mirror of https://github.com/ArduPilot/ardupilot
52 lines
1.4 KiB
C++
52 lines
1.4 KiB
C++
#include "AP_DAL_Beacon.h"
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#if AP_BEACON_ENABLED
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#include <AP_Logger/AP_Logger.h>
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#include "AP_DAL.h"
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#include <AP_Vehicle/AP_Vehicle_Type.h>
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AP_DAL_Beacon::AP_DAL_Beacon()
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{
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#if !APM_BUILD_TYPE(APM_BUILD_AP_DAL_Standalone) && !APM_BUILD_TYPE(APM_BUILD_Replay)
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const auto *bcon = AP::beacon();
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_RBCH.count = bcon->count();
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for (uint8_t i=0; i<ARRAY_SIZE(_RBCI); i++) {
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_RBCI[i].instance = i;
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}
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#endif
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}
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void AP_DAL_Beacon::start_frame()
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{
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const auto *bcon = AP::beacon();
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const log_RBCH old = _RBCH;
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if (bcon != nullptr) {
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_RBCH.get_vehicle_position_ned_returncode = bcon->get_vehicle_position_ned(_RBCH.vehicle_position_ned, _RBCH.accuracy_estimate);
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Location loc;
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_RBCH.get_origin_returncode = bcon->get_origin(loc);
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_RBCH.enabled = bcon->enabled();
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_RBCH.origin_lat = loc.lat;
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_RBCH.origin_lng = loc.lng;
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_RBCH.origin_alt = loc.alt;
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}
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WRITE_REPLAY_BLOCK_IFCHANGED(RBCH, _RBCH, old);
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if (bcon == nullptr) {
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return;
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}
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for (uint8_t i=0; i<ARRAY_SIZE(_RBCI); i++) {
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log_RBCI &RBCI = _RBCI[i];
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const log_RBCI old_RBCI = RBCI;
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RBCI.last_update_ms = bcon->beacon_last_update_ms(i);
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RBCI.position = bcon->beacon_position(i);
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RBCI.distance = bcon->beacon_distance(i);
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RBCI.healthy = bcon->beacon_healthy(i);
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WRITE_REPLAY_BLOCK_IFCHANGED(RBCI, RBCI, old_RBCI);
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}
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}
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#endif
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