From c3246d61f443b81762415b560fdd08353c544b06 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 30 Jun 2020 21:10:28 +1000
Subject: [PATCH] AP_HAL_SITL: add simulated LightWare serial lidar talking new
 binary protocol

---
 libraries/AP_HAL_SITL/SITL_State.cpp | 14 ++++++++++++++
 libraries/AP_HAL_SITL/SITL_State.h   |  5 ++++-
 2 files changed, 18 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_HAL_SITL/SITL_State.cpp b/libraries/AP_HAL_SITL/SITL_State.cpp
index bf15c67192..39f0cfd688 100644
--- a/libraries/AP_HAL_SITL/SITL_State.cpp
+++ b/libraries/AP_HAL_SITL/SITL_State.cpp
@@ -261,6 +261,12 @@ int SITL_State::sim_fd(const char *name, const char *arg)
         }
         lightwareserial = new SITL::RF_LightWareSerial();
         return lightwareserial->fd();
+    } else if (streq(name, "lightwareserial-binary")) {
+        if (lightwareserial_binary != nullptr) {
+            AP_HAL::panic("Only one lightwareserial-binary at a time");
+        }
+        lightwareserial_binary = new SITL::RF_LightWareSerialBinary();
+        return lightwareserial_binary->fd();
     } else if (streq(name, "lanbao")) {
         if (lanbao != nullptr) {
             AP_HAL::panic("Only one lanbao at a time");
@@ -373,6 +379,11 @@ int SITL_State::sim_fd_write(const char *name)
             AP_HAL::panic("No lightwareserial created");
         }
         return lightwareserial->write_fd();
+    } else if (streq(name, "lightwareserial-binary")) {
+        if (lightwareserial_binary == nullptr) {
+            AP_HAL::panic("No lightwareserial_binary created");
+        }
+        return lightwareserial_binary->write_fd();
     } else if (streq(name, "lanbao")) {
         if (lanbao == nullptr) {
             AP_HAL::panic("No lanbao created");
@@ -578,6 +589,9 @@ void SITL_State::_fdm_input_local(void)
     if (lightwareserial != nullptr) {
         lightwareserial->update(sitl_model->get_range());
     }
+    if (lightwareserial_binary != nullptr) {
+        lightwareserial_binary->update(sitl_model->get_range());
+    }
     if (lanbao != nullptr) {
         lanbao->update(sitl_model->get_range());
     }
diff --git a/libraries/AP_HAL_SITL/SITL_State.h b/libraries/AP_HAL_SITL/SITL_State.h
index 3ef33b2861..f84b5be206 100644
--- a/libraries/AP_HAL_SITL/SITL_State.h
+++ b/libraries/AP_HAL_SITL/SITL_State.h
@@ -28,6 +28,7 @@
 #include <SITL/SIM_RF_Benewake_TF03.h>
 #include <SITL/SIM_RF_Benewake_TFmini.h>
 #include <SITL/SIM_RF_LightWareSerial.h>
+#include <SITL/SIM_RF_LightWareSerialBinary.h>
 #include <SITL/SIM_RF_Lanbao.h>
 #include <SITL/SIM_RF_BLping.h>
 #include <SITL/SIM_RF_LeddarOne.h>
@@ -249,8 +250,10 @@ private:
     // simulated Benewake tfmini rangefinder:
     SITL::RF_Benewake_TFmini *benewake_tfmini;
 
-    // simulated LightWareSerial rangefinder:
+    // simulated LightWareSerial rangefinder - legacy protocol::
     SITL::RF_LightWareSerial *lightwareserial;
+    // simulated LightWareSerial rangefinder - binary protocol:
+    SITL::RF_LightWareSerialBinary *lightwareserial_binary;
     // simulated Lanbao rangefinder:
     SITL::RF_Lanbao *lanbao;
     // simulated BLping rangefinder: