AP_Proximity Class Reference

#include <AP_Proximity.h>

Collaboration diagram for AP_Proximity:

Classes
struct	Proximity_Distance_Array
struct	Proximity_State

Public Types
enum	Proximity_Type {   Proximity_Type_None = 0, Proximity_Type_SF40C = 1, Proximity_Type_MAV = 2, Proximity_Type_TRTOWER = 3,   Proximity_Type_RangeFinder = 4, Proximity_Type_RPLidarA2 = 5, Proximity_Type_SITL = 10 }
enum	Proximity_Status { Proximity_NotConnected = 0, Proximity_NoData, Proximity_Good }

Public Member Functions
	AP_Proximity (AP_SerialManager &_serial_manager)
	AP_Proximity (const AP_Proximity &other)=delete
AP_Proximity &	operator= (const AP_Proximity)=delete
void	init (void)
void	update (void)
void	set_rangefinder (const RangeFinder *rangefinder)
const RangeFinder *	get_rangefinder () const
uint8_t	get_orientation (uint8_t instance) const
int16_t	get_yaw_correction (uint8_t instance) const
Proximity_Status	get_status (uint8_t instance) const
Proximity_Status	get_status () const
uint8_t	num_sensors (void) const
bool	get_horizontal_distance (uint8_t instance, float angle_deg, float &distance) const
bool	get_horizontal_distance (float angle_deg, float &distance) const
bool	get_horizontal_distances (Proximity_Distance_Array &prx_dist_array) const
const Vector2f *	get_boundary_points (uint8_t instance, uint16_t &num_points) const
const Vector2f *	get_boundary_points (uint16_t &num_points) const
bool	get_closest_object (float &angle_deg, float &distance) const
uint8_t	get_object_count () const
bool	get_object_angle_and_distance (uint8_t object_number, float &angle_deg, float &distance) const
float	distance_max () const
float	distance_min () const
void	handle_msg (mavlink_message_t *msg)
bool	get_upward_distance (uint8_t instance, float &distance) const
bool	get_upward_distance (float &distance) const
Proximity_Type	get_type (uint8_t instance) const

Static Public Member Functions
static AP_Proximity *	get_singleton (void)

Static Public Attributes
static const struct AP_Param::GroupInfo	var_info []

Private Member Functions
void	detect_instance (uint8_t instance)
void	update_instance (uint8_t instance)

Private Attributes
Proximity_State	state [PROXIMITY_MAX_INSTANCES]
AP_Proximity_Backend *	drivers [PROXIMITY_MAX_INSTANCES]
const RangeFinder *	_rangefinder
uint8_t	primary_instance:3
uint8_t	num_instances:3
AP_SerialManager &	serial_manager
AP_Int8	_type [PROXIMITY_MAX_INSTANCES]
AP_Int8	_orientation [PROXIMITY_MAX_INSTANCES]
AP_Int16	_yaw_correction [PROXIMITY_MAX_INSTANCES]
AP_Int16	_ignore_angle_deg [PROXIMITY_MAX_IGNORE]
AP_Int8	_ignore_width_deg [PROXIMITY_MAX_IGNORE]

Static Private Attributes
static AP_Proximity *	_singleton

Friends
class	AP_Proximity_Backend

Detailed Description

Definition at line 32 of file AP_Proximity.h.

Member Enumeration Documentation

Proximity_Status

enum AP_Proximity::Proximity_Status

Enumerator
Proximity_NotConnected
Proximity_NoData
Proximity_Good

Definition at line 53 of file AP_Proximity.h.

Proximity_Type

enum AP_Proximity::Proximity_Type

Enumerator
Proximity_Type_None
Proximity_Type_SF40C
Proximity_Type_MAV
Proximity_Type_TRTOWER
Proximity_Type_RangeFinder
Proximity_Type_RPLidarA2
Proximity_Type_SITL

Definition at line 43 of file AP_Proximity.h.

Constructor & Destructor Documentation

AP_Proximity() [1/2]

AP_Proximity::AP_Proximity

(

AP_SerialManager &

_serial_manager

)

Definition at line 177 of file AP_Proximity.cpp.

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AP_Proximity() [2/2]

AP_Proximity::AP_Proximity ( const AP_Proximity &  other )

delete

Member Function Documentation

detect_instance()

void AP_Proximity::detect_instance ( uint8_t  instance )

private

Definition at line 279 of file AP_Proximity.cpp.

Referenced by init().

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distance_max()

float AP_Proximity::distance_max

(

)

const

Definition at line 400 of file AP_Proximity.cpp.

Referenced by num_sensors(), and GCS_MAVLINK::send_proximity().

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distance_min()

float AP_Proximity::distance_min

(

)

const

Definition at line 408 of file AP_Proximity.cpp.

Referenced by num_sensors(), and GCS_MAVLINK::send_proximity().

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get_boundary_points() [1/2]

const Vector2f * AP_Proximity::get_boundary_points	(	uint8_t	instance,
		uint16_t &	num_points
	)		const

Definition at line 352 of file AP_Proximity.cpp.

Referenced by AC_Avoid::adjust_velocity_proximity(), get_boundary_points(), and num_sensors().

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get_boundary_points() [2/2]

const Vector2f * AP_Proximity::get_boundary_points

(

uint16_t &

num_points

)

const

Definition at line 362 of file AP_Proximity.cpp.

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get_closest_object()

bool AP_Proximity::get_closest_object	(	float &	angle_deg,
		float &	distance
	)		const

Definition at line 369 of file AP_Proximity.cpp.

Referenced by DataFlash_Class::Log_Write_Proximity(), and num_sensors().

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get_horizontal_distance() [1/2]

bool AP_Proximity::get_horizontal_distance	(	uint8_t	instance,
		float	angle_deg,
		float &	distance
	)		const

Definition at line 324 of file AP_Proximity.cpp.

Referenced by get_horizontal_distance(), and num_sensors().

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get_horizontal_distance() [2/2]

bool AP_Proximity::get_horizontal_distance	(	float	angle_deg,
		float &	distance
	)		const

Definition at line 335 of file AP_Proximity.cpp.

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get_horizontal_distances()

bool AP_Proximity::get_horizontal_distances

(

Proximity_Distance_Array &

prx_dist_array

)

const

Definition at line 341 of file AP_Proximity.cpp.

Referenced by DataFlash_Class::Log_Write_Proximity(), num_sensors(), and GCS_MAVLINK::send_proximity().

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get_object_angle_and_distance()

bool AP_Proximity::get_object_angle_and_distance	(	uint8_t	object_number,
		float &	angle_deg,
		float &	distance
	)		const

Definition at line 390 of file AP_Proximity.cpp.

Referenced by AC_Avoid::get_proximity_roll_pitch_pct(), and num_sensors().

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get_object_count()

uint8_t AP_Proximity::get_object_count

(

)

const

Definition at line 379 of file AP_Proximity.cpp.

Referenced by AC_Avoid::get_proximity_roll_pitch_pct(), and num_sensors().

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get_orientation()

uint8_t AP_Proximity::get_orientation

(

uint8_t

instance

)

const

Definition at line 233 of file AP_Proximity.cpp.

Referenced by get_rangefinder(), and AP_Proximity_LightWareSF40C::set_motor_direction().

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get_rangefinder()

const RangeFinder* AP_Proximity::get_rangefinder ( ) const

inline

Definition at line 73 of file AP_Proximity.h.

Referenced by AP_Proximity_RangeFinder::update().

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get_singleton()

static AP_Proximity* AP_Proximity::get_singleton ( void  )

inlinestatic

Definition at line 135 of file AP_Proximity.h.

Referenced by GCS_MAVLINK::send_distance_sensor(), and GCS_MAVLINK::send_proximity().

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get_status() [1/2]

AP_Proximity::Proximity_Status AP_Proximity::get_status

(

uint8_t

instance

)

const

Definition at line 253 of file AP_Proximity.cpp.

Referenced by AC_Avoid::adjust_velocity_proximity(), AC_Avoid::get_proximity_roll_pitch_pct(), DataFlash_Class::Log_Write_Proximity(), and GCS_MAVLINK::send_proximity().

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get_status() [2/2]

AP_Proximity::Proximity_Status AP_Proximity::get_status

(

void

)

const

Definition at line 263 of file AP_Proximity.cpp.

Referenced by get_rangefinder().

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get_type()

AP_Proximity::Proximity_Type AP_Proximity::get_type

(

uint8_t

instance

)

const

Definition at line 432 of file AP_Proximity.cpp.

Referenced by GCS_MAVLINK::send_distance_sensor().

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get_upward_distance() [1/2]

bool AP_Proximity::get_upward_distance	(	uint8_t	instance,
		float &	distance
	)		const

Definition at line 418 of file AP_Proximity.cpp.

Referenced by AC_Avoid::adjust_velocity_z(), get_upward_distance(), DataFlash_Class::Log_Write_Proximity(), and GCS_MAVLINK::send_proximity().

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get_upward_distance() [2/2]

bool AP_Proximity::get_upward_distance

(

float &

distance

)

const

Definition at line 427 of file AP_Proximity.cpp.

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get_yaw_correction()

int16_t AP_Proximity::get_yaw_correction

(

uint8_t

instance

)

const

Definition at line 243 of file AP_Proximity.cpp.

Referenced by get_rangefinder(), AP_Proximity_LightWareSF40C::initialise(), and AP_Proximity_LightWareSF40C::set_forward_direction().

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handle_msg()

void AP_Proximity::handle_msg

(

mavlink_message_t *

msg

)

Definition at line 269 of file AP_Proximity.cpp.

Referenced by num_sensors().

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init()

void AP_Proximity::init

(

void

)

Definition at line 191 of file AP_Proximity.cpp.

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num_sensors()

uint8_t AP_Proximity::num_sensors ( void  ) const

inline

Definition at line 84 of file AP_Proximity.h.

Referenced by GCS_MAVLINK::send_distance_sensor().

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operator=()

AP_Proximity& AP_Proximity::operator= ( const AP_Proximity  )

delete

set_rangefinder()

void AP_Proximity::set_rangefinder ( const RangeFinder *  rangefinder )

inline

Definition at line 72 of file AP_Proximity.h.

update()

void AP_Proximity::update

(

void

)

Definition at line 211 of file AP_Proximity.cpp.

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update_instance()

void AP_Proximity::update_instance ( uint8_t  instance )

private

Friends And Related Function Documentation

AP_Proximity_Backend

friend class AP_Proximity_Backend

friend

Definition at line 35 of file AP_Proximity.h.

Member Data Documentation

_ignore_angle_deg

AP_Int16 AP_Proximity::_ignore_angle_deg[PROXIMITY_MAX_IGNORE]

private

Definition at line 150 of file AP_Proximity.h.

Referenced by AP_Proximity_Backend::get_ignore_area(), and AP_Proximity_Backend::get_next_ignore_start_or_end().

_ignore_width_deg

AP_Int8 AP_Proximity::_ignore_width_deg[PROXIMITY_MAX_IGNORE]

private

Definition at line 151 of file AP_Proximity.h.

Referenced by AP_Proximity_Backend::get_ignore_area(), AP_Proximity_Backend::get_ignore_area_count(), and AP_Proximity_Backend::get_next_ignore_start_or_end().

_orientation

AP_Int8 AP_Proximity::_orientation[PROXIMITY_MAX_INSTANCES]

private

Definition at line 148 of file AP_Proximity.h.

Referenced by get_orientation().

_rangefinder

const RangeFinder* AP_Proximity::_rangefinder

private

Definition at line 141 of file AP_Proximity.h.

Referenced by get_rangefinder(), and set_rangefinder().

_singleton

AP_Proximity * AP_Proximity::_singleton

staticprivate

Definition at line 135 of file AP_Proximity.h.

Referenced by AP_Proximity(), get_singleton(), and get_type().

_type

AP_Int8 AP_Proximity::_type[PROXIMITY_MAX_INSTANCES]

private

Definition at line 147 of file AP_Proximity.h.

Referenced by detect_instance(), distance_max(), distance_min(), get_boundary_points(), get_closest_object(), get_horizontal_distance(), get_horizontal_distances(), get_object_angle_and_distance(), get_object_count(), get_type(), get_upward_distance(), handle_msg(), and update().

_yaw_correction

AP_Int16 AP_Proximity::_yaw_correction[PROXIMITY_MAX_INSTANCES]

private

Definition at line 149 of file AP_Proximity.h.

Referenced by get_yaw_correction().

drivers

AP_Proximity_Backend* AP_Proximity::drivers[PROXIMITY_MAX_INSTANCES]

private

Definition at line 140 of file AP_Proximity.h.

Referenced by detect_instance(), distance_max(), distance_min(), get_boundary_points(), get_closest_object(), get_horizontal_distance(), get_horizontal_distances(), get_object_angle_and_distance(), get_object_count(), get_upward_distance(), handle_msg(), init(), and update().

num_instances

uint8_t AP_Proximity::num_instances

private

Definition at line 143 of file AP_Proximity.h.

Referenced by get_status(), handle_msg(), init(), num_sensors(), and update().

primary_instance

uint8_t AP_Proximity::primary_instance

private

Definition at line 142 of file AP_Proximity.h.

Referenced by distance_max(), distance_min(), get_boundary_points(), get_closest_object(), get_horizontal_distance(), get_horizontal_distances(), get_object_angle_and_distance(), get_object_count(), get_status(), get_upward_distance(), and update().

serial_manager

AP_SerialManager& AP_Proximity::serial_manager

private

Definition at line 144 of file AP_Proximity.h.

Referenced by detect_instance().

state

Proximity_State AP_Proximity::state[PROXIMITY_MAX_INSTANCES]

private

Definition at line 139 of file AP_Proximity.h.

Referenced by detect_instance(), get_status(), init(), and update().

var_info

const AP_Param::GroupInfo AP_Proximity::var_info

static

Definition at line 133 of file AP_Proximity.h.

Referenced by AP_Proximity().

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The documentation for this class was generated from the following files:

• libraries/AP_Proximity/AP_Proximity.h
• libraries/AP_Proximity/AP_Proximity.cpp