distance_sensor.h

Go to the documentation of this file.

/****************************************************************************
 *
 *   Copyright (C) 2013-2016 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name PX4 nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
 * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/

/* Auto-generated by genmsg_cpp from file distance_sensor.msg */


#pragma once


#include <uORB/uORB.h>


#ifndef __cplusplus
#define DISTANCE_SENSOR_MAV_DISTANCE_SENSOR_LASER 0
#define DISTANCE_SENSOR_MAV_DISTANCE_SENSOR_ULTRASOUND 1
#define DISTANCE_SENSOR_MAV_DISTANCE_SENSOR_INFRARED 2
#define DISTANCE_SENSOR_MAV_DISTANCE_SENSOR_RADAR 3
#define DISTANCE_SENSOR_ROTATION_YAW_0 0
#define DISTANCE_SENSOR_ROTATION_YAW_45 1
#define DISTANCE_SENSOR_ROTATION_YAW_90 2
#define DISTANCE_SENSOR_ROTATION_YAW_135 3
#define DISTANCE_SENSOR_ROTATION_YAW_180 4
#define DISTANCE_SENSOR_ROTATION_YAW_225 5
#define DISTANCE_SENSOR_ROTATION_YAW_270 6
#define DISTANCE_SENSOR_ROTATION_YAW_315 7
#define DISTANCE_SENSOR_ROTATION_FORWARD_FACING 0
#define DISTANCE_SENSOR_ROTATION_RIGHT_FACING 2
#define DISTANCE_SENSOR_ROTATION_BACKWARD_FACING 4
#define DISTANCE_SENSOR_ROTATION_LEFT_FACING 6
#define DISTANCE_SENSOR_ROTATION_UPWARD_FACING 24
#define DISTANCE_SENSOR_ROTATION_DOWNWARD_FACING 25
#define DISTANCE_SENSOR_ROTATION_CUSTOM 100

#endif


#ifdef __cplusplus
struct __EXPORT distance_sensor_s {
#else
struct distance_sensor_s {
#endif
    uint64_t timestamp;
    float min_distance;
    float max_distance;
    float current_distance;
    float variance;
    float h_fov;
    float v_fov;
    float q[4];
    int8_t signal_quality;
    uint8_t type;
    uint8_t id;
    uint8_t orientation;
    uint8_t _padding0[4]; // required for logger


#ifdef __cplusplus
    static constexpr uint8_t MAV_DISTANCE_SENSOR_LASER = 0;
    static constexpr uint8_t MAV_DISTANCE_SENSOR_ULTRASOUND = 1;
    static constexpr uint8_t MAV_DISTANCE_SENSOR_INFRARED = 2;
    static constexpr uint8_t MAV_DISTANCE_SENSOR_RADAR = 3;
    static constexpr uint8_t ROTATION_YAW_0 = 0;
    static constexpr uint8_t ROTATION_YAW_45 = 1;
    static constexpr uint8_t ROTATION_YAW_90 = 2;
    static constexpr uint8_t ROTATION_YAW_135 = 3;
    static constexpr uint8_t ROTATION_YAW_180 = 4;
    static constexpr uint8_t ROTATION_YAW_225 = 5;
    static constexpr uint8_t ROTATION_YAW_270 = 6;
    static constexpr uint8_t ROTATION_YAW_315 = 7;
    static constexpr uint8_t ROTATION_FORWARD_FACING = 0;
    static constexpr uint8_t ROTATION_RIGHT_FACING = 2;
    static constexpr uint8_t ROTATION_BACKWARD_FACING = 4;
    static constexpr uint8_t ROTATION_LEFT_FACING = 6;
    static constexpr uint8_t ROTATION_UPWARD_FACING = 24;
    static constexpr uint8_t ROTATION_DOWNWARD_FACING = 25;
    static constexpr uint8_t ROTATION_CUSTOM = 100;

#endif
};

/* register this as object request broker structure */
ORB_DECLARE(distance_sensor);


#ifdef __cplusplus
void print_message(const distance_sensor_s& message);
#endif