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91 lines
3.2 KiB
C++
91 lines
3.2 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2016-2017 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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/**
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* @file input.h
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* @author Beat Küng <beat-kueng@gmx.net>
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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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namespace vmount
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{
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/**
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** class InputBase
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* Base class for all driver input classes
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*/
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class InputBase
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{
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public:
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virtual ~InputBase() {}
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/**
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* Wait for an input update, with a timeout.
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* @param timeout_ms timeout in ms
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* @param control_data unchanged on error. On success it is nullptr if no new
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* data is available, otherwise set to an object.
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* If it is set, the returned object will not be changed for
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* subsequent calls to update() that return no new data
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* (in other words: if (some) control_data values change,
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* non-null will be returned).
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* @param already_active true if the mode was already active last time, false if it was not and "major"
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* change is necessary such as big stick movement for RC.
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* @return 0 on success, <0 otherwise
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*/
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virtual int update(unsigned int timeout_ms, ControlData **control_data, bool already_active);
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/** report status to stdout */
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virtual void print_status() = 0;
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protected:
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virtual int update_impl(unsigned int timeout_ms, ControlData **control_data, bool already_active) = 0;
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virtual int initialize() { return 0; }
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void control_data_set_lon_lat(double lon, double lat, float altitude, float roll_angle = 0.f,
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float pitch_fixed_angle = -10.f);
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ControlData _control_data;
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private:
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bool _initialized = false;
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};
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} /* namespace vmount */
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