mirror of https://github.com/ArduPilot/ardupilot
42 lines
800 B
C++
42 lines
800 B
C++
/*
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* AP_IRLock_SITL.h
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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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#pragma once
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#include <AP_HAL/utility/Socket.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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#include "IRLock.h"
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class AP_IRLock_SITL : public IRLock
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{
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public:
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AP_IRLock_SITL();
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// init - initialize sensor library
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void init(int8_t bus) override;
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// retrieve latest sensor data - returns true if new data is available
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bool update() override;
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private:
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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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};
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uint32_t _last_timestamp;
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SocketAPM sock;
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};
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#endif // CONFIG_HAL_BOARD
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