mirror of https://github.com/ArduPilot/ardupilot
74 lines
2.5 KiB
C++
74 lines
2.5 KiB
C++
/*
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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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#include "AP_RangeFinder_config.h"
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#if AP_RANGEFINDER_LUA_ENABLED
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#include "AP_RangeFinder_Lua.h"
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#include <AP_HAL/AP_HAL.h>
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// constructor
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AP_RangeFinder_Lua::AP_RangeFinder_Lua(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params) :
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AP_RangeFinder_Backend(_state, _params)
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{
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}
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// Process range finder data from a lua driver. The state structure needs to be completely
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// filled in by the lua script. The data passed to this method is copied to a pending_state
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// structure. The update() method periodically copies data from pending_state to state. The get_state()
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// method returns data from state.
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bool AP_RangeFinder_Lua::handle_script_msg(const RangeFinder::RangeFinder_State &state_arg)
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{
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WITH_SEMAPHORE(_sem);
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_state_pending = state_arg;
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return true;
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}
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// Process range finder data from a lua driver - legacy interface. This method takes
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// a distance measurement and fills in the pending state structure. In this legacy mode
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// the lua script only passes in a distance measurement and does not manage the rest
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// of the fields in the state structure.
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bool AP_RangeFinder_Lua::handle_script_msg(float dist_m) {
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const uint32_t now = AP_HAL::millis();
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WITH_SEMAPHORE(_sem);
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_state_pending.last_reading_ms = now;
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_state_pending.distance_m = dist_m;
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_state_pending.signal_quality_pct = RangeFinder::SIGNAL_QUALITY_UNKNOWN;
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_state_pending.voltage_mv = 0;
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update_status(_state_pending);
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return true;
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}
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// Update the state of the sensor
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void AP_RangeFinder_Lua::update(void)
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{
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WITH_SEMAPHORE(_sem);
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// Time out on incoming data
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if (_state_pending.status != RangeFinder::Status::NotConnected &&
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AP_HAL::millis() - _state_pending.last_reading_ms > AP_RANGEFINDER_LUA_TIMEOUT_MS) {
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set_status(_state_pending, RangeFinder::Status::NoData);
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}
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state = _state_pending;
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}
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#endif // AP_RANGEFINDER_LUA_ENABLED
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