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_SITL_ENABLED
      19             : 
      20             : #include "AP_Proximity_SITL.h"
      21             : 
      22             : #include <AP_HAL/AP_HAL.h>
      23             : #include <AP_Param/AP_Param.h>
      24             : #include <AC_Fence/AC_Fence.h>
      25             : #include <stdio.h>
      26             : 
      27             : extern const AP_HAL::HAL& hal;
      28             : 
      29             : #define PROXIMITY_MAX_RANGE 200.0f
      30             : #define PROXIMITY_ACCURACY 0.1f
      31             : 
      32             : /* 
      33             :    The constructor also initialises the proximity sensor. 
      34             : */
      35           5 : AP_Proximity_SITL::AP_Proximity_SITL(AP_Proximity &_frontend,
      36             :                                      AP_Proximity::Proximity_State &_state,
      37           5 :                                      AP_Proximity_Params& _params):
      38             :     AP_Proximity_Backend(_frontend, _state, _params),
      39           5 :     sitl(AP::sitl())
      40             : {
      41             :     ap_var_type ptype;
      42           5 :     fence_alt_max = (AP_Float *)AP_Param::find("FENCE_ALT_MAX", &ptype);
      43           5 :     if (fence_alt_max == nullptr || ptype != AP_PARAM_FLOAT) {
      44           0 :         AP_HAL::panic("Proximity_SITL: Failed to find FENCE_ALT_MAX");
      45             :     }
      46           5 : }
      47             : 
      48             : // update the state of the sensor
      49       43919 : void AP_Proximity_SITL::update(void)
      50             : {
      51       43919 :     current_loc.lat = sitl->state.latitude * 1.0e7;
      52       43919 :     current_loc.lng = sitl->state.longitude * 1.0e7;
      53       43919 :     current_loc.alt = sitl->state.altitude * 1.0e2;
      54             : 
      55             : #if AP_FENCE_ENABLED
      56       43919 :     if (!AP::fence()->polyfence().breached()) {
      57             :         // only called to prompt polyfence to reload fence if required
      58             :     }
      59       43919 :     if (AP::fence()->polyfence().inclusion_boundary_available()) {
      60       38507 :         set_status(AP_Proximity::Status::Good);
      61             :         // update distance in each sector
      62      346563 :         for (uint8_t sector=0; sector < PROXIMITY_NUM_SECTORS; sector++) {
      63      308056 :             const float yaw_angle_deg = sector * 45.0f;
      64      308056 :             AP_Proximity_Boundary_3D::Face face = frontend.boundary.get_face(yaw_angle_deg);
      65             :             float fence_distance;
      66      308056 :             if (get_distance_to_fence(yaw_angle_deg, fence_distance)) {
      67      308056 :                 frontend.boundary.set_face_attributes(face, yaw_angle_deg, fence_distance, state.instance);
      68             :                 // update OA database
      69      308056 :                 database_push(yaw_angle_deg, fence_distance);
      70             :             } else {
      71           0 :                 frontend.boundary.reset_face(face, state.instance);
      72             :             }
      73             :         }
      74             :     } else {
      75        5412 :         set_status(AP_Proximity::Status::NoData);
      76             :     }
      77             : #else
      78             :     set_status(AP_Proximity::Status::NoData);
      79             : #endif
      80       43919 : }
      81             : 
      82             : // get distance in meters to fence in a particular direction in degrees (0 is forward, angles increase in the clockwise direction)
      83      308056 : bool AP_Proximity_SITL::get_distance_to_fence(float angle_deg, float &distance) const
      84             : {
      85             : #if AP_FENCE_ENABLED
      86      308056 :     if (!AP::fence()->polyfence().inclusion_boundary_available()) {
      87           0 :         return false;
      88             :     }
      89             : 
      90             :     // convert to earth frame
      91      308056 :     angle_deg = wrap_360(sitl->state.yawDeg + angle_deg);
      92             : 
      93             :     /*
      94             :       simple bisection search to find distance. Not really efficient,
      95             :       but we can afford the CPU in SITL
      96             :      */
      97      308056 :     float min_dist = 0, max_dist = PROXIMITY_MAX_RANGE;
      98     3696672 :     while (max_dist - min_dist > PROXIMITY_ACCURACY) {
      99     3388616 :         float test_dist = (max_dist+min_dist)*0.5f;
     100             : 
     101     3388616 :         Location loc = current_loc;
     102     3388616 :         loc.offset_bearing(angle_deg, test_dist);
     103     3388616 :         if (AP::fence()->polyfence().breached(loc)) {
     104     2334234 :             max_dist = test_dist;
     105             :         } else {
     106     1054382 :             min_dist = test_dist;
     107             :         }
     108             :     }
     109      308056 :     distance = min_dist;
     110      308056 :     if (ignore_reading(angle_deg, distance, false)) {
     111             :         // obstacle near land, lets ignore it
     112           0 :         return false;
     113             :     }
     114      308056 :     return true;
     115             : #else
     116             :     return false;
     117             : #endif
     118             : }
     119             : 
     120             : // get maximum and minimum distances (in meters) of primary sensor
     121       18370 : float AP_Proximity_SITL::distance_max_m() const
     122             : {
     123       18370 :     return PROXIMITY_MAX_RANGE;
     124             : }
     125        1946 : float AP_Proximity_SITL::distance_min_m() const
     126             : {
     127        1946 :     return 0.0f;
     128             : }
     129             : 
     130             : // get distance upwards in meters. returns true on success
     131       10689 : bool AP_Proximity_SITL::get_upward_distance(float &distance) const
     132             : {
     133             :     // return distance to fence altitude
     134       10689 :     distance = MAX(0.0f, fence_alt_max->get() - sitl->state.height_agl);
     135       10689 :     return true;
     136             : }
     137             : 
     138             : #endif // AP_PROXIMITY_SITL_ENABLED