2019-08-14 09:49:08 -03:00
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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 Weboreceived 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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/*
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simulator connector for webots simulator
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*/
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#include "SIM_Webots.h"
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2021-10-11 01:59:19 -03:00
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#if HAL_SIM_WEBOTS_ENABLED
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2019-08-14 09:49:08 -03:00
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#include <arpa/inet.h>
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#include <errno.h>
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#include <fcntl.h>
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#include <stdio.h>
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#include <stdarg.h>
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#include <sys/stat.h>
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#include <sys/types.h>
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Logger/AP_Logger.h>
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#include "pthread.h"
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#include <AP_HAL/utility/replace.h>
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extern const AP_HAL::HAL& hal;
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using namespace SITL;
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static const struct {
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const char *name;
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float value;
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bool save;
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} sim_defaults[] = {
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{ "AHRS_EKF_TYPE", 10 },
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{ "INS_GYR_CAL", 0 },
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{ "RC1_MIN", 1000, true },
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{ "RC1_MAX", 2000, true },
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{ "RC2_MIN", 1000, true },
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{ "RC2_MAX", 2000, true },
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{ "RC3_MIN", 1000, true },
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{ "RC3_MAX", 2000, true },
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{ "RC4_MIN", 1000, true },
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{ "RC4_MAX", 2000, true },
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{ "RC2_REVERSED", 1 }, // interlink has reversed rc2
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{ "SERVO1_MIN", 1000 },
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{ "SERVO1_MAX", 2000 },
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{ "SERVO2_MIN", 1000 },
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{ "SERVO2_MAX", 2000 },
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{ "SERVO3_MIN", 1000 },
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{ "SERVO3_MAX", 2000 },
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{ "SERVO4_MIN", 1000 },
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{ "SERVO4_MAX", 2000 },
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{ "SERVO5_MIN", 1000 },
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{ "SERVO5_MAX", 2000 },
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{ "SERVO6_MIN", 1000 },
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{ "SERVO6_MAX", 2000 },
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{ "SERVO6_MIN", 1000 },
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{ "SERVO6_MAX", 2000 },
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{ "INS_ACC2OFFS_X", 0.001 },
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{ "INS_ACC2OFFS_Y", 0.001 },
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{ "INS_ACC2OFFS_Z", 0.001 },
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{ "INS_ACC2SCAL_X", 1.001 },
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{ "INS_ACC2SCAL_Y", 1.001 },
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{ "INS_ACC2SCAL_Z", 1.001 },
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{ "INS_ACCOFFS_X", 0.001 },
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{ "INS_ACCOFFS_Y", 0.001 },
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{ "INS_ACCOFFS_Z", 0.001 },
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{ "INS_ACCSCAL_X", 1.001 },
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{ "INS_ACCSCAL_Y", 1.001 },
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{ "INS_ACCSCAL_Z", 1.001 },
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};
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Webots::Webots(const char *frame_str) :
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Aircraft(frame_str)
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{
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2020-05-14 03:21:41 -03:00
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use_time_sync = false;
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use_smoothing = false;
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last_state.timestamp = 0.0l;
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2019-08-14 09:49:08 -03:00
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char *saveptr = nullptr;
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char *s = strdup(frame_str);
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char *frame_option = strtok_r(s, ":", &saveptr);
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char *args1 = strtok_r(nullptr, ":", &saveptr);
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char *args2 = strtok_r(nullptr, ":", &saveptr);
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/*
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allow setting of IP, sensors port and control port
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format morse:IPADDRESS:SENSORS_PORT:CONTROL_PORT
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*/
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if (args1) {
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webots_ip = args1;
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2020-05-14 03:21:41 -03:00
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printf("Simulation Port %s\n",args1);
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2019-08-14 09:49:08 -03:00
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}
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if (args2) {
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webots_sensors_port = atoi(args2);
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}
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if (strstr(frame_option, "-rover")) {
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output_type = OUTPUT_ROVER;
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} else if (strstr(frame_option, "-quad")) {
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output_type = OUTPUT_QUAD;
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2019-09-15 16:53:56 -03:00
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} else if (strstr(frame_option, "-tri")) {
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output_type = OUTPUT_TRICOPTER;
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2019-08-14 09:49:08 -03:00
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} else if (strstr(frame_option, "-pwm")) {
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output_type = OUTPUT_PWM;
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} else {
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// default to rover
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output_type = OUTPUT_ROVER;
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}
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for (uint8_t i=0; i<ARRAY_SIZE(sim_defaults); i++) {
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AP_Param::set_default_by_name(sim_defaults[i].name, sim_defaults[i].value);
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if (sim_defaults[i].save) {
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enum ap_var_type ptype;
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AP_Param *p = AP_Param::find(sim_defaults[i].name, &ptype);
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if (!p->configured()) {
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p->save();
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}
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}
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}
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printf("Started Webots with %s:%u type %u\n",
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webots_ip, webots_sensors_port,
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(unsigned)output_type);
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}
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/*
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very simple JSON parser for sensor data
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called with pointer to one row of sensor data, nul terminated
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This parser does not do any syntax checking, and is not at all
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general purpose
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{"timestamp": 1563474924.817575,
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"vehicle.imu": {"timestamp": 1563474924.8009083,
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"angular_velocity": [2.319516170246061e-06, -3.5830129263558774e-07, 7.009341995711793e-09],
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"linear_acceleration": [0.005075275432318449, 0.22471635043621063, 9.80748176574707],
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"magnetic_field": [23088.65625, 3875.89453125, -53204.51171875]},
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"vehicle.gps": {"timestamp": 1563474924.8009083, "x": 5.386466364143416e-05, "y": -0.0010969983413815498, "z": 0.03717954829335213},
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"vehicle.velocity": {"timestamp": 1563474924.8009083,
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"linear_velocity": [4.818238585890811e-10, 2.1333558919423012e-08, 9.310780910709582e-07],
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"angular_velocity": [2.319516170246061e-06, -3.5830129263558774e-07, 7.009341995711793e-09],
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"world_linear_velocity": [5.551115123125783e-17, 0.0, 9.313225746154785e-07]},
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"vehicle.pose": {"timestamp": 1563474924.8009083,
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"x": 5.386466364143416e-05, "y": -0.0010969983413815498, "z": 0.03717954829335213,
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"yaw": 7.137723878258839e-05, "pitch": -0.0005173543468117714, "roll": 0.022908739745616913}}
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*/
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bool Webots::parse_sensors(const char *json)
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{
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//printf("%s\n", json);
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2020-05-14 03:21:41 -03:00
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for (uint16_t i=0; i<ARRAY_SIZE(keytable); i++) {
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2019-08-14 09:49:08 -03:00
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struct keytable &key = keytable[i];
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//printf("search %s/%s\n", key.section, key.key);
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// look for section header
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const char *p = strstr(json, key.section);
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if (!p) {
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// we don't have this sensor
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continue;
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}
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p += strlen(key.section)+1;
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// find key inside section
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p = strstr(p, key.key);
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if (!p) {
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printf("Failed to find key %s/%s\n", key.section, key.key);
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return false;
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}
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p += strlen(key.key)+3;
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switch (key.type) {
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case DATA_FLOAT:
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*((float *)key.ptr) = atof(p);
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//printf("GOT %s/%s value: %f\n", key.section, key.key, *((float *)key.ptr));
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break;
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case DATA_DOUBLE:
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*((double *)key.ptr) = atof(p);
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//printf("GOT %s/%s value: %f\n", key.section, key.key, *((double *)key.ptr));
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break;
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case DATA_VECTOR3F: {
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Vector3f *v = (Vector3f *)key.ptr;
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if (sscanf(p, "[%f, %f, %f]", &v->x, &v->y, &v->z) != 3) {
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printf("Failed to parse Vector3f for %s %s/%s\n",p, key.section, key.key);
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//printf("Failed to parse Vector3f for %s/%s\n", key.section, key.key);
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return false;
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}
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else
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{
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//printf("GOT %s/%s [%f, %f, %f]\n", key.section, key.key, v->x, v->y, v->z);
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}
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break;
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}
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case DATA_VECTOR3F_ARRAY: {
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// example: [[0.0, 0.0, 0.0], [-8.97607135772705, -8.976069450378418, -8.642673492431641e-07]]
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if (*p++ != '[') {
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return false;
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}
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uint16_t n = 0;
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struct vector3f_array *v = (struct vector3f_array *)key.ptr;
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while (true) {
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if (n >= v->length) {
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Vector3f *d = (Vector3f *)realloc(v->data, sizeof(Vector3f)*(n+1));
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if (d == nullptr) {
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return false;
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}
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v->data = d;
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v->length = n+1;
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}
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if (sscanf(p, "[%f, %f, %f]", &v->data[n].x, &v->data[n].y, &v->data[n].z) != 3) {
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//printf("Failed to parse Vector3f for %s/%s[%u]\n", key.section, key.key, n);
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return false;
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}
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else
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{
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//printf("GOT %s/%s [%f, %f, %f]\n", key.section, key.key, v->data[n].x, v->data[n].y, v->data[n].z);
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}
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n++;
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p = strchr(p,']');
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if (!p) {
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return false;
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}
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p++;
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if (p[0] != ',') {
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break;
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}
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if (p[1] != ' ') {
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return false;
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}
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p += 2;
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}
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if (p[0] != ']') {
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return false;
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}
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v->length = n;
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break;
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}
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case DATA_FLOAT_ARRAY: {
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// example: [18.0, 12.694079399108887]
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if (*p++ != '[') {
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return false;
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}
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uint16_t n = 0;
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struct float_array *v = (struct float_array *)key.ptr;
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while (true) {
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if (n >= v->length) {
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float *d = (float *)realloc(v->data, sizeof(float)*(n+1));
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if (d == nullptr) {
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return false;
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}
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v->data = d;
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v->length = n+1;
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}
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v->data[n] = atof(p);
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n++;
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p = strchr(p,',');
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if (!p) {
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break;
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}
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p++;
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}
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v->length = n;
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break;
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}
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}
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}
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2020-05-14 03:21:41 -03:00
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2019-08-14 09:49:08 -03:00
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socket_frame_counter++;
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return true;
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}
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/*
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connect to the required sockets
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*/
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bool Webots::connect_sockets(void)
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{
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if (!sim_sock) {
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2023-12-25 22:21:11 -04:00
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sim_sock = new SocketAPM_native(false);
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2019-08-14 09:49:08 -03:00
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if (!sim_sock) {
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AP_HAL::panic("Out of memory for sensors socket");
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}
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if (!sim_sock->connect(webots_ip, webots_sensors_port)) {
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usleep(100000);
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if (connect_counter++ == 20) {
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printf("Waiting to connect to sensors control on %s:%u\n",
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webots_ip, webots_sensors_port);
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connect_counter = 0;
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}
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delete sim_sock;
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sim_sock = nullptr;
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return false;
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}
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2020-05-14 03:21:41 -03:00
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// wait for Webots packets
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sim_sock->set_blocking(true);
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2019-08-14 09:49:08 -03:00
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sim_sock->reuseaddress();
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printf("Sensors connected\n");
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}
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return true;
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}
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/*
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get any new data from the sensors socket
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*/
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bool Webots::sensors_receive(void)
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{
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ssize_t ret = sim_sock->recv(&sensor_buffer[sensor_buffer_len], sizeof(sensor_buffer)-sensor_buffer_len, 0);
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if (ret <= 0) {
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return false;
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}
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// convert '\n' into nul
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while (uint8_t *p = (uint8_t *)memchr(&sensor_buffer[sensor_buffer_len], '\n', ret)) {
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*p = 0;
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}
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sensor_buffer_len += ret;
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const uint8_t *p2 = (const uint8_t *)memrchr(sensor_buffer, 0, sensor_buffer_len);
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if (p2 == nullptr || p2 == sensor_buffer) {
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return false;
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}
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const uint8_t *p1 = (const uint8_t *)memrchr(sensor_buffer, 0, p2 - sensor_buffer);
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if (p1 == nullptr) {
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return false;
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}
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bool parse_ok = parse_sensors((const char *)(p1+1));
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memmove(sensor_buffer, p2, sensor_buffer_len - (p2 - sensor_buffer));
|
|
|
|
sensor_buffer_len = sensor_buffer_len - (p2 - sensor_buffer);
|
|
|
|
|
|
|
|
return parse_ok;
|
|
|
|
}
|
|
|
|
|
|
|
|
/*
|
|
|
|
output control command assuming skid-steering rover
|
|
|
|
*/
|
|
|
|
void Webots::output_rover(const struct sitl_input &input)
|
|
|
|
{
|
|
|
|
|
|
|
|
const float motor1 = 2*((input.servos[0]-1000)/1000.0f - 0.5f);
|
|
|
|
const float motor2 = 2*((input.servos[2]-1000)/1000.0f - 0.5f);
|
|
|
|
|
|
|
|
// construct a JSON packet for v and w
|
2019-08-19 10:26:46 -03:00
|
|
|
char buf[200];
|
2019-08-14 09:49:08 -03:00
|
|
|
|
2019-08-19 10:26:46 -03:00
|
|
|
const int len = snprintf(buf, sizeof(buf)-1, "{\"rover\": [%f, %f], \"wnd\": [%f, %f, %f, %f]}\n",
|
|
|
|
motor1, motor2,
|
|
|
|
input.wind.speed, wind_ef.x, wind_ef.y, wind_ef.z);
|
2019-08-14 09:49:08 -03:00
|
|
|
|
2019-08-19 10:26:46 -03:00
|
|
|
buf[len] = 0;
|
2019-08-14 09:49:08 -03:00
|
|
|
|
2019-08-19 10:26:46 -03:00
|
|
|
sim_sock->send(buf, len);
|
2019-08-14 09:49:08 -03:00
|
|
|
}
|
|
|
|
|
2019-09-15 16:53:56 -03:00
|
|
|
/*
|
|
|
|
output control command assuming a 3 channels motors and 1 channel servo
|
|
|
|
*/
|
|
|
|
void Webots::output_tricopter(const struct sitl_input &input)
|
|
|
|
{
|
|
|
|
const float max_thrust = 1.0;
|
|
|
|
float motors[3];
|
|
|
|
const float servo = ((input.servos[6]-1000)/1000.0f - 0.5f);
|
|
|
|
motors[0] = constrain_float(((input.servos[0]-1000)/1000.0f) * max_thrust, 0, max_thrust);
|
|
|
|
motors[1] = constrain_float(((input.servos[1]-1000)/1000.0f) * max_thrust, 0, max_thrust);
|
|
|
|
motors[2] = constrain_float(((input.servos[3]-1000)/1000.0f) * max_thrust, 0, max_thrust);
|
|
|
|
|
|
|
|
const float &m_right = motors[0];
|
|
|
|
const float &m_left = motors[1];
|
|
|
|
const float &m_servo = servo ;
|
|
|
|
const float &m_back = motors[2];
|
|
|
|
|
|
|
|
// construct a JSON packet for motors
|
|
|
|
char buf[200];
|
|
|
|
const int len = snprintf(buf, sizeof(buf)-1, "{\"eng\": [%.3f, %.3f, %.3f, %.3f], \"wnd\": [%f, %3.1f, %1.1f, %2.1f]}\n",
|
|
|
|
m_right, m_left, m_servo, m_back,
|
|
|
|
input.wind.speed, wind_ef.x, wind_ef.y, wind_ef.z);
|
|
|
|
//printf("\"eng\": [%.3f, %.3f, %.3f, %.3f]\n",m_right, m_left, m_servo, m_back);
|
|
|
|
buf[len] = 0;
|
|
|
|
|
|
|
|
sim_sock->send(buf, len);
|
|
|
|
}
|
|
|
|
|
2019-08-14 09:49:08 -03:00
|
|
|
|
|
|
|
|
|
|
|
/*
|
|
|
|
output all 16 channels as PWM values. This allows for general
|
|
|
|
control of a robot
|
|
|
|
*/
|
|
|
|
void Webots::output_pwm(const struct sitl_input &input)
|
|
|
|
{
|
2020-05-14 03:21:41 -03:00
|
|
|
char buf[2000];
|
|
|
|
const int len = snprintf(buf, sizeof(buf)-1, "{\"pwm\": [%d.0, %d.0, %d.0, %d.0, %d.0, %d.0, %d.0, %d.0, %d.0, %d.0, %d.0, %d.0, %d.0, %d.0, %d.0, %d.0], \"wnd\": [%3.3f, %f, %3.3f, %3.3f]}\n",
|
2019-08-14 09:49:08 -03:00
|
|
|
input.servos[0], input.servos[1], input.servos[2], input.servos[3],
|
|
|
|
input.servos[4], input.servos[5], input.servos[6], input.servos[7],
|
|
|
|
input.servos[8], input.servos[9], input.servos[10], input.servos[11],
|
2019-08-19 10:26:46 -03:00
|
|
|
input.servos[12], input.servos[13], input.servos[14], input.servos[15],
|
|
|
|
input.wind.speed, wind_ef.x, wind_ef.y, wind_ef.z);
|
2020-05-14 03:21:41 -03:00
|
|
|
buf[len] = 0;
|
2019-08-19 10:26:46 -03:00
|
|
|
sim_sock->send(buf, len);
|
2019-08-14 09:49:08 -03:00
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
void Webots::output (const struct sitl_input &input)
|
|
|
|
{
|
2020-05-14 03:21:41 -03:00
|
|
|
|
2019-08-14 09:49:08 -03:00
|
|
|
switch (output_type) {
|
|
|
|
case OUTPUT_ROVER:
|
|
|
|
output_rover(input);
|
|
|
|
break;
|
|
|
|
case OUTPUT_QUAD:
|
2021-11-14 11:49:25 -04:00
|
|
|
output_pwm(input);
|
2019-08-14 09:49:08 -03:00
|
|
|
break;
|
2019-09-15 16:53:56 -03:00
|
|
|
case OUTPUT_TRICOPTER:
|
|
|
|
output_tricopter(input);
|
|
|
|
break;
|
2019-08-14 09:49:08 -03:00
|
|
|
case OUTPUT_PWM:
|
|
|
|
output_pwm(input);
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
/*
|
|
|
|
update the Webots simulation by one time step
|
|
|
|
*/
|
|
|
|
void Webots::update(const struct sitl_input &input)
|
|
|
|
{
|
2020-05-14 03:21:41 -03:00
|
|
|
static bool first = true;
|
2019-08-14 09:49:08 -03:00
|
|
|
if (!connect_sockets()) {
|
|
|
|
return;
|
|
|
|
}
|
|
|
|
|
|
|
|
const bool valid = sensors_receive();
|
2020-05-14 03:21:41 -03:00
|
|
|
if (!valid)
|
|
|
|
{
|
|
|
|
return ;
|
2019-08-14 09:49:08 -03:00
|
|
|
}
|
2020-05-14 03:21:41 -03:00
|
|
|
|
|
|
|
|
|
|
|
//time frame from simulator
|
|
|
|
frame_time_us = ((state.timestamp - last_state.timestamp) * 1.0e6f); //HERE
|
|
|
|
if ((!first) && (frame_time_us ==0))
|
|
|
|
{
|
|
|
|
first = false;
|
|
|
|
printf("frame_time_us Zero \n");
|
|
|
|
output(input);
|
|
|
|
return ;
|
2019-08-14 09:49:08 -03:00
|
|
|
}
|
|
|
|
|
2020-05-14 03:21:41 -03:00
|
|
|
time_now_us += frame_time_us;
|
|
|
|
|
2019-08-14 09:49:08 -03:00
|
|
|
|
|
|
|
if (valid)
|
|
|
|
{
|
|
|
|
|
|
|
|
// convert from state variables to ardupilot conventions
|
|
|
|
dcm.from_euler(state.pose.roll, state.pose.pitch, -state.pose.yaw);
|
|
|
|
|
|
|
|
gyro = Vector3f(state.imu.angular_velocity[0] ,
|
|
|
|
state.imu.angular_velocity[1] ,
|
|
|
|
-state.imu.angular_velocity[2] );
|
|
|
|
|
|
|
|
accel_body = Vector3f(+state.imu.linear_acceleration[0],
|
|
|
|
+state.imu.linear_acceleration[1],
|
|
|
|
-state.imu.linear_acceleration[2]);
|
|
|
|
|
|
|
|
velocity_ef = Vector3f(+state.velocity.world_linear_velocity[0],
|
|
|
|
+state.velocity.world_linear_velocity[1],
|
|
|
|
-state.velocity.world_linear_velocity[2]);
|
|
|
|
|
2021-06-20 23:59:02 -03:00
|
|
|
position = Vector3d(state.gps.x, state.gps.y, -state.gps.z);
|
2021-07-10 03:10:54 -03:00
|
|
|
position.xy() += origin.get_distance_NE_double(home);
|
2019-08-14 09:49:08 -03:00
|
|
|
|
|
|
|
// limit to 16G to match pixhawk1
|
|
|
|
float a_limit = GRAVITY_MSS*16;
|
|
|
|
accel_body.x = constrain_float(accel_body.x, -a_limit, a_limit);
|
|
|
|
accel_body.y = constrain_float(accel_body.y, -a_limit, a_limit);
|
|
|
|
accel_body.z = constrain_float(accel_body.z, -a_limit, a_limit);
|
|
|
|
|
|
|
|
// fill in laser scanner results, if available
|
|
|
|
scanner.points = state.scanner.points;
|
|
|
|
scanner.ranges = state.scanner.ranges;
|
|
|
|
|
|
|
|
update_position();
|
|
|
|
|
|
|
|
// update magnetic field
|
|
|
|
update_mag_field_bf();
|
2020-05-14 03:21:41 -03:00
|
|
|
|
|
|
|
time_advance();
|
|
|
|
|
2019-08-19 10:26:46 -03:00
|
|
|
update_wind (input);
|
2020-05-14 03:21:41 -03:00
|
|
|
|
|
|
|
|
2019-08-14 09:49:08 -03:00
|
|
|
|
2020-05-14 03:21:41 -03:00
|
|
|
//report_FPS();
|
2019-08-14 09:49:08 -03:00
|
|
|
}
|
2020-05-14 03:21:41 -03:00
|
|
|
|
|
|
|
output(input);
|
|
|
|
|
|
|
|
last_state = state;
|
|
|
|
|
2019-08-14 09:49:08 -03:00
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
/*
|
|
|
|
report frame rates
|
|
|
|
*/
|
|
|
|
void Webots::report_FPS(void)
|
|
|
|
{
|
2020-05-14 03:21:41 -03:00
|
|
|
// if (frame_counter++ % 1000 == 0) {
|
|
|
|
// if (!is_zero(last_frame_count_s)) {
|
|
|
|
// uint64_t frames = socket_frame_counter - last_socket_frame_counter;
|
|
|
|
// last_socket_frame_counter = socket_frame_counter;
|
|
|
|
// double dt = state.timestamp - last_frame_count_s;
|
|
|
|
// printf("%.2f/%.2f FPS avg=%.2f\n",
|
|
|
|
// frames / dt, 1000 / dt, 1.0/average_frame_time_s);
|
|
|
|
// } else {
|
|
|
|
// printf("Initial position %f %f %f\n", position.x, position.y, position.z);
|
|
|
|
// }
|
|
|
|
// last_frame_count_s = state.timestamp;
|
|
|
|
// }
|
2019-08-14 09:49:08 -03:00
|
|
|
}
|
2021-10-11 01:59:19 -03:00
|
|
|
|
|
|
|
#endif // HAL_SIM_WEBOTS_ENABLED
|