[WIP] add support for range finders via uavcan (for HEX flow module)

src/drivers/uavcan/CMakeLists.txt

@@ -117,6 +117,7 @@ px4_add_module(
 		sensors/mag.cpp
 		sensors/baro.cpp
 		sensors/flow.cpp
+		sensors/rangefinder.cpp
 
 	DEPENDS
 		px4_uavcan_dsdlc

src/drivers/uavcan/sensors/rangefinder.cpp

@@ -0,0 +1,118 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "rangefinder.hpp"
+
+#include <drivers/drv_hrt.h>
+
+const char *const UavcanRangefinderBridge::NAME = "rangefinder";
+
+UavcanRangefinderBridge::UavcanRangefinderBridge(uavcan::INode &node) :
+	UavcanCDevSensorBridgeBase("uavcan_rangefinder", "/dev/uavcan/rangefinder", "/dev/rangefinder", ORB_ID(distance_sensor)),
+	_sub_rangefinder(node)
+{
+}
+
+int
+UavcanRangefinderBridge::init()
+{
+	int res = device::CDev::init();
+
+	if (res < 0) {
+		return res;
+	}
+
+	res = _sub_rangefinder.start(RangefinderCbBinder(this, &UavcanRangefinderBridge::rangefinder_sub_cb));
+
+	if (res < 0) {
+		DEVICE_LOG("failed to start uavcan sub: %d", res);
+		return res;
+	}
+
+	return 0;
+}
+
+void
+UavcanRangefinderBridge::rangefinder_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::range_sensor::Measurement> &msg)
+{
+	distance_sensor_s rangefinder{};
+
+	// float roll, pitch, yaw = 0;
+
+	rangefinder.timestamp = hrt_absolute_time();
+	rangefinder.current_distance = msg.range;
+
+	if (msg.reading_type == msg.READING_TYPE_UNDEFINED) {
+		rangefinder.signal_quality = -1;
+	} else if (msg.reading_type == msg.READING_TYPE_VALID_RANGE) {
+		rangefinder.signal_quality = 100;
+	} else {
+		rangefinder.signal_quality = 0;
+	}
+
+	// how do we convert these to PX4 rotations
+	// if (msg.beam_orientation_in_body_frame.orientation_defined) {
+	// 	roll = msg.beam_orientation_in_body_frame.fixed_axis_roll_pitch_yaw[0] *
+	// 		msg.beam_orientation_in_body_frame.ANGLE_MULTIPLIER;
+
+	// 	pitch = msg.beam_orientation_in_body_frame.fixed_axis_roll_pitch_yaw[1] *
+	// 		msg.beam_orientation_in_body_frame.ANGLE_MULTIPLIER;
+
+	// 	yaw = msg.beam_orientation_in_body_frame.fixed_axis_roll_pitch_yaw[2] *
+	// 		msg.beam_orientation_in_body_frame.ANGLE_MULTIPLIER;
+	// }
+
+	// since currently the only sensor using it will be the HEX optical flow,
+	// we can keep the downwards rotations for now
+	rangefinder.orientation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
+
+	switch(msg.sensor_type) {
+		case msg.SENSOR_TYPE_UNDEFINED : // this case is not good !!!
+			rangefinder.type = distance_sensor_s::MAV_DISTANCE_SENSOR_LASER;
+			break;
+		case msg.SENSOR_TYPE_SONAR :
+			rangefinder.type = distance_sensor_s::MAV_DISTANCE_SENSOR_ULTRASOUND;
+			break;
+		case msg.SENSOR_TYPE_LIDAR :
+			rangefinder.type = distance_sensor_s::MAV_DISTANCE_SENSOR_LASER;
+			break;
+		case msg.SENSOR_TYPE_RADAR :
+			rangefinder.type = distance_sensor_s::MAV_DISTANCE_SENSOR_RADAR;
+			break;
+	}
+
+	rangefinder.id = msg.sensor_id;
+	rangefinder.h_fov = msg.field_of_view;
+
+	publish(msg.getSrcNodeID().get(), &rangefinder);
+}

src/drivers/uavcan/sensors/rangefinder.hpp

@@ -0,0 +1,67 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "sensor_bridge.hpp"
+
+#include <stdint.h>
+#include <sys/ioctl.h>
+
+#include <uORB/topics/distance_sensor.h>
+
+#include <uavcan/equipment/range_sensor/Measurement.hpp>
+
+class UavcanRangefinderBridge : public UavcanCDevSensorBridgeBase
+{
+public:
+	static const char *const NAME;
+
+	UavcanRangefinderBridge(uavcan::INode &node);
+
+	const char *get_name() const override { return NAME; }
+
+	int init() override;
+
+private:
+
+	void rangefinder_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::range_sensor::Measurement> &msg);
+
+	typedef uavcan::MethodBinder < UavcanRangefinderBridge *,
+		void (UavcanRangefinderBridge::*)
+		(const uavcan::ReceivedDataStructure<uavcan::equipment::range_sensor::Measurement> &) >
+		RangefinderCbBinder;
+
+	uavcan::Subscriber<uavcan::equipment::range_sensor::Measurement, RangefinderCbBinder> _sub_rangefinder;
+
+};

src/drivers/uavcan/sensors/sensor_bridge.cpp

@@ -42,6 +42,7 @@
 #include "mag.hpp"
 #include "baro.hpp"
 #include "flow.hpp"
+#include "rangefinder.hpp"
 
 /*
  * IUavcanSensorBridge
@@ -52,6 +53,7 @@ void IUavcanSensorBridge::make_all(uavcan::INode &node, List<IUavcanSensorBridge
 	list.add(new UavcanMagnetometerBridge(node));
 	list.add(new UavcanGnssBridge(node));
 	list.add(new UavcanFlowBridge(node));
+	list.add(new UavcanRangefinderBridge(node));
 }
 
 /*