mirror of https://github.com/ArduPilot/ardupilot
130 lines
3.4 KiB
C++
130 lines
3.4 KiB
C++
/*
|
|
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 RPLidarA2 proximity sensor
|
|
|
|
./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:rplidara2 --speedup=1 -l 51.8752066,14.6487840,0,0 --map
|
|
|
|
param set SERIAL5_PROTOCOL 11
|
|
param set PRX_TYPE 5
|
|
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
|
|
param set OA_DB_OUTPUT 3
|
|
param set OA_TYPE 2
|
|
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_RPLidarA2 : public SerialProximitySensor {
|
|
public:
|
|
|
|
uint32_t packet_for_location(const Location &location,
|
|
uint8_t *data,
|
|
uint8_t buflen) override;
|
|
|
|
void update(const Location &location) override;
|
|
|
|
private:
|
|
|
|
void update_input();
|
|
void update_output(const Location &location);
|
|
void update_output_scan(const Location &location);
|
|
|
|
uint32_t last_scan_output_time_ms;
|
|
|
|
float last_degrees_bf;
|
|
|
|
char _buffer[256]; // from-autopilot
|
|
uint8_t _buflen;
|
|
|
|
// TODO: see what happens on real device on partial input
|
|
enum class State {
|
|
IDLE = 17,
|
|
SCANNING = 18,
|
|
};
|
|
State _state = State::IDLE;
|
|
void set_state(State newstate) {
|
|
::fprintf(stderr, "Moving from state (%u) to (%u)\n", (uint8_t)_state, (uint8_t)newstate);
|
|
_state = newstate;
|
|
}
|
|
|
|
enum class InputState {
|
|
WAITING_FOR_PREAMBLE = 45,
|
|
GOT_PREAMBLE = 46,
|
|
RESETTING_START = 47,
|
|
RESETTING_SEND_FIRMWARE_INFO = 48,
|
|
};
|
|
InputState _inputstate = InputState::WAITING_FOR_PREAMBLE;
|
|
void set_inputstate(InputState newstate) {
|
|
::fprintf(stderr, "Moving from inputstate (%u) to (%u)\n", (uint8_t)_inputstate, (uint8_t)newstate);
|
|
_inputstate = newstate;
|
|
}
|
|
|
|
static const uint8_t PREAMBLE = 0xA5;
|
|
|
|
enum class Command {
|
|
STOP = 0x25,
|
|
SCAN = 0x20,
|
|
FORCE_SCAN = 0x21,
|
|
RESET = 0x40,
|
|
GET_HEALTH = 0x52,
|
|
};
|
|
|
|
void move_preamble_in_buffer();
|
|
|
|
enum class DataType {
|
|
Unknown06 = 0x06, // uint8_t ?!
|
|
Unknown81 = 0x81, // uint8_t ?!
|
|
};
|
|
|
|
enum class SendMode {
|
|
SRSR = 0x00,
|
|
SRMR = 0x40, // no idea why this isn't 0x01
|
|
};
|
|
|
|
void send_response_descriptor(uint32_t data_response_length,
|
|
SendMode sendmode,
|
|
DataType datatype);
|
|
|
|
|
|
// the driver expects to see an "R" followed by 62 bytes more crap.
|
|
static const constexpr char *FIRMWARE_INFO = "R12345678901234567890123456789012345678901234567890123456789012";
|
|
uint8_t _firmware_info_offset;
|
|
};
|
|
|
|
};
|