LidarLitePWM.h

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#pragma once

#include "LidarLite.h"

#include <px4_workqueue.h>


#include <drivers/device/ringbuffer.h>
#include <perf/perf_counter.h>

#include <uORB/uORB.h>
#include <uORB/topics/pwm_input.h>
#include <uORB/topics/distance_sensor.h>



class LidarLitePWM : public LidarLite, public cdev::CDev
{
public:
    LidarLitePWM(const char *path, uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
    virtual ~LidarLitePWM();

    int init() override;

    ssize_t read(device::file_t *filp, char *buffer, size_t buflen) override;
    int ioctl(device::file_t *filp, int cmd, unsigned long arg) override;

    void start() override;

    void stop() override;

    void cycle();

    void print_info() override;

    void print_registers() override;

    static void     cycle_trampoline(void *arg);

    const char *get_dev_name() override;

protected:

    int measure() override;

    int collect() override;

    int reset_sensor() override;

    void task_main_trampoline(int argc, char *argv[]);

private:
    uint8_t _rotation;
    work_s          _work;
    ringbuffer::RingBuffer  *_reports;
    int         _class_instance;
    int         _orb_class_instance;
    int         _pwmSub;
    struct pwm_input_s  _pwm;
    orb_advert_t            _distance_sensor_topic;
    struct distance_sensor_s _range;

    perf_counter_t          _sample_perf;
    perf_counter_t          _read_errors;
    perf_counter_t          _sensor_zero_resets;
};