gnss.hpp

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/**
 * @file gnss.hpp
 *
 * UAVCAN <--> ORB bridge for GNSS messages:
 *     uavcan.equipment.gnss.Fix (deprecated, but still supported for backward compatibility)
 *     uavcan.equipment.gnss.Fix2
 *
 * @author Pavel Kirienko <pavel.kirienko@gmail.com>
 * @author Andrew Chambers <achamber@gmail.com>
 */

#pragma once

#include <uORB/Subscription.hpp>
#include <uORB/PublicationMulti.hpp>
#include <uORB/topics/vehicle_gps_position.h>

#include <uavcan/uavcan.hpp>
#include <uavcan/equipment/gnss/Auxiliary.hpp>
#include <uavcan/equipment/gnss/Fix.hpp>
#include <uavcan/equipment/gnss/Fix2.hpp>

#include "sensor_bridge.hpp"

class UavcanGnssBridge : public IUavcanSensorBridge
{
    static constexpr unsigned ORB_TO_UAVCAN_FREQUENCY_HZ = 10;

public:
    static const char *const NAME;

    UavcanGnssBridge(uavcan::INode &node);
    ~UavcanGnssBridge() = default;

    const char *get_name() const override { return NAME; }

    int init() override;

    unsigned get_num_redundant_channels() const override;

    void print_status() const override;

private:
    /**
     * GNSS fix message will be reported via this callback.
     */
    void gnss_auxiliary_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Auxiliary> &msg);
    void gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix> &msg);
    void gnss_fix2_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix2> &msg);

    template <typename FixType>
    void process_fixx(const uavcan::ReceivedDataStructure<FixType> &msg,
              const float (&pos_cov)[9], const float (&vel_cov)[9],
              const bool valid_pos_cov, const bool valid_vel_cov);

    void broadcast_from_orb(const uavcan::TimerEvent &);

    typedef uavcan::MethodBinder < UavcanGnssBridge *,
        void (UavcanGnssBridge::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Auxiliary> &) >
        AuxiliaryCbBinder;

    typedef uavcan::MethodBinder < UavcanGnssBridge *,
        void (UavcanGnssBridge::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix> &) >
        FixCbBinder;

    typedef uavcan::MethodBinder < UavcanGnssBridge *,
        void (UavcanGnssBridge::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix2> &) >
        Fix2CbBinder;

    typedef uavcan::MethodBinder<UavcanGnssBridge *,
        void (UavcanGnssBridge::*)(const uavcan::TimerEvent &)>
        TimerCbBinder;

    uavcan::INode &_node;

    uavcan::Subscriber<uavcan::equipment::gnss::Auxiliary, AuxiliaryCbBinder> _sub_auxiliary;
    uavcan::Subscriber<uavcan::equipment::gnss::Fix, FixCbBinder> _sub_fix;
    uavcan::Subscriber<uavcan::equipment::gnss::Fix2, Fix2CbBinder> _sub_fix2;

    uavcan::Publisher<uavcan::equipment::gnss::Fix2> _pub_fix2;

    uavcan::TimerEventForwarder<TimerCbBinder> _orb_to_uavcan_pub_timer;

    uint64_t    _last_gnss_auxiliary_timestamp{0};
    float       _last_gnss_auxiliary_hdop{0.0f};
    float       _last_gnss_auxiliary_vdop{0.0f};

    uORB::PublicationMulti<vehicle_gps_position_s>  _gps_pub{ORB_ID(vehicle_gps_position), ORB_PRIO_DEFAULT};
    uORB::Subscription              _orb_sub_gnss{ORB_ID(vehicle_gps_position)};

    int _receiver_node_id{-1};
    bool    _old_fix_subscriber_active{true};
    bool    _system_clock_set{false};           ///< Have we set the system clock at least once from GNSS data?

};