#include <AP_Proximity_Backend.h>

Inheritance diagram for AP_Proximity_Backend:

Collaboration diagram for AP_Proximity_Backend:

Public Member Functions
	AP_Proximity_Backend (AP_Proximity &_frontend, AP_Proximity::Proximity_State &_state)

virtual	~AP_Proximity_Backend (void)

virtual void	update ()=0

virtual float	distance_max () const =0

virtual float	distance_min () const =0

virtual bool	get_upward_distance (float &distance) const

virtual void	handle_msg (mavlink_message_t *msg)

bool	get_horizontal_distance (float angle_deg, float &distance) 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

bool	get_horizontal_distances (AP_Proximity::Proximity_Distance_Array &prx_dist_array) const

Protected Member Functions
void	set_status (AP_Proximity::Proximity_Status status)

bool	convert_angle_to_sector (float angle_degrees, uint8_t &sector) const

void	init_boundary ()

void	update_boundary_for_sector (uint8_t sector)

uint8_t	get_ignore_area_count () const

bool	get_ignore_area (uint8_t index, uint16_t &angle_deg, uint8_t &width_deg) const

bool	get_next_ignore_start_or_end (uint8_t start_or_end, int16_t start_angle, int16_t &ignore_start) const

Protected Attributes
AP_Proximity &	frontend

AP_Proximity::Proximity_State &	state

uint8_t	_num_sectors = PROXIMITY_MAX_DIRECTION

uint16_t	_sector_middle_deg [PROXIMITY_SECTORS_MAX] = {0, 45, 90, 135, 180, 225, 270, 315, 0, 0, 0, 0}

uint8_t	_sector_width_deg [PROXIMITY_SECTORS_MAX] = {45, 45, 45, 45, 45, 45, 45, 45, 0, 0, 0, 0}

float	_angle [PROXIMITY_SECTORS_MAX]

float	_distance [PROXIMITY_SECTORS_MAX]

bool	_distance_valid [PROXIMITY_SECTORS_MAX]

Vector2f	_sector_edge_vector [PROXIMITY_SECTORS_MAX]

Vector2f	_boundary_point [PROXIMITY_SECTORS_MAX]

Detailed Description

Definition at line 25 of file AP_Proximity_Backend.h.

Constructor & Destructor Documentation

◆ AP_Proximity_Backend()

AP_Proximity_Backend::AP_Proximity_Backend	(	AP_Proximity &	_frontend,
		AP_Proximity::Proximity_State &	_state
	)

Definition at line 25 of file AP_Proximity_Backend.cpp.

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◆ ~AP_Proximity_Backend()

virtual AP_Proximity_Backend::~AP_Proximity_Backend ( void )

inlinevirtual

Definition at line 33 of file AP_Proximity_Backend.h.

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Member Function Documentation

◆ convert_angle_to_sector()

bool AP_Proximity_Backend::convert_angle_to_sector	(	float	angle_degrees,
		uint8_t &	sector
	)		const

protected

Definition at line 237 of file AP_Proximity_Backend.cpp.

Referenced by get_horizontal_distance(), handle_msg(), AP_Proximity_RPLidarA2::parse_response_data(), AP_Proximity_LightWareSF40C::process_reply(), and AP_Proximity_TeraRangerTower::update_sector_data().

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◆ distance_max()

virtual float AP_Proximity_Backend::distance_max ( ) const

pure virtual

Implemented in AP_Proximity_RPLidarA2, AP_Proximity_LightWareSF40C, AP_Proximity_TeraRangerTower, AP_Proximity_SITL, AP_Proximity_MAV, and AP_Proximity_RangeFinder.

Referenced by AP_Proximity::distance_max(), get_horizontal_distances(), and ~AP_Proximity_Backend().

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◆ distance_min()

virtual float AP_Proximity_Backend::distance_min ( ) const

pure virtual

Implemented in AP_Proximity_RPLidarA2, AP_Proximity_LightWareSF40C, AP_Proximity_TeraRangerTower, AP_Proximity_SITL, AP_Proximity_MAV, and AP_Proximity_RangeFinder.

Referenced by AP_Proximity::distance_min(), and ~AP_Proximity_Backend().

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◆ get_boundary_points()

const Vector2f * AP_Proximity_Backend::get_boundary_points ( uint16_t & num_points ) const

Definition at line 139 of file AP_Proximity_Backend.cpp.

Referenced by AP_Proximity::get_boundary_points(), and handle_msg().

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◆ get_closest_object()

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

Definition at line 48 of file AP_Proximity_Backend.cpp.

Referenced by AP_Proximity::get_closest_object(), and handle_msg().

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◆ get_horizontal_distance()

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

Definition at line 34 of file AP_Proximity_Backend.cpp.

Referenced by AP_Proximity::get_horizontal_distance(), and handle_msg().

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◆ get_horizontal_distances()

bool AP_Proximity_Backend::get_horizontal_distances ( AP_Proximity::Proximity_Distance_Array & prx_dist_array ) const

Definition at line 89 of file AP_Proximity_Backend.cpp.

Referenced by AP_Proximity::get_horizontal_distances(), and handle_msg().

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◆ get_ignore_area()

bool AP_Proximity_Backend::get_ignore_area	(	uint8_t	index,
		uint16_t &	angle_deg,
		uint8_t &	width_deg
	)		const

protected

Definition at line 293 of file AP_Proximity_Backend.cpp.

Referenced by handle_msg(), AP_Proximity_LightWareSF40C::init_sectors(), and AP_Proximity_RPLidarA2::init_sectors().

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◆ get_ignore_area_count()

uint8_t AP_Proximity_Backend::get_ignore_area_count ( ) const

protected

Definition at line 280 of file AP_Proximity_Backend.cpp.

Referenced by handle_msg(), AP_Proximity_LightWareSF40C::init_sectors(), and AP_Proximity_RPLidarA2::init_sectors().

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◆ get_next_ignore_start_or_end()

bool AP_Proximity_Backend::get_next_ignore_start_or_end	(	uint8_t	start_or_end,
		int16_t	start_angle,
		int16_t &	ignore_start
	)		const

protected

Definition at line 305 of file AP_Proximity_Backend.cpp.

Referenced by handle_msg(), AP_Proximity_LightWareSF40C::init_sectors(), and AP_Proximity_RPLidarA2::init_sectors().

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◆ get_object_angle_and_distance()

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

Definition at line 78 of file AP_Proximity_Backend.cpp.

Referenced by AP_Proximity::get_object_angle_and_distance(), and handle_msg().

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◆ get_object_count()

uint8_t AP_Proximity_Backend::get_object_count ( ) const

Definition at line 71 of file AP_Proximity_Backend.cpp.

Referenced by AP_Proximity::get_object_count(), and handle_msg().

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◆ get_upward_distance()

virtual bool AP_Proximity_Backend::get_upward_distance ( float & distance ) const

inlinevirtual

Reimplemented in AP_Proximity_SITL, AP_Proximity_MAV, and AP_Proximity_RangeFinder.

Definition at line 43 of file AP_Proximity_Backend.h.

Referenced by AP_Proximity::get_upward_distance().

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◆ handle_msg()

virtual void AP_Proximity_Backend::handle_msg ( mavlink_message_t * msg )

inlinevirtual

Reimplemented in AP_Proximity_MAV.

Definition at line 46 of file AP_Proximity_Backend.h.

Referenced by AP_Proximity::handle_msg().

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◆ init_boundary()

void AP_Proximity_Backend::init_boundary ( )

protected

Definition at line 167 of file AP_Proximity_Backend.cpp.

Referenced by AP_Proximity_Backend(), handle_msg(), AP_Proximity_LightWareSF40C::init_sectors(), and AP_Proximity_RPLidarA2::init_sectors().

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◆ set_status()

void AP_Proximity_Backend::set_status ( AP_Proximity::Proximity_Status status )

protected

Definition at line 232 of file AP_Proximity_Backend.cpp.

Referenced by handle_msg(), AP_Proximity_RangeFinder::update(), AP_Proximity_MAV::update(), AP_Proximity_SITL::update(), AP_Proximity_LightWareSF40C::update(), AP_Proximity_TeraRangerTower::update(), and AP_Proximity_RPLidarA2::update().

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◆ update()

virtual void AP_Proximity_Backend::update ( )

pure virtual

Implemented in AP_Proximity_RPLidarA2, AP_Proximity_LightWareSF40C, AP_Proximity_TeraRangerTower, AP_Proximity_SITL, AP_Proximity_MAV, and AP_Proximity_RangeFinder.

Referenced by AP_Proximity::update(), and ~AP_Proximity_Backend().

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◆ update_boundary_for_sector()

void AP_Proximity_Backend::update_boundary_for_sector ( uint8_t sector )

protected

Definition at line 180 of file AP_Proximity_Backend.cpp.

Referenced by AP_Proximity_MAV::handle_msg(), handle_msg(), AP_Proximity_RPLidarA2::parse_response_data(), AP_Proximity_LightWareSF40C::process_reply(), AP_Proximity_RangeFinder::update(), AP_Proximity_SITL::update(), and AP_Proximity_TeraRangerTower::update_sector_data().

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Member Data Documentation

◆ _angle

float AP_Proximity_Backend::_angle[PROXIMITY_SECTORS_MAX]

protected

Definition at line 98 of file AP_Proximity_Backend.h.

Referenced by get_closest_object(), get_horizontal_distances(), get_object_angle_and_distance(), AP_Proximity_MAV::handle_msg(), AP_Proximity_RPLidarA2::parse_response_data(), AP_Proximity_LightWareSF40C::process_reply(), AP_Proximity_RangeFinder::update(), AP_Proximity_SITL::update(), and AP_Proximity_TeraRangerTower::update_sector_data().

◆ _boundary_point

Vector2f AP_Proximity_Backend::_boundary_point[PROXIMITY_SECTORS_MAX]

protected

Definition at line 104 of file AP_Proximity_Backend.h.

Referenced by get_boundary_points(), init_boundary(), and update_boundary_for_sector().

◆ _distance

float AP_Proximity_Backend::_distance[PROXIMITY_SECTORS_MAX]

protected

Definition at line 99 of file AP_Proximity_Backend.h.

Referenced by get_closest_object(), get_horizontal_distance(), get_horizontal_distances(), get_object_angle_and_distance(), AP_Proximity_MAV::handle_msg(), AP_Proximity_RPLidarA2::parse_response_data(), AP_Proximity_LightWareSF40C::process_reply(), AP_Proximity_RangeFinder::update(), AP_Proximity_SITL::update(), update_boundary_for_sector(), and AP_Proximity_TeraRangerTower::update_sector_data().

◆ _distance_valid

bool AP_Proximity_Backend::_distance_valid[PROXIMITY_SECTORS_MAX]

protected

Definition at line 100 of file AP_Proximity_Backend.h.

Referenced by get_boundary_points(), get_closest_object(), get_horizontal_distance(), get_horizontal_distances(), get_object_angle_and_distance(), AP_Proximity_MAV::handle_msg(), AP_Proximity_RPLidarA2::parse_response_data(), AP_Proximity_LightWareSF40C::process_reply(), AP_Proximity_RangeFinder::update(), AP_Proximity_SITL::update(), update_boundary_for_sector(), and AP_Proximity_TeraRangerTower::update_sector_data().

◆ _num_sectors

uint8_t AP_Proximity_Backend::_num_sectors = PROXIMITY_MAX_DIRECTION

protected

Definition at line 93 of file AP_Proximity_Backend.h.

Referenced by convert_angle_to_sector(), get_boundary_points(), get_closest_object(), get_horizontal_distances(), get_object_angle_and_distance(), get_object_count(), init_boundary(), AP_Proximity_LightWareSF40C::init_sectors(), AP_Proximity_RPLidarA2::init_sectors(), AP_Proximity_LightWareSF40C::send_request_for_distance(), AP_Proximity_SITL::update(), and update_boundary_for_sector().

◆ _sector_edge_vector

Vector2f AP_Proximity_Backend::_sector_edge_vector[PROXIMITY_SECTORS_MAX]

protected

Definition at line 103 of file AP_Proximity_Backend.h.

Referenced by init_boundary(), and update_boundary_for_sector().

◆ _sector_middle_deg

uint16_t AP_Proximity_Backend::_sector_middle_deg[PROXIMITY_SECTORS_MAX] = {0, 45, 90, 135, 180, 225, 270, 315, 0, 0, 0, 0}

protected

Definition at line 94 of file AP_Proximity_Backend.h.

Referenced by convert_angle_to_sector(), init_boundary(), AP_Proximity_LightWareSF40C::init_sectors(), AP_Proximity_RPLidarA2::init_sectors(), AP_Proximity_LightWareSF40C::send_request_for_distance(), and AP_Proximity_SITL::update().

◆ _sector_width_deg

uint8_t AP_Proximity_Backend::_sector_width_deg[PROXIMITY_SECTORS_MAX] = {45, 45, 45, 45, 45, 45, 45, 45, 0, 0, 0, 0}

protected

Definition at line 95 of file AP_Proximity_Backend.h.

Referenced by convert_angle_to_sector(), init_boundary(), AP_Proximity_LightWareSF40C::init_sectors(), AP_Proximity_RPLidarA2::init_sectors(), and AP_Proximity_LightWareSF40C::send_request_for_distance().

◆ frontend

AP_Proximity& AP_Proximity_Backend::frontend

protected

Definition at line 89 of file AP_Proximity_Backend.h.

Referenced by get_ignore_area(), get_ignore_area_count(), get_next_ignore_start_or_end(), AP_Proximity_LightWareSF40C::initialise(), AP_Proximity_LightWareSF40C::set_forward_direction(), AP_Proximity_LightWareSF40C::set_motor_direction(), and AP_Proximity_RangeFinder::update().

◆ state

AP_Proximity::Proximity_State& AP_Proximity_Backend::state

protected

Definition at line 90 of file AP_Proximity_Backend.h.

Referenced by get_boundary_points(), AP_Proximity_LightWareSF40C::initialise(), AP_Proximity_LightWareSF40C::set_forward_direction(), AP_Proximity_LightWareSF40C::set_motor_direction(), and set_status().

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

libraries/AP_Proximity/AP_Proximity_Backend.h
libraries/AP_Proximity/AP_Proximity_Backend.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ AP_Proximity_Backend()

◆ ~AP_Proximity_Backend()

Member Function Documentation

◆ convert_angle_to_sector()

◆ distance_max()

◆ distance_min()

◆ get_boundary_points()

◆ get_closest_object()

◆ get_horizontal_distance()

◆ get_horizontal_distances()

◆ get_ignore_area()

◆ get_ignore_area_count()

◆ get_next_ignore_start_or_end()

◆ get_object_angle_and_distance()

◆ get_object_count()

◆ get_upward_distance()

◆ handle_msg()

◆ init_boundary()

◆ set_status()

◆ update()

◆ update_boundary_for_sector()

Member Data Documentation

◆ _angle

◆ _boundary_point

◆ _distance

◆ _distance_valid

◆ _num_sectors

◆ _sector_edge_vector

◆ _sector_middle_deg

◆ _sector_width_deg

◆ frontend

◆ state