Line data    Source code

       1             : #pragma once
       2             : 
       3             : #include "AP_RangeFinder_config.h"
       4             : 
       5             : #if AP_RANGEFINDER_ENABLED
       6             : 
       7             : #include "AP_RangeFinder.h"
       8             : #include "AP_RangeFinder_Backend.h"
       9             : #include <AP_HAL/I2CDevice.h>
      10             : 
      11             : class AP_RangeFinder_Backend_I2C : public AP_RangeFinder_Backend
      12             : {
      13             : public:
      14             : 
      15             : protected:
      16             : 
      17             :     // constructor
      18          21 :     AP_RangeFinder_Backend_I2C(
      19             :         RangeFinder::RangeFinder_State &_state,
      20             :         AP_RangeFinder_Params &_params,
      21             :         AP_HAL::I2CDevice &_dev)
      22          21 :         : AP_RangeFinder_Backend(_state, _params)
      23          21 :         , dev(_dev)
      24          21 :         { }
      25             : 
      26             :     // configures the rangefinder, deletes it if unable to init it.
      27             :     static AP_RangeFinder_Backend_I2C *configure(AP_RangeFinder_Backend_I2C *);
      28             : 
      29             :     AP_HAL::I2CDevice &dev;
      30             : 
      31             :     virtual bool init() = 0;
      32             : };
      33             : 
      34             : #endif  // AP_RANGEFINDER_ENABLED