<commit_before>/****************************************************************************
 *
 * Copyright (c) 2016 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.
 *
 ****************************************************************************/

/**
 * @file df_isl29501_wrapper.cpp
 * Driver to access the ISL29501 of the DriverFramework.
 *
 * @author <NAME> <<EMAIL>>
 * @author <NAME> <<EMAIL>>
 */

#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 <string>

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

#include <drivers/drv_range_finder.h>

#include <uORB/uORB.h>
#include <uORB/topics/subsystem_info.h>
#include <uORB/topics/distance_sensor.h>

#include <board_config.h>

#include <isl29501/isl29501.hpp>
#include <DevMgr.hpp>


extern "C" { __EXPORT int df_isl29501_wrapper_main(int argc, char *argv[]); }

using namespace DriverFramework;


class DfISL29501Wrapper : public ISL29501
{
public:
	DfISL29501Wrapper();
	~DfISL29501Wrapper();


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

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

private:
	int _publish(struct range_sensor_data &data);

	orb_advert_t		_range_topic;

	int			_orb_class_instance;

	// perf_counter_t		_range_sample_perf;

};

DfISL29501Wrapper::DfISL29501Wrapper(/*enum Rotation rotation*/) :
	ISL29501(ISL_DEVICE_PATH),
	_range_topic(nullptr),
	_orb_class_instance(-1)
{
}

DfISL29501Wrapper::~DfISL29501Wrapper()
{
}

int DfISL29501Wrapper::start()
{

	struct distance_sensor_s d;
	_range_topic = orb_advertise_multi(ORB_ID(distance_sensor), &d,
					   &_orb_class_instance, ORB_PRIO_DEFAULT);

	int ret;
	ret = ISL29501::init();

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

	ret = ISL29501::start();

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

	return 0;
}

int DfISL29501Wrapper::stop()
{
	/* Stop sensor. */
	int ret = ISL29501::stop();

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

	return 0;
}

int DfISL29501Wrapper::_publish(struct range_sensor_data &data)
{
	if (!_range_topic) {
		return 1;
	}

	struct distance_sensor_s d;

	memset(&d, 0, sizeof(d));

	d.timestamp = hrt_absolute_time();

	d.min_distance = float(ISL_MIN_DISTANCE); /* m */

	d.max_distance = float(ISL_MAX_DISTANCE); /* m */

	d.current_distance = float(data.dist);

	d.type = distance_sensor_s::MAV_DISTANCE_SENSOR_LASER;

	d.id = 0; // TODO set proper ID

	d.covariance = 0.0f;

	orb_publish(ORB_ID(distance_sensor), _range_topic, &d);

	/* Notify anyone waiting for data. */
	DevMgr::updateNotify(*this);

	return 0;
};


namespace df_isl29501_wrapper
{

DfISL29501Wrapper *g_dev = nullptr;

int start();
int stop();
int info();
int probe();
int calibration();
void usage();

int start()
{<commit_msg>df_isl29501_wrapper: don't advertise garbage<commit_after>/****************************************************************************
 *
 * Copyright (c) 2016 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.
 *
 ****************************************************************************/

/**
 * @file df_isl29501_wrapper.cpp
 * Driver to access the ISL29501 of the DriverFramework.
 *
 * @author <NAME> <<EMAIL>>
 * @author <NAME> <<EMAIL>>
 */

#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 <string>

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

#include <drivers/drv_range_finder.h>

#include <uORB/uORB.h>
#include <uORB/topics/subsystem_info.h>
#include <uORB/topics/distance_sensor.h>

#include <board_config.h>

#include <isl29501/isl29501.hpp>
#include <DevMgr.hpp>


extern "C" { __EXPORT int df_isl29501_wrapper_main(int argc, char *argv[]); }

using namespace DriverFramework;


class DfISL29501Wrapper : public ISL29501
{
public:
	DfISL29501Wrapper();
	~DfISL29501Wrapper();


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

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

private:
	int _publish(struct range_sensor_data &data);

	orb_advert_t		_range_topic;

	int			_orb_class_instance;

	// perf_counter_t		_range_sample_perf;

};

DfISL29501Wrapper::DfISL29501Wrapper(/*enum Rotation rotation*/) :
	ISL29501(ISL_DEVICE_PATH),
	_range_topic(nullptr),
	_orb_class_instance(-1)
{
}

DfISL29501Wrapper::~DfISL29501Wrapper()
{
}

int DfISL29501Wrapper::start()
{
	int ret;
	ret = ISL29501::init();

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

	ret = ISL29501::start();

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

	return 0;
}

int DfISL29501Wrapper::stop()
{
	/* Stop sensor. */
	int ret = ISL29501::stop();

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

	return 0;
}

int DfISL29501Wrapper::_publish(struct range_sensor_data &data)
{
	struct distance_sensor_s d;

	memset(&d, 0, sizeof(d));

	d.timestamp = hrt_absolute_time();

	d.min_distance = float(ISL_MIN_DISTANCE); /* m */

	d.max_distance = float(ISL_MAX_DISTANCE); /* m */

	d.current_distance = float(data.dist);

	d.type = distance_sensor_s::MAV_DISTANCE_SENSOR_LASER;

	d.id = 0; // TODO set proper ID

	d.covariance = 0.0f;

	if (_range_topic == nullptr) {
		_range_topic = orb_advertise_multi(ORB_ID(distance_sensor), &d,
						   &_orb_class_instance, ORB_PRIO_DEFAULT);
	} else {
		orb_publish(ORB_ID(distance_sensor), _range_topic, &d);
	}

	/* Notify anyone waiting for data. */
	DevMgr::updateNotify(*this);

	return 0;
};


namespace df_isl29501_wrapper
{

DfISL29501Wrapper *g_dev = nullptr;

int start();
int stop();
int info();
int probe();
int calibration();
void usage();

int start()
{
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