df_ms5607_wrapper.cpp

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/**
 * @file df_ms5607_wrapper.cpp
 * Lightweight driver to access the MS5607 of the DriverFramework.
 */

#include <px4_config.h>

#include <sys/types.h>
#include <sys/stat.h>
#include <stdint.h>
#include <stddef.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
#include <unistd.h>
#include <px4_getopt.h>
#include <errno.h>

#include <perf/perf_counter.h>
#include <systemlib/err.h>

#include <drivers/drv_baro.h>
#include <drivers/drv_hrt.h>

#include <board_config.h>

#include <ms5607/MS5607.hpp>
#include <DevMgr.hpp>


extern "C" { __EXPORT int df_ms5607_wrapper_main(int argc, char *argv[]); }

using namespace DriverFramework;


class DfMS5607Wrapper : public MS5607
{
public:
	DfMS5607Wrapper();
	~DfMS5607Wrapper();


	/**
	 * Start automatic measurement.
	 *
	 * @return 0 on success
	 */
	int		start();

	/**
	 * Stop automatic measurement.
	 *
	 * @return 0 on success
	 */
	int		stop();

private:
	int _publish(struct baro_sensor_data &data);

	orb_advert_t		_baro_topic;

	int			_baro_orb_class_instance;

	perf_counter_t		_baro_sample_perf;

};

DfMS5607Wrapper::DfMS5607Wrapper() :
	MS5607(BARO_DEVICE_PATH),
	_baro_topic(nullptr),
	_baro_orb_class_instance(-1),
	_baro_sample_perf(perf_alloc(PC_ELAPSED, "df_baro_read"))
{
}

DfMS5607Wrapper::~DfMS5607Wrapper()
{
	perf_free(_baro_sample_perf);
}

int DfMS5607Wrapper::start()
{
	/* Init device and start sensor. */
	int ret = init();

	if (ret != 0) {
		PX4_ERR("MS5607 init fail: %d", ret);
		return ret;
	}

	ret = MS5607::start();

	if (ret != 0) {
		PX4_ERR("MS5607 start fail: %d", ret);
		return ret;
	}

	return 0;
}

int DfMS5607Wrapper::stop()
{
	/* Stop sensor. */
	int ret = MS5607::stop();

	if (ret != 0) {
		PX4_ERR("MS5607 stop fail: %d", ret);
		return ret;
	}

	return 0;
}

int DfMS5607Wrapper::_publish(struct baro_sensor_data &data)
{
	perf_begin(_baro_sample_perf);

	sensor_baro_s baro_report{};
	baro_report.timestamp = hrt_absolute_time();

	baro_report.pressure = data.pressure_pa / 100.0f; // convert to mbar
	baro_report.temperature = data.temperature_c;
	baro_report.error_count = data.error_counter;
	baro_report.device_id = m_id.dev_id;

	// TODO: when is this ever blocked?
	if (!(m_pub_blocked)) {

		if (_baro_topic == nullptr) {
			_baro_topic = orb_advertise_multi(ORB_ID(sensor_baro), &baro_report,
							  &_baro_orb_class_instance, ORB_PRIO_DEFAULT);

		} else {
			orb_publish(ORB_ID(sensor_baro), _baro_topic, &baro_report);
		}
	}

	perf_end(_baro_sample_perf);

	return 0;
};


namespace df_ms5607_wrapper
{

DfMS5607Wrapper *g_dev = nullptr;

int start(/* enum Rotation rotation */);
int stop();
int info();
void usage();

int start(/*enum Rotation rotation*/)
{
	g_dev = new DfMS5607Wrapper(/*rotation*/);

	if (g_dev == nullptr) {
		PX4_ERR("failed instantiating DfMS5607Wrapper object");
		return -1;
	}

	int ret = g_dev->start();

	if (ret != 0) {
		PX4_ERR("DfMS5607Wrapper start failed");
		return ret;
	}

	// Open the IMU sensor
	DevHandle h;
	DevMgr::getHandle(BARO_DEVICE_PATH, h);

	if (!h.isValid()) {
		DF_LOG_INFO("Error: unable to obtain a valid handle for the receiver at: %s (%d)",
			    BARO_DEVICE_PATH, h.getError());
		return -1;
	}

	DevMgr::releaseHandle(h);

	return 0;
}

int stop()
{
	if (g_dev == nullptr) {
		PX4_ERR("driver not running");
		return 1;
	}

	int ret = g_dev->stop();

	if (ret != 0) {
		PX4_ERR("driver could not be stopped");
		return ret;
	}

	delete g_dev;
	g_dev = nullptr;
	return 0;
}

/**
 * Print a little info about the driver.
 */
int
info()
{
	if (g_dev == nullptr) {
		PX4_ERR("driver not running");
		return 1;
	}

	PX4_DEBUG("state @ %p", g_dev);

	return 0;
}

void
usage()
{
	PX4_WARN("Usage: df_ms5607_wrapper 'start', 'info', 'stop'");
}

} // namespace df_ms5607_wrapper


int
df_ms5607_wrapper_main(int argc, char *argv[])
{
	int ret = 0;
	int myoptind = 1;

	if (argc <= 1) {
		df_ms5607_wrapper::usage();
		return 1;
	}

	const char *verb = argv[myoptind];


	if (!strcmp(verb, "start")) {
		ret = df_ms5607_wrapper::start();
	}

	else if (!strcmp(verb, "stop")) {
		ret = df_ms5607_wrapper::stop();
	}

	else if (!strcmp(verb, "info")) {
		ret = df_ms5607_wrapper::info();
	}

	else {
		df_ms5607_wrapper::usage();
		return 1;
	}

	return ret;
}