#include <AP_Proximity_LightWareSF40C.h>

Inheritance diagram for AP_Proximity_LightWareSF40C:

Collaboration diagram for AP_Proximity_LightWareSF40C:

Public Member Functions
	AP_Proximity_LightWareSF40C (AP_Proximity &_frontend, AP_Proximity::Proximity_State &_state, AP_SerialManager &serial_manager)

void	update (void)

float	distance_max () const

float	distance_min () const

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

virtual	~AP_Proximity_Backend (void)

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

Static Public Member Functions
static bool	detect (AP_SerialManager &serial_manager)

Private Types
enum	RequestType { RequestType_None = 0, RequestType_Health, RequestType_MotorSpeed, RequestType_MotorDirection, RequestType_ForwardDirection, RequestType_DistanceMeasurement }

Private Member Functions
bool	initialise ()

void	init_sectors ()

void	set_motor_speed (bool on_off)

void	set_motor_direction ()

void	set_forward_direction ()

void	request_new_data ()

void	send_request_for_health ()

bool	send_request_for_distance ()

bool	check_for_reply ()

bool	process_reply ()

void	clear_buffers ()

Private Attributes
AP_HAL::UARTDriver *	uart = nullptr

char	element_buf [2][10]

uint8_t	element_len [2]

uint8_t	element_num

bool	ignore_reply

bool	wait_for_space

enum RequestType	_last_request_type

uint8_t	_last_sector

uint32_t	_last_request_ms

uint32_t	_last_distance_received_ms

uint8_t	_request_count

union {
struct PACKED {
uint16_t motor_stopped: 1

uint16_t motor_dir: 1

uint16_t motor_fault: 1

uint16_t torque_control: 1

uint16_t laser_fault: 1

uint16_t low_battery: 1

uint16_t flat_battery: 1

uint16_t system_restarting: 1

uint16_t no_results_available: 1

uint16_t power_saving: 1

uint16_t user_flag1: 1

uint16_t user_flag2: 1

uint16_t unused1: 1

uint16_t unused2: 1

uint16_t spare_input: 1

uint16_t major_system_abnormal: 1

} _flags

uint16_t value

}	_sensor_status

uint8_t	_motor_speed

uint8_t	_motor_direction = 99

int16_t	_forward_direction = 999

bool	_sector_initialised = false

Additional Inherited Members
Protected Member Functions inherited from AP_Proximity_Backend
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 inherited from AP_Proximity_Backend
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 8 of file AP_Proximity_LightWareSF40C.h.

Member Enumeration Documentation

◆ RequestType

enum AP_Proximity_LightWareSF40C::RequestType

private

Enumerator
RequestType_None
RequestType_Health
RequestType_MotorSpeed
RequestType_MotorDirection
RequestType_ForwardDirection
RequestType_DistanceMeasurement

Definition at line 27 of file AP_Proximity_LightWareSF40C.h.

Constructor & Destructor Documentation

◆ AP_Proximity_LightWareSF40C()

AP_Proximity_LightWareSF40C::AP_Proximity_LightWareSF40C	(	AP_Proximity &	_frontend,
		AP_Proximity::Proximity_State &	_state,
		AP_SerialManager &	serial_manager
	)

Definition at line 29 of file AP_Proximity_LightWareSF40C.cpp.

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Member Function Documentation

◆ check_for_reply()

bool AP_Proximity_LightWareSF40C::check_for_reply ( )

private

Definition at line 304 of file AP_Proximity_LightWareSF40C.cpp.

Referenced by update().

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◆ clear_buffers()

void AP_Proximity_LightWareSF40C::clear_buffers ( )

private

Definition at line 439 of file AP_Proximity_LightWareSF40C.cpp.

Referenced by check_for_reply().

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◆ detect()

bool AP_Proximity_LightWareSF40C::detect ( AP_SerialManager & serial_manager )

static

Definition at line 41 of file AP_Proximity_LightWareSF40C.cpp.

Referenced by AP_Proximity::detect_instance().

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◆ distance_max()

float AP_Proximity_LightWareSF40C::distance_max ( ) const

virtual

Implements AP_Proximity_Backend.

Definition at line 73 of file AP_Proximity_LightWareSF40C.cpp.

◆ distance_min()

float AP_Proximity_LightWareSF40C::distance_min ( ) const

virtual

Implements AP_Proximity_Backend.

Definition at line 77 of file AP_Proximity_LightWareSF40C.cpp.

◆ init_sectors()

void AP_Proximity_LightWareSF40C::init_sectors ( )

private

Definition at line 113 of file AP_Proximity_LightWareSF40C.cpp.

Referenced by initialise().

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◆ initialise()

bool AP_Proximity_LightWareSF40C::initialise ( )

private

Definition at line 83 of file AP_Proximity_LightWareSF40C.cpp.

Referenced by update().

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◆ process_reply()

bool AP_Proximity_LightWareSF40C::process_reply ( )

private

Definition at line 371 of file AP_Proximity_LightWareSF40C.cpp.

Referenced by check_for_reply().

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◆ request_new_data()

void AP_Proximity_LightWareSF40C::request_new_data ( )

private

Definition at line 236 of file AP_Proximity_LightWareSF40C.cpp.

Referenced by update().

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◆ send_request_for_distance()

bool AP_Proximity_LightWareSF40C::send_request_for_distance ( )

private

Definition at line 276 of file AP_Proximity_LightWareSF40C.cpp.

Referenced by request_new_data().

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◆ send_request_for_health()

void AP_Proximity_LightWareSF40C::send_request_for_health ( )

private

Definition at line 264 of file AP_Proximity_LightWareSF40C.cpp.

Referenced by request_new_data().

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◆ set_forward_direction()

void AP_Proximity_LightWareSF40C::set_forward_direction ( )

private

Definition at line 215 of file AP_Proximity_LightWareSF40C.cpp.

Referenced by initialise().

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◆ set_motor_direction()

void AP_Proximity_LightWareSF40C::set_motor_direction ( )

private

Definition at line 194 of file AP_Proximity_LightWareSF40C.cpp.

Referenced by initialise().

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◆ set_motor_speed()

void AP_Proximity_LightWareSF40C::set_motor_speed ( bool on_off )

private

Definition at line 173 of file AP_Proximity_LightWareSF40C.cpp.

Referenced by initialise().

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◆ update()

void AP_Proximity_LightWareSF40C::update ( void )

virtual

Implements AP_Proximity_Backend.

Definition at line 47 of file AP_Proximity_LightWareSF40C.cpp.

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Member Data Documentation

◆ _flags

struct { ... } ::PACKED AP_Proximity_LightWareSF40C::_flags

◆ _forward_direction

int16_t AP_Proximity_LightWareSF40C::_forward_direction = 999

private

Definition at line 94 of file AP_Proximity_LightWareSF40C.h.

Referenced by initialise(), and process_reply().

◆ _last_distance_received_ms

uint32_t AP_Proximity_LightWareSF40C::_last_distance_received_ms

private

Definition at line 65 of file AP_Proximity_LightWareSF40C.h.

Referenced by process_reply(), and update().

◆ _last_request_ms

uint32_t AP_Proximity_LightWareSF40C::_last_request_ms

private

Definition at line 64 of file AP_Proximity_LightWareSF40C.h.

Referenced by initialise(), request_new_data(), send_request_for_distance(), send_request_for_health(), set_forward_direction(), set_motor_direction(), and set_motor_speed().

◆ _last_request_type

enum RequestType AP_Proximity_LightWareSF40C::_last_request_type

private

Definition at line 62 of file AP_Proximity_LightWareSF40C.h.

Referenced by process_reply(), request_new_data(), send_request_for_distance(), send_request_for_health(), set_forward_direction(), set_motor_direction(), and set_motor_speed().

◆ _last_sector

uint8_t AP_Proximity_LightWareSF40C::_last_sector

private

Definition at line 63 of file AP_Proximity_LightWareSF40C.h.

Referenced by send_request_for_distance().

◆ _motor_direction

uint8_t AP_Proximity_LightWareSF40C::_motor_direction = 99

private

Definition at line 93 of file AP_Proximity_LightWareSF40C.h.

Referenced by initialise(), and process_reply().

◆ _motor_speed

uint8_t AP_Proximity_LightWareSF40C::_motor_speed

private

Definition at line 92 of file AP_Proximity_LightWareSF40C.h.

Referenced by initialise(), and process_reply().

◆ _request_count

uint8_t AP_Proximity_LightWareSF40C::_request_count

private

Definition at line 66 of file AP_Proximity_LightWareSF40C.h.

Referenced by request_new_data().

◆ _sector_initialised

bool AP_Proximity_LightWareSF40C::_sector_initialised = false

private

Definition at line 95 of file AP_Proximity_LightWareSF40C.h.

Referenced by init_sectors(), and initialise().

◆ _sensor_status

union { ... } AP_Proximity_LightWareSF40C::_sensor_status

Referenced by process_reply().

◆ element_buf

char AP_Proximity_LightWareSF40C::element_buf[2][10]

private

Definition at line 55 of file AP_Proximity_LightWareSF40C.h.

Referenced by check_for_reply(), clear_buffers(), and process_reply().

◆ element_len

uint8_t AP_Proximity_LightWareSF40C::element_len[2]

private

Definition at line 56 of file AP_Proximity_LightWareSF40C.h.

Referenced by check_for_reply(), clear_buffers(), and process_reply().

◆ element_num

uint8_t AP_Proximity_LightWareSF40C::element_num

private

Definition at line 57 of file AP_Proximity_LightWareSF40C.h.

Referenced by check_for_reply(), and clear_buffers().

◆ flat_battery

uint16_t AP_Proximity_LightWareSF40C::flat_battery

Definition at line 77 of file AP_Proximity_LightWareSF40C.h.

◆ ignore_reply

bool AP_Proximity_LightWareSF40C::ignore_reply

private

Definition at line 58 of file AP_Proximity_LightWareSF40C.h.

Referenced by check_for_reply().

◆ laser_fault

uint16_t AP_Proximity_LightWareSF40C::laser_fault

Definition at line 75 of file AP_Proximity_LightWareSF40C.h.

◆ low_battery

uint16_t AP_Proximity_LightWareSF40C::low_battery

Definition at line 76 of file AP_Proximity_LightWareSF40C.h.

◆ major_system_abnormal

uint16_t AP_Proximity_LightWareSF40C::major_system_abnormal

Definition at line 86 of file AP_Proximity_LightWareSF40C.h.

◆ motor_dir

uint16_t AP_Proximity_LightWareSF40C::motor_dir

Definition at line 72 of file AP_Proximity_LightWareSF40C.h.

◆ motor_fault

uint16_t AP_Proximity_LightWareSF40C::motor_fault

Definition at line 73 of file AP_Proximity_LightWareSF40C.h.

◆ motor_stopped

uint16_t AP_Proximity_LightWareSF40C::motor_stopped

Definition at line 71 of file AP_Proximity_LightWareSF40C.h.

◆ no_results_available

uint16_t AP_Proximity_LightWareSF40C::no_results_available

Definition at line 79 of file AP_Proximity_LightWareSF40C.h.

◆ power_saving

uint16_t AP_Proximity_LightWareSF40C::power_saving

Definition at line 80 of file AP_Proximity_LightWareSF40C.h.

◆ spare_input

uint16_t AP_Proximity_LightWareSF40C::spare_input

Definition at line 85 of file AP_Proximity_LightWareSF40C.h.

◆ system_restarting

uint16_t AP_Proximity_LightWareSF40C::system_restarting

Definition at line 78 of file AP_Proximity_LightWareSF40C.h.

◆ torque_control

uint16_t AP_Proximity_LightWareSF40C::torque_control

Definition at line 74 of file AP_Proximity_LightWareSF40C.h.

◆ uart

AP_HAL::UARTDriver* AP_Proximity_LightWareSF40C::uart = nullptr

private

Definition at line 54 of file AP_Proximity_LightWareSF40C.h.

Referenced by AP_Proximity_LightWareSF40C(), check_for_reply(), process_reply(), request_new_data(), send_request_for_distance(), send_request_for_health(), set_forward_direction(), set_motor_direction(), set_motor_speed(), and update().

◆ unused1

uint16_t AP_Proximity_LightWareSF40C::unused1

Definition at line 83 of file AP_Proximity_LightWareSF40C.h.

◆ unused2

uint16_t AP_Proximity_LightWareSF40C::unused2

Definition at line 84 of file AP_Proximity_LightWareSF40C.h.

◆ user_flag1

uint16_t AP_Proximity_LightWareSF40C::user_flag1

Definition at line 81 of file AP_Proximity_LightWareSF40C.h.

◆ user_flag2

uint16_t AP_Proximity_LightWareSF40C::user_flag2

Definition at line 82 of file AP_Proximity_LightWareSF40C.h.

◆ value

uint16_t AP_Proximity_LightWareSF40C::value

Definition at line 88 of file AP_Proximity_LightWareSF40C.h.

◆ wait_for_space

bool AP_Proximity_LightWareSF40C::wait_for_space

private

Definition at line 59 of file AP_Proximity_LightWareSF40C.h.

Referenced by check_for_reply().

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

libraries/AP_Proximity/AP_Proximity_LightWareSF40C.h
libraries/AP_Proximity/AP_Proximity_LightWareSF40C.cpp

Public Member Functions

Static Public Member Functions

Private Types

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ RequestType

Constructor & Destructor Documentation

◆ AP_Proximity_LightWareSF40C()

Member Function Documentation

◆ check_for_reply()

◆ clear_buffers()

◆ detect()

◆ distance_max()

◆ distance_min()

◆ init_sectors()

◆ initialise()

◆ process_reply()

◆ request_new_data()

◆ send_request_for_distance()

◆ send_request_for_health()

◆ set_forward_direction()

◆ set_motor_direction()

◆ set_motor_speed()

◆ update()

Member Data Documentation

◆ _flags

◆ _forward_direction

◆ _last_distance_received_ms

◆ _last_request_ms

◆ _last_request_type

◆ _last_sector

◆ _motor_direction

◆ _motor_speed

◆ _request_count

◆ _sector_initialised

◆ _sensor_status

◆ element_buf

◆ element_len

◆ element_num

◆ flat_battery

◆ ignore_reply

◆ laser_fault

◆ low_battery

◆ major_system_abnormal

◆ motor_dir

◆ motor_fault

◆ motor_stopped

◆ no_results_available

◆ power_saving

◆ spare_input

◆ system_restarting

◆ torque_control

◆ uart

◆ unused1

◆ unused2

◆ user_flag1

◆ user_flag2

◆ value

◆ wait_for_space