Line data    Source code

       1             : /*
       2             :    Base class for simulated mount (gimbal) serial peripherals
       3             : */
       4             : 
       5             : #pragma once
       6             : 
       7             : #include "SIM_config.h"
       8             : 
       9             : #if AP_SIM_MOUNT_ENABLED
      10             : 
      11             : #include "SIM_SerialDevice.h"
      12             : 
      13             : namespace SITL {
      14             : 
      15             : /*
      16             :   common base for all simulated mount backends.  Inherits SerialDevice
      17             :   so subclasses can be registered with create_serial_sim() and driven
      18             :   via a serial port.
      19             : */
      20             : class Mount : public SerialDevice {
      21             : public:
      22             : 
      23             :     // called each simulation step
      24             :     virtual void update(const class Aircraft &aircraft) = 0;
      25             : 
      26             :     // called before add_gimbal_sim() so subclasses know their
      27             :     // 0-based instance index (used, e.g., to select a MAVLink component ID)
      28           5 :     virtual void set_instance(uint8_t instance) { _instance = instance; }
      29             : 
      30             : protected:
      31             :     uint8_t _instance;
      32             : };
      33             : 
      34             : }  // namespace SITL
      35             : 
      36             : #endif  // AP_SIM_MOUNT_ENABLED