Line data    Source code

       1             : /*
       2             :    This program is free software: you can redistribute it and/or modify
       3             :    it under the terms of the GNU General Public License as published by
       4             :    the Free Software Foundation, either version 3 of the License, or
       5             :    (at your option) any later version.
       6             : 
       7             :    This program is distributed in the hope that it will be useful,
       8             :    but WITHOUT ANY WARRANTY; without even the implied warranty of
       9             :    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
      10             :    GNU General Public License for more details.
      11             : 
      12             :    You should have received a copy of the GNU General Public License
      13             :    along with this program.  If not, see <http://www.gnu.org/licenses/>.
      14             :  */
      15             : #pragma once
      16             : 
      17             : #include "AP_EFI.h"
      18             : #include "AP_EFI_State.h"
      19             : #include <AP_HAL/Semaphores.h>
      20             : #include <AP_Scripting/AP_Scripting_config.h>
      21             : #include <GCS_MAVLink/GCS_MAVLink.h>
      22             : 
      23             : class AP_EFI; //forward declaration
      24             : 
      25             : class AP_EFI_Backend {
      26             : public:    
      27             :     // Constructor with initialization
      28             :     AP_EFI_Backend(AP_EFI &_frontend);
      29             : 
      30             :     // Virtual destructor that efi backends can override 
      31           0 :     virtual ~AP_EFI_Backend(void) {}
      32             : 
      33             :     // Update the state structure
      34             :     virtual void update() = 0;
      35             : 
      36           0 :     virtual void handle_EFI_message(const mavlink_message_t &msg) {};
      37             : 
      38             : #if AP_SCRIPTING_ENABLED
      39           0 :     virtual bool handle_scripting(const EFI_State &efi_state) { return false; }
      40             : #endif
      41             : 
      42             :     virtual bool healthy() const;
      43             : 
      44             : protected:
      45             :     // Copies internal state to the frontend state
      46             :     void copy_to_frontend();
      47             : 
      48             :     // Internal state for this driver (before copying to frontend)
      49             :     EFI_State internal_state;
      50             : 
      51             :     int8_t get_dronecan_node_id(void) const;
      52             :     float get_coef1(void) const;
      53             :     float get_coef2(void) const;
      54             : 
      55             :     void set_default_coef1(float coef1);
      56             :     
      57             :     float get_ecu_fuel_density(void) const;
      58             : 
      59             :     /*
      60             :       linearise throttle if enabled
      61             :      */
      62             :     float linearise_throttle(float throttle_percent);
      63             : 
      64             :     HAL_Semaphore &get_sem(void);
      65             : 
      66             : private:
      67             :     AP_EFI &frontend;
      68             : };