df_trone_wrapper.cpp

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/**
 * @file df_trone_wrapper.cpp
 * Driver to access the TROne of the DriverFramework.
 *
 * @author Nicolas de Palezieux <ndepal@gmail.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 <trone/TROne.hpp>
#include <DevMgr.hpp>


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

using namespace DriverFramework;


class DfTROneWrapper : public TROne
{
public:
    DfTROneWrapper(uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
    ~DfTROneWrapper();


    /**
     * 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);

    uint8_t _rotation;

    orb_advert_t        _range_topic;

    int         _orb_class_instance;

    // perf_counter_t       _range_sample_perf;

};

DfTROneWrapper::DfTROneWrapper(uint8_t rotation) :
    TROne(TRONE_DEVICE_PATH),
    _rotation(rotation),
    _range_topic(nullptr),
    _orb_class_instance(-1)
{
}

DfTROneWrapper::~DfTROneWrapper()
{
}

int DfTROneWrapper::start()
{
    int ret;

    /* Init device and start sensor. */
    ret = init();

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

    ret = TROne::start();

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

    return 0;
}

int DfTROneWrapper::stop()
{
    /* Stop sensor. */
    int ret = TROne::stop();

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

    return 0;
}

int DfTROneWrapper::_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(TRONE_MIN_DISTANCE); /* m */

    d.max_distance = float(TRONE_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.orientation = _rotation;

    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_trone_wrapper
{

DfTROneWrapper *g_dev = nullptr;

int start(uint8_t rotation);
int stop();
int info();
int probe();
void usage();

int start(uint8_t rotation)
{
    PX4_ERR("start");
    g_dev = new DfTROneWrapper(rotation);

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

    int ret = g_dev->start();

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

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

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

        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;
}


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

} // namespace df_trone_wrapper


int
df_trone_wrapper_main(int argc, char *argv[])
{
    int ch;
    int ret = 0;
    int myoptind = 1;
    const char *myoptarg = NULL;
    uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING;

    /* jump over start/off/etc and look at options first */
    while ((ch = px4_getopt(argc, argv, "R:", &myoptind, &myoptarg)) != EOF) {
        switch (ch) {
        case 'R':
            rotation = (uint8_t)atoi(myoptarg);
            PX4_INFO("Setting distance sensor orientation to %d", (int)rotation);
            break;

        default:
            df_trone_wrapper::usage();
            return 0;
        }
    }

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

    const char *verb = argv[myoptind];


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

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

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

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

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

    return ret;
}