From 26e2a4a3cb90626087a409ede6c7ae97cbc83eb0 Mon Sep 17 00:00:00 2001 From: bugobliterator Date: Fri, 30 Jul 2021 15:43:59 +0530 Subject: [PATCH] AP_HAL_SITL: change class name from SITL::SITL to SITL::SIM --- libraries/AP_HAL_SITL/I2CDevice.cpp | 2 +- libraries/AP_HAL_SITL/RCInput.cpp | 4 ++-- libraries/AP_HAL_SITL/RCOutput.cpp | 10 ++++----- libraries/AP_HAL_SITL/SITL_State.cpp | 12 +++++------ libraries/AP_HAL_SITL/SITL_State.h | 4 ++-- libraries/AP_HAL_SITL/UARTDriver.cpp | 2 +- libraries/AP_HAL_SITL/Util.cpp | 2 +- libraries/AP_HAL_SITL/sitl_gps.cpp | 32 ++++++++++++++-------------- 8 files changed, 34 insertions(+), 34 deletions(-) diff --git a/libraries/AP_HAL_SITL/I2CDevice.cpp b/libraries/AP_HAL_SITL/I2CDevice.cpp index 2e08705e30..2c441f2b5c 100644 --- a/libraries/AP_HAL_SITL/I2CDevice.cpp +++ b/libraries/AP_HAL_SITL/I2CDevice.cpp @@ -60,7 +60,7 @@ uint8_t I2CBus::i2c_buscount; int I2CBus::_ioctl(uint8_t ioctl_number, void *data) { - SITL::SITL *sitl = AP::sitl(); + SITL::SIM *sitl = AP::sitl(); return sitl->i2c_ioctl(ioctl_number, data); } diff --git a/libraries/AP_HAL_SITL/RCInput.cpp b/libraries/AP_HAL_SITL/RCInput.cpp index 7932b0b40b..62242958f1 100644 --- a/libraries/AP_HAL_SITL/RCInput.cpp +++ b/libraries/AP_HAL_SITL/RCInput.cpp @@ -48,7 +48,7 @@ uint16_t RCInput::read(uint8_t ch) return 0; } #ifdef SFML_JOYSTICK - SITL::SITL *_sitl = AP::sitl(); + SITL::SIM *_sitl = AP::sitl(); if (_sitl) { const sf::Joystick::Axis axis = sf::Joystick::Axis(_sitl->sfml_joystick_axis[ch].get()); const unsigned int stickID = _sitl->sfml_joystick_id; @@ -81,7 +81,7 @@ uint8_t RCInput::num_channels() if (using_rc_protocol) { return AP::RC().num_channels(); } - SITL::SITL *_sitl = AP::sitl(); + SITL::SIM *_sitl = AP::sitl(); if (_sitl) { #ifdef SFML_JOYSTICK return (sf::Joystick::isConnected(_sitl->sfml_joystick_id.get())) ? ARRAY_SIZE(_sitl->sfml_joystick_axis) : 0; diff --git a/libraries/AP_HAL_SITL/RCOutput.cpp b/libraries/AP_HAL_SITL/RCOutput.cpp index 7c49f738e8..7f32337c84 100644 --- a/libraries/AP_HAL_SITL/RCOutput.cpp +++ b/libraries/AP_HAL_SITL/RCOutput.cpp @@ -101,7 +101,7 @@ bool RCOutput::set_serial_led_num_LEDs(const uint16_t chan, uint8_t num_leds, ou if (chan > 15 || num_leds > 64) { return false; } - SITL::SITL *sitl = AP::sitl(); + SITL::SIM *sitl = AP::sitl(); if (sitl) { sitl->led.num_leds[chan] = num_leds; return true; @@ -114,7 +114,7 @@ void RCOutput::set_serial_led_rgb_data(const uint16_t chan, int8_t led, uint8_t if (chan > 15) { return; } - SITL::SITL *sitl = AP::sitl(); + SITL::SIM *sitl = AP::sitl(); if (led == -1) { for (uint8_t i=0; i < sitl->led.num_leds[chan]; i++) { set_serial_led_rgb_data(chan, i, red, green, blue); @@ -133,7 +133,7 @@ void RCOutput::set_serial_led_rgb_data(const uint16_t chan, int8_t led, uint8_t void RCOutput::serial_led_send(const uint16_t chan) { - SITL::SITL *sitl = AP::sitl(); + SITL::SIM *sitl = AP::sitl(); if (sitl) { sitl->led.send_counter++; } @@ -143,7 +143,7 @@ void RCOutput::serial_led_send(const uint16_t chan) void RCOutput::force_safety_off(void) { - SITL::SITL *sitl = AP::sitl(); + SITL::SIM *sitl = AP::sitl(); if (sitl == nullptr) { return; } @@ -152,7 +152,7 @@ void RCOutput::force_safety_off(void) bool RCOutput::force_safety_on(void) { - SITL::SITL *sitl = AP::sitl(); + SITL::SIM *sitl = AP::sitl(); if (sitl == nullptr) { return false; } diff --git a/libraries/AP_HAL_SITL/SITL_State.cpp b/libraries/AP_HAL_SITL/SITL_State.cpp index 7e347c6103..f5d17b5cb9 100644 --- a/libraries/AP_HAL_SITL/SITL_State.cpp +++ b/libraries/AP_HAL_SITL/SITL_State.cpp @@ -162,7 +162,7 @@ void SITL_State::_fdm_input_step(void) } // simulate RC input at 50Hz - if (AP_HAL::millis() - last_pwm_input >= 20 && _sitl->rc_fail != SITL::SITL::SITL_RCFail_NoPulses) { + if (AP_HAL::millis() - last_pwm_input >= 20 && _sitl->rc_fail != SITL::SIM::SITL_RCFail_NoPulses) { last_pwm_input = AP_HAL::millis(); new_rc_input = true; } @@ -543,7 +543,7 @@ bool SITL_State::_read_rc_sitl_input() } uint16_t pwm = pwm_pkt.pwm[i]; if (pwm != 0) { - if (_sitl->rc_fail == SITL::SITL::SITL_RCFail_Throttle950) { + if (_sitl->rc_fail == SITL::SIM::SITL_RCFail_Throttle950) { if (i == 2) { // set throttle (assumed to be on channel 3...) pwm = 950; @@ -624,7 +624,7 @@ void SITL_State::_fdm_input_local(void) sitl_model->fill_fdm(_sitl->state); _sitl->update_rate_hz = sitl_model->get_rate_hz(); - if (_sitl->rc_fail == SITL::SITL::SITL_RCFail_None) { + if (_sitl->rc_fail == SITL::SIM::SITL_RCFail_None) { for (uint8_t i=0; i< _sitl->state.rcin_chan_count; i++) { pwm_input[i] = 1000 + _sitl->state.rcin[i]*1000; } @@ -788,17 +788,17 @@ void SITL_State::_simulator_servos(struct sitl_input &input) // pass wind into simulators using different wind types via param SIM_WIND_T*. switch (_sitl->wind_type) { - case SITL::SITL::WIND_TYPE_SQRT: + case SITL::SIM::WIND_TYPE_SQRT: if (altitude < _sitl->wind_type_alt) { wind_speed *= sqrtf(MAX(altitude / _sitl->wind_type_alt, 0)); } break; - case SITL::SITL::WIND_TYPE_COEF: + case SITL::SIM::WIND_TYPE_COEF: wind_speed += (altitude - _sitl->wind_type_alt) * _sitl->wind_type_coef; break; - case SITL::SITL::WIND_TYPE_NO_LIMIT: + case SITL::SIM::WIND_TYPE_NO_LIMIT: default: break; } diff --git a/libraries/AP_HAL_SITL/SITL_State.h b/libraries/AP_HAL_SITL/SITL_State.h index 2d450032d3..28f03c4eda 100644 --- a/libraries/AP_HAL_SITL/SITL_State.h +++ b/libraries/AP_HAL_SITL/SITL_State.h @@ -180,7 +180,7 @@ private: double speedN, double speedE, double speedD, double yaw, bool have_lock); void _update_airspeed(float airspeed); - void _update_gps_instance(SITL::SITL::GPSType gps_type, const struct gps_data *d, uint8_t instance); + void _update_gps_instance(SITL::SIM::GPSType gps_type, const struct gps_data *d, uint8_t instance); void _check_rc_input(void); bool _read_rc_sitl_input(); void _fdm_input_local(void); @@ -204,7 +204,7 @@ private: Compass *_compass; SocketAPM _sitl_rc_in{true}; - SITL::SITL *_sitl; + SITL::SIM *_sitl; uint16_t _rcin_port; uint16_t _fg_view_port; uint16_t _irlock_port; diff --git a/libraries/AP_HAL_SITL/UARTDriver.cpp b/libraries/AP_HAL_SITL/UARTDriver.cpp index e892c12538..83bac41e38 100644 --- a/libraries/AP_HAL_SITL/UARTDriver.cpp +++ b/libraries/AP_HAL_SITL/UARTDriver.cpp @@ -683,7 +683,7 @@ void UARTDriver::_timer_tick(void) ssize_t nwritten; uint32_t max_bytes = 10000; #if !defined(HAL_BUILD_AP_PERIPH) - SITL::SITL *_sitl = AP::sitl(); + SITL::SIM *_sitl = AP::sitl(); if (_sitl && _sitl->telem_baudlimit_enable) { // limit byte rate to configured baudrate uint32_t now = AP_HAL::micros(); diff --git a/libraries/AP_HAL_SITL/Util.cpp b/libraries/AP_HAL_SITL/Util.cpp index 0136ddf8be..fd03effb1d 100644 --- a/libraries/AP_HAL_SITL/Util.cpp +++ b/libraries/AP_HAL_SITL/Util.cpp @@ -138,7 +138,7 @@ void *HALSITL::Util::heap_realloc(void *heap_ptr, void *ptr, size_t new_size) #if !defined(HAL_BUILD_AP_PERIPH) enum AP_HAL::Util::safety_state HALSITL::Util::safety_switch_state(void) { - const SITL::SITL *sitl = AP::sitl(); + const SITL::SIM *sitl = AP::sitl(); if (sitl == nullptr) { return AP_HAL::Util::SAFETY_NONE; } diff --git a/libraries/AP_HAL_SITL/sitl_gps.cpp b/libraries/AP_HAL_SITL/sitl_gps.cpp index 4bc470e059..1e13e737cb 100644 --- a/libraries/AP_HAL_SITL/sitl_gps.cpp +++ b/libraries/AP_HAL_SITL/sitl_gps.cpp @@ -421,7 +421,7 @@ void SITL_State::_update_gps_ubx(const struct gps_data *d, uint8_t instance) pvt.headVeh = 0; memset(pvt.reserved2, '\0', ARRAY_SIZE(pvt.reserved2)); - if (_sitl->gps_hdg_enabled[instance] > SITL::SITL::GPS_HEADING_NONE) { + if (_sitl->gps_hdg_enabled[instance] > SITL::SIM::GPS_HEADING_NONE) { const Vector3f ant1_pos = _sitl->gps_pos_offset[instance^1].get(); const Vector3f ant2_pos = _sitl->gps_pos_offset[instance].get(); Vector3f rel_antenna_pos = ant2_pos - ant1_pos; @@ -450,7 +450,7 @@ void SITL_State::_update_gps_ubx(const struct gps_data *d, uint8_t instance) _gps_send_ubx(MSG_SOL, (uint8_t*)&sol, sizeof(sol), instance); _gps_send_ubx(MSG_DOP, (uint8_t*)&dop, sizeof(dop), instance); _gps_send_ubx(MSG_PVT, (uint8_t*)&pvt, sizeof(pvt), instance); - if (_sitl->gps_hdg_enabled[instance] > SITL::SITL::GPS_HEADING_NONE) { + if (_sitl->gps_hdg_enabled[instance] > SITL::SIM::GPS_HEADING_NONE) { _gps_send_ubx(MSG_RELPOSNED, (uint8_t*)&relposned, sizeof(relposned), instance); } @@ -744,10 +744,10 @@ void SITL_State::_update_gps_nmea(const struct gps_data *d, uint8_t instance) heading, dstring); - if (_sitl->gps_hdg_enabled[instance] == SITL::SITL::GPS_HEADING_HDT) { + if (_sitl->gps_hdg_enabled[instance] == SITL::SIM::GPS_HEADING_HDT) { _gps_nmea_printf(instance, "$GPHDT,%.2f,T", d->yaw); } - else if (_sitl->gps_hdg_enabled[instance] == SITL::SITL::GPS_HEADING_THS) { + else if (_sitl->gps_hdg_enabled[instance] == SITL::SIM::GPS_HEADING_THS) { _gps_nmea_printf(instance, "$GPTHS,%.2f,%c,T", d->yaw, d->have_lock ? 'A' : 'V'); } } @@ -1342,50 +1342,50 @@ void SITL_State::_update_gps(double latitude, double longitude, float altitude, d.altitude += glitch_offsets.z; if (gps_state[idx].gps_fd != 0) { - _update_gps_instance((SITL::SITL::GPSType)_sitl->gps_type[idx].get(), &d, idx); + _update_gps_instance((SITL::SIM::GPSType)_sitl->gps_type[idx].get(), &d, idx); } } } -void SITL_State::_update_gps_instance(SITL::SITL::GPSType gps_type, const struct gps_data *data, uint8_t instance) { +void SITL_State::_update_gps_instance(SITL::SIM::GPSType gps_type, const struct gps_data *data, uint8_t instance) { switch (gps_type) { - case SITL::SITL::GPS_TYPE_NONE: + case SITL::SIM::GPS_TYPE_NONE: // no GPS attached break; - case SITL::SITL::GPS_TYPE_UBLOX: + case SITL::SIM::GPS_TYPE_UBLOX: _update_gps_ubx(data, instance); break; - case SITL::SITL::GPS_TYPE_MTK: + case SITL::SIM::GPS_TYPE_MTK: _update_gps_mtk(data, instance); break; - case SITL::SITL::GPS_TYPE_MTK16: + case SITL::SIM::GPS_TYPE_MTK16: _update_gps_mtk16(data, instance); break; - case SITL::SITL::GPS_TYPE_MTK19: + case SITL::SIM::GPS_TYPE_MTK19: _update_gps_mtk19(data, instance); break; - case SITL::SITL::GPS_TYPE_NMEA: + case SITL::SIM::GPS_TYPE_NMEA: _update_gps_nmea(data, instance); break; - case SITL::SITL::GPS_TYPE_SBP: + case SITL::SIM::GPS_TYPE_SBP: _update_gps_sbp(data, instance); break; - case SITL::SITL::GPS_TYPE_SBP2: + case SITL::SIM::GPS_TYPE_SBP2: _update_gps_sbp2(data, instance); break; - case SITL::SITL::GPS_TYPE_NOVA: + case SITL::SIM::GPS_TYPE_NOVA: _update_gps_nova(data, instance); break; - case SITL::SITL::GPS_TYPE_FILE: + case SITL::SIM::GPS_TYPE_FILE: _update_gps_file(instance); break; }