TFMINI Class Reference

#include <TFMINI.hpp>

Inheritance diagram for TFMINI:

Collaboration diagram for TFMINI:

Public Member Functions
	TFMINI (const char *port, uint8_t rotation=distance_sensor_s::ROTATION_DOWNWARD_FACING)
virtual	~TFMINI ()
int	init ()
void	print_info ()

Private Member Functions
int	collect ()
void	Run () override
void	start ()
void	stop ()

Private Attributes
PX4Rangefinder	_px4_rangefinder
TFMINI_PARSE_STATE	_parse_state {TFMINI_PARSE_STATE::STATE0_UNSYNC}
char	_linebuf [10] {}
char	_port [20] {}
int	_fd {-1}
unsigned int	_linebuf_index {0}
hrt_abstime	_last_read {0}
perf_counter_t	_comms_errors {perf_alloc(PC_COUNT, MODULE_NAME": com_err")}
perf_counter_t	_sample_perf {perf_alloc(PC_ELAPSED, MODULE_NAME": read")}

Static Private Attributes
static constexpr int	kCONVERSIONINTERVAL {9_ms}

Detailed Description

Definition at line 63 of file TFMINI.hpp.

Constructor & Destructor Documentation

TFMINI()

TFMINI::TFMINI	(	const char *	port,
		uint8_t	rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING
	)

Definition at line 36 of file TFMINI.cpp.

References _port.

~TFMINI()

TFMINI::~TFMINI ( )

virtual

Definition at line 47 of file TFMINI.cpp.

References _comms_errors, _sample_perf, perf_free(), and stop().

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Member Function Documentation

collect()

int TFMINI::collect ( )

private

Definition at line 151 of file TFMINI.cpp.

References _comms_errors, _fd, _last_read, _linebuf, _linebuf_index, _parse_state, _px4_rangefinder, _sample_perf, f(), hrt_absolute_time(), hrt_abstime, hrt_elapsed_time(), kCONVERSIONINTERVAL, perf_begin(), perf_count(), perf_end(), read(), tfmini_parse(), and PX4Rangefinder::update().

Referenced by Run().

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init()

int TFMINI::init

(

)

Definition at line 57 of file TFMINI.cpp.

References _fd, _port, _px4_rangefinder, f(), math::radians(), PX4Rangefinder::set_fov(), PX4Rangefinder::set_max_distance(), PX4Rangefinder::set_min_distance(), and start().

Referenced by tfmini::start().

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print_info()

void TFMINI::print_info

(

)

Definition at line 255 of file TFMINI.cpp.

References _comms_errors, _port, _px4_rangefinder, _sample_perf, perf_print_counter(), and PX4Rangefinder::print_status().

Referenced by tfmini::status().

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Run()

void TFMINI::Run ( )

overrideprivate

Definition at line 237 of file TFMINI.cpp.

References _fd, _port, and collect().

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start()

void TFMINI::start ( )

private

Definition at line 224 of file TFMINI.cpp.

Referenced by init().

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stop()

void TFMINI::stop ( )

private

Definition at line 231 of file TFMINI.cpp.

Referenced by ~TFMINI().

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Member Data Documentation

_comms_errors

perf_counter_t TFMINI::_comms_errors {perf_alloc(PC_COUNT, MODULE_NAME": com_err")}

private

Definition at line 97 of file TFMINI.hpp.

Referenced by collect(), print_info(), and ~TFMINI().

_fd

int TFMINI::_fd {-1}

private

Definition at line 91 of file TFMINI.hpp.

Referenced by collect(), init(), and Run().

_last_read

hrt_abstime TFMINI::_last_read {0}

private

Definition at line 95 of file TFMINI.hpp.

Referenced by collect().

_linebuf

char TFMINI::_linebuf[10] {}

private

Definition at line 86 of file TFMINI.hpp.

Referenced by collect().

_linebuf_index

unsigned int TFMINI::_linebuf_index {0}

private

Definition at line 93 of file TFMINI.hpp.

Referenced by collect().

_parse_state

TFMINI_PARSE_STATE TFMINI::_parse_state {TFMINI_PARSE_STATE::STATE0_UNSYNC}

private

Definition at line 84 of file TFMINI.hpp.

Referenced by collect().

_port

char TFMINI::_port[20] {}

private

Definition at line 87 of file TFMINI.hpp.

Referenced by init(), print_info(), Run(), and TFMINI().

_px4_rangefinder

PX4Rangefinder TFMINI::_px4_rangefinder

private

Definition at line 82 of file TFMINI.hpp.

Referenced by collect(), init(), and print_info().

_sample_perf

perf_counter_t TFMINI::_sample_perf {perf_alloc(PC_ELAPSED, MODULE_NAME": read")}

private

Definition at line 98 of file TFMINI.hpp.

Referenced by collect(), print_info(), and ~TFMINI().

kCONVERSIONINTERVAL

constexpr int TFMINI::kCONVERSIONINTERVAL {9_ms}

staticprivate

Definition at line 89 of file TFMINI.hpp.

Referenced by collect().

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

• src/drivers/distance_sensor/tfmini/TFMINI.hpp
• src/drivers/distance_sensor/tfmini/TFMINI.cpp