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             : 
      16             : #pragma once
      17             : 
      18             : #include <AP_Winch/AP_Winch.h>
      19             : 
      20             : #if AP_WINCH_ENABLED
      21             : 
      22             : #include <AP_Logger/AP_Logger_config.h>
      23             : 
      24             : class AP_Winch_Backend {
      25             : public:
      26           2 :     AP_Winch_Backend(struct AP_Winch::Backend_Config &_config) :
      27           2 :         config(_config) { }
      28             : 
      29             :     // true if winch is healthy
      30             :     virtual bool healthy() const = 0;
      31             : 
      32             :     // initialise the backend
      33             :     virtual void init();
      34             : 
      35             :     // update - should be called at at least 10hz
      36             :     virtual void update() = 0;
      37             : 
      38             :     // returns current length of line deployed
      39             :     virtual float get_current_length() const = 0;
      40             : 
      41             :     // send status to ground station
      42             :     virtual void send_status(const GCS_MAVLINK &channel) = 0;
      43             : 
      44             : #if HAL_LOGGING_ENABLED
      45             :     // write log
      46             :     virtual void write_log() = 0;
      47             : #endif
      48             : 
      49             :     // helper to check if option enabled
      50           4 :     bool option_enabled(AP_Winch::Options option) const {
      51           4 :         return (config.options & uint16_t(option)) != 0;
      52             :     }
      53             : 
      54             : protected:
      55             : 
      56             :     // calculate the pilot desired rate (+ve deploys line, -ve retracts line, 0 stops) from rc input
      57             :     // may change the state to RATE and update config.rate_desired
      58             :     void read_pilot_desired_rate();
      59             : 
      60             :     // returns the rate limited by the maximum acceleration
      61             :     // this also updates the previous rate so should not be called more than once per loop
      62             :     float get_rate_limited_by_accel(float rate, float dt) WARN_IF_UNUSED;
      63             : 
      64             :     // set the rate used for acceleration limiting
      65        5120 :     void set_previous_rate(float rate) { previous_rate = rate; }
      66             : 
      67             :     struct AP_Winch::Backend_Config &config;
      68             : 
      69             :     int16_t previous_radio_in = -1; // previous RC input from pilot, used to ignore small changes
      70             :     float previous_rate;            // previous rate used for acceleration limiting
      71             : };
      72             : 
      73             : #endif  // AP_WINCH_ENABLED