| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | // This file is part of INSTINCT, the INS Toolkit for Integrated | ||
| 2 | // Navigation Concepts and Training by the Institute of Navigation of | ||
| 3 | // the University of Stuttgart, Germany. | ||
| 4 | // | ||
| 5 | // This Source Code Form is subject to the terms of the Mozilla Public | ||
| 6 | // License, v. 2.0. If a copy of the MPL was not distributed with this | ||
| 7 | // file, You can obtain one at https://mozilla.org/MPL/2.0/. | ||
| 8 | |||
| 9 | #include "EmlidSensor.hpp" | ||
| 10 | |||
| 11 | #include "util/Logger.hpp" | ||
| 12 | |||
| 13 | #include "util/Time/TimeBase.hpp" | ||
| 14 | |||
| 15 | #include "internal/gui/widgets/HelpMarker.hpp" | ||
| 16 | |||
| 17 | #include "internal/NodeManager.hpp" | ||
| 18 | namespace nm = NAV::NodeManager; | ||
| 19 | #include "internal/FlowManager.hpp" | ||
| 20 | |||
| 21 | #include "NodeData/General/UartPacket.hpp" | ||
| 22 | |||
| 23 | 112 | NAV::EmlidSensor::EmlidSensor() | |
| 24 |
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112 | : Node(typeStatic()), _sensor(typeStatic()) |
| 25 | { | ||
| 26 | LOG_TRACE("{}: called", name); | ||
| 27 | |||
| 28 | 112 | _onlyRealTime = true; | |
| 29 | 112 | _hasConfig = true; | |
| 30 | 112 | _guiConfigDefaultWindowSize = { 360, 70 }; | |
| 31 | |||
| 32 | // TODO: Update the library to handle different baudrates | ||
| 33 |
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112 | _selectedBaudrate = baudrate2Selection(Baudrate::BAUDRATE_9600); |
| 34 | |||
| 35 |
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448 | nm::CreateOutputPin(this, "UartPacket", Pin::Type::Flow, { NAV::UartPacket::type() }); |
| 36 | 224 | } | |
| 37 | |||
| 38 | 224 | NAV::EmlidSensor::~EmlidSensor() | |
| 39 | { | ||
| 40 | LOG_TRACE("{}: called", nameId()); | ||
| 41 | 224 | } | |
| 42 | |||
| 43 | 336 | std::string NAV::EmlidSensor::typeStatic() | |
| 44 | { | ||
| 45 |
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672 | return "EmlidSensor"; |
| 46 | } | ||
| 47 | |||
| 48 | ✗ | std::string NAV::EmlidSensor::type() const | |
| 49 | { | ||
| 50 | ✗ | return typeStatic(); | |
| 51 | } | ||
| 52 | |||
| 53 | 112 | std::string NAV::EmlidSensor::category() | |
| 54 | { | ||
| 55 |
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224 | return "Data Provider"; |
| 56 | } | ||
| 57 | |||
| 58 | ✗ | void NAV::EmlidSensor::guiConfig() | |
| 59 | { | ||
| 60 | ✗ | if (ImGui::InputTextWithHint("SensorPort", "/dev/ttyACM0", &_sensorPort)) | |
| 61 | { | ||
| 62 | ✗ | LOG_DEBUG("{}: SensorPort changed to {}", nameId(), _sensorPort); | |
| 63 | ✗ | flow::ApplyChanges(); | |
| 64 | ✗ | doDeinitialize(); | |
| 65 | } | ||
| 66 | ✗ | ImGui::SameLine(); | |
| 67 | ✗ | gui::widgets::HelpMarker("COM port where the sensor is attached to\n" | |
| 68 | "- \"COM1\" (Windows format for physical and virtual (USB) serial port)\n" | ||
| 69 | "- \"/dev/ttyS1\" (Linux format for physical serial port)\n" | ||
| 70 | "- \"/dev/ttyUSB0\" (Linux format for virtual (USB) serial port)\n" | ||
| 71 | "- \"/dev/tty.usbserial-FTXXXXXX\" (Mac OS X format for virtual (USB) serial port)\n" | ||
| 72 | "- \"/dev/ttyS0\" (CYGWIN format. Usually the Windows COM port number minus 1. This would connect to COM1)"); | ||
| 73 | ✗ | } | |
| 74 | |||
| 75 | ✗ | [[nodiscard]] json NAV::EmlidSensor::save() const | |
| 76 | { | ||
| 77 | LOG_TRACE("{}: called", nameId()); | ||
| 78 | |||
| 79 | ✗ | json j; | |
| 80 | |||
| 81 | ✗ | j["UartSensor"] = UartSensor::save(); | |
| 82 | |||
| 83 | ✗ | return j; | |
| 84 | ✗ | } | |
| 85 | |||
| 86 | ✗ | void NAV::EmlidSensor::restore(json const& j) | |
| 87 | { | ||
| 88 | LOG_TRACE("{}: called", nameId()); | ||
| 89 | |||
| 90 | ✗ | if (j.contains("UartSensor")) | |
| 91 | { | ||
| 92 | ✗ | UartSensor::restore(j.at("UartSensor")); | |
| 93 | } | ||
| 94 | ✗ | } | |
| 95 | |||
| 96 | ✗ | bool NAV::EmlidSensor::resetNode() | |
| 97 | { | ||
| 98 | ✗ | return true; | |
| 99 | } | ||
| 100 | |||
| 101 | ✗ | bool NAV::EmlidSensor::initialize() | |
| 102 | { | ||
| 103 | LOG_TRACE("{}: called", nameId()); | ||
| 104 | |||
| 105 | // connect to the sensor | ||
| 106 | try | ||
| 107 | { | ||
| 108 | ✗ | _sensor->connect(_sensorPort, sensorBaudrate()); | |
| 109 | |||
| 110 | ✗ | LOG_DEBUG("{} connected on port {} with baudrate {}", nameId(), _sensorPort, sensorBaudrate()); | |
| 111 | } | ||
| 112 | ✗ | catch (...) | |
| 113 | { | ||
| 114 | ✗ | LOG_ERROR("{} could not connect", nameId()); | |
| 115 | ✗ | return false; | |
| 116 | ✗ | } | |
| 117 | |||
| 118 | ✗ | _sensor->registerAsyncPacketReceivedHandler(this, asciiOrBinaryAsyncMessageReceived); | |
| 119 | |||
| 120 | ✗ | return true; | |
| 121 | } | ||
| 122 | |||
| 123 | ✗ | void NAV::EmlidSensor::deinitialize() | |
| 124 | { | ||
| 125 | LOG_TRACE("{}: called", nameId()); | ||
| 126 | |||
| 127 | ✗ | if (!isInitialized()) | |
| 128 | { | ||
| 129 | ✗ | return; | |
| 130 | } | ||
| 131 | |||
| 132 | ✗ | if (_sensor->isConnected()) | |
| 133 | { | ||
| 134 | try | ||
| 135 | { | ||
| 136 | ✗ | _sensor->unregisterAsyncPacketReceivedHandler(); | |
| 137 | } | ||
| 138 | ✗ | catch (...) // NOLINT(bugprone-empty-catch) | |
| 139 | ✗ | {} | |
| 140 | |||
| 141 | ✗ | _sensor->disconnect(); | |
| 142 | } | ||
| 143 | } | ||
| 144 | |||
| 145 | ✗ | void NAV::EmlidSensor::asciiOrBinaryAsyncMessageReceived(void* userData, uart::protocol::Packet& p, [[maybe_unused]] size_t index) | |
| 146 | { | ||
| 147 | ✗ | auto* erSensor = static_cast<EmlidSensor*>(userData); | |
| 148 | |||
| 149 | ✗ | erSensor->invokeCallbacks(OUTPUT_PORT_INDEX_EMLID_OBS, std::make_shared<UartPacket>(p)); | |
| 150 | ✗ | } | |
| 151 |