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 serial LightWare rangefinder 
      17             : */
      18             : 
      19             : #include "SIM_RF_LightWareSerial.h"
      20             : 
      21             : #include <GCS_MAVLink/GCS.h>
      22             : #include <stdio.h>
      23             : 
      24             : 
      25             : using namespace SITL;
      26             : 
      27      260426 : bool RF_LightWareSerial::check_synced()
      28             : {
      29      260426 :     if (!synced) {
      30             :         // just try to slurp a buffer in one hit:
      31        5982 :         char buffer[12] {};
      32        5982 :         ssize_t n = read_from_autopilot(buffer, ARRAY_SIZE(buffer) - 1);
      33        5982 :         if (n > 0) {
      34           2 :             if (!strncmp(buffer, "www\r\n", ARRAY_SIZE(buffer))) {
      35           2 :                 GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Slurped a sync thing");
      36           2 :                 synced = true;
      37             :             }
      38             :         }
      39             :     }
      40      260426 :     return synced;
      41             : }
      42             : 
      43      260426 : void RF_LightWareSerial::update(float range)
      44             : {
      45      260426 :     if (!check_synced()) {
      46        5980 :         return;
      47             :     }
      48      254446 :     return SerialRangeFinder::update(range);
      49             : }
      50             : 
      51        1061 : uint32_t RF_LightWareSerial::packet_for_alt(float alt_m, uint8_t *buffer, uint8_t buflen)
      52             : {
      53             :     uint16_t alt_cm;
      54        1061 :     if (alt_m > 100) {
      55         384 :         alt_cm = 13000;  // from datasheet
      56             :     } else {
      57         677 :         alt_cm = alt_m * 100;
      58             :     }
      59        1061 :     return snprintf((char*)buffer, buflen, "%0.2f\r", alt_cm * 0.01f); // note tragic lack of snprintf return checking
      60             : }