Line data    Source code

       1             : /*
       2             :    This program is free software: you can redistribute it and/or modify
       3             :    it under the terms of the GNU General Public License as published by
       4             :    the Free Software Foundation, either version 3 of the License, or
       5             :    (at your option) any later version.
       6             : 
       7             :    This program is distributed in the hope that it will be useful,
       8             :    but WITHOUT ANY WARRANTY; without even the implied warranty of
       9             :    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
      10             :    GNU General Public License for more details.
      11             : 
      12             :    You should have received a copy of the GNU General Public License
      13             :    along with this program.  If not, see <http://www.gnu.org/licenses/>.
      14             :  */
      15             : #pragma once
      16             : 
      17             : #include <AP_Common/AP_Common.h>
      18             : #include "AP_WheelEncoder.h"
      19             : 
      20             : class AP_WheelEncoder_Backend
      21             : {
      22             : public:
      23             :     // constructor. This incorporates initialisation as well.
      24             :     AP_WheelEncoder_Backend(AP_WheelEncoder &frontend, uint8_t instance, AP_WheelEncoder::WheelEncoder_State &state);
      25             : 
      26             :     // we declare a virtual destructor so that WheelEncoder drivers can
      27             :     // override with a custom destructor if need be
      28           0 :     virtual ~AP_WheelEncoder_Backend(void) {}
      29             : 
      30             :     // update the state structure. All backends must implement this.
      31             :     virtual void update() = 0;
      32             : 
      33             : protected:
      34             : 
      35             :     // return pin number.  returns -1 if pin is not defined for this instance
      36             :     int8_t get_pin_a() const;
      37             :     int8_t get_pin_b() const;
      38             : 
      39             :     // copy state to front end helper function
      40             :     void copy_state_to_frontend(int32_t distance_count, uint32_t total_count, uint32_t error_count, uint32_t last_reading_ms);
      41             : 
      42             :     AP_WheelEncoder &_frontend;
      43             :     AP_WheelEncoder::WheelEncoder_State &_state;
      44             : };