mirror of https://github.com/ArduPilot/ardupilot
98 lines
2.1 KiB
C++
98 lines
2.1 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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simulate ship takeoff and landing
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*/
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#pragma once
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#include "SIM_config.h"
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#if AP_SIM_SHIP_ENABLED
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#include <AP_HAL/utility/Socket_native.h>
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#include <AP_Math/AP_Math.h>
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#include <AP_Common/Location.h>
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#include <GCS_MAVLink/GCS_MAVLink.h>
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namespace SITL {
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/*
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a class for individual simulated vehicles
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*/
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class ShipSim;
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class Ship {
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friend class ShipSim;
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private:
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void update(float delta_t);
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Vector2f position;
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float heading_deg;
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float yaw_rate;
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float speed;
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ShipSim *sim;
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};
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class ShipSim {
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public:
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friend class Ship;
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ShipSim();
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void update(void);
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static const struct AP_Param::GroupInfo var_info[];
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/*
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get a ground speed adjustment for a landed vehicle based on
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whether it is on a ship
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*/
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Vector2f get_ground_speed_adjustment(const Location &loc, float &yaw_rate);
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bool get_location(Location &loc) const;
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private:
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AP_Int8 enable;
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AP_Float speed;
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AP_Float path_size;
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AP_Float deck_size;
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AP_Int8 sys_id;
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AP_Vector3f offset;
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Location home;
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const char *target_address = "127.0.0.1";
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const uint16_t target_port = 5762;
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bool initialised;
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Ship ship;
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uint32_t last_update_us;
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// reporting period in ms
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const float reporting_period_ms = 200;
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uint32_t last_report_ms;
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uint32_t last_heartbeat_ms;
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SocketAPM_native mav_socket { false };
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bool mavlink_connected;
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mavlink_status_t mav_status;
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void send_report(void);
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};
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} // namespace SITL
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#endif // AP_SIM_SHIP_ENABLED
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