ardupilot/libraries/AP_RangeFinder/RangeFinder_Backend.h

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/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include <AP_Common/AP_Common.h>
#include <AP_HAL/AP_HAL.h>
#include "RangeFinder.h"
class AP_RangeFinder_Backend
{
public:
// constructor. This incorporates initialisation as well.
AP_RangeFinder_Backend(RangeFinder &_ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state, MAV_DISTANCE_SENSOR _sensor_type);
// we declare a virtual destructor so that RangeFinder drivers can
// override with a custom destructor if need be
virtual ~AP_RangeFinder_Backend(void) {}
// update the state structure
virtual void update() = 0;
// return true if we are beyond the power saving range
bool out_of_range(void) const {
return ranger._powersave_range > 0 && ranger.estimated_terrain_height > ranger._powersave_range;
}
MAV_DISTANCE_SENSOR get_sensor_type() const {
return sensor_type;
}
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virtual void handle_msg(mavlink_message_t *msg) { return; }
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protected:
// update status based on distance measurement
void update_status();
// set status and update valid_count
void set_status(RangeFinder::RangeFinder_Status status);
RangeFinder &ranger;
RangeFinder::RangeFinder_State &state;
MAV_DISTANCE_SENSOR sensor_type;
// semaphore for access to shared frontend data
AP_HAL::Semaphore *_sem;
};