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             :   Base class for serial rangefinders
      17             : */
      18             : 
      19             : #pragma once
      20             : 
      21             : #include "SIM_config.h"
      22             : 
      23             : #if AP_SIM_SERIALPROXIMITYSENSOR_ENABLED
      24             : 
      25             : #include "SIM_Aircraft.h"
      26             : 
      27             : #include <SITL/SITL.h>
      28             : 
      29             : #include "SIM_SerialDevice.h"
      30             : 
      31             : namespace SITL {
      32             : 
      33             : class SerialProximitySensor : public SerialDevice {
      34             : public:
      35             : 
      36           6 :     SerialProximitySensor() {};
      37             : 
      38             :     // update state
      39             :     virtual void update(const Location &location);
      40             : 
      41           0 :     virtual uint16_t reading_interval_ms() const { return 200; } // 5Hz default
      42             : 
      43             :     virtual uint32_t packet_for_location(const Location &location,
      44             :                                          uint8_t *data,
      45             :                                          uint8_t buflen) = 0;
      46             : 
      47             :     // return distance to nearest object at angle
      48      487648 :     float measure_distance_at_angle_bf(const Location &location, float angle) const {
      49      487648 :         return AP::sitl()->measure_distance_at_angle_bf(location, angle);
      50             :     }
      51             : 
      52             : private:
      53             : 
      54             :     uint32_t last_sent_ms;
      55             : 
      56             : };
      57             : 
      58             : }
      59             : 
      60             : #endif