mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Julian Oes
71 lines
2.4 KiB
C++
71 lines
2.4 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2016-2022 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#pragma once
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#include "common.h"
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#include "math.h"
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#include "gimbal_params.h"
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namespace gimbal
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{
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struct Parameters;
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class InputBase
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{
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public:
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enum class UpdateResult {
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NoUpdate,
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UpdatedActive,
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UpdatedActiveOnce,
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UpdatedNotActive,
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};
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InputBase() = delete;
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explicit InputBase(Parameters ¶meters);
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virtual ~InputBase() = default;
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virtual int initialize() = 0;
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virtual UpdateResult update(unsigned int timeout_ms, ControlData &control_data, bool already_active) = 0;
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virtual void print_status() const = 0;
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protected:
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void control_data_set_lon_lat(ControlData &control_data, double lon, double lat, float altitude, float roll_angle = NAN,
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float pitch_fixed_angle = NAN);
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Parameters &_parameters;
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};
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} /* namespace gimbal */
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