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94 lines
3.6 KiB
94 lines
3.6 KiB
/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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#pragma once |
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#include <AP_Common/AP_Common.h> |
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#include <AP_HAL/AP_HAL_Boards.h> |
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#include <AP_HAL/Semaphores.h> |
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#include "AP_RangeFinder.h" |
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class AP_RangeFinder_Backend |
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{ |
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public: |
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// constructor. This incorporates initialisation as well. |
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AP_RangeFinder_Backend(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params); |
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// we declare a virtual destructor so that RangeFinder drivers can |
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// override with a custom destructor if need be |
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virtual ~AP_RangeFinder_Backend(void) {} |
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// update the state structure |
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virtual void update() = 0; |
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virtual void init_serial(uint8_t serial_instance) {}; |
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virtual void handle_msg(const mavlink_message_t &msg) { return; } |
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#if HAL_MSP_RANGEFINDER_ENABLED |
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virtual void handle_msp(const MSP::msp_rangefinder_data_message_t &pkt) { return; } |
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#endif |
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enum Rotation orientation() const { return (Rotation)params.orientation.get(); } |
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float distance() const { return state.distance_m; } |
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uint16_t distance_cm() const { return state.distance_m*100.0f; } |
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uint16_t voltage_mv() const { return state.voltage_mv; } |
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virtual int16_t max_distance_cm() const { return params.max_distance_cm; } |
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virtual int16_t min_distance_cm() const { return params.min_distance_cm; } |
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int16_t ground_clearance_cm() const { return params.ground_clearance_cm; } |
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MAV_DISTANCE_SENSOR get_mav_distance_sensor_type() const; |
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RangeFinder::Status status() const; |
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RangeFinder::Type type() const { return (RangeFinder::Type)params.type.get(); } |
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// true if sensor is returning data |
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bool has_data() const; |
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// returns count of consecutive good readings |
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uint8_t range_valid_count() const { return state.range_valid_count; } |
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// return a 3D vector defining the position offset of the sensor |
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// in metres relative to the body frame origin |
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const Vector3f &get_pos_offset() const { return params.pos_offset; } |
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// return system time of last successful read from the sensor |
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uint32_t last_reading_ms() const { return state.last_reading_ms; } |
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// get temperature reading in C. returns true on success and populates temp argument |
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virtual bool get_temp(float &temp) const { return false; } |
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// 0 is no return value, 100 is perfect. false means signal |
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// quality is not available |
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virtual bool get_signal_quality_pct(uint8_t &quality_pct) const { return false; } |
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// return the actual type of the rangefinder, as opposed to the |
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// parameter value which may be changed at runtime. |
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RangeFinder::Type allocated_type() const { return _backend_type; } |
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protected: |
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// update status based on distance measurement |
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void update_status(); |
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// set status and update valid_count |
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void set_status(RangeFinder::Status status); |
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RangeFinder::RangeFinder_State &state; |
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AP_RangeFinder_Params ¶ms; |
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// semaphore for access to shared frontend data |
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HAL_Semaphore _sem; |
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//Type Backend initialised with |
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RangeFinder::Type _backend_type; |
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virtual MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const = 0; |
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};
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