_instance = register_class_devname(RANGE_FINDER_BASE_DEVICE_PATH);

    set_device_id(device_id);
    set_orientation(device_orientation);
}

PX4Rangefinder::~PX4Rangefinder()
{
    if (_class_device_instance != -1) {
        unregister_class_devname(RANGE_FINDER_BASE_DEVICE_PATH, _class_device_instance);
    }
}

void
PX4Rangefinder::set_device_type(uint8_t device_type)
{
    // TODO: range finders should have device ids

    // // current DeviceStructure
    // union device::Device::DeviceId device_id;
    // device_id.devid = _distance_sensor_pub.get().device_id;

    // // update to new device type
    // device_id.devid_s.devtype = devtype;

    // // copy back to report
    // _distance_sensor_pub.get().device_id = device_id.devid;
}

void
PX4Rangefinder::set_orientation(const uint8_t device_orientation)
{
    _distance_sensor_pub.get().orientation = device_orientation;
}

void
PX4Rangefinder::update(const hrt_abstime timestamp, const float distance, const int8_t quality)
{
    distance_sensor_s &report = _distance_sensor_pub.get();

    report.timestamp = timestamp;
    report.current_distance = distance;
    report.signal_quality = quality;

    // if quality is unavailable (-1) set to 0 if distance is outside bounds
    if (quality < 0) {
        if ((distance < report.min_distance) || (distance > report.max_distance)) {
            report.signal_quality = 0;
        }
    }

    _distance_sensor_pub.update();
}

void
PX4Rangefinder::print_status()
{
    PX4_INFO(RANGE_FINDER_BASE_DEVICE_PATH " device instance: %d", _class_device_instance);

    print_message(_distance_sensor_pub.get());
}