ardupilot/libraries/SITL/SIM_JSON_Master.h

57 lines
1.4 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/>.
*/
/*
Send and receve JSON backend data to alow a second AP instance to ride along
*/
#pragma once
#include "SITL_Input.h"
#include <AP_HAL/utility/Socket.h>
#include <AP_Math/AP_Math.h>
namespace SITL {
class JSON_Master {
public:
JSON_Master() {};
// setup sockets
void init(const int32_t num_slaves);
// Receive PWM outs from ride along controlers
void receive(struct sitl_input &input);
// send vehicle state to ride along controlers
void send(const struct sitl_fdm &output, const Vector3d &position);
private:
struct socket_list {
SocketAPM sock_in{true};
SocketAPM sock_out{true};
uint8_t instance;
bool connected;
socket_list *next;
} _list;
char *json_out;
bool initialized;
};
}