ardupilot/libraries/SITL/SIM_JSON.h

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/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include <AP_HAL/AP_HAL_Boards.h>
#ifndef HAL_SIM_JSON_ENABLED
#define HAL_SIM_JSON_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL)
#endif
#if HAL_SIM_JSON_ENABLED
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#include <AP_HAL/utility/Socket.h>
#include "SIM_Aircraft.h"
namespace SITL {
class JSON : public Aircraft {
public:
JSON(const char *frame_str);
/* update model by one time step */
void update(const struct sitl_input &input) override;
/* static object creator */
static Aircraft *create(const char *frame_str) {
return new JSON(frame_str);
}
/* Create and set in/out socket for JSON generic simulator */
void set_interface_ports(const char* address, const int port_in, const int port_out) override;
private:
struct servo_packet_16 {
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uint16_t magic = 18458; // constant magic value
uint16_t frame_rate;
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uint32_t frame_count;
uint16_t pwm[16];
};
struct servo_packet_32 {
uint16_t magic = 29569; // constant magic value
uint16_t frame_rate;
uint32_t frame_count;
uint16_t pwm[32];
};
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// default connection_info_.ip_address
const char *target_ip = "127.0.0.1";
// default connection_info_.sitl_ip_port
uint16_t control_port = 9002;
SocketAPM sock;
uint32_t frame_counter;
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double last_timestamp_s;
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void output_servos(const struct sitl_input &input);
void recv_fdm(const struct sitl_input &input);
uint32_t parse_sensors(const char *json);
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// buffer for parsing pose data in JSON format
uint8_t sensor_buffer[65000];
uint32_t sensor_buffer_len;
enum data_type {
DATA_UINT64,
DATA_FLOAT,
DATA_DOUBLE,
DATA_VECTOR3F,
DATA_VECTOR3D,
QUATERNION,
BOOLEAN,
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};
struct {
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double timestamp_s;
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struct {
Vector3f gyro;
Vector3f accel_body;
} imu;
Vector3d position;
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Vector3f attitude;
Quaternion quaternion;
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Vector3f velocity;
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float rng[6];
struct {
float direction;
float speed;
} wind_vane_apparent;
float airspeed;
bool no_time_sync;
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} state;
// table to aid parsing of JSON sensor data
struct keytable {
const char *section;
const char *key;
void *ptr;
enum data_type type;
bool required;
} keytable[17] = {
{ "", "timestamp", &state.timestamp_s, DATA_DOUBLE, true },
{ "imu", "gyro", &state.imu.gyro, DATA_VECTOR3F, true },
{ "imu", "accel_body", &state.imu.accel_body, DATA_VECTOR3F, true },
{ "", "position", &state.position, DATA_VECTOR3D, true },
{ "", "attitude", &state.attitude, DATA_VECTOR3F, false },
{ "", "quaternion", &state.quaternion, QUATERNION, false },
{ "", "velocity", &state.velocity, DATA_VECTOR3F, true },
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{ "", "rng_1", &state.rng[0], DATA_FLOAT, false },
{ "", "rng_2", &state.rng[1], DATA_FLOAT, false },
{ "", "rng_3", &state.rng[2], DATA_FLOAT, false },
{ "", "rng_4", &state.rng[3], DATA_FLOAT, false },
{ "", "rng_5", &state.rng[4], DATA_FLOAT, false },
{ "", "rng_6", &state.rng[5], DATA_FLOAT, false },
{"windvane","direction", &state.wind_vane_apparent.direction, DATA_FLOAT, false},
{"windvane","speed", &state.wind_vane_apparent.speed, DATA_FLOAT, false},
{"", "airspeed", &state.airspeed, DATA_FLOAT, false},
{"", "no_time_sync", &state.no_time_sync, BOOLEAN, false},
};
// Enum coresponding to the ordering of keys in the keytable.
enum DataKey {
TIMESTAMP = 1U << 0,
GYRO = 1U << 1,
ACCEL_BODY = 1U << 2,
POSITION = 1U << 3,
EULER_ATT = 1U << 4,
QUAT_ATT = 1U << 5,
VELOCITY = 1U << 6,
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RNG_1 = 1U << 7,
RNG_2 = 1U << 8,
RNG_3 = 1U << 9,
RNG_4 = 1U << 10,
RNG_5 = 1U << 11,
RNG_6 = 1U << 12,
WIND_DIR = 1U << 13,
WIND_SPD = 1U << 14,
AIRSPEED = 1U << 15,
TIME_SYNC = 1U << 16,
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};
uint32_t last_received_bitmask;
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};
}
#endif // HAL_SIM_JSON_ENABLED