[WIP] Create a distance sensor driver base class #11977

mcsauder · 2019-05-06T19:19:14Z

Describe problem solved by the proposed pull request
This PR creates a DistanceSensor base class, and refactors the following drivers to inherit from the base class

Test data / coverage
Test data will be presented...

Describe problem solved by the proposed pull request
The distance sensor drivers are largely copy/paste from previous implementations. This PR establishes a distance sensor driver base class to allow an inheritance, better distance design pattern and architecture, better boilerplate code for future implementations, and less overall code duplication.

Describe possible alternatives
The drivers certainly can be left as-is.

Additional context
See #11853. #11891, #9279, #11853, #11857, #1858, #11859. etc.

dagar · 2019-05-06T19:23:18Z

@davids5 do you know where we can purchase this sensor?

mcsauder · 2019-05-06T20:09:40Z

@dagar , and @davids5 , the closest product number I can find to the CM8JL65 on Lanbao's site are the PTK series: http://www.lanbaosensor.com/index.php?m=content&c=index&a=prolists&catid=96. I have not been able to locate a source or a product page for the CM8JL65.

LorenzMeier · 2019-05-06T20:14:11Z

It is a custom build that will be made available in the next couple of weeks. It is much smaller compared to their previous offerings.

cmic0 · 2019-05-06T20:21:26Z

@mcsauder at the moment all the vehicles we have that mount this distance sensor are used for testing other functionalities. Will try to allocate some time this week.

davids5 · 2019-05-07T19:44:23Z

@davids5 do you know where we can purchase this sensor?

@dagar Sorry No I do not

bys1123 · 2019-05-07T20:38:53Z

This looks very similar with TFminiPlus

cmic0 · 2019-05-09T08:04:18Z

@mcsauder the distance sensor is now available on seeed
https://www.seeedstudio.com/PSK-CM8JL65-CC5-ToF-Infrared-Distance-Measuring-Sensor-p-4028.html

I'll give a shot to your branch later today

mcsauder · 2019-05-09T15:54:37Z

Thanks @cmic0 , I have a sensor pre-ordered now, so in about a month I will be able to test this work. If you have spare cycles I am grateful for any feedback you have, but feel free to wait and I will update this PR with test data when my sensor arrives. Thanks for the link!

dagar · 2019-08-21T22:10:11Z

src/lib/drivers/distance_sensor/DistanceSensor.cpp

+
+	distance_sensor_s report;
+	report.current_distance = get_distance();
+	report.id               = get_sensor_id();


Most of these fields don't change every iteration.

Agreed. I'll rework this. Thanks for looking this over!

dagar · 2019-08-21T22:11:09Z

src/lib/drivers/distance_sensor/DistanceSensor.cpp

+}
+
+int
+DistanceSensor::open_serial_port(const speed_t speed)


I think handling a serial port is an orthogonal piece.

Agreed. I'll break this out into a separate implementation.

dagar · 2019-08-21T22:11:48Z

src/lib/drivers/distance_sensor/DistanceSensor.h

+/* Configuration Constants */
+#define DEFAULT_BAUD_RATE         B115200      // Baudrate 115200.
+#define DEFAULT_MEASURE_INTERVAL  100_ms       // 100ms default sensor measurement interval.
+#define DEFAULT_SERIAL_PORT       "/dev/ttyS3" // Default UART port.


The entire concept of default port probably needs to go away from the driver perspective and be set per board.

OK. For now I'll pull this out into a separate SerialPort class along with the open_serial_port() implementation.

…rt the CM8JL65, HC_SR04, LeddarOne, and uLanding driver classes to inherit from the base class.

mcsauder · 2019-09-18T18:16:07Z

I think I'll close this PR and work on adding functionality and porting distance sensor drivers over to inherit from the PX4RangeFinder class.

mcsauder force-pushed the distance_sensor_driver_framework branch from b2c5075 to 7ebfbf8 Compare May 6, 2019 20:02

mcsauder force-pushed the distance_sensor_driver_framework branch 5 times, most recently from 1953792 to 85630df Compare May 8, 2019 16:30

mcsauder force-pushed the distance_sensor_driver_framework branch from 85630df to e7efda6 Compare May 10, 2019 03:34

weekly-digest bot mentioned this pull request May 12, 2019

Weekly Digest (5 May, 2019 - 12 May, 2019) #12005

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mcsauder changed the title ~~Create a distance sensor driver base class and refactor the cm8jl65 driver to inherit from the class.~~ [WIP] Create a distance sensor driver base class and refactor the cm8jl65 driver to inherit from the class. May 12, 2019

mcsauder force-pushed the distance_sensor_driver_framework branch from e7efda6 to 0fc69f2 Compare May 14, 2019 14:48

weekly-digest bot mentioned this pull request May 19, 2019

Weekly Digest (12 May, 2019 - 19 May, 2019) #12043

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mcsauder force-pushed the distance_sensor_driver_framework branch 2 times, most recently from 406dfbe to bd673fc Compare May 24, 2019 16:55

weekly-digest bot mentioned this pull request May 26, 2019

Weekly Digest (19 May, 2019 - 26 May, 2019) #12076

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mcsauder force-pushed the distance_sensor_driver_framework branch from bd673fc to 670c0d7 Compare July 10, 2019 03:13

mcsauder changed the title ~~[WIP] Create a distance sensor driver base class and refactor the cm8jl65 driver to inherit from the class.~~ [WIP] Create a distance sensor driver base class Jul 10, 2019

mcsauder force-pushed the distance_sensor_driver_framework branch from 670c0d7 to 3dbdb89 Compare July 10, 2019 03:31

This was referenced Jul 10, 2019

Refactor ulanding driver to utilize ScheduledWorkQueue class inheritance #11894

Merged

Refactor the teraranger driver: uniform initialization, format whitespace, deprecate usage of the ringbuffer, etc. #11892

Merged

weekly-digest bot mentioned this pull request Jul 14, 2019

Weekly Digest (7 July, 2019 - 14 July, 2019) #12474

Closed

mcsauder force-pushed the distance_sensor_driver_framework branch 2 times, most recently from e4cd5f4 to ee94a46 Compare July 16, 2019 18:20

weekly-digest bot mentioned this pull request Jul 21, 2019

Weekly Digest (14 July, 2019 - 21 July, 2019) #12528

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mcsauder force-pushed the distance_sensor_driver_framework branch from ee94a46 to f5ae946 Compare July 25, 2019 22:57

weekly-digest bot mentioned this pull request Jul 28, 2019

Weekly Digest (21 July, 2019 - 28 July, 2019) #12569

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mcsauder force-pushed the distance_sensor_driver_framework branch 2 times, most recently from 6daedf4 to af050a6 Compare August 21, 2019 19:11

dagar reviewed Aug 21, 2019

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weekly-digest bot mentioned this pull request Aug 25, 2019

Weekly Digest (18 August, 2019 - 25 August, 2019) #12803

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mcsauder mentioned this pull request Aug 30, 2019

Leddar one driver work to fix Issue #12508, simplify logic, improve update rate, and inherit from PX4RangeFinder #12847

Merged

mcsauder force-pushed the distance_sensor_driver_framework branch 2 times, most recently from 9a78c6d to 0e5895c Compare September 2, 2019 05:40

Create a DistanceSensor base class for distance sensor drivers and po…

9fd6fa1

…rt the CM8JL65, HC_SR04, LeddarOne, and uLanding driver classes to inherit from the base class.

mcsauder force-pushed the distance_sensor_driver_framework branch from 0e5895c to 9fd6fa1 Compare September 3, 2019 22:21

weekly-digest bot mentioned this pull request Sep 8, 2019

Weekly Digest (1 September, 2019 - 8 September, 2019) #12924

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mcsauder closed this Sep 18, 2019

mcsauder deleted the distance_sensor_driver_framework branch October 7, 2019 22:29

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[WIP] Create a distance sensor driver base class #11977

[WIP] Create a distance sensor driver base class #11977

mcsauder commented May 6, 2019 •

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dagar commented May 6, 2019

mcsauder commented May 6, 2019

LorenzMeier commented May 6, 2019

cmic0 commented May 6, 2019

davids5 commented May 7, 2019

bys1123 commented May 7, 2019

cmic0 commented May 9, 2019

mcsauder commented May 9, 2019

dagar Aug 21, 2019

mcsauder Aug 21, 2019

dagar Aug 21, 2019

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dagar Aug 21, 2019

mcsauder Aug 21, 2019

mcsauder commented Sep 18, 2019

[WIP] Create a distance sensor driver base class #11977

[WIP] Create a distance sensor driver base class #11977

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