SITL: add terarangertower simulator

libraries/SITL/SIM_PS_TeraRangerTower.cpp

@@ -0,0 +1,76 @@
+/*
+   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"
+
+#include <GCS_MAVLink/GCS.h>
+#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);
+}

libraries/SITL/SIM_PS_TeraRangerTower.h

@@ -0,0 +1,67 @@
+/*
+   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
+
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:terarangertower --speedup=1 -l 51.8752066,14.6487840,0,0
+
+param set SERIAL5_PROTOCOL 11
+param set PRX_TYPE 3  # terarangertower
+reboot
+
+arm throttle
+rc 3 1600
+
+# for avoidance:
+param set DISARM_DELAY 0
+param set AVOID_ENABLE 2 # use proximity sensor
+param set AVOID_MARGIN 2.00  # 2m
+param set AVOID_BEHAVE 0 # slide
+reboot
+mode loiter
+script /tmp/post-locations.scr
+arm throttle
+rc 3 1600
+rc 3 1500
+rc 2 1450
+
+*/
+
+#pragma once
+
+#include "SIM_SerialProximitySensor.h"
+
+#include <stdio.h>
+
+namespace SITL {
+
+class PS_TeraRangerTower : public SerialProximitySensor {
+public:
+
+    uint32_t packet_for_location(const Location &location,
+                                 uint8_t *data,
+                                 uint8_t buflen) override;
+
+    void update(const Location &location) override;
+    void update_output(const Location &location);
+    void update_output_scan(const Location &location);
+
+private:
+    const float MAX_RANGE = 4.5;  // metres
+
+    uint32_t last_output_time_ms;
+};
+
+};