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AP_HAL_SITL: correct compilation when SIM options disabled

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AP_HAL_SITL: use AP_ASIM_GIMBAL_ENABLED

AP_HAL_SITL: use AP_SIM_ADSB_ENABLED

AP_HAL_SITL: use AP_SIM_RPLIDARA2_ENABLED

AP_HAL_SITL: use AP_SIM_PS_LIGHTWARE_SF45B_ENABLED

AP_HAL_SITL: use AP_SIM_PS_TERRARANGERTOWER_ENABLED

AP_HAL_SITL: use AP_SIM_AIS_ENABLED

AP_HAL_SITL: use AP_SIM_JSON_MASTER_ENABLED
This commit is contained in:
Peter Barker 2021-11-01 18:03:23 +11:00 committed by Peter Barker
parent bff0b6f970
commit 08b8d3ad34
3 changed files with 41 additions and 0 deletions
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25
libraries/AP_HAL_SITL/SITL_State.cpp
View File

@ -208,6 +208,7 @@ SITL::SerialDevice *SITL_State::create_serial_sim(const char *name, const char *
}
vicon = new SITL::Vicon();
return vicon;
#if HAL_SIM_ADSB_ENABLED
} else if (streq(name, "adsb")) {
// ADSB is a stand-out as it is the only serial device which
// will cope with begin() being called multiple times on a
@ -216,6 +217,7 @@ SITL::SerialDevice *SITL_State::create_serial_sim(const char *name, const char *
adsb = new SITL::ADSB();
}
return adsb;
#endif
} else if (streq(name, "benewake_tf02")) {
if (benewake_tf02 != nullptr) {
AP_HAL::panic("Only one benewake_tf02 at a time");
@ -327,24 +329,30 @@ SITL::SerialDevice *SITL_State::create_serial_sim(const char *name, const char *
}
crsf = new SITL::CRSF();
return crsf;
#if HAL_SIM_PS_RPLIDARA2_ENABLED
} else if (streq(name, "rplidara2")) {
if (rplidara2 != nullptr) {
AP_HAL::panic("Only one rplidara2 at a time");
}
rplidara2 = new SITL::PS_RPLidarA2();
return rplidara2;
#endif
#if HAL_SIM_PS_TERARANGERTOWER_ENABLED
} else if (streq(name, "terarangertower")) {
if (terarangertower != nullptr) {
AP_HAL::panic("Only one terarangertower at a time");
}
terarangertower = new SITL::PS_TeraRangerTower();
return terarangertower;
#endif
#if HAL_SIM_PS_LIGHTWARE_SF45B_ENABLED
} else if (streq(name, "sf45b")) {
if (sf45b != nullptr) {
AP_HAL::panic("Only one sf45b at a time");
}
sf45b = new SITL::PS_LightWare_SF45B();
return sf45b;
#endif
} else if (streq(name, "richenpower")) {
sitl_model->set_richenpower(&_sitl->richenpower_sim);
return &_sitl->richenpower_sim;
@ -378,12 +386,14 @@ SITL::SerialDevice *SITL_State::create_serial_sim(const char *name, const char *
}
lord = new SITL::LORD();
return lord;
#if HAL_SIM_AIS_ENABLED
} else if (streq(name, "AIS")) {
if (ais != nullptr) {
AP_HAL::panic("Only one AIS at a time");
}
ais = new SITL::AIS();
return ais;
#endif
} else if (strncmp(name, "gps", 3) == 0) {
const char *p = strchr(name, ':');
if (p == nullptr) {
@ -506,8 +516,10 @@ void SITL_State::_fdm_input_local(void)
// construct servos structure for FDM
_simulator_servos(input);
#if HAL_SIM_JSON_MASTER_ENABLED
// read servo inputs from ride along flight controllers
ride_along.receive(input);
#endif
// update the model
sitl_model->update_model(input);
@ -523,15 +535,19 @@ void SITL_State::_fdm_input_local(void)
}
}
#if HAL_SIM_JSON_MASTER_ENABLED
// output JSON state to ride along flight controllers
ride_along.send(_sitl->state,sitl_model->get_position_relhome());
#endif
if (gimbal != nullptr) {
gimbal->update();
}
#if HAL_SIM_ADSB_ENABLED
if (adsb != nullptr) {
adsb->update(*sitl_model);
}
#endif
if (vicon != nullptr) {
Quaternion attitude;
sitl_model->get_attitude(attitude);
@ -603,17 +619,24 @@ void SITL_State::_fdm_input_local(void)
crsf->update();
}
#if HAL_SIM_PS_RPLIDARA2_ENABLED
if (rplidara2 != nullptr) {
rplidara2->update(sitl_model->get_location());
}
#endif
#if HAL_SIM_PS_TERARANGERTOWER_ENABLED
if (terarangertower != nullptr) {
terarangertower->update(sitl_model->get_location());
}
#endif
#if HAL_SIM_PS_LIGHTWARE_SF45B_ENABLED
if (sf45b != nullptr) {
sf45b->update(sitl_model->get_location());
}
#endif
if (vectornav != nullptr) {
vectornav->update();
}
@ -622,9 +645,11 @@ void SITL_State::_fdm_input_local(void)
lord->update();
}
#if HAL_SIM_AIS_ENABLED
if (ais != nullptr) {
ais->update();
}
#endif
for (uint8_t i=0; i<ARRAY_SIZE(gps); i++) {
if (gps[i] != nullptr) {
gps[i]->update();

14
libraries/AP_HAL_SITL/SITL_State.h
View File

@ -194,12 +194,16 @@ private:
// internal SITL model
SITL::Aircraft *sitl_model;
#if HAL_SIM_GIMBAL_ENABLED
// simulated gimbal
bool enable_gimbal;
SITL::Gimbal *gimbal;
#endif
#if HAL_SIM_ADSB_ENABLED
// simulated ADSb
SITL::ADSB *adsb;
#endif
// simulated vicon system:
SITL::Vicon *vicon;
@ -241,16 +245,22 @@ private:
// 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;
#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
// simulated CRSF devices
SITL::CRSF *crsf;
@ -261,11 +271,15 @@ private:
// simulated LORD Microstrain system
SITL::LORD *lord;
#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;

2
libraries/AP_HAL_SITL/SITL_cmdline.cpp
View File

@ -508,10 +508,12 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
_usage();
exit(0);
case CMDLINE_SLAVE: {
#if HAL_SIM_JSON_MASTER_ENABLED
const int32_t slaves = atoi(gopt.optarg);
if (slaves > 0) {
ride_along.init(slaves);
}
#endif
break;
}
default: