Line data    Source code

       1             : #pragma once
       2             : 
       3             : #include "AP_RangeFinder_config.h"
       4             : 
       5             : #if AP_RANGEFINDER_BENEWAKE_CAN_ENABLED
       6             : #include "AP_RangeFinder_Backend_CAN.h"
       7             : 
       8             : class AP_RangeFinder_Benewake_CAN : public AP_RangeFinder_Backend_CAN {
       9             : public:
      10           0 :     AP_RangeFinder_Benewake_CAN(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params) :
      11           0 :         AP_RangeFinder_Backend_CAN(_state, _params, AP_CAN::Protocol::Benewake, "benewake")
      12             :     {
      13           0 :     }
      14             : 
      15             :     // handler for incoming frames. Return true if consumed
      16             :     bool handle_frame(AP_HAL::CANFrame &frame) override;
      17             :     bool handle_frame_H30(AP_HAL::CANFrame &frame);
      18             : 
      19             : protected:
      20             : 
      21           0 :     MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
      22           0 :         return MAV_DISTANCE_SENSOR_LASER;
      23             :     }
      24             : };
      25             : 
      26             : #endif  // AP_RANGEFINDER_BENEWAKE_CAN_ENABLED