PX4Rangefinder.hpp

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#pragma once

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

class PX4Rangefinder : public cdev::CDev
{

public:
    PX4Rangefinder(const uint32_t device_id,
               const uint8_t priority = ORB_PRIO_DEFAULT,
               const uint8_t device_orientation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
    ~PX4Rangefinder() override;

    void print_status();

    void set_device_type(uint8_t device_type);
    //void set_error_count(uint64_t error_count) { _distance_sensor_pub.get().error_count = error_count; }

    void set_device_id(const uint8_t device_id) { _distance_sensor_pub.get().id = device_id; };

    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, const float distance, const int8_t quality = -1);

private:

    uORB::PublicationMultiData<distance_sensor_s> _distance_sensor_pub;

    int _class_device_instance{-1};

};