mirror of https://github.com/ArduPilot/ardupilot
70 lines
2.3 KiB
C++
70 lines
2.3 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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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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/*
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Mount driver backend class. Each supported mount type
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needs to have an object derived from this class.
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*/
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#ifndef __AP_MOUNT_BACKEND_H__
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#define __AP_MOUNT_BACKEND_H__
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#include <AP_Common.h>
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#include <AP_Mount.h>
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class AP_Mount_Backend
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{
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public:
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// Constructor
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AP_Mount_Backend(AP_Mount &frontend, uint8_t instance) :
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_frontend(frontend),
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_instance(instance)
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{}
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// Virtual destructor
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virtual ~AP_Mount_Backend(void) {}
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// init - performs any required initialisation for this instance
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virtual void init() = 0;
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// update mount position - should be called periodically
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virtual void update() = 0;
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// has_pan_control - returns true if this mount can control it's pan (required for multicopters)
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virtual bool has_pan_control() const = 0;
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// set_mode - sets mount's mode
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virtual void set_mode(enum MAV_MOUNT_MODE mode) = 0;
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// set_roi_target - sets target location that mount should attempt to point towards
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virtual void set_roi_target(const struct Location &target_loc) = 0;
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// configure_msg - process MOUNT_CONFIGURE messages received from GCS
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virtual void configure_msg(mavlink_message_t* msg) {};
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// control_msg - process MOUNT_CONTROL messages received from GCS
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virtual void control_msg(mavlink_message_t* msg) {};
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// status_msg - called to allow mounts to send their status to GCS via MAVLink
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virtual void status_msg(mavlink_channel_t chan) {};
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protected:
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AP_Mount &_frontend; // reference to the front end which holds parameters
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uint8_t _instance; // this instance's number
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};
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#endif // __AP_MOUNT_BACKEND_H__
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