mirror of https://github.com/ArduPilot/ardupilot
96 lines
2.6 KiB
C++
96 lines
2.6 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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* AP_IRLock_SITL.cpp
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*
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* Created on: June 09, 2016
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* Author: Ian Chen
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*/
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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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#include "AP_IRLock_SITL_Gazebo.h"
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#include <SITL/SITL.h>
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#include <fcntl.h>
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#include <unistd.h>
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#include <iostream>
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extern const AP_HAL::HAL& hal;
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AP_IRLock_SITL_Gazebo::AP_IRLock_SITL_Gazebo() :
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_last_timestamp(0),
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sock(true)
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{}
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void AP_IRLock_SITL_Gazebo::init(int8_t bus)
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{
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SITL::SITL *sitl = AP::sitl();
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// try to bind to a specific port so that if we restart ArduPilot
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// Gazebo keeps sending us packets. Not strictly necessary but
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// useful for debugging
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sock.bind("127.0.0.1", sitl->irlock_port);
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sock.reuseaddress();
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sock.set_blocking(false);
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hal.console->printf("AP_IRLock_SITL::init()\n");
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_flags.healthy = true;
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}
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// retrieve latest sensor data - returns true if new data is available
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bool AP_IRLock_SITL_Gazebo::update()
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{
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// return immediately if not healthy
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if (!_flags.healthy) {
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return false;
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}
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// receive packet from Gazebo IRLock plugin
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/*
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reply packet sent from simulator to ArduPilot
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*/
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struct irlock_packet {
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uint64_t timestamp; // in miliseconds
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uint16_t num_targets;
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float pos_x;
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float pos_y;
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float size_x;
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float size_y;
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} pkt;
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const int wait_ms = 0;
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ssize_t s = sock.recv(&pkt, sizeof(irlock_packet), wait_ms);
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bool new_data = false;
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if (s == sizeof(irlock_packet) && pkt.timestamp > _last_timestamp) {
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// fprintf(stderr, " posx %f posy %f sizex %f sizey %f\n", pkt.pos_x, pkt.pos_y, pkt.size_x, pkt.size_y);
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_target_info.timestamp = pkt.timestamp;
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_target_info.pos_x = pkt.pos_x;
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_target_info.pos_y = pkt.pos_y;
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_last_timestamp = pkt.timestamp;
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_last_update_ms = _last_timestamp;
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new_data = true;
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}
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// return true if new data found
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return new_data;
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}
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#endif // CONFIG_HAL_BOARD == HAL_BOARD_SITL
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