mirror of https://github.com/ArduPilot/ardupilot
146 lines
3.9 KiB
C++
146 lines
3.9 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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Base class for RPLidar support
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*/
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/*
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Simulator for the RPLidarA2 proximity sensor
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./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:rplidara2 --speedup=1 -l 51.8752066,14.6487840,54.15,0 --map
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param set SERIAL5_PROTOCOL 11
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param set PRX1_TYPE 5
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reboot
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arm throttle
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rc 3 1600
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# for avoidance:
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param set DISARM_DELAY 0
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param set AVOID_ENABLE 2 # use proximity sensor
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param set AVOID_MARGIN 2.00 # 2m
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param set AVOID_BEHAVE 0 # slide
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param set OA_DB_OUTPUT 3
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param set OA_TYPE 2
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reboot
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mode loiter
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script /tmp/post-locations.scr
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arm throttle
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rc 3 1600
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rc 3 1500
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rc 2 1450
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*/
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#pragma once
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#include "SIM_config.h"
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#if HAL_SIM_PS_RPLIDARA2_ENABLED || HAL_SIM_PS_RPLIDARA1_ENABLED
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#include "SIM_SerialProximitySensor.h"
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#include <stdio.h>
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namespace SITL {
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class PS_RPLidar : public SerialProximitySensor {
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public:
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using SerialProximitySensor::SerialProximitySensor;
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uint32_t packet_for_location(const Location &location,
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uint8_t *data,
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uint8_t buflen) override;
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void update(const Location &location) override;
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private:
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void update_input();
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void update_output(const Location &location);
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void update_output_scan(const Location &location);
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uint32_t last_scan_output_time_ms;
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float last_degrees_bf;
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char _buffer[256]; // from-autopilot
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uint8_t _buflen;
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// TODO: see what happens on real device on partial input
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enum class State {
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IDLE = 17,
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SCANNING = 18,
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};
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State _state = State::IDLE;
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void set_state(State newstate) {
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::fprintf(stderr, "Moving from state (%u) to (%u)\n", (uint8_t)_state, (uint8_t)newstate);
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_state = newstate;
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}
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enum class InputState {
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WAITING_FOR_PREAMBLE = 45,
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GOT_PREAMBLE = 46,
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RESETTING_START = 47,
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RESETTING_SEND_FIRMWARE_INFO = 48,
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};
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InputState _inputstate = InputState::WAITING_FOR_PREAMBLE;
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void set_inputstate(InputState newstate) {
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::fprintf(stderr, "Moving from inputstate (%u) to (%u)\n", (uint8_t)_inputstate, (uint8_t)newstate);
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_inputstate = newstate;
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}
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static const uint8_t PREAMBLE = 0xA5;
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enum class Command {
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STOP = 0x25,
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SCAN = 0x20,
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FORCE_SCAN = 0x21,
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RESET = 0x40,
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GET_DEVICE_INFO = 0x50,
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GET_HEALTH = 0x52,
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};
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void move_preamble_in_buffer();
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enum class DataType {
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Unknown04 = 0x04, // uint8_t ?!
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Unknown06 = 0x06, // uint8_t ?!
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Unknown81 = 0x81, // uint8_t ?!
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};
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enum class SendMode {
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SRSR = 0x00,
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SRMR = 0x40, // no idea why this isn't 0x01
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};
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void send_response_descriptor(uint32_t data_response_length,
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SendMode sendmode,
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DataType datatype);
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// the driver expects to see an "R" followed by 62 bytes more crap.
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static const constexpr char *FIRMWARE_INFO = "R12345678901234567890123456789012345678901234567890123456789012";
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uint8_t _firmware_info_offset;
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// methods for sub-classes to implement:
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virtual uint8_t device_info_model() const = 0;
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virtual uint8_t max_range() const = 0;
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};
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};
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#endif // HAL_SIM_PS_RPLIDARA2_ENABLED || HAL_SIM_PS_RPLIDARA1_ENABLED
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