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