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             : #include "AP_Proximity_config.h"
      17             : 
      18             : #if AP_PROXIMITY_AIRSIMSITL_ENABLED
      19             : 
      20             : #include "AP_Proximity_AirSimSITL.h"
      21             : 
      22             : #define PROXIMITY_MAX_RANGE 100.0f
      23             : #define PROXIMITY_ACCURACY  0.1f        // minimum distance (in meters) between objects sent to object database
      24             : 
      25             : // update the state of the sensor
      26           0 : void AP_Proximity_AirSimSITL::update(void)
      27             : {
      28           0 :     SITL::vector3f_array &points = sitl->state.scanner.points;
      29           0 :     if (points.length == 0) {
      30           0 :         set_status(AP_Proximity::Status::NoData);
      31           0 :         return;
      32             :     }
      33             : 
      34           0 :     set_status(AP_Proximity::Status::Good);
      35             : 
      36             :     // reset all faces to default so that it can be filled with the fresh lidar data
      37           0 :     frontend.boundary.reset();
      38             : 
      39             :     // precalculate sq of min distance
      40           0 :     const float distance_min_sq = sq(distance_min_m());
      41             : 
      42             :     // variables used to reduce data sent to object database
      43           0 :     const float accuracy_sq = sq(PROXIMITY_ACCURACY);
      44           0 :     bool prev_pos_valid = false;
      45           0 :     Vector2f prev_pos;
      46             :     // clear temp boundary since we have a new message
      47           0 :     temp_boundary.reset();
      48             : 
      49           0 :     for (uint16_t i=0; i<points.length; i++) {
      50           0 :         Vector3f &point = points.data[i];
      51           0 :         if (point.is_zero()) {
      52           0 :             continue;
      53             :         }
      54             : 
      55             :         // calculate distance to point and check larger than min distance
      56           0 :         const Vector2f new_pos = Vector2f{point.x, point.y};
      57           0 :         const float distance_sq = new_pos.length_squared();
      58           0 :         if (distance_sq > distance_min_sq) {
      59             : 
      60             :             // add distance to the 3D boundary
      61           0 :             const float yaw_angle_deg = wrap_360(degrees(atan2f(point.y, point.x)));
      62           0 :             const AP_Proximity_Boundary_3D::Face face = frontend.boundary.get_face(yaw_angle_deg);
      63             :             // store the min distance in each face in a temp boundary
      64           0 :             temp_boundary.add_distance(face, yaw_angle_deg, safe_sqrt(distance_sq));
      65             : 
      66             :             // check distance from previous point to reduce amount of data sent to object database
      67           0 :             if (!prev_pos_valid || ((new_pos - prev_pos).length_squared() >= accuracy_sq)) {
      68             :                 // update OA database
      69           0 :                 database_push(yaw_angle_deg, safe_sqrt(distance_sq));
      70             :                 // store point
      71           0 :                 prev_pos_valid = true;
      72           0 :                 prev_pos = new_pos;
      73             :             }
      74             :         }
      75             :     }
      76             :     // copy temp boundary to real boundary
      77           0 :     temp_boundary.update_3D_boundary(state.instance, frontend.boundary);
      78             : }
      79             : 
      80             : // get maximum and minimum distances (in meters) of primary sensor
      81           0 : float AP_Proximity_AirSimSITL::distance_max_m() const
      82             : {
      83           0 :     return PROXIMITY_MAX_RANGE;
      84             : }
      85             : 
      86           0 : float AP_Proximity_AirSimSITL::distance_min_m() const
      87             : {
      88           0 :     return 0.0f;
      89             : }
      90             : 
      91             : // get distance upwards in meters. returns true on success
      92           0 : bool AP_Proximity_AirSimSITL::get_upward_distance(float &distance) const
      93             : {
      94             :     // we don't have an upward facing laser
      95           0 :     return false;
      96             : }
      97             : 
      98             : #endif // AP_PROXIMITY_AIRSIMSITL_ENABLED