ardupilot/libraries/AP_Baro/AP_Baro_Backend.h

32 lines
837 B
C++

#pragma once
#include "AP_Baro.h"
class AP_Baro_Backend
{
public:
AP_Baro_Backend(AP_Baro &baro);
virtual ~AP_Baro_Backend(void) {};
// each driver must provide an update method to copy accumulated
// data to the frontend
virtual void update() = 0;
// accumulate function. This is used for backends that don't use a
// timer, and need to be called regularly by the main code to
// trigger them to read the sensor
virtual void accumulate(void) {}
// callback for UAVCAN messages
virtual void handle_baro_msg(float pressure, float temperature) {}
protected:
// reference to frontend object
AP_Baro &_frontend;
void _copy_to_frontend(uint8_t instance, float pressure, float temperature);
// semaphore for access to shared frontend data
AP_HAL::Semaphore *_sem;
};