ardupilot/libraries/AP_HAL_SITL/SITL_State_common.h

Ignoring revisions in .git-blame-ignore-revs. Click here to bypass and see the normal blame view.

268 lines
7.2 KiB
C
Raw Normal View History

#pragma once
#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
#define SITL_MCAST_IP "239.255.145.51"
#define SITL_MCAST_PORT 20721
#define SITL_SERVO_PORT 20722
2023-12-25 22:21:11 -04:00
#include <AP_HAL/utility/Socket_native.h>
#include <SITL/SIM_SoloGimbal.h>
#include <SITL/SIM_ADSB.h>
#include <SITL/SIM_ADSB_Sagetech_MXS.h>
2023-11-08 23:56:36 -04:00
#include <SITL/SIM_EFI_Hirth.h>
#include <SITL/SIM_Vicon.h>
2024-03-15 18:41:00 -03:00
#include <SITL/SIM_RF_Ainstein_LR_D1.h>
#include <SITL/SIM_RF_Benewake_TF02.h>
#include <SITL/SIM_RF_Benewake_TF03.h>
#include <SITL/SIM_RF_Benewake_TFmini.h>
#include <SITL/SIM_RF_NoopLoop.h>
#include <SITL/SIM_RF_TeraRanger_Serial.h>
2023-08-08 01:34:39 -03:00
#include <SITL/SIM_RF_JRE.h>
#include <SITL/SIM_RF_LightWareSerial.h>
#include <SITL/SIM_RF_LightWareSerialBinary.h>
#include <SITL/SIM_RF_Lanbao.h>
#include <SITL/SIM_RF_BLping.h>
#include <SITL/SIM_RF_LeddarOne.h>
#include <SITL/SIM_RF_RDS02UF.h>
#include <SITL/SIM_RF_USD1_v0.h>
#include <SITL/SIM_RF_USD1_v1.h>
#include <SITL/SIM_RF_MaxsonarSerialLV.h>
#include <SITL/SIM_RF_Wasp.h>
#include <SITL/SIM_RF_NMEA.h>
#include <SITL/SIM_RF_MAVLink.h>
#include <SITL/SIM_RF_GYUS42v2.h>
#include <SITL/SIM_VectorNav.h>
#include <SITL/SIM_MicroStrain.h>
2023-12-01 00:57:51 -04:00
#include <SITL/SIM_InertialLabs.h>
#include <SITL/SIM_AIS.h>
#include <SITL/SIM_GPS.h>
#include <SITL/SIM_Frsky_D.h>
#include <SITL/SIM_CRSF.h>
// #include <SITL/SIM_Frsky_SPort.h>
// #include <SITL/SIM_Frsky_SPortPassthrough.h>
#include <SITL/SIM_PS_RPLidarA2.h>
#include <SITL/SIM_PS_RPLidarA1.h>
#include <SITL/SIM_PS_TeraRangerTower.h>
#include <SITL/SIM_PS_LightWare_SF45B.h>
#include <SITL/SIM_RichenPower.h>
#include <SITL/SIM_Loweheiser.h>
#include <SITL/SIM_FETtecOneWireESC.h>
#include <SITL/SIM_ELRS.h>
#include "AP_HAL_SITL.h"
#include "AP_HAL_SITL_Namespace.h"
#include "HAL_SITL_Class.h"
#include "RCInput.h"
#include <sys/types.h>
#include <vector>
#include <AP_Baro/AP_Baro.h>
#include <AP_InertialSensor/AP_InertialSensor.h>
#include <AP_Compass/AP_Compass.h>
#include <AP_Terrain/AP_Terrain.h>
#include <SITL/SITL.h>
#include <SITL/SITL_Input.h>
class HAL_SITL;
class HALSITL::SITL_State_Common {
friend class HALSITL::Scheduler;
friend class HALSITL::Util;
friend class HALSITL::GPIO;
public:
virtual void init(int argc, char * const argv[]) = 0;
enum vehicle_type {
NONE,
ArduCopter,
Rover,
ArduPlane,
ArduSub,
Blimp
};
// create a simulated serial device; type of device is given by
// name parameter
SITL::SerialDevice *create_serial_sim(const char *name, const char *arg, const uint8_t portNumber);
// simulated airspeed, sonar and battery monitor
float sonar_pin_voltage; // pin 0
float airspeed_pin_voltage[AIRSPEED_MAX_SENSORS]; // pin 1
float voltage_pin_voltage; // pin 13
float current_pin_voltage; // pin 12
float voltage2_pin_voltage; // pin 15
float current2_pin_voltage; // pin 14
uint16_t pwm_input[SITL_RC_INPUT_CHANNELS];
bool new_rc_input;
uint16_t pwm_output[SITL_NUM_CHANNELS];
bool output_ready = false;
#if AP_SIM_SOLOGIMBAL_ENABLED
// simulated gimbal
bool enable_gimbal;
SITL::SoloGimbal *gimbal;
#endif
#if HAL_SIM_ADSB_ENABLED
// simulated ADSb
SITL::ADSB *adsb;
#endif
#if AP_SIM_ADSB_SAGETECH_MXS_ENABLED
SITL::ADSB_Sagetech_MXS *sagetech_mxs;
#endif
#if !defined(HAL_BUILD_AP_PERIPH)
// simulated vicon system:
SITL::Vicon *vicon;
#endif
2024-03-15 18:41:00 -03:00
// simulated Ainstein LR-D1 rangefinder:
SITL::RF_Ainstein_LR_D1 *ainsteinlrd1;
// simulated Benewake tf02 rangefinder:
SITL::RF_Benewake_TF02 *benewake_tf02;
// simulated Benewake tf03 rangefinder:
SITL::RF_Benewake_TF03 *benewake_tf03;
2023-08-08 01:34:39 -03:00
//simulated JAE JRE rangefinder:
SITL::RF_JRE *jre;
// simulated Benewake tfmini rangefinder:
SITL::RF_Benewake_TFmini *benewake_tfmini;
//simulated NoopLoop TOFSense rangefinder:
SITL::RF_Nooploop *nooploop;
// simulated TeraRanger Serial:
SITL::RF_TeraRanger_Serial *teraranger_serial;
// simulated LightWareSerial rangefinder - legacy protocol::
SITL::RF_LightWareSerial *lightwareserial;
// simulated LightWareSerial rangefinder - binary protocol:
SITL::RF_LightWareSerialBinary *lightwareserial_binary;
// simulated Lanbao rangefinder:
SITL::RF_Lanbao *lanbao;
// simulated BLping rangefinder:
SITL::RF_BLping *blping;
// simulated LeddarOne rangefinder:
SITL::RF_LeddarOne *leddarone;
// simulated RDS02UF rangefinder:
SITL::RF_RDS02UF *rds02uf;
// simulated USD1 v0 rangefinder:
SITL::RF_USD1_v0 *USD1_v0;
// simulated USD1 v1 rangefinder:
SITL::RF_USD1_v1 *USD1_v1;
// simulated MaxsonarSerialLV rangefinder:
SITL::RF_MaxsonarSerialLV *maxsonarseriallv;
// simulated Wasp rangefinder:
SITL::RF_Wasp *wasp;
// simulated NMEA rangefinder:
SITL::RF_NMEA *nmea;
// simulated MAVLink rangefinder:
SITL::RF_MAVLink *rf_mavlink;
// simulated GYUS42v2 rangefinder:
SITL::RF_GYUS42v2 *gyus42v2;
// simulated Frsky devices
SITL::Frsky_D *frsky_d;
// SITL::Frsky_SPort *frsky_sport;
// SITL::Frsky_SPortPassthrough *frsky_sportpassthrough;
#if HAL_SIM_PS_RPLIDARA2_ENABLED
// simulated RPLidarA2:
SITL::PS_RPLidarA2 *rplidara2;
#endif
// simulated FETtec OneWire ESCs:
SITL::FETtecOneWireESC *fetteconewireesc;
// simulated RPLidarA1:
SITL::PS_RPLidarA1 *rplidara1;
#if HAL_SIM_PS_LIGHTWARE_SF45B_ENABLED
// simulated SF45B proximity sensor:
SITL::PS_LightWare_SF45B *sf45b;
#endif
#if HAL_SIM_PS_TERARANGERTOWER_ENABLED
SITL::PS_TeraRangerTower *terarangertower;
#endif
#if AP_SIM_CRSF_ENABLED
// simulated CRSF devices
SITL::CRSF *crsf;
#endif
// simulated VectorNav system:
SITL::VectorNav *vectornav;
// simulated MicroStrain system
SITL::MicroStrain5 *microstrain5;
// simulated MicroStrain system
SITL::MicroStrain7 *microstrain7;
2023-12-01 00:57:51 -04:00
// simulated InertialLabs INS
SITL::InertialLabs *inertiallabs;
#if HAL_SIM_JSON_MASTER_ENABLED
// Ride along instances via JSON SITL backend
SITL::JSON_Master ride_along;
#endif
#if HAL_SIM_AIS_ENABLED
// simulated AIS stream
SITL::AIS *ais;
#endif
// simulated EFI MegaSquirt device:
SITL::EFI_MegaSquirt *efi_ms;
2023-11-08 23:56:36 -04:00
// simulated EFI MegaSquirt device:
SITL::EFI_Hirth *efi_hirth;
// output socket for flightgear viewing
2023-12-25 22:21:11 -04:00
SocketAPM_native fg_socket{true};
const char *defaults_path = HAL_PARAM_DEFAULTS_PATH;
// simulated GPS devices
SITL::GPS *gps[2]; // constrained by # of parameter sets
// Simulated ELRS radio
SITL::ELRS *elrs;
// returns a voltage between 0V to 5V which should appear as the
// voltage from the sensor
float _sonar_pin_voltage() const;
// multicast state
int mc_out_fd = -1;
// send out SITL state as UDP multicast
void multicast_state_open(void);
void multicast_state_send(void);
// number of times we have paused the simulation for 1ms because
// the TCP queue is full:
uint32_t _serial_0_outqueue_full_count;
protected:
enum vehicle_type _vehicle;
void sim_update(void);
// internal SITL model
SITL::Aircraft *sitl_model;
SITL::SIM *_sitl;
void update_voltage_current(struct sitl_input &input, float throttle);
};
#endif // CONFIG_HAL_BOARD == HAL_BOARD_SITL