This is the base class for redundant sensors with an independent ORB topic per each redundancy channel. More...

#include <sensor_bridge.hpp>

Inheritance diagram for UavcanCDevSensorBridgeBase:

Collaboration diagram for UavcanCDevSensorBridgeBase:

Classes
struct	Channel

Public Member Functions
virtual	~UavcanCDevSensorBridgeBase ()

unsigned	get_num_redundant_channels () const override
	Returns number of active redundancy channels. More...

void	print_status () const override
	Prints current status in a human readable format to stdout. More...

Public Member Functions inherited from IUavcanSensorBridge
virtual	~IUavcanSensorBridge ()=default

virtual const char *	get_name () const =0
	Returns ASCII name of the bridge. More...

virtual int	init ()=0
	Starts the bridge. More...

Public Member Functions inherited from ListNode< IUavcanSensorBridge *>
void	setSibling (IUavcanSensorBridge * sibling)

const IUavcanSensorBridge *	getSibling () const

Public Member Functions inherited from device::CDev
	CDev (const char name, const char devname)
	Constructor. More...

virtual	~CDev ()=default

virtual int	init ()

virtual int	ioctl (file_t *filep, int cmd, unsigned long arg)
	Perform an ioctl operation on the device. More...

Public Member Functions inherited from device::Device
	Device (const Device &)=delete

Device &	operator= (const Device &)=delete

	Device (Device &&)=delete

Device &	operator= (Device &&)=delete

virtual	~Device ()=default
	Destructor. More...

virtual int	read (unsigned address, void *data, unsigned count)
	Read directly from the device. More...

virtual int	write (unsigned address, void *data, unsigned count)
	Write directly to the device. More...

virtual int	ioctl (unsigned operation, unsigned &arg)
	Perform a device-specific operation. More...

uint32_t	get_device_id () const

DeviceBusType	get_device_bus_type () const
	Return the bus type the device is connected to. More...

void	set_device_bus_type (DeviceBusType bus_type)

uint8_t	get_device_bus () const
	Return the bus ID the device is connected to. More...

void	set_device_bus (uint8_t bus)

uint8_t	get_device_address () const
	Return the bus address of the device. More...

void	set_device_address (int address)

uint8_t	get_device_type () const
	Return the device type. More...

void	set_device_type (uint8_t devtype)

virtual bool	external () const

Public Member Functions inherited from cdev::CDev
	CDev (const char *devname)
	Constructor. More...

	CDev (const CDev &)=delete

CDev &	operator= (const CDev &)=delete

	CDev (CDev &&)=delete

CDev &	operator= (CDev &&)=delete

virtual int	open (file_t *filep)
	Handle an open of the device. More...

virtual int	close (file_t *filep)
	Handle a close of the device. More...

virtual ssize_t	read (file_t filep, char buffer, size_t buflen)
	Perform a read from the device. More...

virtual ssize_t	write (file_t filep, const char buffer, size_t buflen)
	Perform a write to the device. More...

virtual off_t	seek (file_t *filep, off_t offset, int whence)
	Perform a logical seek operation on the device. More...

virtual int	poll (file_t filep, px4_pollfd_struct_t fds, bool setup)
	Perform a poll setup/teardown operation. More...

const char *	get_devname () const
	Get the device name. More...

Protected Member Functions
	UavcanCDevSensorBridgeBase (const char name, const char devname, const char *class_devname, const orb_id_t orb_topic_sensor, const unsigned max_channels=DEFAULT_MAX_CHANNELS)

void	publish (const int node_id, const void *report)
	Sends one measurement into appropriate ORB topic. More...

Protected Member Functions inherited from device::Device
	Device (const char *name)

	Device (const char *name, DeviceBusType bus_type, uint8_t bus, uint8_t address, uint8_t devtype=0)

	Device (DeviceBusType bus_type, uint8_t bus, uint8_t address, uint8_t devtype=0)

Protected Member Functions inherited from cdev::CDev
virtual pollevent_t	poll_state (file_t *filep)
	Check the current state of the device for poll events from the perspective of the file. More...

virtual void	poll_notify (pollevent_t events)
	Report new poll events. More...

virtual void	poll_notify_one (px4_pollfd_struct_t *fds, pollevent_t events)
	Internal implementation of poll_notify. More...

virtual int	open_first (file_t *filep)
	Notification of the first open. More...

virtual int	close_last (file_t *filep)
	Notification of the last close. More...

virtual int	register_class_devname (const char *class_devname)
	Register a class device name, automatically adding device class instance suffix if need be. More...

virtual int	unregister_class_devname (const char *class_devname, unsigned class_instance)
	Register a class device name, automatically adding device class instance suffix if need be. More...

void	lock ()
	Take the driver lock. More...

void	unlock ()
	Release the driver lock. More...

int	unregister_driver_and_memory ()
	First, unregisters the driver. More...

Static Protected Attributes
static constexpr unsigned	DEFAULT_MAX_CHANNELS = 5

Static Protected Attributes inherited from cdev::CDev
static const px4_file_operations_t	fops = {}
	Pointer to the default cdev file operations table; useful for registering clone devices etc. More...

Private Attributes
const unsigned	_max_channels

const char *const	_class_devname

const orb_id_t	_orb_topic

Channel *const	_channels

bool	_out_of_channels = false

Additional Inherited Members
Public Types inherited from device::Device
enum	DeviceBusType { DeviceBusType_UNKNOWN = 0, DeviceBusType_I2C = 1, DeviceBusType_SPI = 2, DeviceBusType_UAVCAN = 3, DeviceBusType_SIMULATION = 4 }
	Device bus types for DEVID. More...

Static Public Member Functions inherited from IUavcanSensorBridge
static void	make_all (uavcan::INode &node, List< IUavcanSensorBridge *> &list)
	Sensor bridge factory. More...

Static Public Member Functions inherited from device::Device
static const char *	get_device_bus_string (DeviceBusType bus)

static int	device_id_print_buffer (char *buffer, int length, uint32_t id)
	Print decoded device id string to a buffer. More...

Static Public Attributes inherited from IUavcanSensorBridge
static constexpr unsigned	MAX_NAME_LEN = 20

Protected Attributes inherited from ListNode< IUavcanSensorBridge *>
IUavcanSensorBridge *	_list_node_sibling

Protected Attributes inherited from device::CDev
bool	_pub_blocked {false}
	true if publishing should be blocked More...

Protected Attributes inherited from device::Device
const char *	_name {nullptr}
	driver name More...

bool	_debug_enabled {false}
	if true, debug messages are printed More...

Protected Attributes inherited from cdev::CDev
px4_sem_t	_lock
	lock to protect access to all class members (also for derived classes) More...

Detailed Description

This is the base class for redundant sensors with an independent ORB topic per each redundancy channel.

For example, sensor_mag0, sensor_mag1, etc.

Definition at line 88 of file sensor_bridge.hpp.

Constructor & Destructor Documentation

◆ UavcanCDevSensorBridgeBase()

UavcanCDevSensorBridgeBase::UavcanCDevSensorBridgeBase	(	const char *	name,
		const char *	devname,
		const char *	class_devname,
		const orb_id_t	orb_topic_sensor,
		const unsigned	max_channels = `DEFAULT_MAX_CHANNELS`
	)

inlineprotected

Definition at line 106 of file sensor_bridge.hpp.

References IUavcanSensorBridge::get_num_redundant_channels(), and IUavcanSensorBridge::print_status().

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◆ ~UavcanCDevSensorBridgeBase()

UavcanCDevSensorBridgeBase::~UavcanCDevSensorBridgeBase ( )

virtual

Definition at line 62 of file sensor_bridge.cpp.

Member Function Documentation

◆ get_num_redundant_channels()

unsigned UavcanCDevSensorBridgeBase::get_num_redundant_channels ( ) const

overridevirtual

Returns number of active redundancy channels.

Implements IUavcanSensorBridge.

Definition at line 144 of file sensor_bridge.cpp.

◆ print_status()

void UavcanCDevSensorBridgeBase::print_status ( ) const

overridevirtual

Prints current status in a human readable format to stdout.

Implements IUavcanSensorBridge.

Definition at line 158 of file sensor_bridge.cpp.

◆ publish()

void UavcanCDevSensorBridgeBase::publish	(	const int	node_id,
		const void *	report
	)

protected

Sends one measurement into appropriate ORB topic.

New redundancy channels will be registered automatically.

Parameters

node_id	Sensor's Node ID
report	Pointer to ORB message object

Definition at line 74 of file sensor_bridge.cpp.

References UavcanCDevSensorBridgeBase::Channel::class_instance, DEVICE_LOG, UavcanCDevSensorBridgeBase::Channel::node_id, UavcanCDevSensorBridgeBase::Channel::orb_advert, orb_advertise_multi(), UavcanCDevSensorBridgeBase::Channel::orb_instance, ORB_PRIO_VERY_HIGH, and orb_publish().

Referenced by UavcanBarometerBridge::air_pressure_sub_cb(), UavcanBatteryBridge::battery_sub_cb(), UavcanFlowBridge::flow_sub_cb(), UavcanMagnetometerBridge::mag2_sub_cb(), and UavcanMagnetometerBridge::mag_sub_cb().

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Member Data Documentation

◆ _channels

Channel* const UavcanCDevSensorBridgeBase::_channels

private

Definition at line 100 of file sensor_bridge.hpp.

◆ _class_devname

const char* const UavcanCDevSensorBridgeBase::_class_devname

private

Definition at line 98 of file sensor_bridge.hpp.

◆ _max_channels

const unsigned UavcanCDevSensorBridgeBase::_max_channels

private

Definition at line 97 of file sensor_bridge.hpp.

◆ _orb_topic

const orb_id_t UavcanCDevSensorBridgeBase::_orb_topic

private

Definition at line 99 of file sensor_bridge.hpp.

◆ _out_of_channels

bool UavcanCDevSensorBridgeBase::_out_of_channels = false

private

Definition at line 101 of file sensor_bridge.hpp.

◆ DEFAULT_MAX_CHANNELS

constexpr unsigned UavcanCDevSensorBridgeBase::DEFAULT_MAX_CHANNELS = 5

staticprotected

Definition at line 104 of file sensor_bridge.hpp.

The documentation for this class was generated from the following files:

src/drivers/uavcan/sensors/sensor_bridge.hpp
src/drivers/uavcan/sensors/sensor_bridge.cpp

Classes

Public Member Functions

Protected Member Functions

Static Protected Attributes

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ UavcanCDevSensorBridgeBase()

◆ ~UavcanCDevSensorBridgeBase()

Member Function Documentation

◆ get_num_redundant_channels()

◆ print_status()

◆ publish()

Member Data Documentation

◆ _channels

◆ _class_devname

◆ _max_channels

◆ _orb_topic

◆ _out_of_channels

◆ DEFAULT_MAX_CHANNELS