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             :   Simulator for the TeraRangerTower proximity sensor
      17             : */
      18             : 
      19             : #include "SIM_config.h"
      20             : 
      21             : #if AP_SIM_PS_TERARANGERTOWER_ENABLED
      22             : 
      23             : #include "SIM_PS_TeraRangerTower.h"
      24             : 
      25             : #include <GCS_MAVLink/GCS.h>
      26             : #include <AP_HAL/utility/sparse-endian.h>
      27             : #include <stdio.h>
      28             : #include <errno.h>
      29             : 
      30             : using namespace SITL;
      31             : 
      32           0 : uint32_t PS_TeraRangerTower::packet_for_location(const Location &location,
      33             :                                            uint8_t *data,
      34             :                                            uint8_t buflen)
      35             : {
      36           0 :     return 0;
      37             : }
      38             : 
      39       54064 : void PS_TeraRangerTower::update_output(const Location &location)
      40             : {
      41       54064 :     const uint32_t now = AP_HAL::millis();
      42       54064 :     if (last_output_time_ms == 0) {
      43           3 :         last_output_time_ms = now;
      44       53839 :         return;
      45             :     }
      46       54061 :     const uint32_t time_delta = now - last_output_time_ms;
      47       54061 :     if (time_delta < 200) {  // 5Hz update
      48       53836 :         return;
      49             :     }
      50         225 :     last_output_time_ms = now;
      51             : 
      52             :     struct PACKED  {
      53             :         uint8_t HEADER1{'T'};
      54             :         uint8_t HEADER2{'H'};
      55             :         uint16_t measurements[8];
      56             :         uint8_t checksum;
      57         225 :     } send_buffer;
      58             : 
      59        2025 :     for (uint8_t i=0; i<8; i++) {
      60        1800 :         const uint16_t bf_angle = (360 - (i * 45)) % 360;
      61        1800 :         float distance = measure_distance_at_angle_bf(location, bf_angle);
      62             :         // ::fprintf(stderr, "SIM: %f=%fm\n", current_degrees_bf, distance);
      63        1800 :         if (distance > MAX_RANGE) {
      64         875 :             send_buffer.measurements[i] = 0xffff;
      65             :         } else {
      66         925 :             send_buffer.measurements[i] = htobe16(distance * 1000);
      67             :         }
      68             :     }
      69             : 
      70         225 :     send_buffer.checksum = crc_crc8((uint8_t*)&send_buffer, 18);
      71             : 
      72         225 :     const ssize_t ret = write_to_autopilot((const char*)&send_buffer, sizeof(send_buffer));
      73         225 :     if (ret != sizeof(send_buffer)) {
      74           0 :         abort();
      75             :     }
      76             : }
      77             : 
      78       54064 : void PS_TeraRangerTower::update(const Location &location)
      79             : {
      80       54064 :     update_output(location);
      81       54064 : }
      82             : 
      83             : #endif  // AP_SIM_PS_TERARANGERTOWER_ENABLED