mirror of https://github.com/ArduPilot/ardupilot
97 lines
2.1 KiB
C++
97 lines
2.1 KiB
C++
#pragma once
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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL && defined(HAL_BUILD_AP_PERIPH)
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#include "SITL_State_common.h"
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#include "AP_HAL_SITL.h"
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#include "AP_HAL_SITL_Namespace.h"
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#include "HAL_SITL_Class.h"
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#include "RCInput.h"
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#include <sys/types.h>
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#include <sys/socket.h>
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#include <netinet/in.h>
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#include <netinet/udp.h>
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#include <arpa/inet.h>
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#include <SITL/SITL.h>
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#include <AP_Baro/AP_Baro.h>
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#include <AP_InertialSensor/AP_InertialSensor.h>
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#include <AP_Compass/AP_Compass.h>
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#include <AP_Terrain/AP_Terrain.h>
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#include <AP_HAL/utility/Socket.h>
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class SimMCast : public SITL::Aircraft {
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public:
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SimMCast(const char *frame_str);
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void update(const struct sitl_input &input) override;
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private:
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int mc_fd = -1;
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int servo_fd = -1;
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struct sockaddr_in in_addr;
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// offset between multicast timestamp and local timestamp
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uint64_t base_time_us;
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void multicast_open();
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void multicast_read();
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void servo_send(void);
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void servo_fd_open(void);
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};
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class HAL_SITL;
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class HALSITL::SITL_State : public SITL_State_Common {
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friend class HALSITL::Scheduler;
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friend class HALSITL::Util;
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friend class HALSITL::GPIO;
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public:
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void init(int argc, char * const argv[]) override;
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bool use_rtscts(void) const {
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return _use_rtscts;
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}
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uint16_t base_port(void) const {
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return _base_port;
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}
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// paths for UART devices
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const char *_uart_path[9] {
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"none:0",
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"GPS1",
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"none:1",
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"sim:adsb",
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"udpclient:127.0.0.1:15550", // for CAN UART test
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"none:5",
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"none:6",
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"none:7",
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"none:8",
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};
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uint8_t get_instance() const { return _instance; }
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bool run_in_maintenance_mode() const { return _maintenance; }
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private:
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void wait_clock(uint64_t wait_time_usec);
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bool _use_rtscts;
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uint16_t _base_port;
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const char *defaults_path = HAL_PARAM_DEFAULTS_PATH;
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uint8_t _instance;
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bool _maintenance;
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// simulated GPS devices
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SITL::GPS *gps[1]; // constrained by # of parameter sets
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};
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#endif
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