mirror of https://github.com/ArduPilot/ardupilot
67 lines
1.6 KiB
C++
67 lines
1.6 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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Send and receve JSON backend data to alow a second AP instance to ride along
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*/
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#pragma once
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#include <AP_HAL/AP_HAL_Boards.h>
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#ifndef HAL_SIM_JSON_MASTER_ENABLED
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#define HAL_SIM_JSON_MASTER_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL)
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#endif
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#if HAL_SIM_JSON_MASTER_ENABLED
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#include "SITL_Input.h"
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#include <AP_HAL/utility/Socket.h>
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#include <AP_Math/AP_Math.h>
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namespace SITL {
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class JSON_Master {
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public:
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JSON_Master() {};
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// setup sockets
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void init(const int32_t num_slaves);
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// Receive PWM outs from ride along controlers
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void receive(struct sitl_input &input);
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// send vehicle state to ride along controlers
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void send(const struct sitl_fdm &output, const Vector3d &position);
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private:
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struct socket_list {
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SocketAPM sock_in{true};
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SocketAPM sock_out{true};
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uint8_t instance;
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bool connected;
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socket_list *next;
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} _list;
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char *json_out;
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bool initialized;
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};
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}
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#endif // HAL_SIM_JSON_MASTER_ENABLED
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