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SITL: SITL SerialDevice optionally checks baudrates match

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Peter Barker 2022-09-27 11:20:16 +10:00 committed by Peter Barker
parent 0d5d9c04f0
commit 0717c3409b
3 changed files with 17 additions and 0 deletions
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3
libraries/SITL/SIM_RF_NMEA.h
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@ -18,6 +18,7 @@
./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:nmea --speedup=1 ./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:nmea --speedup=1
param set SERIAL5_PROTOCOL 9 param set SERIAL5_PROTOCOL 9
param set SERIAL5_BAUD 9600
param set RNGFND1_TYPE 17 param set RNGFND1_TYPE 17
graph RANGEFINDER.distance graph RANGEFINDER.distance
graph GLOBAL_POSITION_INT.relative_alt/1000-RANGEFINDER.distance graph GLOBAL_POSITION_INT.relative_alt/1000-RANGEFINDER.distance
@ -36,6 +37,8 @@ namespace SITL {
class RF_NMEA : public SerialRangeFinder { class RF_NMEA : public SerialRangeFinder {
public: public:
uint32_t device_baud() const override { return 9600; }
uint32_t packet_for_alt(uint16_t alt_cm, uint8_t *buffer, uint8_t buflen) override; uint32_t packet_for_alt(uint16_t alt_cm, uint8_t *buffer, uint8_t buflen) override;
bool has_temperature() const override { return true; } bool has_temperature() const override { return true; }

8
libraries/SITL/SIM_SerialDevice.cpp
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@ -64,6 +64,10 @@ ssize_t SerialDevice::read_from_autopilot(char *buffer, const size_t size) const
ssize_t SerialDevice::write_to_autopilot(const char *buffer, const size_t size) const ssize_t SerialDevice::write_to_autopilot(const char *buffer, const size_t size) const
{ {
if (device_baud() != 0 && autopilot_baud != 0 && device_baud() != autopilot_baud) {
return -1;
}
const ssize_t ret = to_autopilot->write((uint8_t*)buffer, size); const ssize_t ret = to_autopilot->write((uint8_t*)buffer, size);
// ::fprintf(stderr, "write to autopilot: ("); // ::fprintf(stderr, "write to autopilot: (");
// for (ssize_t i=0; i<ret; i++) { // for (ssize_t i=0; i<ret; i++) {
@ -79,6 +83,10 @@ ssize_t SerialDevice::write_to_autopilot(const char *buffer, const size_t size)
ssize_t SerialDevice::read_from_device(char *buffer, const size_t size) const ssize_t SerialDevice::read_from_device(char *buffer, const size_t size) const
{ {
if (device_baud() != 0 && autopilot_baud != 0 && device_baud() != autopilot_baud) {
return -1;
}
const ssize_t ret = to_autopilot->read((uint8_t*)buffer, size); const ssize_t ret = to_autopilot->read((uint8_t*)buffer, size);
return ret; return ret;
} }

6
libraries/SITL/SIM_SerialDevice.h
View File

@ -32,10 +32,12 @@ public:
// methods for autopilot to use to talk to device: // methods for autopilot to use to talk to device:
ssize_t read_from_device(char *buffer, size_t size) const; ssize_t read_from_device(char *buffer, size_t size) const;
ssize_t write_to_device(const char *buffer, size_t size) const; ssize_t write_to_device(const char *buffer, size_t size) const;
void set_autopilot_baud(uint32_t baud) { autopilot_baud = baud; }
// methods for simulated device to use: // methods for simulated device to use:
ssize_t read_from_autopilot(char *buffer, size_t size) const; ssize_t read_from_autopilot(char *buffer, size_t size) const;
virtual ssize_t write_to_autopilot(const char *buffer, size_t size) const; virtual ssize_t write_to_autopilot(const char *buffer, size_t size) const;
virtual uint32_t device_baud() const { return 0; } // 0 meaning unset
protected: protected:
@ -45,6 +47,10 @@ protected:
ByteBuffer *from_autopilot; ByteBuffer *from_autopilot;
bool init_sitl_pointer(); bool init_sitl_pointer();
private:
uint32_t autopilot_baud;
}; };
} }