mirror of https://github.com/ArduPilot/ardupilot
96 lines
2.6 KiB
C++
96 lines
2.6 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <AP_Vehicle/AP_Vehicle.h>
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#include "LogReader.h"
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struct user_parameter {
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struct user_parameter *next;
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char name[17];
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float value;
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};
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extern user_parameter *user_parameters;
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extern bool replay_force_ekf2;
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extern bool replay_force_ekf3;
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class ReplayVehicle : public AP_Vehicle {
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public:
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friend class Replay;
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ReplayVehicle() { unused = -1; }
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// HAL::Callbacks implementation.
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void load_parameters(void) override;
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void get_scheduler_tasks(const AP_Scheduler::Task *&tasks,
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uint8_t &task_count,
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uint32_t &log_bit) override {
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tasks = nullptr;
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task_count = 0;
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log_bit = 0;
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};
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virtual bool set_mode(const uint8_t new_mode, const ModeReason reason) override { return true; }
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virtual uint8_t get_mode() const override { return 0; }
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AP_Vehicle::FixedWing aparm;
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AP_Airspeed airspeed;
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AP_Int32 unused; // logging is magic for Replay; this is unused
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struct LogStructure log_structure[256] = {
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};
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AP_Logger logger{unused};
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NavEKF2 ekf2;
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NavEKF3 ekf3;
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protected:
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void init_ardupilot() override;
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private:
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Parameters g;
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// setup the var_info table
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AP_Param param_loader{var_info};
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static const AP_Param::Info var_info[];
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};
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class Replay : public AP_HAL::HAL::Callbacks {
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public:
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Replay(ReplayVehicle &vehicle) :
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_vehicle(vehicle) { }
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void setup() override;
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void loop() override;
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// return true if a user parameter of name is set
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bool check_user_param(const char *name);
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private:
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const char *filename;
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ReplayVehicle &_vehicle;
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LogReader reader{_vehicle.log_structure, _vehicle.ekf2, _vehicle.ekf3};
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void _parse_command_line(uint8_t argc, char * const argv[]);
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void set_user_parameters(void);
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bool parse_param_line(char *line, char **vname, float &value);
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void load_param_file(const char *filename);
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void usage();
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};
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