2012-12-14 21:54:26 -04:00
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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include <AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
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#include <AP_HAL_AVR.h>
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#include <AP_HAL_AVR_SITL.h>
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#include "AP_HAL_AVR_SITL_Namespace.h"
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#include "HAL_AVR_SITL_Class.h"
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#include "UARTDriver.h"
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#include "Scheduler.h"
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#include <stdio.h>
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#include <signal.h>
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#include <getopt.h>
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#include <unistd.h>
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#include <stdlib.h>
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#include <errno.h>
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2012-12-18 03:12:05 -04:00
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#include <sys/select.h>
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2012-12-14 21:54:26 -04:00
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#include <AP_Param.h>
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extern const AP_HAL::HAL& hal;
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using namespace AVR_SITL;
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enum SITL_State::vehicle_type SITL_State::_vehicle;
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uint16_t SITL_State::_framerate;
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struct sockaddr_in SITL_State::_rcout_addr;
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pid_t SITL_State::_parent_pid;
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uint32_t SITL_State::_update_count;
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bool SITL_State::_motors_on;
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2012-12-18 03:42:48 -04:00
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uint16_t SITL_State::airspeed_pin_value;
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2012-12-14 21:54:26 -04:00
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AP_Baro_BMP085_HIL *SITL_State::_barometer;
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AP_InertialSensor_Stub *SITL_State::_ins;
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SITLScheduler *SITL_State::_scheduler;
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AP_Compass_HIL *SITL_State::_compass;
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int SITL_State::_sitl_fd;
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SITL *SITL_State::_sitl;
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2012-12-17 23:56:21 -04:00
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uint16_t SITL_State::pwm_output[11];
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uint16_t SITL_State::pwm_input[8];
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2012-12-18 06:14:32 -04:00
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bool SITL_State::pwm_valid;
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2012-12-14 21:54:26 -04:00
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// catch floating point exceptions
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void SITL_State::_sig_fpe(int signum)
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{
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2012-12-18 03:12:56 -04:00
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fprintf(stderr, "ERROR: Floating point exception\n");
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2012-12-14 21:54:26 -04:00
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exit(1);
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}
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void SITL_State::_usage(void)
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{
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2012-12-18 03:12:56 -04:00
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fprintf(stdout, "Options:\n");
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fprintf(stdout, "\t-w wipe eeprom and dataflash\n");
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fprintf(stdout, "\t-r RATE set SITL framerate\n");
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fprintf(stdout, "\t-H HEIGHT initial barometric height\n");
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fprintf(stdout, "\t-C use console instead of TCP ports\n");
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2012-12-14 21:54:26 -04:00
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}
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void SITL_State::_parse_command_line(int argc, char * const argv[])
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{
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int opt;
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signal(SIGFPE, _sig_fpe);
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2012-12-23 17:00:57 -04:00
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setvbuf(stdout, (char *)0, _IONBF, 0);
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setvbuf(stderr, (char *)0, _IONBF, 0);
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2012-12-14 21:54:26 -04:00
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while ((opt = getopt(argc, argv, "swhr:H:C")) != -1) {
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switch (opt) {
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case 'w':
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AP_Param::erase_all();
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unlink("dataflash.bin");
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break;
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case 'r':
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_framerate = (unsigned)atoi(optarg);
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break;
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case 'H':
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_initial_height = atof(optarg);
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break;
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case 'C':
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AVR_SITL::SITLUARTDriver::_console = true;
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break;
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default:
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_usage();
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exit(1);
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}
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}
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2012-12-18 03:12:56 -04:00
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fprintf(stdout, "Starting sketch '%s'\n", SKETCH);
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2012-12-14 21:54:26 -04:00
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if (strcmp(SKETCH, "ArduCopter") == 0) {
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_vehicle = ArduCopter;
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if (_framerate == 0) {
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_framerate = 200;
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}
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} else if (strcmp(SKETCH, "APMrover2") == 0) {
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_vehicle = APMrover2;
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if (_framerate == 0) {
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_framerate = 50;
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}
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// set right default throttle for rover (allowing for reverse)
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2012-12-17 23:56:21 -04:00
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pwm_input[2] = 1500;
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2012-12-14 21:54:26 -04:00
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} else {
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_vehicle = ArduPlane;
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if (_framerate == 0) {
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_framerate = 50;
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}
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}
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_sitl_setup();
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}
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/*
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setup for SITL handling
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*/
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void SITL_State::_sitl_setup(void)
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{
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#ifndef __CYGWIN__
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_parent_pid = getppid();
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#endif
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_rcout_addr.sin_family = AF_INET;
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_rcout_addr.sin_port = htons(_rcout_port);
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inet_pton(AF_INET, "127.0.0.1", &_rcout_addr.sin_addr);
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_setup_timer();
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_setup_fdm();
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2012-12-18 03:12:56 -04:00
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fprintf(stdout, "Starting SITL input\n");
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2012-12-14 21:54:26 -04:00
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// find the barometer object if it exists
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_sitl = (SITL *)AP_Param::find_object("SIM_");
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_barometer = (AP_Baro_BMP085_HIL *)AP_Param::find_object("GND_");
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_ins = (AP_InertialSensor_Stub *)AP_Param::find_object("INS_");
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_compass = (AP_Compass_HIL *)AP_Param::find_object("COMPASS_");
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if (_sitl != NULL) {
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// setup some initial values
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_update_barometer(_initial_height);
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_update_ins(0, 0, 0, 0, 0, 0, 0, 0, -9.8, 0);
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_update_compass(0, 0, 0);
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2013-03-27 20:28:44 -03:00
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_update_gps(0, 0, 0, 0, 0, 0, false);
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2012-12-14 21:54:26 -04:00
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}
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}
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/*
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setup a SITL FDM listening UDP port
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*/
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void SITL_State::_setup_fdm(void)
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{
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int one=1, ret;
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struct sockaddr_in sockaddr;
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memset(&sockaddr,0,sizeof(sockaddr));
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#ifdef HAVE_SOCK_SIN_LEN
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sockaddr.sin_len = sizeof(sockaddr);
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#endif
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sockaddr.sin_port = htons(_simin_port);
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sockaddr.sin_family = AF_INET;
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_sitl_fd = socket(AF_INET, SOCK_DGRAM, 0);
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if (_sitl_fd == -1) {
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fprintf(stderr, "SITL: socket failed - %s\n", strerror(errno));
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exit(1);
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}
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/* we want to be able to re-use ports quickly */
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setsockopt(_sitl_fd, SOL_SOCKET, SO_REUSEADDR, &one, sizeof(one));
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ret = bind(_sitl_fd, (struct sockaddr *)&sockaddr, sizeof(sockaddr));
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if (ret == -1) {
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fprintf(stderr, "SITL: bind failed on port %u - %s\n",
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(unsigned)ntohs(sockaddr.sin_port), strerror(errno));
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exit(1);
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}
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AVR_SITL::SITLUARTDriver::_set_nonblocking(_sitl_fd);
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}
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/*
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timer called at 1kHz
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*/
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void SITL_State::_timer_handler(int signum)
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{
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static uint32_t last_update_count;
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2012-12-18 06:14:32 -04:00
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static uint32_t last_pwm_input;
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2012-12-14 21:54:26 -04:00
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static bool in_timer;
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2013-01-03 21:32:52 -04:00
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if (in_timer || _scheduler->interrupts_are_blocked()){
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2012-12-14 21:54:26 -04:00
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return;
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2013-01-03 21:32:52 -04:00
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}
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2012-12-14 21:54:26 -04:00
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2013-01-03 21:32:52 -04:00
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_scheduler->sitl_begin_atomic();
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2012-12-14 21:54:26 -04:00
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in_timer = true;
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#ifndef __CYGWIN__
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/* make sure we die if our parent dies */
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if (kill(_parent_pid, 0) != 0) {
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exit(1);
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}
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#else
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static uint16_t count = 0;
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static uint32_t last_report;
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2012-12-18 06:14:32 -04:00
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count++;
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2013-03-03 07:22:19 -04:00
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if (hal.scheduler->millis() - last_report > 1000) {
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2012-12-18 03:12:56 -04:00
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fprintf(stdout, "TH %u cps\n", count);
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2012-12-14 21:54:26 -04:00
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count = 0;
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2013-03-03 07:22:19 -04:00
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last_report = hal.scheduler->millis();
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2012-12-14 21:54:26 -04:00
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}
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#endif
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2012-12-18 06:14:32 -04:00
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// simulate RC input at 50Hz
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if (hal.scheduler->millis() - last_pwm_input >= 20) {
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last_pwm_input = hal.scheduler->millis();
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pwm_valid = true;
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}
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2012-12-14 21:54:26 -04:00
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/* check for packet from flight sim */
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_fdm_input();
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// send RC output to flight sim
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_simulator_output();
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if (_update_count == 0 && _sitl != NULL) {
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2013-03-27 20:28:44 -03:00
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_update_gps(0, 0, 0, 0, 0, 0, false);
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2012-12-14 21:54:26 -04:00
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_scheduler->timer_event();
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2013-01-03 21:32:52 -04:00
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_scheduler->sitl_end_atomic();
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2012-12-14 21:54:26 -04:00
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in_timer = false;
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return;
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}
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if (_update_count == last_update_count) {
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_scheduler->timer_event();
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2013-01-03 21:32:52 -04:00
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_scheduler->sitl_end_atomic();
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2012-12-14 21:54:26 -04:00
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in_timer = false;
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return;
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}
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last_update_count = _update_count;
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if (_sitl != NULL) {
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_update_gps(_sitl->state.latitude, _sitl->state.longitude,
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_sitl->state.altitude,
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2013-03-27 20:28:44 -03:00
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_sitl->state.speedN, _sitl->state.speedE, _sitl->state.speedD,
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!_sitl->gps_disable);
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2012-12-14 21:54:26 -04:00
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_update_ins(_sitl->state.rollDeg, _sitl->state.pitchDeg, _sitl->state.yawDeg,
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_sitl->state.rollRate, _sitl->state.pitchRate, _sitl->state.yawRate,
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_sitl->state.xAccel, _sitl->state.yAccel, _sitl->state.zAccel,
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_sitl->state.airspeed);
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_update_barometer(_sitl->state.altitude);
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_update_compass(_sitl->state.rollDeg, _sitl->state.pitchDeg, _sitl->state.heading);
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}
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// trigger all APM timers. We do this last as it can re-enable
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// interrupts, which can lead to recursion
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_scheduler->timer_event();
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2013-01-03 21:32:52 -04:00
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_scheduler->sitl_end_atomic();
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2012-12-14 21:54:26 -04:00
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in_timer = false;
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}
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/*
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check for a SITL FDM packet
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*/
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void SITL_State::_fdm_input(void)
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{
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ssize_t size;
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struct pwm_packet {
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uint16_t pwm[8];
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};
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union {
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struct sitl_fdm fg_pkt;
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struct pwm_packet pwm_pkt;
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} d;
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size = recv(_sitl_fd, &d, sizeof(d), MSG_DONTWAIT);
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switch (size) {
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2013-03-27 20:28:44 -03:00
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case 140:
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2012-12-14 21:54:26 -04:00
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static uint32_t last_report;
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static uint32_t count;
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2013-03-27 20:28:44 -03:00
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if (d.fg_pkt.magic != 0x4c56414f) {
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2012-12-18 03:12:56 -04:00
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fprintf(stdout, "Bad FDM packet - magic=0x%08x\n", d.fg_pkt.magic);
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2012-12-14 21:54:26 -04:00
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return;
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}
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if (d.fg_pkt.latitude == 0 ||
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d.fg_pkt.longitude == 0 ||
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d.fg_pkt.altitude <= 0) {
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// garbage input
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return;
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}
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2012-12-18 06:14:32 -04:00
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if (_sitl != NULL) {
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_sitl->state = d.fg_pkt;
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}
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2012-12-14 21:54:26 -04:00
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_update_count++;
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count++;
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if (hal.scheduler->millis() - last_report > 1000) {
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2012-12-18 03:12:56 -04:00
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//fprintf(stdout, "SIM %u FPS\n", count);
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2012-12-14 21:54:26 -04:00
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count = 0;
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last_report = hal.scheduler->millis();
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}
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break;
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case 16: {
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// a packet giving the receiver PWM inputs
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uint8_t i;
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for (i=0; i<8; i++) {
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2012-12-17 23:56:21 -04:00
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// setup the pwn input for the RC channel inputs
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2012-12-14 21:54:26 -04:00
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if (d.pwm_pkt.pwm[i] != 0) {
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2012-12-17 23:56:21 -04:00
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pwm_input[i] = d.pwm_pkt.pwm[i];
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2012-12-14 21:54:26 -04:00
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}
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}
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break;
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}
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}
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}
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/*
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send RC outputs to simulator
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*/
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void SITL_State::_simulator_output(void)
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{
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static uint32_t last_update;
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struct {
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uint16_t pwm[11];
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uint16_t speed, direction, turbulance;
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} control;
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/* this maps the registers used for PWM outputs. The RC
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* driver updates these whenever it wants the channel output
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* to change */
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uint8_t i;
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if (last_update == 0) {
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for (i=0; i<11; i++) {
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2012-12-17 23:56:21 -04:00
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pwm_output[i] = 1000;
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2012-12-14 21:54:26 -04:00
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}
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if (_vehicle == ArduPlane) {
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2012-12-17 23:56:21 -04:00
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pwm_output[0] = pwm_output[1] = pwm_output[3] = 1500;
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pwm_output[7] = 1800;
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2012-12-14 21:54:26 -04:00
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}
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if (_vehicle == APMrover2) {
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2012-12-17 23:56:21 -04:00
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pwm_output[0] = pwm_output[1] = pwm_output[2] = pwm_output[3] = 1500;
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pwm_output[7] = 1800;
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2012-12-14 21:54:26 -04:00
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}
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}
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if (_sitl == NULL) {
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return;
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}
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// output at chosen framerate
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if (last_update != 0 && hal.scheduler->millis() - last_update < 1000/_framerate) {
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return;
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}
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last_update = hal.scheduler->millis();
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for (i=0; i<11; i++) {
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2012-12-17 23:56:21 -04:00
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if (pwm_output[i] == 0xFFFF) {
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2012-12-14 21:54:26 -04:00
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control.pwm[i] = 0;
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} else {
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2012-12-17 23:56:21 -04:00
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control.pwm[i] = pwm_output[i];
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2012-12-14 21:54:26 -04:00
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}
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}
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if (_vehicle == ArduPlane) {
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// add in engine multiplier
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if (control.pwm[2] > 1000) {
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control.pwm[2] = ((control.pwm[2]-1000) * _sitl->engine_mul) + 1000;
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if (control.pwm[2] > 2000) control.pwm[2] = 2000;
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}
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_motors_on = ((control.pwm[2]-1000)/1000.0) > 0;
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} else if (_vehicle == APMrover2) {
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// add in engine multiplier
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if (control.pwm[2] != 1500) {
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control.pwm[2] = ((control.pwm[2]-1500) * _sitl->engine_mul) + 1500;
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if (control.pwm[2] > 2000) control.pwm[2] = 2000;
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if (control.pwm[2] < 1000) control.pwm[2] = 1000;
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}
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_motors_on = ((control.pwm[2]-1500)/500.0) != 0;
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} else {
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_motors_on = false;
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for (i=0; i<4; i++) {
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if ((control.pwm[i]-1000)/1000.0 > 0) {
|
2013-01-22 05:09:47 -04:00
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control.pwm[i] = ((control.pwm[i]-1000) * _sitl->engine_mul) + 1000;
|
2012-12-14 21:54:26 -04:00
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_motors_on = true;
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|
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}
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}
|
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}
|
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|
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// setup wind control
|
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|
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control.speed = _sitl->wind_speed * 100;
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|
|
float direction = _sitl->wind_direction;
|
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|
|
if (direction < 0) {
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direction += 360;
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}
|
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|
control.direction = direction * 100;
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control.turbulance = _sitl->wind_turbulance * 100;
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|
|
// zero the wind for the first 15s to allow pitot calibration
|
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|
|
if (hal.scheduler->millis() < 15000) {
|
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|
|
control.speed = 0;
|
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|
}
|
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|
|
sendto(_sitl_fd, (void*)&control, sizeof(control), MSG_DONTWAIT, (const sockaddr *)&_rcout_addr, sizeof(_rcout_addr));
|
|
|
|
}
|
|
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|
|
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|
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|
|
/*
|
|
|
|
setup a timer used to prod the ISRs
|
|
|
|
*/
|
|
|
|
void SITL_State::_setup_timer(void)
|
|
|
|
{
|
|
|
|
struct itimerval it;
|
|
|
|
struct sigaction act;
|
|
|
|
|
|
|
|
act.sa_handler = _timer_handler;
|
|
|
|
act.sa_flags = SA_RESTART|SA_NODEFER;
|
|
|
|
sigemptyset(&act.sa_mask);
|
|
|
|
sigaddset(&act.sa_mask, SIGALRM);
|
|
|
|
sigaction(SIGALRM, &act, NULL);
|
|
|
|
|
|
|
|
it.it_interval.tv_sec = 0;
|
|
|
|
it.it_interval.tv_usec = 1000; // 1KHz
|
|
|
|
it.it_value = it.it_interval;
|
|
|
|
|
|
|
|
setitimer(ITIMER_REAL, &it, NULL);
|
|
|
|
}
|
|
|
|
|
|
|
|
// generate a random float between -1 and 1
|
|
|
|
float SITL_State::_rand_float(void)
|
|
|
|
{
|
|
|
|
return ((((unsigned)random()) % 2000000) - 1.0e6) / 1.0e6;
|
|
|
|
}
|
|
|
|
|
|
|
|
// generate a random Vector3f of size 1
|
|
|
|
Vector3f SITL_State::_rand_vec3f(void)
|
|
|
|
{
|
|
|
|
Vector3f v = Vector3f(_rand_float(),
|
|
|
|
_rand_float(),
|
|
|
|
_rand_float());
|
|
|
|
if (v.length() != 0.0) {
|
|
|
|
v.normalize();
|
|
|
|
}
|
|
|
|
return v;
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
void SITL_State::init(int argc, char * const argv[])
|
|
|
|
{
|
2012-12-17 23:56:21 -04:00
|
|
|
pwm_input[0] = pwm_input[1] = pwm_input[3] = 1500;
|
|
|
|
pwm_input[4] = pwm_input[7] = 1800;
|
|
|
|
pwm_input[2] = pwm_input[5] = pwm_input[6] = 1000;
|
|
|
|
|
2012-12-14 21:54:26 -04:00
|
|
|
_scheduler = (SITLScheduler *)hal.scheduler;
|
|
|
|
_parse_command_line(argc, argv);
|
|
|
|
}
|
|
|
|
|
2012-12-18 03:12:05 -04:00
|
|
|
// wait for serial input, or 100usec
|
|
|
|
void SITL_State::loop_hook(void)
|
|
|
|
{
|
|
|
|
struct timeval tv;
|
|
|
|
fd_set fds;
|
|
|
|
int fd, max_fd = 0;
|
|
|
|
|
|
|
|
FD_ZERO(&fds);
|
|
|
|
fd = ((AVR_SITL::SITLUARTDriver*)hal.uartA)->_fd;
|
|
|
|
if (fd != -1) {
|
|
|
|
FD_SET(fd, &fds);
|
|
|
|
max_fd = max(fd, max_fd);
|
|
|
|
}
|
|
|
|
fd = ((AVR_SITL::SITLUARTDriver*)hal.uartB)->_fd;
|
|
|
|
if (fd != -1) {
|
|
|
|
FD_SET(fd, &fds);
|
|
|
|
max_fd = max(fd, max_fd);
|
|
|
|
}
|
|
|
|
fd = ((AVR_SITL::SITLUARTDriver*)hal.uartC)->_fd;
|
|
|
|
if (fd != -1) {
|
|
|
|
FD_SET(fd, &fds);
|
|
|
|
max_fd = max(fd, max_fd);
|
|
|
|
}
|
|
|
|
tv.tv_sec = 0;
|
|
|
|
tv.tv_usec = 100;
|
|
|
|
fflush(stdout);
|
|
|
|
fflush(stderr);
|
|
|
|
select(max_fd+1, &fds, NULL, NULL, &tv);
|
|
|
|
}
|
|
|
|
|
|
|
|
|
2012-12-14 21:54:26 -04:00
|
|
|
#endif
|