ardupilot/libraries/AP_RangeFinder/AP_RangeFinder_PX4.h

54 lines
1.6 KiB
C++

// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
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 <http://www.gnu.org/licenses/>.
*/
#ifndef AP_RangeFinder_PX4_H
#define AP_RangeFinder_PX4_H
#include "RangeFinder.h"
#include "RangeFinder_Backend.h"
class AP_RangeFinder_PX4 : public AP_RangeFinder_Backend
{
public:
// constructor
AP_RangeFinder_PX4(RangeFinder &ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state);
// destructor
~AP_RangeFinder_PX4(void);
// static detection function
static bool detect(RangeFinder &ranger, uint8_t instance);
// update state
void update(void);
private:
int _fd;
uint64_t _last_timestamp;
int16_t _last_max_distance_cm;
int16_t _last_min_distance_cm;
// we need to keep track of how many PX4 drivers have been loaded
// so we can open the right device filename
static uint8_t num_px4_instances;
// try to open the PX4 driver and return its fd
static int open_driver(void);
};
#endif // AP_RangeFinder_PX4_H