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