ardupilot/libraries/SITL/SIM_RF_LightWareSerial.cpp

55 lines
1.6 KiB
C++

/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
Simulator for the serial LightWare rangefinder
*/
#include "SIM_RF_LightWareSerial.h"
#include <GCS_MAVLink/GCS.h>
#include <stdio.h>
using namespace SITL;
bool RF_LightWareSerial::check_synced()
{
if (!synced) {
// just try to slurp a buffer in one hit:
char buffer[12] {};
ssize_t n = read_from_autopilot(buffer, ARRAY_SIZE(buffer) - 1);
if (n > 0) {
if (!strncmp(buffer, "www\r\n", ARRAY_SIZE(buffer))) {
gcs().send_text(MAV_SEVERITY_INFO, "Slurped a sync thing\n");
synced = true;
}
}
}
return synced;
}
void RF_LightWareSerial::update(float range)
{
if (!check_synced()) {
return;
}
return SerialRangeFinder::update(range);
}
uint32_t RF_LightWareSerial::packet_for_alt(uint16_t alt_cm, uint8_t *buffer, uint8_t buflen)
{
return snprintf((char*)buffer, buflen, "%f\r", alt_cm / 100.0f); // note tragic lack of snprintf return checking
}