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_RangeFinder_config.h"
      18             : 
      19             : #if AP_RANGEFINDER_ENABLED
      20             : 
      21             : #include <AP_Common/AP_Common.h>
      22             : #include <AP_HAL/AP_HAL_Boards.h>
      23             : #include <AP_HAL/Semaphores.h>
      24             : #include "AP_RangeFinder.h"
      25             : 
      26             : class AP_RangeFinder_Backend
      27             : {
      28             : public:
      29             :     // constructor. This incorporates initialisation as well.
      30             :         AP_RangeFinder_Backend(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params);
      31             : 
      32             :     // we declare a virtual destructor so that RangeFinder drivers can
      33             :     // override with a custom destructor if need be
      34           6 :     virtual ~AP_RangeFinder_Backend(void) {}
      35             : 
      36             :     // update the state structure
      37             :     virtual void update() = 0;
      38         177 :     virtual void init_serial(uint8_t serial_instance) {};
      39             : 
      40          64 :     virtual void handle_msg(const mavlink_message_t &msg) { return; }
      41             : 
      42             : #if AP_SCRIPTING_ENABLED
      43             :     void get_state(RangeFinder::RangeFinder_State &state_arg);
      44             : 
      45             :     // Returns false if scripting backing hasn't been setup.
      46           0 :     virtual bool handle_script_msg(float dist_m) { return false; } // legacy interface
      47           0 :     virtual bool handle_script_msg(const RangeFinder::RangeFinder_State &state_arg) { return false; }
      48             : #endif
      49             : 
      50             : #if HAL_MSP_RANGEFINDER_ENABLED
      51           0 :     virtual void handle_msp(const MSP::msp_rangefinder_data_message_t &pkt) { return; }
      52             : #endif
      53             : 
      54    22255523 :     enum Rotation orientation() const { return (Rotation)params.orientation.get(); }
      55     5942694 :     float distance() const { return state.distance_m; }
      56      558115 :     int8_t signal_quality_pct() const  WARN_IF_UNUSED { return state.signal_quality_pct; }
      57        4400 :     uint16_t voltage_mv() const { return state.voltage_mv; }
      58     5184060 :     virtual float max_distance() const { return params.max_distance; }
      59      392077 :     virtual float min_distance() const { return params.min_distance; }
      60     4512273 :     float ground_clearance() const { return params.ground_clearance; }
      61             :     MAV_DISTANCE_SENSOR get_mav_distance_sensor_type() const;
      62             :     RangeFinder::Status status() const;
      63    39300952 :     RangeFinder::Type type() const { return (RangeFinder::Type)params.type.get(); }
      64             : 
      65             :     // true if sensor is returning data
      66             :     bool has_data() const;
      67             : 
      68             :     // returns count of consecutive good readings
      69             :     // note that this method returning zero does not mean that the device is unhealthy:
      70      118867 :     uint8_t range_valid_count() const { return state.range_valid_count; }
      71             : 
      72             :     // return a 3D vector defining the position offset of the sensor
      73             :     // in metres relative to the body frame origin
      74     5175467 :     const Vector3f &get_pos_offset() const { return params.pos_offset; }
      75             : 
      76             :     // return system time of last successful read from the sensor
      77       13305 :     uint32_t last_reading_ms() const { return state.last_reading_ms; }
      78             : 
      79             :     // get temperature reading in C.  returns true on success and populates temp argument.
      80             :     // non-virtual: checks for an externally-supplied temperature first (e.g. from
      81             :     // AP_TemperatureSensor, TEMPx_SRC=Rangefinder), then falls back to the backend's
      82             :     // own reading via _get_temp().
      83             :     bool get_temp(float &temp) const;
      84             : 
      85             :     // return the actual type of the rangefinder, as opposed to the
      86             :     // parameter value which may be changed at runtime.
      87        5146 :     RangeFinder::Type allocated_type() const { return _backend_type; }
      88             : 
      89             : protected:
      90             : 
      91             :     // update status based on distance measurement
      92             :     void update_status(RangeFinder::RangeFinder_State &state_arg) const;
      93      282081 :     void update_status() { update_status(state); }
      94             : 
      95             :     // set status and update valid_count
      96             :     static void set_status(RangeFinder::RangeFinder_State &state_arg, RangeFinder::Status status);
      97        9472 :     void set_status(RangeFinder::Status status) { set_status(state, status); }
      98             : 
      99             :     RangeFinder::RangeFinder_State &state;
     100             :     AP_RangeFinder_Params &params;
     101             : 
     102             :     // semaphore for access to shared frontend data
     103             :     HAL_Semaphore _sem;
     104             : 
     105             :     //Type Backend initialised with
     106             :     RangeFinder::Type _backend_type;
     107             : 
     108             :     virtual MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const = 0;
     109             : 
     110             :     // backend-specific temperature reading.  Override in backends that have their
     111             :     // own temperature source (e.g. NMEA depth sounders reporting MTW).
     112      334110 :     virtual bool _get_temp(float &temp) const { return false; }
     113             : 
     114             :     // return true if rangefinder should be powered down
     115             :     bool should_power_down() const;
     116             : 
     117             : };
     118             : 
     119             : #endif  // AP_RANGEFINDER_ENABLED