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AP_RangeFinder: change error and ok status defines to LeddarOne_Status enum

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This commit is contained in:
ShingoMatsuura 2016-10-08 20:58:05 +09:00 committed by Lucas De Marchi
parent de5b40d70e
commit 6123fad124
2 changed files with 22 additions and 21 deletions
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20
libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.cpp
View File

@ -67,17 +67,15 @@ bool AP_RangeFinder_LeddarOne::get_reading(uint16_t &reading_cm)
}
}
// parse a response message, set detections and sum_distance
// parse a response message, set number_detectins, detections and sum_distance
// must be signed to handle errors
int8_t number_detections = parse_response();
if (number_detections <= 0) {
if (parse_response() != LEDDARONE_OK) {
// TODO: when (number_detections < 0) handle LEDDARONE_ERR_
return false;
}
// calculate average distance
reading_cm = sum_distance / (uint8_t)number_detections;
reading_cm = sum_distance / number_detections;
return true;
}
@ -130,7 +128,7 @@ bool AP_RangeFinder_LeddarOne::CRC16(uint8_t *aBuffer, uint8_t aLength, bool aCh
/*
send a request message to execute ModBus function 0x04
*/
int8_t AP_RangeFinder_LeddarOne::send_request(void)
LeddarOne_Status AP_RangeFinder_LeddarOne::send_request(void)
{
uint8_t data_buffer[10] = {0};
uint8_t i = 0;
@ -168,7 +166,7 @@ int8_t AP_RangeFinder_LeddarOne::send_request(void)
/*
parse a response message from Modbus
*/
int8_t AP_RangeFinder_LeddarOne::parse_response(void)
LeddarOne_Status AP_RangeFinder_LeddarOne::parse_response(void)
{
uint8_t data_buffer[25] = {0};
uint32_t start_ms = AP_HAL::millis();
@ -203,10 +201,10 @@ int8_t AP_RangeFinder_LeddarOne::parse_response(void)
}
// number of detections
uint8_t number_detections = data_buffer[10];
number_detections = data_buffer[10];
// if the number of detection is over , it is false
if (number_detections > LEDDARONE_DETECTIONS_MAX) {
// if the number of detection is over or zero , it is false
if (number_detections > LEDDARONE_DETECTIONS_MAX || number_detections <= 0) {
return LEDDARONE_ERR_NUMBER_DETECTIONS;
}
@ -219,5 +217,5 @@ int8_t AP_RangeFinder_LeddarOne::parse_response(void)
index_offset += 4;
}
return (int8_t)number_detections;
return LEDDARONE_OK;
}

23
libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.h
View File

@ -10,14 +10,16 @@
// default slave address
#define LEDDARONE_DEFAULT_ADDRESS 0x01
// error codes
#define LEDDARONE_OK 0
#define LEDDARONE_ERR_BAD_CRC -1
#define LEDDARONE_ERR_NO_RESPONSES -2
#define LEDDARONE_ERR_BAD_RESPONSE -3
#define LEDDARONE_ERR_SHORT_RESPONSE -4
#define LEDDARONE_ERR_SERIAL_PORT -5
#define LEDDARONE_ERR_NUMBER_DETECTIONS -6
// LeddarOne status
enum LeddarOne_Status {
LEDDARONE_OK = 0,
LEDDARONE_ERR_BAD_CRC = -1,
LEDDARONE_ERR_NO_RESPONSES = -2,
LEDDARONE_ERR_BAD_RESPONSE = -3,
LEDDARONE_ERR_SHORT_RESPONSE = -4,
LEDDARONE_ERR_SERIAL_PORT = -5,
LEDDARONE_ERR_NUMBER_DETECTIONS = -6
};
class AP_RangeFinder_LeddarOne : public AP_RangeFinder_Backend
{
@ -41,14 +43,15 @@ private:
bool CRC16(uint8_t *aBuffer, uint8_t aLength, bool aCheck);
// send a request message to execute ModBus function
int8_t send_request(void);
LeddarOne_Status send_request(void);
// parse a response message from ModBus
int8_t parse_response(void);
LeddarOne_Status parse_response(void);
AP_HAL::UARTDriver *uart = nullptr;
uint32_t last_reading_ms;
uint16_t detections[LEDDARONE_DETECTIONS_MAX];
uint32_t sum_distance;
uint8_t number_detections;
};