ardupilot/libraries/SITL/SIM_PS_RPLidarA2.h

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/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
Simulator for the RPLidarA2 proximity sensor
./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:rplidara2 --speedup=1 -l 51.8752066,14.6487840,0,0 --map
param set SERIAL5_PROTOCOL 11
param set PRX_TYPE 5
reboot
arm throttle
rc 3 1600
# for avoidance:
param set DISARM_DELAY 0
param set AVOID_ENABLE 2 # use proximity sensor
param set AVOID_MARGIN 2.00 # 2m
param set AVOID_BEHAVE 0 # slide
param set OA_DB_OUTPUT 3
param set OA_TYPE 2
reboot
mode loiter
script /tmp/post-locations.scr
arm throttle
rc 3 1600
rc 3 1500
rc 2 1450
*/
#pragma once
#include "SIM_SerialProximitySensor.h"
#include <stdio.h>
namespace SITL {
class PS_RPLidarA2 : public SerialProximitySensor {
public:
uint32_t packet_for_location(const Location &location,
uint8_t *data,
uint8_t buflen) override;
void update(const Location &location) override;
private:
void update_input();
void update_output(const Location &location);
void update_output_scan(const Location &location);
uint32_t last_scan_output_time_ms;
float last_degrees_bf;
char _buffer[256]; // from-autopilot
uint8_t _buflen;
// TODO: see what happens on real device on partial input
enum class State {
IDLE = 17,
SCANNING = 18,
};
State _state = State::IDLE;
void set_state(State newstate) {
::fprintf(stderr, "Moving from state (%u) to (%u)\n", (uint8_t)_state, (uint8_t)newstate);
_state = newstate;
}
enum class InputState {
WAITING_FOR_PREAMBLE = 45,
GOT_PREAMBLE = 46,
RESETTING_START = 47,
RESETTING_SEND_FIRMWARE_INFO = 48,
};
InputState _inputstate = InputState::WAITING_FOR_PREAMBLE;
void set_inputstate(InputState newstate) {
::fprintf(stderr, "Moving from inputstate (%u) to (%u)\n", (uint8_t)_inputstate, (uint8_t)newstate);
_inputstate = newstate;
}
static const uint8_t PREAMBLE = 0xA5;
enum class Command {
STOP = 0x25,
SCAN = 0x20,
FORCE_SCAN = 0x21,
RESET = 0x40,
GET_HEALTH = 0x52,
};
void move_preamble_in_buffer();
enum class DataType {
Unknown06 = 0x06, // uint8_t ?!
Unknown81 = 0x81, // uint8_t ?!
};
enum class SendMode {
SRSR = 0x00,
SRMR = 0x40, // no idea why this isn't 0x01
};
void send_response_descriptor(uint32_t data_response_length,
SendMode sendmode,
DataType datatype);
// the driver expects to see an "R" followed by 62 bytes more crap.
static const constexpr char *FIRMWARE_INFO = "R12345678901234567890123456789012345678901234567890123456789012";
uint8_t _firmware_info_offset;
};
};