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84 lines
2.6 KiB
84 lines
2.6 KiB
/**************************************************************************** |
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* |
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* Copyright (c) 2019 ECL Development Team. All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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/** |
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* Base class for defining the interface for simulaton of a sensor |
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* @author Kamil Ritz <ka.ritz@hotmail.com> |
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*/ |
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#pragma once |
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#include "EKF/ekf.h" |
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#include <math.h> |
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#include <memory> |
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namespace sensor_simulator |
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{ |
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class Sensor |
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{ |
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public: |
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Sensor(std::shared_ptr<Ekf> ekf); |
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virtual ~Sensor(); |
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void update(uint64_t time); |
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void setRateHz(uint32_t rate){ _update_period = uint32_t(1000000)/rate; } |
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bool isRunning() const { return _is_running; } |
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void start(){ _is_running = true; } |
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void stop(){ _is_running = false; } |
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bool should_send(uint64_t time) const; |
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protected: |
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std::shared_ptr<Ekf> _ekf; |
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// time in microseconds |
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uint32_t _update_period; |
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uint64_t _time_last_data_sent{0}; |
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bool _is_running{false}; |
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// Checks that the right amount time passed since last send data to fulfill rate |
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bool is_time_to_send(uint64_t time) const; |
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// call set*Data function of Ekf |
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virtual void send(uint64_t time) = 0; |
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}; |
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} // namespace sensor_simulator
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