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AP_HAL_SITL: add JAE JRE simulator

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This commit is contained in:
Peter Barker 2023-08-08 14:34:39 +10:00 committed by Peter Barker
parent c17907cadc
commit 2af98a949b
2 changed files with 12 additions and 0 deletions
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9
libraries/AP_HAL_SITL/SITL_State_common.cpp
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@ -233,6 +233,12 @@ SITL::SerialDevice *SITL_State_Common::create_serial_sim(const char *name, const
sitl_model->set_ie24(&_sitl->ie24_sim); sitl_model->set_ie24(&_sitl->ie24_sim);
return &_sitl->ie24_sim; return &_sitl->ie24_sim;
#endif // HAL_BUILD_AP_PERIPH #endif // HAL_BUILD_AP_PERIPH
} else if (streq(name, "jre")) {
if (jre != nullptr) {
AP_HAL::panic("Only one jre at a time");
}
jre = new SITL::RF_JRE();
return jre;
} else if (streq(name, "gyus42v2")) { } else if (streq(name, "gyus42v2")) {
if (gyus42v2 != nullptr) { if (gyus42v2 != nullptr) {
AP_HAL::panic("Only one gyus42v2 at a time"); AP_HAL::panic("Only one gyus42v2 at a time");
@ -315,6 +321,9 @@ void SITL_State_Common::sim_update(void)
if (benewake_tfmini != nullptr) { if (benewake_tfmini != nullptr) {
benewake_tfmini->update(sitl_model->rangefinder_range()); benewake_tfmini->update(sitl_model->rangefinder_range());
} }
if (jre != nullptr) {
jre->update(sitl_model->rangefinder_range());
}
if (nooploop != nullptr) { if (nooploop != nullptr) {
nooploop->update(sitl_model->rangefinder_range()); nooploop->update(sitl_model->rangefinder_range());
} }

3
libraries/AP_HAL_SITL/SITL_State_common.h
View File

@ -17,6 +17,7 @@
#include <SITL/SIM_RF_Benewake_TFmini.h> #include <SITL/SIM_RF_Benewake_TFmini.h>
#include <SITL/SIM_RF_NoopLoop.h> #include <SITL/SIM_RF_NoopLoop.h>
#include <SITL/SIM_RF_TeraRanger_Serial.h> #include <SITL/SIM_RF_TeraRanger_Serial.h>
#include <SITL/SIM_RF_JRE.h>
#include <SITL/SIM_RF_LightWareSerial.h> #include <SITL/SIM_RF_LightWareSerial.h>
#include <SITL/SIM_RF_LightWareSerialBinary.h> #include <SITL/SIM_RF_LightWareSerialBinary.h>
#include <SITL/SIM_RF_Lanbao.h> #include <SITL/SIM_RF_Lanbao.h>
@ -126,6 +127,8 @@ public:
SITL::RF_Benewake_TF02 *benewake_tf02; SITL::RF_Benewake_TF02 *benewake_tf02;
// simulated Benewake tf03 rangefinder: // simulated Benewake tf03 rangefinder:
SITL::RF_Benewake_TF03 *benewake_tf03; SITL::RF_Benewake_TF03 *benewake_tf03;
//simulated JAE JRE rangefinder:
SITL::RF_JRE *jre;
// simulated Benewake tfmini rangefinder: // simulated Benewake tfmini rangefinder:
SITL::RF_Benewake_TFmini *benewake_tfmini; SITL::RF_Benewake_TFmini *benewake_tfmini;
//simulated NoopLoop TOFSense rangefinder: //simulated NoopLoop TOFSense rangefinder: