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41 lines
800 B
41 lines
800 B
/* |
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* AP_IRLock_SITL.h |
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* |
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* Created on: June 09, 2016 |
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* Author: Ian Chen |
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*/ |
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#pragma once |
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#include <AP_HAL/utility/Socket.h> |
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL |
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#include "IRLock.h" |
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class AP_IRLock_SITL : public IRLock |
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{ |
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public: |
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AP_IRLock_SITL(); |
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// init - initialize sensor library |
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void init(int8_t bus) override; |
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// retrieve latest sensor data - returns true if new data is available |
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bool update() override; |
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private: |
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/* |
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reply packet sent from simulator to ArduPilot |
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*/ |
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struct irlock_packet { |
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uint64_t timestamp; // in miliseconds |
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uint16_t num_targets; |
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float pos_x; |
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float pos_y; |
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float size_x; |
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float size_y; |
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}; |
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uint32_t _last_timestamp; |
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SocketAPM sock; |
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}; |
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#endif // CONFIG_HAL_BOARD
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