ardupilot/libraries/AP_Proximity/AP_Proximity_DroneCAN.h

#pragma once

#include "AP_Proximity_config.h"

#if AP_PROXIMITY_DRONECAN_ENABLED

#include "AP_Proximity_Backend.h"

#include <AP_DroneCAN/AP_DroneCAN.h>

class AP_Proximity_DroneCAN : public AP_Proximity_Backend
{
public:
    // constructor
    using AP_Proximity_Backend::AP_Proximity_Backend;

    // update state
    void update(void) override;

    // get maximum and minimum distances (in meters) of sensor
    float distance_max() const override;
    float distance_min() const override;

    static AP_Proximity_DroneCAN* get_dronecan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id, uint8_t address, bool create_new);

    static void subscribe_msgs(AP_DroneCAN* ap_dronecan);

    static void handle_measurement(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const ardupilot_equipment_proximity_sensor_Proximity &msg);

private:

    uint32_t _last_update_ms;   // system time of last message received

    AP_DroneCAN* _ap_dronecan;
    uint8_t _node_id;

    struct ObstacleItem {
        float yaw_deg;
        float pitch_deg;
        float distance_m;
    };

    static ObjectBuffer_TS<ObstacleItem> items;

    AP_Proximity::Status _status;
};

#endif // AP_PROXIMITY_DRONECAN_ENABLED