/* This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program. If not, see . */ #pragma once #include #include #include #include "AP_RangeFinder.h" class AP_RangeFinder_Backend { public: // constructor. This incorporates initialisation as well. AP_RangeFinder_Backend(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params); // we declare a virtual destructor so that RangeFinder drivers can // override with a custom destructor if need be virtual ~AP_RangeFinder_Backend(void) {} // update the state structure virtual void update() = 0; virtual void init_serial(uint8_t serial_instance) {}; virtual void handle_msg(const mavlink_message_t &msg) { return; } #if AP_SCRIPTING_ENABLED // Returns false if scripting backing hasn't been setup // Get distance from lua script virtual bool handle_script_msg(float dist_m) { return false; } #endif #if HAL_MSP_RANGEFINDER_ENABLED virtual void handle_msp(const MSP::msp_rangefinder_data_message_t &pkt) { return; } #endif enum Rotation orientation() const { return (Rotation)params.orientation.get(); } float distance() const { return state.distance_m; } uint16_t distance_cm() const { return state.distance_m*100.0f; } uint16_t voltage_mv() const { return state.voltage_mv; } virtual int16_t max_distance_cm() const { return params.max_distance_cm; } virtual int16_t min_distance_cm() const { return params.min_distance_cm; } int16_t ground_clearance_cm() const { return params.ground_clearance_cm; } MAV_DISTANCE_SENSOR get_mav_distance_sensor_type() const; RangeFinder::Status status() const; RangeFinder::Type type() const { return (RangeFinder::Type)params.type.get(); } // true if sensor is returning data bool has_data() const; // returns count of consecutive good readings uint8_t range_valid_count() const { return state.range_valid_count; } // return a 3D vector defining the position offset of the sensor // in metres relative to the body frame origin const Vector3f &get_pos_offset() const { return params.pos_offset; } // return system time of last successful read from the sensor uint32_t last_reading_ms() const { return state.last_reading_ms; } // get temperature reading in C. returns true on success and populates temp argument virtual bool get_temp(float &temp) const { return false; } // 0 is no return value, 100 is perfect. false means signal // quality is not available virtual bool get_signal_quality_pct(int8_t &quality_pct) const { return false; } // return the actual type of the rangefinder, as opposed to the // parameter value which may be changed at runtime. RangeFinder::Type allocated_type() const { return _backend_type; } protected: // update status based on distance measurement void update_status(); // set status and update valid_count void set_status(RangeFinder::Status status); RangeFinder::RangeFinder_State &state; AP_RangeFinder_Params ¶ms; // semaphore for access to shared frontend data HAL_Semaphore _sem; //Type Backend initialised with RangeFinder::Type _backend_type; virtual MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const = 0; };