mirror of https://github.com/ArduPilot/ardupilot
81 lines
2.0 KiB
C
81 lines
2.0 KiB
C
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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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ADSB peripheral simulator class
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*/
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#pragma once
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#include <AP_HAL/utility/Socket.h>
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#include "SIM_Aircraft.h"
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namespace SITL {
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/*
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a class for individual simulated vehicles
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*/
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class ADSB_Vehicle {
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friend class ADSB;
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private:
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void update(float delta_t);
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Vector3f position; // NED from origin
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Vector3f velocity_ef; // NED
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char callsign[9];
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uint32_t ICAO_address;
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bool initialised = false;
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};
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class ADSB {
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public:
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ADSB(const struct sitl_fdm &_fdm, const char *home_str);
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void update(void);
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private:
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const struct sitl_fdm &fdm;
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const char *target_address = "127.0.0.1";
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const uint16_t target_port = 5762;
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Location home;
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static const uint8_t num_vehicles = 6;
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ADSB_Vehicle vehicles[num_vehicles];
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// reporting period in ms
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const float reporting_period_ms = 500;
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uint32_t last_report_us = 0;
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uint32_t last_update_us = 0;
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uint32_t last_heartbeat_ms = 0;
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bool seen_heartbeat = false;
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uint8_t vehicle_system_id;
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uint8_t vehicle_component_id;
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SocketAPM mav_socket { false };
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struct {
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// socket to telem2 on aircraft
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bool connected;
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mavlink_message_t rxmsg;
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mavlink_status_t status;
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uint8_t seq;
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} mavlink {};
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void send_report(void);
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};
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} // namespace SITL
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