df_bebop_rangefinder_wrapper.cpp

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/**
 * @file df_bebop_rangefinder_wrapper.cpp
 * Driver to access the Bebop rangefinder of the DriverFramework.
 */

#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 <bebop_rangefinder/BebopRangeFinder.hpp>
#include <DevMgr.hpp>


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

using namespace DriverFramework;


class DfBebopRangeFinderWrapper : public BebopRangeFinder
{
public:
    DfBebopRangeFinderWrapper();
    ~DfBebopRangeFinderWrapper() = default;


    /**
     * Start automatic measurement.
     *
     * @return 0 on success
     */
    int     start();

    /**
     * Stop automatic measurement.
     *
     * @return 0 on success
     */
    int     stop();

private:
    int _publish(struct bebop_range &data);

    orb_advert_t        _range_topic;

    int         _orb_class_instance;

    // perf_counter_t       _range_sample_perf;

};

DfBebopRangeFinderWrapper::DfBebopRangeFinderWrapper(/*enum Rotation rotation*/) :
    BebopRangeFinder(BEBOP_RANGEFINDER_DEVICE_PATH),
    _range_topic(nullptr),
    _orb_class_instance(-1)
{
}

int DfBebopRangeFinderWrapper::start()
{
    /* Init device and start sensor. */
    int ret = init();

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

    ret = BebopRangeFinder::start();

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

    return 0;
}

int DfBebopRangeFinderWrapper::stop()
{
    /* Stop sensor. */
    int ret = BebopRangeFinder::stop();

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

    return 0;
}

int DfBebopRangeFinderWrapper::_publish(struct bebop_range &data)
{
    struct distance_sensor_s distance_data;

    memset(&distance_data, 0, sizeof(distance_sensor_s));

    distance_data.timestamp = hrt_absolute_time();
    distance_data.min_distance = float(BEBOP_RANGEFINDER_MIN_DISTANCE_M); /* m */
    distance_data.max_distance = float(BEBOP_RANGEFINDER_MAX_DISTANCE_M); /* m */

    distance_data.current_distance = float(data.height_m);

    distance_data.type = distance_sensor_s::MAV_DISTANCE_SENSOR_ULTRASOUND;

    distance_data.id = 0; // TODO set proper ID

    distance_data.orientation = distance_sensor_s::ROTATION_DOWNWARD_FACING;

    distance_data.variance = 1.0f; // TODO set correct value

    distance_data.signal_quality = -1;

    if (_range_topic == nullptr) {
        _range_topic = orb_advertise_multi(ORB_ID(distance_sensor), &distance_data,
                           &_orb_class_instance, ORB_PRIO_DEFAULT);

    } else {
        orb_publish(ORB_ID(distance_sensor), _range_topic, &distance_data);
    }

    return 0;
};


namespace df_bebop_rangefinder_wrapper
{

DfBebopRangeFinderWrapper *g_dev = nullptr;

int start();
int stop();
int info();
void usage();

int start()
{
    g_dev = new DfBebopRangeFinderWrapper();

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

    int ret = g_dev->start();

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

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

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

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

} // namespace df_bebop_rangefinder_wrapper


int
df_bebop_rangefinder_wrapper_main(int argc, char *argv[])
{
    int ch;
    int ret = 0;
    int myoptind = 1;
    const char *myoptarg = NULL;

    /* jump over start/off/etc and look at options first */
    while ((ch = px4_getopt(argc, argv, "R:", &myoptind, &myoptarg)) != EOF) {
        switch (ch) {
        // Add rotation if necessary
        default:
            df_bebop_rangefinder_wrapper::usage();
            return 0;
        }
    }

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

    const char *verb = argv[myoptind];


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

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

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

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

    return ret;
}