Line data    Source code

       1             : #pragma once
       2             : 
       3             : #include "AP_RangeFinder_config.h"
       4             : 
       5             : #if AP_RANGEFINDER_DRONECAN_ENABLED
       6             : 
       7             : #include "AP_RangeFinder_Backend.h"
       8             : #include <AP_DroneCAN/AP_DroneCAN.h>
       9             : 
      10             : class MeasurementCb;
      11             : 
      12             : class AP_RangeFinder_DroneCAN : public AP_RangeFinder_Backend {
      13             : public:
      14             :     //constructor - registers instance at top RangeFinder driver
      15             :     using AP_RangeFinder_Backend::AP_RangeFinder_Backend;
      16             : 
      17             :     void update() override;
      18             : 
      19             :     static bool subscribe_msgs(AP_DroneCAN* ap_dronecan);
      20             :     static AP_RangeFinder_DroneCAN* get_dronecan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id, uint8_t address, bool create_new);
      21             :     static AP_RangeFinder_Backend* detect(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params);
      22             : 
      23             :     static void handle_measurement(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_range_sensor_Measurement &msg);
      24             : 
      25             : protected:
      26           0 :     virtual MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
      27           0 :         return _sensor_type;
      28             :     }
      29             : private:
      30             :     uint8_t _instance;
      31             :     // _status is the state received from the peripheral - or "NoData" in case of timeout
      32             :     RangeFinder::Status _status;
      33             :     float _distance_m;
      34             :     uint32_t _last_reading_ms;
      35             :     AP_DroneCAN* _ap_dronecan;
      36             :     uint8_t _node_id;
      37             :     bool new_data;
      38             :     MAV_DISTANCE_SENSOR _sensor_type;
      39             : };
      40             : #endif  // AP_RANGEFINDER_DRONECAN_ENABLED