/* 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 LightWare S45B proximity sensor ./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:sf45b --speedup=1 -l 51.8752066,14.6487840,54.15,0 param set SERIAL5_PROTOCOL 11 # proximity param set PRX1_TYPE 8 # s45b 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_PS_LightWare.h" #ifndef HAL_SIM_PS_LIGHTWARE_SF45B_ENABLED #define HAL_SIM_PS_LIGHTWARE_SF45B_ENABLED HAL_SIM_PS_LIGHTWARE_ENABLED #endif #if HAL_SIM_PS_LIGHTWARE_SF45B_ENABLED #include <AP_Math/crc.h> #include <AP_InternalError/AP_InternalError.h> namespace SITL { class PS_LightWare_SF45B : public PS_LightWare { public: uint32_t packet_for_location(const Location &location, uint8_t *data, uint8_t buflen) override; void update(const Location &location) override; PS_LightWare_SF45B() : PS_LightWare() { } private: template <typename T> class PACKED PackedMessage { public: PackedMessage(T _msg, uint16_t _flags) : msg(_msg), flags(_flags) { flags |= (sizeof(T)) << 6; } uint8_t preamble { PREAMBLE }; uint16_t flags; T msg; uint16_t checksum; uint16_t calculate_checksum(uint16_t len) const WARN_IF_UNUSED { uint16_t ret = 0; for (uint8_t i=0; i<len; i++) { ret = crc_xmodem_update(ret, ((const char*)this)[i]); } return ret; } uint16_t calculate_checksum() const WARN_IF_UNUSED { return calculate_checksum(3+sizeof(T)); } void update_checksum() { checksum = calculate_checksum(); } }; class PACKED MsgStream { public: MsgStream(uint32_t _stream) : stream(_stream) { } uint8_t msgid { (uint8_t)MessageID::STREAM }; uint32_t stream; }; class PACKED DistanceOutput { public: DistanceOutput(uint32_t _desired_fields) : desired_fields(_desired_fields) { } uint8_t msgid { (uint8_t)MessageID::DISTANCE_OUTPUT }; uint32_t desired_fields; }; class PACKED UpdateRate { public: UpdateRate(uint8_t _rate) : rate(_rate) { } uint8_t msgid { (uint8_t)MessageID::UPDATE_RATE }; uint8_t rate; }; class PACKED DistanceDataCM { public: DistanceDataCM(uint16_t _distance_cm, uint16_t _angle_cd) : distance_cm(_distance_cm), angle_cd(_angle_cd) { } uint8_t msgid { (uint8_t)MessageID::DISTANCE_DATA_CM }; uint16_t distance_cm; uint16_t angle_cd; }; // message ids enum class MessageID : uint8_t { // PRODUCT_NAME = 0, // HARDWARE_VERSION = 1, // FIRMWARE_VERSION = 2, // SERIAL_NUMBER = 3, // TEXT_MESSAGE = 7, // USER_DATA = 9, // TOKEN = 10, // SAVE_PARAMETERS = 12, // RESET = 14, // STAGE_FIRMWARE = 16, // COMMIT_FIRMWARE = 17, DISTANCE_OUTPUT = 27, STREAM = 30, DISTANCE_DATA_CM = 44, // DISTANCE_DATA_MM = 45, // LASER_FIRING = 50, // TEMPERATURE = 57, UPDATE_RATE = 66, // NOISE = 74, // ZERO_OFFSET = 75, // LOST_SIGNAL_COUNTER = 76, // BAUD_RATE = 79, // I2C_ADDRESS = 80, // STEPPER_STATUS = 93, // SCAN_ON_STARTUP = 94, // SCAN_ENABLE = 96, // SCAN_POSITION = 97, // SCAN_LOW_ANGLE = 98, // SCAN_HIGH_ANGLE = 99 }; /* * Input Handling */ void update_input(); // make the message in the buffer a read message and return to sender void boomerang_buffer_message(uint8_t len); // handle a complete checksummed message void handle_message(); void send(const char *data, uint32_t len); union u { u() {} char buffer[256]; // from-autopilot PackedMessage<MsgStream> packed_msgstream; PackedMessage<DistanceOutput> packed_distance_output; PackedMessage<UpdateRate> packed_update_rate; } _msg; uint8_t _buflen; static uint16_t checksum_bytes(const char *buffer, uint8_t len) { uint16_t crc = 0; for (uint8_t i=0; i<len; i++) { crc = crc_xmodem_update(crc, buffer[i]); } return crc; } uint16_t msg_checksum() const { // 4 is 1 preamble, 2 flags, 1 msgid return checksum_bytes(_msg.buffer, payload_length() + 4); } uint8_t payload_length() const { if (_buflen < 3) { INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control); } return (_msg.packed_msgstream.flags >> 6) - 1; } static const uint8_t PREAMBLE = 0xAA; void move_preamble_in_buffer(uint8_t search_start_pos=0); enum class InputState { WANT_PREAMBLE = 45, WANT_FLAGS = 46, WANT_PAYLOAD = 47, WANT_CRC = 48, }; InputState _inputstate = InputState::WANT_PREAMBLE; void set_inputstate(InputState newstate) { // ::fprintf(stderr, "Moving from inputstate (%u) to (%u)\n", (uint8_t)_inputstate, (uint8_t)newstate); _inputstate = newstate; } /* * SETTINGS */ uint32_t stream; uint32_t desired_fields; uint8_t update_rate; /* * OUTPUT HANDLING */ struct { bool stream; bool desired_fields; bool update_rate; } send_response; enum class State { SCANNING = 21, }; State _state = State::SCANNING; void set_state(State newstate) { // ::fprintf(stderr, "Moving from state (%u) to (%u)\n", (uint8_t)_state, (uint8_t)newstate); _state = newstate; } void update_output(const Location &location); void update_output_responses(); void update_output_scan(const Location &location); uint32_t last_scan_output_time_ms; float last_degrees_bf; }; }; #endif // HAL_SIM_PS_LIGHTWARE_SF45B_ENABLED