ardupilot/libraries/AP_RangeFinder/AP_RangeFinder_Backend_Seri...

37 lines
1.1 KiB
C++

#pragma once
#include "AP_RangeFinder_Backend.h"
class AP_RangeFinder_Backend_Serial : public AP_RangeFinder_Backend
{
public:
// constructor
AP_RangeFinder_Backend_Serial(RangeFinder::RangeFinder_State &_state,
AP_RangeFinder_Params &_params);
void init_serial(uint8_t serial_instance) override;
// static detection function
static bool detect(uint8_t serial_instance);
protected:
// baudrate used during object construction:
virtual uint32_t initial_baudrate(uint8_t serial_instance) const;
// the value 0 is special to the UARTDriver - it's "use default"
virtual uint16_t rx_bufsize() const { return 0; }
virtual uint16_t tx_bufsize() const { return 0; }
AP_HAL::UARTDriver *uart = nullptr;
// update state; not all backends call this!
virtual void update(void) override;
// it is essential that anyone relying on the base-class update to
// implement this:
virtual bool get_reading(uint16_t &reading_cm) = 0;
// maximum time between readings before we change state to NoData:
virtual uint16_t read_timeout_ms() const { return 200; }
};