mirror of https://github.com/ArduPilot/ardupilot
58 lines
1.7 KiB
C++
58 lines
1.7 KiB
C++
#pragma once
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#include "AP_RangeFinder_config.h"
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#if AP_RANGEFINDER_LIGHTWARE_SERIAL_ENABLED
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#include "AP_RangeFinder.h"
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#include "AP_RangeFinder_Backend_Serial.h"
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class AP_RangeFinder_LightWareSerial : public AP_RangeFinder_Backend_Serial
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{
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public:
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static AP_RangeFinder_Backend_Serial *create(
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RangeFinder::RangeFinder_State &_state,
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AP_RangeFinder_Params &_params) {
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return new AP_RangeFinder_LightWareSerial(_state, _params);
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}
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protected:
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using AP_RangeFinder_Backend_Serial::AP_RangeFinder_Backend_Serial;
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MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
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return MAV_DISTANCE_SENSOR_LASER;
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}
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bool get_signal_quality_pct(int8_t &quality_pct) const override {
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quality_pct = no_signal ? 0 : 100;
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return true;
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}
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private:
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// get a reading
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bool get_reading(float &reading_m) override;
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bool is_lost_signal_distance(int16_t distance_cm, int16_t distance_cm_max);
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char linebuf[10]; // legacy protocol buffer
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uint8_t linebuf_len; // legacy protocol buffer length
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uint32_t last_init_ms; // init time used to switch lw20 to serial mode
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uint8_t high_byte; // binary protocol high byte
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bool high_byte_received; // true if high byte has been received
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// automatic protocol decision variables
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enum class ProtocolState {
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UNKNOWN, // the protocol used is not yet known
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LEGACY, // legacy protocol, distances are sent as strings
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BINARY // binary protocol, distances are sent using two bytes
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} protocol_state;
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uint8_t legacy_valid_count;
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uint8_t binary_valid_count;
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bool no_signal = false;
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};
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#endif // AP_RANGEFINDER_LIGHTWARE_SERIAL_ENABLED
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