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95 lines
2.6 KiB
95 lines
2.6 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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* AP_IRLock_SITL.cpp |
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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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#include <AP_HAL/AP_HAL.h> |
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL |
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#include "AP_IRLock_SITL_Gazebo.h" |
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#include <SITL/SITL.h> |
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#include <fcntl.h> |
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#include <unistd.h> |
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#include <iostream> |
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extern const AP_HAL::HAL& hal; |
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AP_IRLock_SITL_Gazebo::AP_IRLock_SITL_Gazebo() : |
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_last_timestamp(0), |
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sock(true) |
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{} |
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void AP_IRLock_SITL_Gazebo::init(int8_t bus) |
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{ |
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SITL::SITL *sitl = AP::sitl(); |
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// try to bind to a specific port so that if we restart ArduPilot |
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// Gazebo keeps sending us packets. Not strictly necessary but |
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// useful for debugging |
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sock.bind("127.0.0.1", sitl->irlock_port); |
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sock.reuseaddress(); |
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sock.set_blocking(false); |
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hal.console->printf("AP_IRLock_SITL::init()\n"); |
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_flags.healthy = true; |
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} |
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// retrieve latest sensor data - returns true if new data is available |
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bool AP_IRLock_SITL_Gazebo::update() |
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{ |
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// return immediately if not healthy |
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if (!_flags.healthy) { |
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return false; |
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} |
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// receive packet from Gazebo IRLock plugin |
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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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} pkt; |
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const int wait_ms = 0; |
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ssize_t s = sock.recv(&pkt, sizeof(irlock_packet), wait_ms); |
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bool new_data = false; |
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if (s == sizeof(irlock_packet) && pkt.timestamp > _last_timestamp) { |
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// fprintf(stderr, " posx %f posy %f sizex %f sizey %f\n", pkt.pos_x, pkt.pos_y, pkt.size_x, pkt.size_y); |
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_target_info.timestamp = pkt.timestamp; |
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_target_info.pos_x = pkt.pos_x; |
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_target_info.pos_y = pkt.pos_y; |
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_last_timestamp = pkt.timestamp; |
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_last_update_ms = _last_timestamp; |
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new_data = true; |
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} |
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// return true if new data found |
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return new_data; |
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} |
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#endif // CONFIG_HAL_BOARD == HAL_BOARD_SITL
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