ardupilot/libraries/SITL/SIM_PS_TeraRangerTower.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/>.
*/
/*
Simulator for the TeraRangerTower proximity sensor
*/
#include "SIM_PS_TeraRangerTower.h"
#if HAL_SIM_PS_TERARANGERTOWER_ENABLED
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#include <GCS_MAVLink/GCS.h>
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#include <AP_HAL/utility/sparse-endian.h>
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#include <stdio.h>
#include <errno.h>
using namespace SITL;
uint32_t PS_TeraRangerTower::packet_for_location(const Location &location,
uint8_t *data,
uint8_t buflen)
{
return 0;
}
void PS_TeraRangerTower::update_output(const Location &location)
{
const uint32_t now = AP_HAL::millis();
if (last_output_time_ms == 0) {
last_output_time_ms = now;
return;
}
const uint32_t time_delta = now - last_output_time_ms;
if (time_delta < 200) { // 5Hz update
return;
}
last_output_time_ms = now;
struct PACKED {
uint8_t HEADER1{'T'};
uint8_t HEADER2{'H'};
uint16_t measurements[8];
uint8_t checksum;
} send_buffer;
for (uint8_t i=0; i<8; i++) {
const uint16_t bf_angle = (360 - (i * 45)) % 360;
float distance = measure_distance_at_angle_bf(location, bf_angle);
// ::fprintf(stderr, "SIM: %f=%fm\n", current_degrees_bf, distance);
if (distance > MAX_RANGE) {
send_buffer.measurements[i] = 0xffff;
} else {
send_buffer.measurements[i] = htobe16(distance * 1000);
}
}
send_buffer.checksum = crc_crc8((uint8_t*)&send_buffer, 18);
const ssize_t ret = write_to_autopilot((const char*)&send_buffer, sizeof(send_buffer));
if (ret != sizeof(send_buffer)) {
abort();
}
}
void PS_TeraRangerTower::update(const Location &location)
{
update_output(location);
}
#endif // HAL_SIM_PS_TERARANGERTOWER_ENABLED