Line data    Source code

       1             : /*
       2             :    This program is free software: you can redistribute it and/or modify
       3             :    it under the terms of the GNU General Public License as published by
       4             :    the Free Software Foundation, either version 3 of the License, or
       5             :    (at your option) any later version.
       6             : 
       7             :    This program is distributed in the hope that it will be useful,
       8             :    but WITHOUT ANY WARRANTY; without even the implied warranty of
       9             :    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
      10             :    GNU General Public License for more details.
      11             : 
      12             :    You should have received a copy of the GNU General Public License
      13             :    along with this program.  If not, see <http://www.gnu.org/licenses/>.
      14             :  */
      15             : 
      16             : /*
      17             :  * AP_IRLock_SITL.cpp
      18             :  *
      19             :  *  Created on: June 09, 2016
      20             :  *      Author: Ian Chen
      21             :  */
      22             : #include "AP_IRLock_config.h"
      23             : 
      24             : #if AP_IRLOCK_SITL_GAZEBO_ENABLED
      25             : 
      26             : #include "AP_IRLock_SITL_Gazebo.h"
      27             : #include <SITL/SITL.h>
      28             : #include <fcntl.h>
      29             : #include <unistd.h>
      30             : 
      31             : #include <iostream>
      32             : 
      33             : extern const AP_HAL::HAL& hal;
      34             : 
      35           0 : AP_IRLock_SITL_Gazebo::AP_IRLock_SITL_Gazebo() :
      36           0 :     _last_timestamp(0),
      37           0 :     sock(true)
      38           0 : {}
      39             : 
      40           0 : void AP_IRLock_SITL_Gazebo::init(int8_t bus)
      41             : {
      42           0 :     SITL::SIM *sitl = AP::sitl();
      43             :     // try to bind to a specific port so that if we restart ArduPilot
      44             :     // Gazebo keeps sending us packets. Not strictly necessary but
      45             :     // useful for debugging
      46           0 :     sock.bind("127.0.0.1", sitl->irlock_port);
      47             : 
      48           0 :     sock.reuseaddress();
      49           0 :     sock.set_blocking(false);
      50             : 
      51           0 :     hal.console->printf("AP_IRLock_SITL::init()\n");
      52             : 
      53           0 :     _flags.healthy = true;
      54           0 : }
      55             : 
      56             : // retrieve latest sensor data - returns true if new data is available
      57           0 : bool AP_IRLock_SITL_Gazebo::update()
      58             : {
      59             :     // return immediately if not healthy
      60           0 :     if (!_flags.healthy) {
      61           0 :         return false;
      62             :     }
      63             : 
      64             :     // receive packet from Gazebo IRLock plugin
      65             : 
      66             :     /*
      67             :       reply packet sent from simulator to ArduPilot
      68             :      */
      69             :     struct irlock_packet {
      70             :         uint64_t timestamp;  // in milliseconds
      71             :         uint16_t num_targets;
      72             :         float pos_x;
      73             :         float pos_y;
      74             :         float size_x;
      75             :         float size_y;
      76             :     } pkt;
      77           0 :     const int wait_ms = 0;
      78           0 :     ssize_t s = sock.recv(&pkt, sizeof(irlock_packet), wait_ms);
      79             : 
      80           0 :     bool new_data = false;
      81             : 
      82           0 :     if (s == sizeof(irlock_packet) && pkt.timestamp > _last_timestamp) {
      83             :         // fprintf(stderr, "     posx %f posy %f sizex %f sizey %f\n", pkt.pos_x, pkt.pos_y, pkt.size_x, pkt.size_y);
      84           0 :         _target_info.timestamp = pkt.timestamp;
      85           0 :         _target_info.pos_x = pkt.pos_x;
      86           0 :         _target_info.pos_y = pkt.pos_y;
      87           0 :         _last_timestamp = pkt.timestamp;
      88           0 :         _last_update_ms = _last_timestamp;
      89           0 :         new_data = true;
      90             :     }
      91             : 
      92             :     // return true if new data found
      93           0 :     return new_data;
      94             : }
      95             : 
      96             : #endif  // AP_IRLOCK_SITL_GAZEBO_ENABLED