mirror of https://github.com/ArduPilot/ardupilot
105 lines
5.1 KiB
C++
105 lines
5.1 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.h>
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#include "AP_Proximity.h"
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#include <AP_Common/Location.h>
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#define PROXIMITY_NUM_SECTORS 8 // number of sectors
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#define PROXIMITY_SECTOR_WIDTH_DEG 45.0f // width of sectors in degrees
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#define PROXIMITY_BOUNDARY_DIST_MIN 0.6f // minimum distance for a boundary point. This ensures the object avoidance code doesn't think we are outside the boundary.
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#define PROXIMITY_BOUNDARY_DIST_DEFAULT 100 // if we have no data for a sector, boundary is placed 100m out
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class AP_Proximity_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_Proximity_Backend(AP_Proximity &_frontend, AP_Proximity::Proximity_State &_state);
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// we declare a virtual destructor so that Proximity drivers can
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// override with a custom destructor if need be
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virtual ~AP_Proximity_Backend(void) {}
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// update the state structure
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virtual void update() = 0;
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// get maximum and minimum distances (in meters) of sensor
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virtual float distance_max() const = 0;
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virtual float distance_min() const = 0;
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// get distance upwards in meters. returns true on success
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virtual bool get_upward_distance(float &distance) const { return false; }
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// handle mavlink DISTANCE_SENSOR messages
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virtual void handle_msg(const mavlink_message_t &msg) {}
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// get boundary points around vehicle for use by avoidance
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// returns nullptr and sets num_points to zero if no boundary can be returned
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const Vector2f* get_boundary_points(uint16_t& num_points) const;
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// get distance and angle to closest object (used for pre-arm check)
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// returns true on success, false if no valid readings
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bool get_closest_object(float& angle_deg, float &distance) const;
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// get number of objects, angle and distance - used for non-GPS avoidance
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uint8_t get_object_count() const;
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bool get_object_angle_and_distance(uint8_t object_number, float& angle_deg, float &distance) const;
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// get distances in 8 directions. used for sending distances to ground station
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bool get_horizontal_distances(AP_Proximity::Proximity_Distance_Array &prx_dist_array) const;
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protected:
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// set status and update valid_count
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void set_status(AP_Proximity::Status status);
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// find which sector a given angle falls into
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uint8_t convert_angle_to_sector(float angle_degrees) const;
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// initialise the boundary and sector_edge_vector array used for object avoidance
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// should be called if the sector_middle_deg or _setor_width_deg arrays are changed
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void init_boundary();
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// update boundary points used for object avoidance based on a single sector's distance changing
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// the boundary points lie on the line between sectors meaning two boundary points may be updated based on a single sector's distance changing
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// the boundary point is set to the shortest distance found in the two adjacent sectors, this is a conservative boundary around the vehicle
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void update_boundary_for_sector(const uint8_t sector, const bool push_to_OA_DB);
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// check if a reading should be ignored because it falls into an ignore area
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// angles should be in degrees and in the range of 0 to 360
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bool ignore_reading(uint16_t angle_deg) const;
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// database helpers. all angles are in degrees
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bool database_prepare_for_push(Vector3f ¤t_pos, Matrix3f &body_to_ned);
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void database_push(float angle, float distance);
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void database_push(float angle, float distance, uint32_t timestamp_ms, const Vector3f ¤t_pos, const Matrix3f &body_to_ned);
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AP_Proximity &frontend;
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AP_Proximity::Proximity_State &state; // reference to this instances state
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// sectors
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const uint16_t _sector_middle_deg[PROXIMITY_NUM_SECTORS] = {0, 45, 90, 135, 180, 225, 270, 315}; // middle angle of each sector
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// sensor data
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float _angle[PROXIMITY_NUM_SECTORS]; // angle to closest object within each sector
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float _distance[PROXIMITY_NUM_SECTORS]; // distance to closest object within each sector
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bool _distance_valid[PROXIMITY_NUM_SECTORS]; // true if a valid distance received for each sector
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// fence boundary
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Vector2f _sector_edge_vector[PROXIMITY_NUM_SECTORS]; // vector for right-edge of each sector, used to speed up calculation of boundary
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Vector2f _boundary_point[PROXIMITY_NUM_SECTORS]; // bounding polygon around the vehicle calculated conservatively for object avoidance
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};
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