Line data    Source code

       1             : #pragma once
       2             : 
       3             : #include "AP_RangeFinder_config.h"
       4             : 
       5             : #if AP_RANGEFINDER_LIGHTWARE_GRF_ENABLED
       6             : 
       7             : #include "AP_RangeFinder_Backend_Serial.h"
       8             : #include "AP_RangeFinder_LightWare_GRF_Common.h"
       9             : #include <AP_LightWareSerial/AP_LightWareSerial.h>
      10             : 
      11             : class AP_RangeFinder_LightWareGRF : public AP_RangeFinder_Backend_Serial,
      12             :                                     public AP_LightWareSerial,
      13             :                                     public AP_RangeFinder_LightWare_GRF_Common
      14             : {
      15             : public:
      16           1 :     static AP_RangeFinder_Backend_Serial *create(
      17             :         RangeFinder::RangeFinder_State &_state,
      18             :         AP_RangeFinder_Params &_params)
      19             :     {
      20           1 :         return NEW_NOTHROW AP_RangeFinder_LightWareGRF(_state, _params);
      21             :     }
      22             : 
      23             :     static const struct AP_Param::GroupInfo var_info[];
      24             : 
      25             : protected:
      26             : 
      27             :     // Returns the MAVLink distance sensor type
      28         339 :     MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override { return MAV_DISTANCE_SENSOR_LASER; }
      29             : 
      30             :     // Called periodically to fetch a new range reading
      31             :     bool get_reading(float &reading_m) override;
      32             : 
      33             :     // Returns read timeout in milliseconds
      34          15 :     uint16_t read_timeout_ms() const override { return 500; }
      35             : 
      36             : private:
      37             :     // Constructor
      38             :     AP_RangeFinder_LightWareGRF(RangeFinder::RangeFinder_State &_state,
      39             :                           AP_RangeFinder_Params &_params);
      40             : 
      41             :     // Send configuration messages to the rangefinder
      42             :     void configure_rangefinder();
      43             : 
      44             :     // Parses config responses and advances setup step
      45             :     void check_config(const MessageID &resp_cmd_id, const uint8_t* response_buf, const uint16_t& response_len);
      46             : 
      47             :     // Processes the latest message held in the _msg structure
      48             :     void process_message(float &sum_m, uint8_t &count);
      49             : 
      50             :     uint32_t last_config_message_ms; // last time we sent a config message
      51             :     ConfigStep config_step;          // current configuration step
      52             : };
      53             : 
      54             : #endif // AP_RANGEFINDER_LIGHTWARE_GRF_ENABLED