voted_sensors_update.h

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#pragma once

/**
 * @file voted_sensors_update.h
 *
 * @author Beat Kueng <beat-kueng@gmx.net>
 */

#include "parameters.h"

#include <drivers/drv_accel.h>
#include <drivers/drv_gyro.h>
#include <drivers/drv_mag.h>
#include <drivers/drv_baro.h>
#include <drivers/drv_hrt.h>

#include <mathlib/mathlib.h>

#include <lib/ecl/validation/data_validator.h>
#include <lib/ecl/validation/data_validator_group.h>

#include <uORB/Publication.hpp>
#include <uORB/PublicationQueued.hpp>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/sensor_preflight.h>
#include <uORB/topics/sensor_correction.h>
#include <uORB/topics/sensor_selection.h>
#include <uORB/topics/vehicle_air_data.h>
#include <uORB/topics/vehicle_magnetometer.h>
#include <uORB/topics/subsystem_info.h>

#include <DevMgr.hpp>

#include "temperature_compensation.h"
#include "common.h"

namespace sensors
{

/**
 ** class VotedSensorsUpdate
 *
 * Handling of sensor updates with voting
 */
class VotedSensorsUpdate
{
public:
    /**
     * @param parameters parameter values. These do not have to be initialized when constructing this object.
     * Only when calling init(), they have to be initialized.
     */
    VotedSensorsUpdate(const Parameters &parameters, bool hil_enabled);

    /**
     * initialize subscriptions etc.
     * @return 0 on success, <0 otherwise
     */
    int init(sensor_combined_s &raw);

    /**
     * This tries to find new sensor instances. This is called from init(), then it can be called periodically.
     */
    void initializeSensors();

    /**
     * deinitialize the object (we cannot use the destructor because it is called on the wrong thread)
     */
    void deinit();

    void printStatus();

    /**
     * call this whenever parameters got updated. Make sure to have initializeSensors() called at least
     * once before calling this.
     */
    void parametersUpdate();

    /**
     * read new sensor data
     */
    void sensorsPoll(sensor_combined_s &raw, vehicle_air_data_s &airdata, vehicle_magnetometer_s &magnetometer);

    /**
     * set the relative timestamps of each sensor timestamp, based on the last sensorsPoll,
     * so that the data can be published.
     */
    void setRelativeTimestamps(sensor_combined_s &raw);

    /**
     * check if a failover event occured. if so, report it.
     */
    void checkFailover();

    int numGyros() const { return _gyro.subscription_count; }

    int gyroFd(int idx) const { return _gyro.subscription[idx]; }

    int bestGyroFd() const { return _gyro.subscription[_gyro.last_best_vote]; }

    /**
     * Calculates the magnitude in m/s/s of the largest difference between the primary and any other accel sensor
     */
    void calcAccelInconsistency(sensor_preflight_s &preflt);

    /**
     * Calculates the magnitude in rad/s of the largest difference between the primary and any other gyro sensor
     */
    void calcGyroInconsistency(sensor_preflight_s &preflt);

    /**
     * Calculates the magnitude in Gauss of the largest difference between the primary and any other magnetometers
     */
    void calcMagInconsistency(sensor_preflight_s &preflt);

private:

    struct SensorData {
        SensorData()
            : last_best_vote(0),
              subscription_count(0),
              voter(1),
              last_failover_count(0)
        {
            for (unsigned i = 0; i < SENSOR_COUNT_MAX; i++) {
                enabled[i] = true;
                subscription[i] = -1;
                priority[i] = 0;
            }
        }

        bool enabled[SENSOR_COUNT_MAX];

        int subscription[SENSOR_COUNT_MAX]; /**< raw sensor data subscription */
        uint8_t priority[SENSOR_COUNT_MAX]; /**< sensor priority */
        uint8_t last_best_vote; /**< index of the latest best vote */
        int subscription_count;
        DataValidatorGroup voter;
        unsigned int last_failover_count;
    };

    void initSensorClass(const orb_metadata *meta, SensorData &sensor_data, uint8_t sensor_count_max);

    /**
     * Poll the accelerometer for updated data.
     *
     * @param raw   Combined sensor data structure into which
     *      data should be returned.
     */
    void accelPoll(sensor_combined_s &raw);

    /**
     * Poll the gyro for updated data.
     *
     * @param raw   Combined sensor data structure into which
     *      data should be returned.
     */
    void gyroPoll(sensor_combined_s &raw);

    /**
     * Poll the magnetometer for updated data.
     *
     * @param raw   Combined sensor data structure into which
     *      data should be returned.
     */
    void magPoll(vehicle_magnetometer_s &magnetometer);

    /**
     * Poll the barometer for updated data.
     *
     * @param raw   Combined sensor data structure into which
     *      data should be returned.
     */
    void baroPoll(vehicle_air_data_s &airdata);

    /**
     * Check & handle failover of a sensor
     * @return true if a switch occured (could be for a non-critical reason)
     */
    bool checkFailover(SensorData &sensor, const char *sensor_name, const uint64_t type);

    /**
     * Apply a gyro calibration.
     *
     * @param h: reference to the DevHandle in use
     * @param gscale: the calibration data.
     * @param device: the device id of the sensor.
     * @return: true if config is ok
     */
    bool applyGyroCalibration(DriverFramework::DevHandle &h, const struct gyro_calibration_s *gcal, const int device_id);

    /**
     * Apply a accel calibration.
     *
     * @param h: reference to the DevHandle in use
     * @param ascale: the calibration data.
     * @param device: the device id of the sensor.
     * @return: true if config is ok
     */
    bool applyAccelCalibration(DriverFramework::DevHandle &h, const struct accel_calibration_s *acal,
                   const int device_id);

    /**
     * Apply a mag calibration.
     *
     * @param h: reference to the DevHandle in use
     * @param gscale: the calibration data.
     * @param device: the device id of the sensor.
     * @return: true if config is ok
     */
    bool applyMagCalibration(DriverFramework::DevHandle &h, const struct mag_calibration_s *mcal, const int device_id);

    SensorData _accel {};
    SensorData _gyro {};
    SensorData _mag {};
    SensorData _baro {};

    orb_advert_t _mavlink_log_pub{nullptr};

    uORB::Publication<sensor_correction_s>  _sensor_correction_pub{ORB_ID(sensor_correction)};  /**< handle to the sensor correction uORB topic */
    uORB::Publication<sensor_selection_s>   _sensor_selection_pub{ORB_ID(sensor_selection)};    /**< handle to the sensor selection uORB topic */

    sensor_combined_s _last_sensor_data[SENSOR_COUNT_MAX] {};   /**< latest sensor data from all sensors instances */
    vehicle_air_data_s _last_airdata[SENSOR_COUNT_MAX] {};      /**< latest sensor data from all sensors instances */
    vehicle_magnetometer_s _last_magnetometer[SENSOR_COUNT_MAX] {}; /**< latest sensor data from all sensors instances */

    matrix::Dcmf _board_rotation {};        /**< rotation matrix for the orientation that the board is mounted */
    matrix::Dcmf _mag_rotation[MAG_COUNT_MAX] {};   /**< rotation matrix for the orientation that the external mag0 is mounted */

    const Parameters &_parameters;
    const bool _hil_enabled{false};         /**< is hardware-in-the-loop mode enabled? */

    bool _corrections_changed{false};
    bool _selection_changed{false};         /**< true when a sensor selection has changed and not been published */

    float _accel_diff[3][2] {};         /**< filtered accel differences between IMU units (m/s/s) */
    float _gyro_diff[3][2] {};          /**< filtered gyro differences between IMU uinits (rad/s) */
    float _mag_angle_diff[2] {};            /**< filtered mag angle differences between sensor instances (Ga) */

    uint32_t _accel_device_id[SENSOR_COUNT_MAX] {}; /**< accel driver device id for each uorb instance */
    uint32_t _baro_device_id[SENSOR_COUNT_MAX] {};  /**< baro driver device id for each uorb instance */
    uint32_t _gyro_device_id[SENSOR_COUNT_MAX] {};  /**< gyro driver device id for each uorb instance */
    uint32_t _mag_device_id[SENSOR_COUNT_MAX] {};   /**< mag driver device id for each uorb instance */

    uint64_t _last_accel_timestamp[ACCEL_COUNT_MAX] {}; /**< latest full timestamp */

    sensor_correction_s _corrections {};        /**< struct containing the sensor corrections to be published to the uORB */
    sensor_selection_s _selection {};       /**< struct containing the sensor selection to be published to the uORB */
    subsystem_info_s _info {};          /**< subsystem info publication */

    TemperatureCompensation _temperature_compensation{}; /**< sensor thermal compensation */

    uORB::PublicationQueued<subsystem_info_s> _info_pub{ORB_ID(subsystem_info)};    /* subsystem info publication */
};

} /* namespace sensors */