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AP_RangeFinder: change error and ok status defines to LeddarOne_Status enum

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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
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@ -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 // must be signed to handle errors
int8_t number_detections = parse_response(); if (parse_response() != LEDDARONE_OK) {
if (number_detections <= 0) {
// TODO: when (number_detections < 0) handle LEDDARONE_ERR_ // TODO: when (number_detections < 0) handle LEDDARONE_ERR_
return false; return false;
} }
// calculate average distance // calculate average distance
reading_cm = sum_distance / (uint8_t)number_detections; reading_cm = sum_distance / number_detections;
return true; 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 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 data_buffer[10] = {0};
uint8_t i = 0; uint8_t i = 0;
@ -168,7 +166,7 @@ int8_t AP_RangeFinder_LeddarOne::send_request(void)
/* /*
parse a response message from Modbus 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}; uint8_t data_buffer[25] = {0};
uint32_t start_ms = AP_HAL::millis(); uint32_t start_ms = AP_HAL::millis();
@ -203,10 +201,10 @@ int8_t AP_RangeFinder_LeddarOne::parse_response(void)
} }
// number of detections // 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 the number of detection is over or zero , it is false
if (number_detections > LEDDARONE_DETECTIONS_MAX) { if (number_detections > LEDDARONE_DETECTIONS_MAX || number_detections <= 0) {
return LEDDARONE_ERR_NUMBER_DETECTIONS; return LEDDARONE_ERR_NUMBER_DETECTIONS;
} }
@ -219,5 +217,5 @@ int8_t AP_RangeFinder_LeddarOne::parse_response(void)
index_offset += 4; 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 // default slave address
#define LEDDARONE_DEFAULT_ADDRESS 0x01 #define LEDDARONE_DEFAULT_ADDRESS 0x01
// error codes // LeddarOne status
#define LEDDARONE_OK 0 enum LeddarOne_Status {
#define LEDDARONE_ERR_BAD_CRC -1 LEDDARONE_OK = 0,
#define LEDDARONE_ERR_NO_RESPONSES -2 LEDDARONE_ERR_BAD_CRC = -1,
#define LEDDARONE_ERR_BAD_RESPONSE -3 LEDDARONE_ERR_NO_RESPONSES = -2,
#define LEDDARONE_ERR_SHORT_RESPONSE -4 LEDDARONE_ERR_BAD_RESPONSE = -3,
#define LEDDARONE_ERR_SERIAL_PORT -5 LEDDARONE_ERR_SHORT_RESPONSE = -4,
#define LEDDARONE_ERR_NUMBER_DETECTIONS -6 LEDDARONE_ERR_SERIAL_PORT = -5,
LEDDARONE_ERR_NUMBER_DETECTIONS = -6
};
class AP_RangeFinder_LeddarOne : public AP_RangeFinder_Backend class AP_RangeFinder_LeddarOne : public AP_RangeFinder_Backend
{ {
@ -41,14 +43,15 @@ private:
bool CRC16(uint8_t *aBuffer, uint8_t aLength, bool aCheck); bool CRC16(uint8_t *aBuffer, uint8_t aLength, bool aCheck);
// send a request message to execute ModBus function // send a request message to execute ModBus function
int8_t send_request(void); LeddarOne_Status send_request(void);
// parse a response message from ModBus // parse a response message from ModBus
int8_t parse_response(void); LeddarOne_Status parse_response(void);
AP_HAL::UARTDriver *uart = nullptr; AP_HAL::UARTDriver *uart = nullptr;
uint32_t last_reading_ms; uint32_t last_reading_ms;
uint16_t detections[LEDDARONE_DETECTIONS_MAX]; uint16_t detections[LEDDARONE_DETECTIONS_MAX];
uint32_t sum_distance; uint32_t sum_distance;
uint8_t number_detections;
}; };