mirror of https://github.com/ArduPilot/ardupilot
33 lines
938 B
C
33 lines
938 B
C
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#ifndef __AP_RANGEFINDER_LIGHTWARESERIAL_H__
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#define __AP_RANGEFINDER_LIGHTWARESERIAL_H__
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#include "RangeFinder.h"
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#include "RangeFinder_Backend.h"
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class AP_RangeFinder_LightWareSerial : public AP_RangeFinder_Backend
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{
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public:
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// constructor
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AP_RangeFinder_LightWareSerial(RangeFinder &ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state,
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AP_SerialManager &serial_manager);
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// static detection function
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static bool detect(RangeFinder &ranger, uint8_t instance, AP_SerialManager &serial_manager);
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// update state
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void update(void);
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private:
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// get a reading
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bool get_reading(uint16_t &reading_cm);
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AP_HAL::UARTDriver *uart = nullptr;
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uint32_t last_reading_ms = 0;
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char linebuf[10];
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uint8_t linebuf_len = 0;
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};
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#endif // __AP_RANGEFINDER_LIGHTWARESERIAL_H__
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