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100 lines
4.4 KiB
C++
100 lines
4.4 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2021 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file Gnss.hpp
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*
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* Defines basic functionality of UAVCAN v1 GNSS subscription
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*
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* @author Jacob Crabill <jacob@flyvoly.com>
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*/
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#pragma once
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// DS-15 Specification Messages
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#include <reg/drone/physics/kinematics/geodetic/Point_0_1.h>
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#include "DynamicPortSubscriber.hpp"
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class UavcanGnssSubscriber : public UavcanDynamicPortSubscriber
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{
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public:
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UavcanGnssSubscriber(CanardInstance &ins, UavcanParamManager &pmgr, uint8_t instance = 0) :
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UavcanDynamicPortSubscriber(ins, pmgr, "gps", instance) { };
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void subscribe() override
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{
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// Subscribe to messages reg.drone.physics.kinematics.geodetic.Point.0.1
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canardRxSubscribe(&_canard_instance,
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CanardTransferKindMessage,
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_subj_sub._canard_sub._port_id,
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reg_drone_physics_kinematics_geodetic_Point_0_1_EXTENT_BYTES_,
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CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC,
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&_subj_sub._canard_sub);
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/** TODO: Add additional GPS-data messages: (reg.drone.service.gnss._.0.1.uavcan):
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* # A compliant implementation of this service should publish the following subjects:
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* #
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* # PUBLISHED SUBJECT NAME SUBJECT TYPE TYP. RATE [Hz]
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* # point_kinematics reg.drone.physics.kinematics.geodetic.PointStateVarTs 1...100
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* # time reg.drone.service.gnss.Time 1...10
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* # heartbeat reg.drone.service.gnss.Heartbeat ~1
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* # sensor_status reg.drone.service.sensor.Status ~1
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*
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* Not mentioned, but should also be included: Dilution of Precision
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* (reg.drone.service.gnss.DilutionOfPrecision.0.1.uavcan)
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* For PX4, only the PointStateVarTs, DilutionOfPrecision, and perhaps Time would be needed
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* to publish 'sensor_gps'
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*/
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};
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void callback(const CanardTransfer &receive) override
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{
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// Test with Yakut:
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// export YAKUT_TRANSPORT="pyuavcan.transport.can.CANTransport(pyuavcan.transport.can.media.slcan.SLCANMedia('/dev/serial/by-id/usb-Zubax_Robotics_Zubax_Babel_23002B000E514E413431302000000000-if00', 8, 115200), 42)"
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// yakut pub 1500.reg.drone.physics.kinematics.geodetic.Point.0.1 '{latitude: 1.234, longitude: 2.34, altitude: {meter: 0.5}}'
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PX4_INFO("GpsCallback");
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reg_drone_physics_kinematics_geodetic_Point_0_1 geo {};
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size_t geo_size_in_bits = receive.payload_size;
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reg_drone_physics_kinematics_geodetic_Point_0_1_deserialize_(&geo, (const uint8_t *)receive.payload, &geo_size_in_bits);
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double lat = geo.latitude;
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double lon = geo.longitude;
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double alt = geo.altitude.meter;
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PX4_INFO("Latitude: %f, Longitude: %f, Altitude: %f", lat, lon, alt);
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/// do something with the data
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};
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};
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