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