flow.cpp

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#include "flow.hpp"

#include <drivers/drv_hrt.h>

const char *const UavcanFlowBridge::NAME = "flow";

UavcanFlowBridge::UavcanFlowBridge(uavcan::INode &node) :
    UavcanCDevSensorBridgeBase("uavcan_flow", "/dev/uavcan/flow", "/dev/flow", ORB_ID(optical_flow)),
    _sub_flow(node)
{
}

int
UavcanFlowBridge::init()
{
    int res = device::CDev::init();

    if (res < 0) {
        return res;
    }

    res = _sub_flow.start(FlowCbBinder(this, &UavcanFlowBridge::flow_sub_cb));

    if (res < 0) {
        DEVICE_LOG("failed to start uavcan sub: %d", res);
        return res;
    }

    return 0;
}

void
UavcanFlowBridge::flow_sub_cb(const uavcan::ReceivedDataStructure<com::hex::equipment::flow::Measurement> &msg)
{
    optical_flow_s flow{};

    flow.timestamp = hrt_absolute_time();
    flow.integration_timespan = 1.e6f * msg.integration_interval; // s -> micros
    flow.pixel_flow_x_integral = msg.flow_integral[0];
    flow.pixel_flow_y_integral = msg.flow_integral[1];

    flow.gyro_x_rate_integral = msg.rate_gyro_integral[0];
    flow.gyro_y_rate_integral = msg.rate_gyro_integral[1];

    flow.quality = msg.quality;
    flow.max_flow_rate = 5.0f;       // Datasheet: 7.4 rad/s
    flow.min_ground_distance = 0.1f; // Datasheet: 80mm
    flow.max_ground_distance = 30.0f; // Datasheet: infinity

    publish(msg.getSrcNodeID().get(), &flow);
}