Line data    Source code

       1             : #pragma once
       2             : 
       3             : #include "AP_Proximity_Backend.h"
       4             : 
       5             : #if HAL_PROXIMITY_ENABLED && AP_SCRIPTING_ENABLED
       6             : 
       7             : class AP_Proximity_Scripting : public AP_Proximity_Backend
       8             : {
       9             : 
      10             : public:
      11             :     // constructor
      12             :     using AP_Proximity_Backend::AP_Proximity_Backend;
      13             : 
      14             :     // update state
      15             :     void update(void) override;
      16             : 
      17             :     // get maximum and minimum distances (in meters) of sensor
      18           0 :     float distance_max_m() const override { return _distance_max; }
      19           0 :     float distance_min_m() const override { return _distance_min; }
      20             : 
      21             :     // Set max and min range of the sensor. only needs to be set once
      22             :     bool set_distance_min_max(float min, float max) override;
      23             : 
      24             :     // get distance upwards in meters. returns true on success
      25             :     bool get_upward_distance(float &distance) const override;
      26             : 
      27             :     // handle script messages
      28             :     bool handle_script_distance_msg(float dist_m, float yaw_deg, float pitch_deg, bool push_to_boundary) override;
      29             :     bool handle_script_3d_msg(const Vector3f &vec_to_obstacle, bool push_to_boundary) override;
      30             : 
      31             :     // update the temporary (buffer) boundary
      32             :     bool update_virtual_boundary() override;
      33             : 
      34             : private:
      35             : 
      36             :     // temp boundary to store and sort distances
      37             :     AP_Proximity_Temp_Boundary temp_boundary;
      38             : 
      39             :     // horizontal distance support
      40             :     uint32_t _last_update_ms;   // system time of last script message received
      41             : 
      42             :     // upward distance support
      43             :     uint32_t _last_upward_update_ms;    // system time of last update of upward distance
      44             :     float _distance_upward;             // upward distance in meters
      45             : 
      46             :     // min and max distance of sensor
      47             :     float _distance_min;
      48             :     float _distance_max;
      49             : };
      50             : 
      51             : #endif // HAL_PROXIMITY_ENABLED && AP_SCRIPTING_ENABLED