mirror of https://github.com/ArduPilot/ardupilot
39 lines
1.2 KiB
C++
39 lines
1.2 KiB
C++
#pragma once
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#include "AP_Proximity.h"
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#include "AP_Proximity_Backend.h"
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#define PROXIMITY_TRTOWER_TIMEOUT_MS 300 // requests timeout after 0.3 seconds
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class AP_Proximity_TeraRangerTower : public AP_Proximity_Backend
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{
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public:
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// constructor
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AP_Proximity_TeraRangerTower(AP_Proximity &_frontend, AP_Proximity::Proximity_State &_state, AP_SerialManager &serial_manager);
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// static detection function
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static bool detect(AP_SerialManager &serial_manager);
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// update state
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void update(void) override;
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// get maximum and minimum distances (in meters) of sensor
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float distance_max() const override;
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float distance_min() const override;
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private:
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// check and process replies from sensor
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bool read_sensor_data();
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void update_sector_data(int16_t angle_deg, uint16_t distance_cm);
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// reply related variables
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AP_HAL::UARTDriver *uart = nullptr;
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uint8_t buffer[20]; // buffer where to store data from serial
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uint8_t buffer_count;
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// request related variables
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uint32_t _last_distance_received_ms; // system time of last distance measurement received from sensor
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};
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