Line data    Source code

       1             : #pragma once
       2             : 
       3             : #include "AP_RangeFinder_config.h"
       4             : 
       5             : #if AP_RANGEFINDER_NOOPLOOP_ENABLED
       6             : 
       7             : #include "AP_RangeFinder.h"
       8             : #include "AP_RangeFinder_Backend_Serial.h"
       9             : 
      10             : class AP_RangeFinder_NoopLoop : public AP_RangeFinder_Backend_Serial
      11             : {
      12             : 
      13             : public:
      14           1 :     static AP_RangeFinder_Backend_Serial *create(
      15             :             RangeFinder::RangeFinder_State &_state,
      16             :             AP_RangeFinder_Params &_params) {
      17           1 :             return NEW_NOTHROW AP_RangeFinder_NoopLoop(_state, _params);
      18             :      }
      19             : 
      20             : protected:
      21             : 
      22         341 :     virtual MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
      23         341 :         return MAV_DISTANCE_SENSOR_LASER;
      24             :     }
      25             : 
      26             : private:
      27             :     using AP_RangeFinder_Backend_Serial::AP_RangeFinder_Backend_Serial;
      28             : 
      29             : 
      30             :     // get a reading
      31             :     // distance returned in reading_m
      32             :     bool get_reading(float &reading_m) override;
      33             : 
      34             :     uint8_t linebuf[16];
      35             :     uint8_t linebuf_len;
      36             : };
      37             : 
      38             : #endif  // AP_RANGEFINDER_NOOPLOOP_ENABLED