bizhang_-obav/src/lib/drivers/rangefinder/PX4Rangefinder.hpp

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#pragma once

#include <drivers/drv_hrt.h>
#include <lib/conversion/rotation.h>
#include <uORB/PublicationMulti.hpp>
#include <uORB/topics/distance_sensor.h>

class PX4Rangefinder
{
public:
	PX4Rangefinder(const uint32_t device_id,
		       const uint8_t device_orientation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
	~PX4Rangefinder();

	// Set the MAV_DISTANCE_SENSOR type (LASER, ULTRASOUND, INFRARED, RADAR)
	void set_rangefinder_type(uint8_t rangefinder_type) { _distance_sensor_pub.get().type = rangefinder_type; };

	void set_device_id(const uint32_t device_id) { _distance_sensor_pub.get().device_id = device_id; };
	void set_device_type(const uint8_t device_type);

	void set_fov(const float fov) { set_hfov(fov); set_vfov(fov); }
	void set_hfov(const float fov) { _distance_sensor_pub.get().h_fov = fov; }
	void set_vfov(const float fov) { _distance_sensor_pub.get().v_fov = fov; }

	void set_max_distance(const float distance) { _distance_sensor_pub.get().max_distance = distance; }
	void set_min_distance(const float distance) { _distance_sensor_pub.get().min_distance = distance; }

	void set_orientation(const uint8_t device_orientation = distance_sensor_s::ROTATION_DOWNWARD_FACING);

	void update(const hrt_abstime &timestamp_sample, const float distance, const int8_t quality = -1);

	int get_instance() { return _distance_sensor_pub.get_instance(); };

private:
	uORB::PublicationMultiData<distance_sensor_s> _distance_sensor_pub{ORB_ID(distance_sensor)};
};