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_Aircraft.h"
      22             : 
      23             : #include <SITL/SITL.h>
      24             : 
      25             : #include "SIM_SerialDevice.h"
      26             : 
      27             : namespace SITL {
      28             : 
      29             : class SerialRangeFinder : public SerialDevice {
      30             : public:
      31             : 
      32          29 :     SerialRangeFinder() {};
      33             : 
      34             :     // update state
      35             :     virtual void update(float range);
      36             : 
      37             :     virtual uint32_t packet_for_alt(float alt_m, uint8_t *buffer, uint8_t buflen) = 0;
      38             : 
      39     1945260 :     virtual uint16_t reading_interval_ms() const { return 200; } // 5Hz default
      40             : 
      41             :     // Rangefinders that return temperature most likely a depthfinder for boats
      42      114095 :     virtual bool has_temperature() const { return false; }
      43           0 :     virtual uint32_t packet_for_temperature(float temperature, uint8_t *buffer, uint8_t buflen) { return 0; }; // 0 length packet by default
      44             : 
      45             : private:
      46             :     void send_temperature();
      47             : 
      48             :     uint32_t last_sent_ms;
      49             : };
      50             : 
      51             : }