90 lines
2.2 KiB
C++
90 lines
2.2 KiB
C++
/*
|
|
This program is free software: you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation, either version 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
This program is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
/*
|
|
* IRLock.h - IRLock Base Class for Ardupilot
|
|
*
|
|
* Created on: Nov 10, 2014
|
|
* Author: MLandes
|
|
*/
|
|
|
|
#ifndef __IRLOCK_H__
|
|
#define __IRLOCK_H__
|
|
|
|
#include "AP_AHRS.h"
|
|
|
|
#define IRLOCK_MAX_BLOCKS_PER_FRAME 135
|
|
|
|
struct _irlock_block {
|
|
uint16_t signature;
|
|
uint16_t center_x;
|
|
uint16_t center_y;
|
|
uint16_t width;
|
|
uint16_t height;
|
|
};
|
|
|
|
typedef struct _irlock_block irlock_block;
|
|
|
|
class IRLock
|
|
{
|
|
public:
|
|
IRLock(const AP_AHRS &ahrs);
|
|
virtual ~IRLock();
|
|
|
|
// init - initialize sensor library
|
|
// library won't be useable unless this is first called
|
|
virtual void init() = 0;
|
|
|
|
// true if irlock is enabled
|
|
bool enabled() const { return _enabled; }
|
|
|
|
// true if irlock sensor is online and healthy
|
|
bool healthy() const { return _flags.healthy; }
|
|
|
|
// timestamp of most recent data read from the sensor
|
|
uint32_t last_update() const { return _last_update; }
|
|
|
|
// returns the number of blocks in the current frame
|
|
size_t num_blocks() const { return _num_blocks; }
|
|
|
|
// retrieve latest sensor data
|
|
virtual void update() = 0;
|
|
|
|
// copies the current data frame
|
|
void get_current_frame(irlock_block data[IRLOCK_MAX_BLOCKS_PER_FRAME]) const;
|
|
|
|
// parameter var info table
|
|
static const struct AP_Param::GroupInfo var_info[];
|
|
|
|
protected:
|
|
struct AP_IRLock_Flags {
|
|
uint8_t healthy : 1; // true if sensor is healthy
|
|
} _flags;
|
|
|
|
// external references
|
|
const AP_AHRS &_ahrs;
|
|
|
|
// parameters
|
|
AP_Int8 _enabled;
|
|
|
|
// internals
|
|
uint32_t _last_update;
|
|
size_t _num_blocks;
|
|
irlock_block _current_frame[IRLOCK_MAX_BLOCKS_PER_FRAME];
|
|
};
|
|
|
|
|
|
#endif /* __IRLOCK_H__ */
|