ardupilot/libraries/SITL/SIM_ADSB.h

81 lines
2.0 KiB
C++

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
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/>.
*/
/*
ADSB peripheral simulator class
*/
#pragma once
#include <AP_HAL/utility/Socket.h>
#include "SIM_Aircraft.h"
namespace SITL {
/*
a class for individual simulated vehicles
*/
class ADSB_Vehicle {
friend class ADSB;
private:
void update(float delta_t);
Vector3f position; // NED from origin
Vector3f velocity_ef; // NED
char callsign[9];
uint32_t ICAO_address;
bool initialised = false;
};
class ADSB {
public:
ADSB(const struct sitl_fdm &_fdm, const char *home_str);
void update(void);
private:
const struct sitl_fdm &fdm;
const char *target_address = "127.0.0.1";
const uint16_t target_port = 5762;
Location home;
static const uint8_t num_vehicles = 6;
ADSB_Vehicle vehicles[num_vehicles];
// reporting period in ms
const float reporting_period_ms = 500;
uint32_t last_report_us = 0;
uint32_t last_update_us = 0;
uint32_t last_heartbeat_ms = 0;
bool seen_heartbeat = false;
uint8_t vehicle_system_id;
uint8_t vehicle_component_id;
SocketAPM mav_socket { false };
struct {
// socket to telem2 on aircraft
bool connected;
mavlink_message_t rxmsg;
mavlink_status_t status;
uint8_t seq;
} mavlink {};
void send_report(void);
};
} // namespace SITL