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