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AP_HAL_SITL: make SITL::ADSB a SITL::SerialDevice

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This commit is contained in:
Peter Barker 2021-11-09 17:23:34 +11:00 committed by Andrew Tridgell
parent c99a49eeb9
commit cdccc67fb8
2 changed files with 19 additions and 10 deletions
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19
libraries/AP_HAL_SITL/SITL_State.cpp
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@ -168,15 +168,6 @@ void SITL_State::_fdm_input_step(void)
if (_sitl != nullptr) {
_update_airspeed(_sitl->state.airspeed);
_update_rangefinder(_sitl->state.range);
if (_sitl->adsb_plane_count >= 0 &&
adsb == nullptr) {
adsb = new SITL::ADSB(_sitl->state, sitl_model->get_home(), get_instance());
} else if (_sitl->adsb_plane_count == -1 &&
adsb != nullptr) {
delete adsb;
adsb = nullptr;
}
}
// trigger all APM timers.
@ -220,6 +211,14 @@ SITL::SerialDevice *SITL_State::create_serial_sim(const char *name, const char *
}
vicon = new SITL::Vicon();
return vicon;
} else if (streq(name, "adsb")) {
// ADSB is a stand-out as it is the only serial device which
// will cope with begin() being called multiple times on a
// serial port
if (adsb == nullptr) {
adsb = new SITL::ADSB();
}
return adsb;
} else if (streq(name, "benewake_tf02")) {
if (benewake_tf02 != nullptr) {
AP_HAL::panic("Only one benewake_tf02 at a time");
@ -534,7 +533,7 @@ void SITL_State::_fdm_input_local(void)
gimbal->update();
}
if (adsb != nullptr) {
adsb->update();
adsb->update(*sitl_model);
}
if (vicon != nullptr) {
Quaternion attitude;

10
libraries/AP_HAL_SITL/UARTDriver.cpp
View File

@ -89,6 +89,16 @@ void UARTDriver::begin(uint32_t baud, uint16_t rxSpace, uint16_t txSpace)
char *devtype = strtok_r(s, ":", &saveptr);
char *args1 = strtok_r(nullptr, ":", &saveptr);
char *args2 = strtok_r(nullptr, ":", &saveptr);
#if !defined(HAL_BUILD_AP_PERIPH)
if (_portNumber == 2 && AP::sitl()->adsb_plane_count >= 0) {
// this is ordinarily port 5762. The ADSB simulation assumed
// this port, so if enabled we assume we'll be doing ADSB...
// add sanity check here that we're doing mavlink on this port?
::printf("SIM-ADSB connection on port %u\n", _portNumber);
_connected = true;
_sim_serial_device = _sitlState->create_serial_sim("adsb", nullptr);
} else
#endif
if (strcmp(devtype, "tcp") == 0) {
uint16_t port = atoi(args1);
bool wait = (args2 && strcmp(args2, "wait") == 0);