mirror of https://github.com/ArduPilot/ardupilot
118 lines
4.5 KiB
C++
118 lines
4.5 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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Simulator for the Wasp Serial rangefinder
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*/
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#include "SIM_RF_Wasp.h"
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#include <GCS_MAVLink/GCS.h>
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#include <stdio.h>
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#include <string.h>
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using namespace SITL;
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void RF_Wasp::check_configuration()
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{
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const ssize_t n = read_from_autopilot(&_buffer[_buflen], ARRAY_SIZE(_buffer) - _buflen - 1);
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if (n <= 0) {
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return;
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}
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_buflen += n;
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// ensure we have an entire line:
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const char *cr = strchr(_buffer, '\n');
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if (cr == nullptr) {
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if (_buflen == ARRAY_SIZE(_buffer) - 1) {
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// nuke it all
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memset(_buffer, '\0', ARRAY_SIZE(_buffer));
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_buflen = 0;
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}
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return;
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}
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if (!strncmp(_buffer, ">GO\n", _buflen)) {
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config.go = true;
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const char *response = "GO\n";
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write_to_autopilot(response, strlen(response));
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} else if (_buffer[0] == '>') {
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bool set = false;
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if (!set) {
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// check for string settings
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for (uint8_t i=0; i<ARRAY_SIZE(string_configs); i++) {
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if (!strncmp(&_buffer[1], string_configs[i].name, strlen(string_configs[i].name))) {
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uint8_t offs = strlen(string_configs[i].name);
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offs += 1; // for '>'
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offs += 1; // for space
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strncpy(string_configs[i].value, &_buffer[offs], MIN(ARRAY_SIZE(config.format), unsigned(cr - _buffer - offs - 1))); // -1 for the lf, -1 for the cr
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// gcs().send_text(MAV_SEVERITY_INFO, "Wasp: config (%s) (%s)", string_configs[i].name, string_configs[i].value);
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char response[128];
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const size_t x = snprintf(response,
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ARRAY_SIZE(response),
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"%s %s\n",
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string_configs[i].name,
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string_configs[i].value);
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write_to_autopilot(response, x);
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set = true;
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break;
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}
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}
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}
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if (!set) {
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// check for integer settings
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for (uint8_t i=0; i<ARRAY_SIZE(integer_configs); i++) {
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if (!strncmp(&_buffer[1], integer_configs[i].name, strlen(integer_configs[i].name))) {
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uint8_t offs = strlen(integer_configs[i].name);
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offs += 1; // for '>'
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offs += 1; // for space
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char tmp[32]{};
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strncpy(tmp, &_buffer[offs], MIN(ARRAY_SIZE(config.format), unsigned(cr - _buffer - offs - 1))); // -1 for the lf, -1 for the cr
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*(integer_configs[i].value) = atoi(tmp);
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// gcs().send_text(MAV_SEVERITY_INFO, "Wasp: config (%s) (%d)", integer_configs[i].name, *(integer_configs[i].value));
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char response[128];
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const size_t x = snprintf(response,
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ARRAY_SIZE(response),
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"%s %d\n",
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integer_configs[i].name,
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*(integer_configs[i].value));
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write_to_autopilot(response, x);
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set = true;
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break;
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}
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}
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}
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if (!set) {
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GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Wasp: unknown setting (%s)", &_buffer[0]);
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}
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}
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// just nuke everything in the buffer, not just what we just
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// processed. This is until we sort out the extra-cr thing
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memset(_buffer, '\0', ARRAY_SIZE(_buffer));
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_buflen = 0;
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}
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void RF_Wasp::update(float range)
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{
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check_configuration();
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return SerialRangeFinder::update(range);
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}
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uint32_t RF_Wasp::packet_for_alt(uint16_t alt_cm, uint8_t *buffer, uint8_t buflen)
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{
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return snprintf((char*)buffer, buflen, "%f\n", alt_cm/100.0f);
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}
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