mirror of https://github.com/ArduPilot/ardupilot
79 lines
2.1 KiB
C++
79 lines
2.1 KiB
C++
#pragma once
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#include "AP_RangeFinder_Backend.h"
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#if HAL_MAX_CAN_PROTOCOL_DRIVERS
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#include <AP_CANManager/AP_CANSensor.h>
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#include <AP_BoardConfig/AP_BoardConfig.h>
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class RangeFinder_MultiCAN;
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class AP_RangeFinder_Backend_CAN : public AP_RangeFinder_Backend
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{
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public:
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// constructor
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AP_RangeFinder_Backend_CAN(RangeFinder::RangeFinder_State &_state,
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AP_RangeFinder_Params &_params);
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friend class RangeFinder_MultiCAN;
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static const struct AP_Param::GroupInfo var_info[];
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protected:
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// update state
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virtual void update(void) override;
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// get distance measurement
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bool get_reading(float &reading_m);
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// it is essential that anyone relying on the base-class update to implement this
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virtual bool handle_frame(AP_HAL::CANFrame &frame) = 0;
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// maximum time between readings before we change state to NoData:
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virtual uint32_t read_timeout_ms() const { return 200; }
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virtual MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
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return MAV_DISTANCE_SENSOR_RADAR;
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}
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// return true if the CAN ID is correct
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bool is_correct_id(uint32_t can_id) const;
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// set distance and count
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void accumulate_distance_m(float distance_m) {
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_distance_sum += distance_m;
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_distance_count++;
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};
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// linked list
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AP_RangeFinder_Backend_CAN *next;
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AP_Int32 receive_id; // CAN ID to receive for this backend
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AP_Int32 snr_min; // minimum signal strength to accept packet
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private:
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float _distance_sum; // meters
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uint32_t _distance_count;
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};
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// a class to allow for multiple CAN backends with one
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// CANSensor driver
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class RangeFinder_MultiCAN : public CANSensor {
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public:
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RangeFinder_MultiCAN(AP_CAN::Protocol can_type, const char *driver_name) : CANSensor(driver_name) {
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register_driver(can_type);
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}
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// handler for incoming frames
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void handle_frame(AP_HAL::CANFrame &frame) override;
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// Semaphore for access to shared backend data
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HAL_Semaphore sem;
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AP_RangeFinder_Backend_CAN *drivers;
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};
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#endif // HAL_MAX_CAN_PROTOCOL_DRIVERS
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