ardupilot/libraries/AP_RangeFinder/AP_RangeFinder_UAVCAN.h

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#pragma once
#include "AP_RangeFinder_Backend.h"
#if HAL_WITH_UAVCAN
#include <AP_UAVCAN/AP_UAVCAN.h>
class MeasurementCb;
class AP_RangeFinder_UAVCAN : public AP_RangeFinder_Backend {
public:
AP_RangeFinder_UAVCAN(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params);
void update() override;
static void subscribe_msgs(AP_UAVCAN* ap_uavcan);
static AP_RangeFinder_UAVCAN* get_uavcan_backend(AP_UAVCAN* ap_uavcan, uint8_t node_id, uint8_t address, bool create_new);
static AP_RangeFinder_Backend* detect(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params);
static void handle_measurement(AP_UAVCAN* ap_uavcan, uint8_t node_id, const MeasurementCb &cb);
protected:
virtual MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
return _sensor_type;
}
private:
uint8_t _instance;
RangeFinder::Status _status;
uint16_t _distance_cm;
uint32_t _last_reading_ms;
AP_UAVCAN* _ap_uavcan;
uint8_t _node_id;
bool new_data;
MAV_DISTANCE_SENSOR _sensor_type;
};
#endif //HAL_WITH_UAVCAN