mirror of https://github.com/ArduPilot/ardupilot
95 lines
2.3 KiB
C++
95 lines
2.3 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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ADSB peripheral simulator class
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*/
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#pragma once
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#include "SIM_config.h"
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#if HAL_SIM_ADSB_ENABLED
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#include <AP_HAL/utility/Socket_native.h>
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#include "SIM_Aircraft.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 ADSB_Vehicle {
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friend class ADSB;
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public:
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bool initialised = false;
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const Location &get_location() const; // return vehicle absolute location
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// return earth-frame vehicle velocity:
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bool velocity(Vector3F &ret) const { ret = velocity_ef; return true; }
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uint32_t ICAO_address;
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Vector3F velocity_ef; // NED
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char callsign[9];
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private:
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void update(const class Aircraft &aircraft, float delta_t);
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Vector3p position; // NED from origin
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Location location;
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ADSB_EMITTER_TYPE type;
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uint64_t stationary_object_created_ms; // allows expiring of slow/stationary objects
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};
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class ADSB : public SerialDevice {
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public:
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ADSB() {};
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void update(const class Aircraft &aircraft);
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uint8_t num_vehicles;
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static const uint8_t num_vehicles_MAX = 200;
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ADSB_Vehicle vehicles[num_vehicles_MAX];
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private:
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void update_simulated_vehicles(const class Aircraft &aircraft);
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// reporting period in ms
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const float reporting_period_ms = 1000;
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uint32_t last_report_us;
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uint32_t last_update_us;
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uint32_t last_tx_report_ms;
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uint32_t last_heartbeat_ms;
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bool seen_heartbeat = false;
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uint8_t vehicle_system_id;
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uint8_t vehicle_component_id;
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struct {
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// socket to telem2 on aircraft
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mavlink_message_t rxmsg;
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mavlink_status_t status;
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uint8_t seq;
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} mavlink {};
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void send_report(const SITL::Aircraft&);
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};
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} // namespace SITL
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#endif // HAL_SIM_ADSB_ENABLED
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