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             :   Send and receive JSON backend data to alow a second AP instance to ride along
      17             : */
      18             : 
      19             : #pragma once
      20             : 
      21             : #include "SIM_config.h"
      22             : 
      23             : #if AP_SIM_JSON_MASTER_ENABLED
      24             : 
      25             : #include "SITL_Input.h"
      26             : #include <AP_HAL/utility/Socket_native.h>
      27             : #include <AP_Math/AP_Math.h>
      28             : 
      29             : namespace SITL {
      30             : 
      31             : class JSON_Master {
      32             : public:
      33        2145 :     JSON_Master() {};
      34             : 
      35             :     // setup sockets
      36             :     void init(const int32_t num_slaves);
      37             : 
      38             :     // Receive PWM outs from ride along controlers
      39             :     void receive(struct sitl_input &input);
      40             : 
      41             :     // send vehicle state to ride along controlers
      42             :     void send(const struct sitl_fdm &output, const Vector3d &position);
      43             : 
      44             : private:
      45             : 
      46             :     struct socket_list {
      47             :         SocketAPM_native sock_in{true};
      48             :         SocketAPM_native sock_out{true};
      49             :         uint8_t instance;
      50             :         bool connected;
      51             :         socket_list *next;
      52             :     } _list;
      53             : 
      54             :     char *json_out;
      55             : 
      56             :     bool initialized;
      57             : 
      58             : };
      59             : 
      60             : }
      61             : 
      62             : #endif  // AP_SIM_JSON_MASTER_ENABLED