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             :   Base class for serial proximity sensors
      17             : */
      18             : 
      19             : #include "SIM_SerialProximitySensor.h"
      20             : 
      21             : #if AP_SIM_SERIALPROXIMITYSENSOR_ENABLED
      22             : 
      23             : #include <AP_Math/AP_Math.h>
      24             : 
      25             : #include <stdio.h>
      26             : 
      27             : using namespace SITL;
      28             : 
      29           0 : void SerialProximitySensor::update(const Location &location)
      30             : {
      31             :     // just send a chunk of data at 5Hz:
      32           0 :     const uint32_t now = AP_HAL::millis();
      33           0 :     if (now - last_sent_ms < reading_interval_ms()) {
      34           0 :         return;
      35             :     }
      36           0 :     last_sent_ms = now;
      37             : 
      38             :     uint8_t data[255];
      39           0 :     const uint32_t packetlen = packet_for_location(location,
      40             :                                                    data,
      41             :                                                    ARRAY_SIZE(data));
      42             : 
      43           0 :     write_to_autopilot((char*)data, packetlen);
      44             : }
      45             : 
      46             : #endif  // AP_SIM_SERIALPROXIMITYSENSOR_ENABLED