mirror of https://github.com/ArduPilot/ardupilot
83 lines
2.1 KiB
C++
83 lines
2.1 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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/*
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Dump logged AIS data to the serial port
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./Tools/autotest/sim_vehicle.py -v Rover -A --serial5=sim:AIS --custom-location 51.58689798356386,-3.9044570193067965,0,0
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param set SERIAL5_PROTOCOL 40
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param set AIS_TYPE 1
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*/
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#include "SIM_AIS.h"
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#if HAL_SIM_AIS_ENABLED
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#include <SITL/SITL.h>
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#define FORCE_VERSION_H_INCLUDE
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#include "ap_version.h"
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extern const AP_HAL::HAL& hal;
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using namespace SITL;
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AIS::AIS() : SerialDevice::SerialDevice()
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{
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char* file_path;
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IGNORE_RETURN(asprintf(&file_path, AP_BUILD_ROOT "/libraries/SITL/SIM_AIS_data.txt"));
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file = fopen(file_path,"r");
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if (file == nullptr) {
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AP_HAL::panic("AIS could not open data file");
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}
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// seek past the header line
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char line[100];
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IGNORE_RETURN(fgets(line, sizeof(line), file));
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}
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void AIS::update()
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{
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if (file == nullptr) {
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AP_HAL::panic("AIS lost data file");
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}
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// just send a line of data at 1Hz:
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const uint32_t now = AP_HAL::millis();
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if (now - last_sent_ms < 1000) {
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return;
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}
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last_sent_ms = now;
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char line[100];
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if (!fgets(line, sizeof(line), file)) {
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// got to the end of the file, circle back
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fseek(file,0,SEEK_SET);
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if (!fgets(line, sizeof(line), file)) {
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AP_HAL::panic("AIS lost data file");
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}
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return;
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}
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//hal.console->printf("%s",line);
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write_to_autopilot(line, strlen(line));
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}
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#endif // HAL_SIM_AIS_ENABLED
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