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79 lines
2.0 KiB
79 lines
2.0 KiB
/* |
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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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Dump logged AIS data to the serial port |
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./Tools/autotest/sim_vehicle.py -v Rover -A --uartF=sim:AIS --custom-location 51.58689798356386,-3.9044570193067965,0,0 |
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param set SERIAL5_PROTOCOL 40 |
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param set AIS_TYPE 1 |
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*/ |
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#include "SIM_AIS.h" |
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#if HAL_SIM_AIS_ENABLED |
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#include <SITL/SITL.h> |
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extern const AP_HAL::HAL& hal; |
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using namespace SITL; |
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AIS::AIS() : SerialDevice::SerialDevice() |
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{ |
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char* file_path; |
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IGNORE_RETURN(asprintf(&file_path, SKETCHBOOK "/libraries/SITL/SIM_AIS_data.txt")); |
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file = fopen(file_path,"r"); |
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if (file == nullptr) { |
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AP_HAL::panic("AIS could not open data file"); |
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} |
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// seek past the header line |
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char line[100]; |
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IGNORE_RETURN(fgets(line, sizeof(line), file)); |
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} |
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void AIS::update() |
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{ |
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if (file == nullptr) { |
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AP_HAL::panic("AIS lost data file"); |
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} |
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// just send a line of data at 1Hz: |
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const uint32_t now = AP_HAL::millis(); |
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if (now - last_sent_ms < 1000) { |
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return; |
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} |
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last_sent_ms = now; |
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char line[100]; |
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if (!fgets(line, sizeof(line), file)) { |
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// got to the end of the file, circle back |
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fseek(file,0,SEEK_SET); |
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if (!fgets(line, sizeof(line), file)) { |
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AP_HAL::panic("AIS lost data file"); |
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} |
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return; |
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} |
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//hal.console->printf("%s",line); |
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write_to_autopilot(line, strlen(line)); |
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} |
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#endif // HAL_SIM_AIS_ENABLED
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