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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_DAL/AP_DAL_Beacon.h
Views: 1798
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#pragma once

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#include <AP_Beacon/AP_Beacon.h>

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#if AP_BEACON_ENABLED

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#include <AP_Logger/LogStructure.h>

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class AP_DAL_Beacon {

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public:

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    // Beacon-like methods:

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    uint8_t count() const {

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        return _RBCH.count;

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    }

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    bool get_origin(Location &loc) const {

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        loc.zero();

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        loc.lat = _RBCH.origin_lat;

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        loc.lng = _RBCH.origin_lng;

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        loc.alt = _RBCH.origin_alt;

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        return _RBCH.get_origin_returncode;

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    }

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    // return beacon enabled

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    bool enabled(void) const {

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        return _RBCH.enabled;

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    }

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    // return beacon health

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    bool beacon_healthy(uint8_t i) const {

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        return _RBCI[i].healthy;

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    }

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    // return last update time from beacon in milliseconds

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    uint32_t beacon_last_update_ms(uint8_t i) const {

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        return _RBCI[i].last_update_ms;

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    }

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    // return distance to beacon in meters

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    float beacon_distance(uint8_t i) const {

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        return _RBCI[i].distance;

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    }

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    // return NED position of beacon in meters relative to the beacon systems origin

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    const Vector3f &beacon_position(uint8_t i) const {

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        return _RBCI[i].position;

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    }

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    // return vehicle position in NED from position estimate system's origin in meters

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    bool get_vehicle_position_ned(Vector3f& pos, float& accuracy_estimate) const {

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        pos = _RBCH.vehicle_position_ned;

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        accuracy_estimate = _RBCH.accuracy_estimate;

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        return _RBCH.get_vehicle_position_ned_returncode;

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    }

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    // AP_DAL methods:

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    AP_DAL_Beacon();

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    AP_DAL_Beacon *beacon() {

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        return this;

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    }

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    void start_frame();

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    void handle_message(const log_RBCH &msg) {

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        _RBCH = msg;

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    }

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    void handle_message(const log_RBCI &msg) {

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        _RBCI[msg.instance] = msg;

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    }

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private:

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    struct log_RBCH _RBCH;

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    struct log_RBCI _RBCI[AP_BEACON_MAX_BEACONS];

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};

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#endif  // AP_BEACON_ENABLED

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