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532c9abd4a
* Fix comment * Ekf wrapper for testing Add utility function for accessing information in the ekf object * Add step function for Gps sensor * Add RangeFinder and Flow to simulated sensors * Add first fusion logic tests * Add units to function name * Use EXPECT_TRUE * Adding missing qualifiers * Improve EXPECT_ calls * Improve naming
85 lines
2.6 KiB
C++
85 lines
2.6 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2019 ECL Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* Base class for defining the interface for simulaton of a sensor
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* @author Kamil Ritz <ka.ritz@hotmail.com>
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*/
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#pragma once
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#include "EKF/ekf.h"
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#include <math.h>
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#include <memory>
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namespace sensor_simulator
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{
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class Sensor
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{
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public:
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Sensor(std::shared_ptr<Ekf> ekf);
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virtual ~Sensor();
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void update(uint32_t time);
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void setRateHz(uint32_t rate){ _update_period = uint32_t(1000000)/rate; }
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bool isRunning() const { return _is_running; }
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void start(){ _is_running = true; }
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void stop(){ _is_running = false; }
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protected:
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std::shared_ptr<Ekf> _ekf;
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// time in microseconds
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uint32_t _update_period;
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uint32_t _time_last_data_sent{0};
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bool _is_running{false};
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bool should_send(uint32_t time) const;
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// Checks that the right amount time passed since last send data to fulfill rate
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bool is_time_to_send(uint32_t time) const;
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// call set*Data function of Ekf
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virtual void send(uint32_t time) = 0;
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};
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} // namespace sensor_simulator
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