mirror of https://github.com/ArduPilot/ardupilot
104 lines
2.8 KiB
C
104 lines
2.8 KiB
C
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include <AP_HAL/utility/Socket.h>
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#include "SIM_Aircraft.h"
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namespace SITL {
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class JSON : public Aircraft {
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public:
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JSON(const char *frame_str);
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/* update model by one time step */
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void update(const struct sitl_input &input) override;
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/* static object creator */
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static Aircraft *create(const char *frame_str) {
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return new JSON(frame_str);
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}
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/* Create and set in/out socket for JSON generic simulator */
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void set_interface_ports(const char* address, const int port_in, const int port_out) override;
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private:
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struct servo_packet {
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uint32_t frame_count;
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float speedup;
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uint16_t pwm[16];
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};
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// default connection_info_.ip_address
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const char *target_ip = "127.0.0.1";
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// default connection_info_.ip_port
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uint16_t sensor_port = 9003;
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// default connection_info_.sitl_ip_port
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uint16_t control_port = 9002;
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SocketAPM sock;
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double average_frame_time;
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uint32_t frame_counter;
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uint64_t last_timestamp;
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void output_servos(const struct sitl_input &input);
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void recv_fdm(const struct sitl_input &input);
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bool parse_sensors(const char *json);
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// buffer for parsing pose data in JSON format
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uint8_t sensor_buffer[65000];
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uint32_t sensor_buffer_len;
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enum data_type {
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DATA_UINT64,
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DATA_FLOAT,
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DATA_DOUBLE,
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DATA_VECTOR3F,
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};
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struct {
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uint64_t timestamp;
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struct {
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Vector3f gyro;
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Vector3f accel_body;
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} imu;
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Vector3f position;
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Vector3f attitude;
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Vector3f velocity;
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} state;
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// table to aid parsing of JSON sensor data
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struct keytable {
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const char *section;
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const char *key;
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void *ptr;
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enum data_type type;
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} keytable[6] = {
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{ "", "timestamp", &state.timestamp, DATA_UINT64 },
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{ "imu", "gyro", &state.imu.gyro, DATA_VECTOR3F },
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{ "imu", "accel_body", &state.imu.accel_body, DATA_VECTOR3F },
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{ "", "position", &state.position, DATA_VECTOR3F },
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{ "", "attitude", &state.attitude, DATA_VECTOR3F },
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{ "", "velocity", &state.velocity, DATA_VECTOR3F },
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};
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};
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}
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