mirror of https://github.com/ArduPilot/ardupilot
136 lines
3.6 KiB
C++
136 lines
3.6 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/// @file HIL.h
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/// @brief Interface definition for the various Ground Control System protocols.
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#ifndef __HIL_H
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#define __HIL_H
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# if HIL_MODE != HIL_MODE_DISABLED
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#include <BetterStream.h>
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#include <AP_Common.h>
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#include <GPS.h>
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#include <Stream.h>
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#include <stdint.h>
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///
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/// @class HIL
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/// @brief Class describing the interface between the APM code
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/// proper and the HIL implementation.
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///
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/// HIL' are currently implemented inside the sketch and as such have
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/// access to all global state. The sketch should not, however, call HIL
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/// internal functions - all calls to the HIL should be routed through
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/// this interface (or functions explicitly exposed by a subclass).
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///
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class HIL_Class
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{
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public:
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/// Startup initialisation.
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///
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/// This routine performs any one-off initialisation required before
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/// HIL messages are exchanged.
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///
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/// @note The stream is expected to be set up and configured for the
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/// correct bitrate before ::init is called.
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///
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/// @note The stream is currently BetterStream so that we can use the _P
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/// methods; this may change if Arduino adds them to Print.
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///
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/// @param port The stream over which messages are exchanged.
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///
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void init(BetterStream *port) { _port = port; }
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/// Update HIL state.
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///
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/// This may involve checking for received bytes on the stream,
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/// or sending additional periodic messages.
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void update(void) {}
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/// Send a message with a single numeric parameter.
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///
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/// This may be a standalone message, or the HIL driver may
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/// have its own way of locating additional parameters to send.
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///
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/// @param id ID of the message to send.
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/// @param param Explicit message parameter.
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///
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void send_message(uint8_t id, int32_t param = 0) {}
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/// Send a text message.
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///
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/// @param severity A value describing the importance of the message.
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/// @param str The text to be sent.
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///
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void send_text(uint8_t severity, const char *str) {}
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/// Send a text message with a PSTR()
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///
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/// @param severity A value describing the importance of the message.
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/// @param str The text to be sent.
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///
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void send_text(uint8_t severity, const prog_char_t *str) {}
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/// Send acknowledgement for a message.
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///
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/// @param id The message ID being acknowledged.
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/// @param sum1 Checksum byte 1 from the message being acked.
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/// @param sum2 Checksum byte 2 from the message being acked.
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///
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void acknowledge(uint8_t id, uint8_t sum1, uint8_t sum2) {}
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protected:
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/// The stream we are communicating over
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BetterStream *_port;
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};
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//
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// HIL class definitions.
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//
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// These are here so that we can declare the HIL object early in the sketch
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// and then reference it statically rather than via a pointer.
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//
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///
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/// @class HIL_MAVLINK
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/// @brief The mavlink protocol for hil
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///
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#if HIL_PROTOCOL == HIL_PROTOCOL_MAVLINK
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// uses gcs
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#endif // HIL_PROTOCOL_MAVLINK
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///
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/// @class HIL_XPLANE
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/// @brief The xplane protocol for hil
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///
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#if HIL_PROTOCOL == HIL_PROTOCOL_XPLANE
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class HIL_XPLANE : public HIL_Class
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{
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public:
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HIL_XPLANE();
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void update(void);
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void init(BetterStream *port);
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void send_message(uint8_t id, uint32_t param = 0);
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void send_text(uint8_t severity, const char *str);
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void send_text(uint8_t severity, const prog_char_t *str);
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void acknowledge(uint8_t id, uint8_t sum1, uint8_t sum2);
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private:
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void output_HIL();
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void output_HIL_();
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void output_int(int value);
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void output_byte(byte value);
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void print_buffer();
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AP_GPS_IMU * hilPacketDecoder;
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byte buf_len;
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byte out_buffer[32];
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};
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#endif // HIL_PROTOCOL_XPLANE
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#endif // HIL not disabled
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#endif // __HIL_H
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