ardupilot/libraries/SITL/SIM_PS_LightWare_SF45B.h

260 lines
6.6 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 LightWare S45B proximity sensor
./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:sf45b --speedup=1 -l 51.8752066,14.6487840,0,0
param set SERIAL5_PROTOCOL 11 # proximity
param set PRX_TYPE 8 # s45b
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
reboot
mode loiter
script /tmp/post-locations.scr
arm throttle
rc 3 1600
rc 3 1500
rc 2 1450
*/
#pragma once
#include "SIM_PS_LightWare.h"
#include <AP_Math/crc.h>
namespace SITL {
class PS_LightWare_SF45B : public PS_LightWare {
public:
uint32_t packet_for_location(const Location &location,
uint8_t *data,
uint8_t buflen) override;
void update(const Location &location) override;
PS_LightWare_SF45B() : PS_LightWare() { }
private:
template <typename T>
class PACKED PackedMessage {
public:
PackedMessage(T _msg, uint16_t _flags) :
msg(_msg),
flags(_flags)
{
flags |= (sizeof(T)) << 6;
}
uint8_t preamble { PREAMBLE };
uint16_t flags;
T msg;
uint16_t checksum;
uint16_t calculate_checksum(uint16_t len) const WARN_IF_UNUSED {
uint16_t ret = 0;
for (uint8_t i=0; i<len; i++) {
ret = crc_xmodem_update(ret, ((const char*)this)[i]);
}
return ret;
}
uint16_t calculate_checksum() const WARN_IF_UNUSED {
return calculate_checksum(3+sizeof(T));
}
void update_checksum() {
checksum = calculate_checksum();
}
};
class PACKED MsgStream {
public:
MsgStream(uint32_t _stream) :
stream(_stream)
{ }
uint8_t msgid { (uint8_t)MessageID::STREAM };
uint32_t stream;
};
class PACKED DistanceOutput {
public:
DistanceOutput(uint32_t _desired_fields) :
desired_fields(_desired_fields)
{ }
uint8_t msgid { (uint8_t)MessageID::DISTANCE_OUTPUT };
uint32_t desired_fields;
};
class PACKED UpdateRate {
public:
UpdateRate(uint8_t _rate) :
rate(_rate)
{ }
uint8_t msgid { (uint8_t)MessageID::UPDATE_RATE };
uint8_t rate;
};
class PACKED DistanceDataCM {
public:
DistanceDataCM(uint16_t _distance_cm, uint16_t _angle_cd) :
distance_cm(_distance_cm),
angle_cd(_angle_cd)
{ }
uint8_t msgid { (uint8_t)MessageID::DISTANCE_DATA_CM };
uint16_t distance_cm;
uint16_t angle_cd;
};
// message ids
enum class MessageID : uint8_t {
// PRODUCT_NAME = 0,
// HARDWARE_VERSION = 1,
// FIRMWARE_VERSION = 2,
// SERIAL_NUMBER = 3,
// TEXT_MESSAGE = 7,
// USER_DATA = 9,
// TOKEN = 10,
// SAVE_PARAMETERS = 12,
// RESET = 14,
// STAGE_FIRMWARE = 16,
// COMMIT_FIRMWARE = 17,
DISTANCE_OUTPUT = 27,
STREAM = 30,
DISTANCE_DATA_CM = 44,
// DISTANCE_DATA_MM = 45,
// LASER_FIRING = 50,
// TEMPERATURE = 57,
UPDATE_RATE = 66,
// NOISE = 74,
// ZERO_OFFSET = 75,
// LOST_SIGNAL_COUNTER = 76,
// BAUD_RATE = 79,
// I2C_ADDRESS = 80,
// STEPPER_STATUS = 93,
// SCAN_ON_STARTUP = 94,
// SCAN_ENABLE = 96,
// SCAN_POSITION = 97,
// SCAN_LOW_ANGLE = 98,
// SCAN_HIGH_ANGLE = 99
};
/*
* Input Handling
*/
void update_input();
// make the message in the buffer a read message and return to sender
void boomerang_buffer_message(uint8_t len);
// handle a complete checksummed message
void handle_message();
void send(const char *data, uint32_t len);
union u {
u() {}
char buffer[256]; // from-autopilot
PackedMessage<MsgStream> packed_msgstream;
PackedMessage<DistanceOutput> packed_distance_output;
PackedMessage<UpdateRate> packed_update_rate;
} _msg;
uint8_t _buflen;
static uint16_t checksum_bytes(const char *buffer, uint8_t len) {
uint16_t crc = 0;
for (uint8_t i=0; i<len; i++) {
crc = crc_xmodem_update(crc, buffer[i]);
}
return crc;
}
uint16_t msg_checksum() const {
// 4 is 1 preamble, 2 flags, 1 msgid
return checksum_bytes(_msg.buffer, payload_length() + 4);
}
uint8_t payload_length() const {
if (_buflen < 3) {
INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
}
return (_msg.packed_msgstream.flags >> 6) - 1;
}
static const uint8_t PREAMBLE = 0xAA;
void move_preamble_in_buffer(uint8_t search_start_pos=0);
enum class InputState {
WANT_PREAMBLE = 45,
WANT_FLAGS = 46,
WANT_PAYLOAD = 47,
WANT_CRC = 48,
};
InputState _inputstate = InputState::WANT_PREAMBLE;
void set_inputstate(InputState newstate) {
// ::fprintf(stderr, "Moving from inputstate (%u) to (%u)\n", (uint8_t)_inputstate, (uint8_t)newstate);
_inputstate = newstate;
}
/*
* SETTINGS
*/
uint32_t stream;
uint32_t desired_fields;
uint8_t update_rate;
/*
* OUTPUT HANDLING
*/
struct {
bool stream;
bool desired_fields;
bool update_rate;
} send_response;
enum class State {
SCANNING = 21,
};
State _state = State::SCANNING;
void set_state(State newstate) {
// ::fprintf(stderr, "Moving from state (%u) to (%u)\n", (uint8_t)_state, (uint8_t)newstate);
_state = newstate;
}
void update_output(const Location &location);
void update_output_responses();
void update_output_scan(const Location &location);
uint32_t last_scan_output_time_ms;
float last_degrees_bf;
};
};