ardupilot/libraries/SITL/SIM_AIS.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/>.
*/
/*
Dump logged AIS data to the serial port
./Tools/autotest/sim_vehicle.py -v Rover -A --uartF=sim:AIS --custom-location 51.58689798356386,-3.9044570193067965,0,0
param set SERIAL5_PROTOCOL 40
param set AIS_TYPE 1
*/
#include "SIM_AIS.h"
#if HAL_SIM_AIS_ENABLED
#include <SITL/SITL.h>
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#define FORCE_VERSION_H_INCLUDE
#include "ap_version.h"
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extern const AP_HAL::HAL& hal;
using namespace SITL;
AIS::AIS() : SerialDevice::SerialDevice()
{
char* file_path;
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IGNORE_RETURN(asprintf(&file_path, AP_BUILD_ROOT "/libraries/SITL/SIM_AIS_data.txt"));
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file = fopen(file_path,"r");
if (file == nullptr) {
AP_HAL::panic("AIS could not open data file");
}
// seek past the header line
char line[100];
IGNORE_RETURN(fgets(line, sizeof(line), file));
}
void AIS::update()
{
if (file == nullptr) {
AP_HAL::panic("AIS lost data file");
}
// just send a line of data at 1Hz:
const uint32_t now = AP_HAL::millis();
if (now - last_sent_ms < 1000) {
return;
}
last_sent_ms = now;
char line[100];
if (!fgets(line, sizeof(line), file)) {
// got to the end of the file, circle back
fseek(file,0,SEEK_SET);
if (!fgets(line, sizeof(line), file)) {
AP_HAL::panic("AIS lost data file");
}
return;
}
//hal.console->printf("%s",line);
write_to_autopilot(line, strlen(line));
}
#endif // HAL_SIM_AIS_ENABLED