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137 lines
3.6 KiB
137 lines
3.6 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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Simulator for the RPLidarA2 proximity sensor |
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./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:rplidara2 --speedup=1 -l 51.8752066,14.6487840,54.15,0 --map |
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param set SERIAL5_PROTOCOL 11 |
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param set PRX1_TYPE 5 |
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reboot |
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arm throttle |
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rc 3 1600 |
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# for avoidance: |
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param set DISARM_DELAY 0 |
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param set AVOID_ENABLE 2 # use proximity sensor |
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param set AVOID_MARGIN 2.00 # 2m |
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param set AVOID_BEHAVE 0 # slide |
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param set OA_DB_OUTPUT 3 |
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param set OA_TYPE 2 |
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reboot |
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mode loiter |
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script /tmp/post-locations.scr |
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arm throttle |
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rc 3 1600 |
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rc 3 1500 |
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rc 2 1450 |
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*/ |
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#pragma once |
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#include "SIM_SerialProximitySensor.h" |
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#ifndef HAL_SIM_PS_RPLIDARA2_ENABLED |
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#define HAL_SIM_PS_RPLIDARA2_ENABLED HAL_SIM_SERIALPROXIMITYSENSOR_ENABLED |
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#endif |
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#if HAL_SIM_PS_RPLIDARA2_ENABLED |
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#include <stdio.h> |
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namespace SITL { |
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class PS_RPLidarA2 : public SerialProximitySensor { |
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public: |
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uint32_t packet_for_location(const Location &location, |
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uint8_t *data, |
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uint8_t buflen) override; |
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void update(const Location &location) override; |
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private: |
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void update_input(); |
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void update_output(const Location &location); |
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void update_output_scan(const Location &location); |
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uint32_t last_scan_output_time_ms; |
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float last_degrees_bf; |
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char _buffer[256]; // from-autopilot |
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uint8_t _buflen; |
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// TODO: see what happens on real device on partial input |
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enum class State { |
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IDLE = 17, |
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SCANNING = 18, |
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}; |
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State _state = State::IDLE; |
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void set_state(State newstate) { |
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::fprintf(stderr, "Moving from state (%u) to (%u)\n", (uint8_t)_state, (uint8_t)newstate); |
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_state = newstate; |
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} |
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enum class InputState { |
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WAITING_FOR_PREAMBLE = 45, |
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GOT_PREAMBLE = 46, |
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RESETTING_START = 47, |
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RESETTING_SEND_FIRMWARE_INFO = 48, |
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}; |
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InputState _inputstate = InputState::WAITING_FOR_PREAMBLE; |
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void set_inputstate(InputState newstate) { |
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::fprintf(stderr, "Moving from inputstate (%u) to (%u)\n", (uint8_t)_inputstate, (uint8_t)newstate); |
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_inputstate = newstate; |
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} |
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static const uint8_t PREAMBLE = 0xA5; |
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enum class Command { |
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STOP = 0x25, |
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SCAN = 0x20, |
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FORCE_SCAN = 0x21, |
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RESET = 0x40, |
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GET_HEALTH = 0x52, |
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}; |
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void move_preamble_in_buffer(); |
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enum class DataType { |
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Unknown06 = 0x06, // uint8_t ?! |
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Unknown81 = 0x81, // uint8_t ?! |
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}; |
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enum class SendMode { |
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SRSR = 0x00, |
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SRMR = 0x40, // no idea why this isn't 0x01 |
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}; |
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void send_response_descriptor(uint32_t data_response_length, |
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SendMode sendmode, |
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DataType datatype); |
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// the driver expects to see an "R" followed by 62 bytes more crap. |
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static const constexpr char *FIRMWARE_INFO = "R12345678901234567890123456789012345678901234567890123456789012"; |
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uint8_t _firmware_info_offset; |
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}; |
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}; |
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#endif // HAL_SIM_PS_RPLIDARA2_ENABLED
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