mirror of https://github.com/ArduPilot/ardupilot
55 lines
1.6 KiB
C++
55 lines
1.6 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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/*
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Simulator for the serial LightWare rangefinder
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*/
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#include "SIM_RF_LightWareSerial.h"
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#include <GCS_MAVLink/GCS.h>
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#include <stdio.h>
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using namespace SITL;
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bool RF_LightWareSerial::check_synced()
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{
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if (!synced) {
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// just try to slurp a buffer in one hit:
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char buffer[12] {};
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ssize_t n = read_from_autopilot(buffer, ARRAY_SIZE(buffer) - 1);
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if (n > 0) {
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if (!strncmp(buffer, "www\r\n", ARRAY_SIZE(buffer))) {
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GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Slurped a sync thing\n");
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synced = true;
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}
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}
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}
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return synced;
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}
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void RF_LightWareSerial::update(float range)
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{
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if (!check_synced()) {
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return;
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}
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return SerialRangeFinder::update(range);
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}
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uint32_t RF_LightWareSerial::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\r", alt_cm / 100.0f); // note tragic lack of snprintf return checking
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}
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