ardupilot/libraries/AP_IRLock/AP_IRLock_SITL_Gazebo.cpp

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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/>.
*/
/*
* AP_IRLock_SITL.cpp
*
* Created on: June 09, 2016
* Author: Ian Chen
*/
#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
#include "AP_IRLock_SITL_Gazebo.h"
#include <SITL/SITL.h>
#include <fcntl.h>
#include <unistd.h>
#include <iostream>
extern const AP_HAL::HAL& hal;
AP_IRLock_SITL_Gazebo::AP_IRLock_SITL_Gazebo() :
_last_timestamp(0),
sock(true)
{}
void AP_IRLock_SITL_Gazebo::init(int8_t bus)
{
SITL::SIM *sitl = AP::sitl();
// try to bind to a specific port so that if we restart ArduPilot
// Gazebo keeps sending us packets. Not strictly necessary but
// useful for debugging
sock.bind("127.0.0.1", sitl->irlock_port);
sock.reuseaddress();
sock.set_blocking(false);
hal.console->printf("AP_IRLock_SITL::init()\n");
_flags.healthy = true;
}
// retrieve latest sensor data - returns true if new data is available
bool AP_IRLock_SITL_Gazebo::update()
{
// return immediately if not healthy
if (!_flags.healthy) {
return false;
}
// receive packet from Gazebo IRLock plugin
/*
reply packet sent from simulator to ArduPilot
*/
struct irlock_packet {
uint64_t timestamp; // in milliseconds
uint16_t num_targets;
float pos_x;
float pos_y;
float size_x;
float size_y;
} pkt;
const int wait_ms = 0;
ssize_t s = sock.recv(&pkt, sizeof(irlock_packet), wait_ms);
bool new_data = false;
if (s == sizeof(irlock_packet) && pkt.timestamp > _last_timestamp) {
// fprintf(stderr, " posx %f posy %f sizex %f sizey %f\n", pkt.pos_x, pkt.pos_y, pkt.size_x, pkt.size_y);
_target_info.timestamp = pkt.timestamp;
_target_info.pos_x = pkt.pos_x;
_target_info.pos_y = pkt.pos_y;
_last_timestamp = pkt.timestamp;
_last_update_ms = _last_timestamp;
new_data = true;
}
// return true if new data found
return new_data;
}
#endif // CONFIG_HAL_BOARD == HAL_BOARD_SITL