UAVCAN Rangefinder Support (#15097)

src/drivers/uavcan/CMakeLists.txt

@@ -137,6 +137,7 @@ px4_add_module(
 		sensors/flow.cpp
 		sensors/gnss.cpp
 		sensors/mag.cpp
+		sensors/rangefinder.cpp
 
 	DEPENDS
 		px4_uavcan_dsdlc

src/drivers/uavcan/sensors/airspeed.cpp

@@ -94,7 +94,6 @@ UavcanAirspeedBridge::tas_sub_cb(const
 {
 	_last_tas_m_s = msg.true_airspeed;
 }
-
 void
 UavcanAirspeedBridge::ias_sub_cb(const
 				 uavcan::ReceivedDataStructure<uavcan::equipment::air_data::IndicatedAirspeed> &msg)

src/drivers/uavcan/sensors/rangefinder.cpp

@@ -0,0 +1,155 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @author RJ Gritter <rjgritter657@gmail.com>
+ */
+
+#include <drivers/drv_hrt.h>
+#include <parameters/param.h>
+#include "rangefinder.hpp"
+#include <math.h>
+
+const char *const UavcanRangefinderBridge::NAME = "rangefinder";
+
+UavcanRangefinderBridge::UavcanRangefinderBridge(uavcan::INode &node) :
+	UavcanCDevSensorBridgeBase("uavcan_rangefinder", "/dev/uavcan/rangefinder", RANGE_FINDER_BASE_DEVICE_PATH,
+				   ORB_ID(distance_sensor)),
+	_sub_range_data(node)
+{ }
+
+int UavcanRangefinderBridge::init()
+{
+	int res = device::CDev::init();
+
+	if (res < 0) {
+		return res;
+	}
+
+	// Initialize min/max range from params
+	param_get(param_find("UAVCAN_RNG_MIN"), &_range_min_m);
+	param_get(param_find("UAVCAN_RNG_MAX"), &_range_max_m);
+
+	res = _sub_range_data.start(RangeCbBinder(this, &UavcanRangefinderBridge::range_sub_cb));
+
+	if (res < 0) {
+		DEVICE_LOG("failed to start uavcan sub: %d", res);
+		return res;
+	}
+
+	return 0;
+}
+
+void
+UavcanRangefinderBridge::range_sub_cb(const
+				      uavcan::ReceivedDataStructure<uavcan::equipment::range_sensor::Measurement> &msg)
+{
+	uavcan_bridge::Channel *channel = get_channel_for_node(msg.getSrcNodeID().get());
+
+	if (channel == nullptr || channel->class_instance < 0) {
+		// Something went wrong - no channel to publish on; return
+		return;
+	}
+
+	// Cast our generic CDev pointer to the sensor-specific driver class
+	PX4Rangefinder *rangefinder = (PX4Rangefinder *)channel->h_driver;
+
+	if (rangefinder == nullptr) {
+		return;
+	}
+
+	if (!_inited) {
+
+		uint8_t device_type = 0;
+
+		switch (msg.sensor_type) {
+		case uavcan::equipment::range_sensor::Measurement::SENSOR_TYPE_SONAR:
+			device_type = distance_sensor_s::MAV_DISTANCE_SENSOR_ULTRASOUND;
+			break;
+
+		case uavcan::equipment::range_sensor::Measurement::SENSOR_TYPE_RADAR:
+			device_type = distance_sensor_s::MAV_DISTANCE_SENSOR_RADAR;
+			break;
+
+		case uavcan::equipment::range_sensor::Measurement::SENSOR_TYPE_LIDAR:
+		case uavcan::equipment::range_sensor::Measurement::SENSOR_TYPE_UNDEFINED:
+		default:
+			device_type = distance_sensor_s::MAV_DISTANCE_SENSOR_LASER;
+			break;
+		}
+
+		rangefinder->set_device_type(device_type);
+		rangefinder->set_fov(msg.field_of_view);
+		rangefinder->set_min_distance(_range_min_m);
+		rangefinder->set_max_distance(_range_max_m);
+
+		_inited = true;
+	}
+
+	/*
+	 * FIXME HACK
+	 * This code used to rely on msg.getMonotonicTimestamp().toUSec() instead of HRT.
+	 * It stopped working when the time sync feature has been introduced, because it caused libuavcan
+	 * to use an independent time source (based on hardware TIM5) instead of HRT.
+	 * The proper solution is to be developed.
+	 */
+	rangefinder->update(hrt_absolute_time(), msg.range);
+}
+
+int UavcanRangefinderBridge::init_driver(uavcan_bridge::Channel *channel)
+{
+	// update device id as we now know our device node_id
+	DeviceId device_id{_device_id};
+
+	device_id.devid_s.devtype = DRV_DIST_DEVTYPE_UAVCAN;
+	device_id.devid_s.address = static_cast<uint8_t>(channel->node_id);
+
+	channel->h_driver = new PX4Rangefinder(device_id.devid, distance_sensor_s::ROTATION_DOWNWARD_FACING);
+
+	if (channel->h_driver == nullptr) {
+		return PX4_ERROR;
+	}
+
+	PX4Rangefinder *rangefinder = (PX4Rangefinder *)channel->h_driver;
+
+	channel->class_instance = rangefinder->get_class_instance();
+
+	if (channel->class_instance < 0) {
+		PX4_ERR("UavcanRangefinder: Unable to get a class instance");
+		delete rangefinder;
+		channel->h_driver = nullptr;
+		return PX4_ERROR;
+	}
+
+	return PX4_OK;
+}

src/drivers/uavcan/sensors/rangefinder.hpp

@@ -0,0 +1,76 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @author RJ Gritter <rjgritter657@gmail.com>
+ */
+
+#pragma once
+
+#include "sensor_bridge.hpp"
+#include <drivers/drv_range_finder.h>
+#include <uORB/topics/distance_sensor.h>
+#include <drivers/rangefinder/PX4Rangefinder.hpp>
+
+#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:
+
+	int init_driver(uavcan_bridge::Channel *channel) override;
+
+	void range_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> &) >
+		RangeCbBinder;
+
+	uavcan::Subscriber<uavcan::equipment::range_sensor::Measurement, RangeCbBinder> _sub_range_data;
+
+	float _range_min_m{0.0f};
+	float _range_max_m{0.0f};
+
+	bool _inited{false};
+
+};

src/drivers/uavcan/sensors/sensor_bridge.cpp

@@ -45,6 +45,7 @@
 #include "gnss.hpp"
 #include "flow.hpp"
 #include "mag.hpp"
+#include "rangefinder.hpp"
 
 /*
  * IUavcanSensorBridge
@@ -58,6 +59,7 @@ void IUavcanSensorBridge::make_all(uavcan::INode &node, List<IUavcanSensorBridge
 	list.add(new UavcanBatteryBridge(node));
 	list.add(new UavcanAirspeedBridge(node));
 	list.add(new UavcanDifferentialPressureBridge(node));
+	list.add(new UavcanRangefinderBridge(node));
 }
 
 /*

src/drivers/uavcan/uavcan_params.c

@@ -85,3 +85,23 @@ PARAM_DEFINE_INT32(UAVCAN_BITRATE, 1000000);
  * @group UAVCAN
  */
 PARAM_DEFINE_INT32(UAVCAN_ESC_IDLT, 1);
+
+/**
+ * UAVCAN rangefinder minimum range
+ *
+ * This parameter defines the minimum valid range for a rangefinder connected via UAVCAN.
+ *
+ * @unit m
+ * @group UAVCAN
+ */
+PARAM_DEFINE_FLOAT(UAVCAN_RNG_MIN, 0.3f);
+
+/**
+ * UAVCAN rangefinder maximum range
+ *
+ * This parameter defines the maximum valid range for a rangefinder connected via UAVCAN.
+ *
+ * @unit m
+ * @group UAVCAN
+ */
+PARAM_DEFINE_FLOAT(UAVCAN_RNG_MAX, 200.0f);

src/lib/drivers/rangefinder/PX4Rangefinder.cpp

@@ -36,8 +36,11 @@
 #include <lib/drivers/device/Device.hpp>
 
 PX4Rangefinder::PX4Rangefinder(const uint32_t device_id, const uint8_t device_orientation) :
+	CDev(nullptr),
 	_distance_sensor_pub{ORB_ID(distance_sensor)}
 {
+	_class_device_instance = register_class_devname(RANGE_FINDER_BASE_DEVICE_PATH);
+
 	_distance_sensor_pub.advertise();
 
 	set_device_id(device_id);
@@ -46,6 +49,10 @@ PX4Rangefinder::PX4Rangefinder(const uint32_t device_id, const uint8_t device_or
 
 PX4Rangefinder::~PX4Rangefinder()
 {
+	if (_class_device_instance != -1) {
+		unregister_class_devname(RANGE_FINDER_BASE_DEVICE_PATH, _class_device_instance);
+	}
+
 	_distance_sensor_pub.unadvertise();
 }
 

src/lib/drivers/rangefinder/PX4Rangefinder.hpp

@@ -35,11 +35,12 @@
 
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_range_finder.h>
+#include <lib/cdev/CDev.hpp>
 #include <lib/conversion/rotation.h>
 #include <uORB/PublicationMulti.hpp>
 #include <uORB/topics/distance_sensor.h>
 
-class PX4Rangefinder
+class PX4Rangefinder : public cdev::CDev
 {
 
 public:
@@ -63,8 +64,12 @@ public:
 
 	void update(const hrt_abstime &timestamp_sample, const float distance, const int8_t quality = -1);
 
+	int get_class_instance() { return _class_device_instance; };
+
 private:
 
 	uORB::PublicationMultiData<distance_sensor_s> _distance_sensor_pub;
 
+	int			_class_device_instance{-1};
+
 };