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45 lines
1.6 KiB
45 lines
1.6 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.h> |
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#include "AP_Proximity.h" |
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class AP_Proximity_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_Proximity_Backend(AP_Proximity &_frontend, AP_Proximity::Proximity_State &_state); |
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// we declare a virtual destructor so that Proximity drivers can |
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// override with a custom destructor if need be |
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virtual ~AP_Proximity_Backend(void) {} |
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// update the state structure |
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virtual void update() = 0; |
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// get distance in meters in a particular direction in degrees (0 is forward, clockwise) |
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// returns true on successful read and places distance in distance |
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virtual bool get_horizontal_distance(float angle_deg, float &distance) const = 0; |
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protected: |
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// set status and update valid_count |
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void set_status(AP_Proximity::Proximity_Status status); |
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AP_Proximity &frontend; |
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AP_Proximity::Proximity_State &state; // reference to this instances state |
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};
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