mirror of https://github.com/ArduPilot/ardupilot
SITL: add simulated SF45B
This commit is contained in:
Peter Barker
Peter Barker
parent
c1202e4878
commit
449b0fb145
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@ -0,0 +1,37 @@
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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Base class for LightWare Proximity Sensor serial devices.
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*/
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#pragma once
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#include "SIM_SerialProximitySensor.h"
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#include <stdio.h>
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namespace SITL {
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class PS_LightWare : public SerialProximitySensor {
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public:
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PS_LightWare() { }
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private:
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};
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};
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@ -0,0 +1,222 @@
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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Simulator for the RPLidarA2 proximity sensor
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*/
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#include "SIM_PS_LightWare_SF45B.h"
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#include <GCS_MAVLink/GCS.h>
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#include <stdio.h>
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#include <errno.h>
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using namespace SITL;
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uint32_t PS_LightWare_SF45B::packet_for_location(const Location &location,
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uint8_t *data,
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uint8_t buflen)
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{
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return 0;
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}
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void PS_LightWare_SF45B::move_preamble_in_buffer(uint8_t search_start_pos)
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{
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uint8_t i;
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for (i=search_start_pos; i<_buflen; i++) {
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if ((uint8_t)_msg.buffer[i] == PREAMBLE) {
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break;
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}
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}
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if (i == 0) {
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return;
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}
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memmove(_msg.buffer, &_msg.buffer[i], _buflen-i);
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_buflen = _buflen - i;
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}
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// handle a valid message in _msg.buffer
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void PS_LightWare_SF45B::send(const char *data, uint32_t len)
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{
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const ssize_t ret = write_to_autopilot(data, len);
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if (ret < 0 || (uint32_t)ret != len) {
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abort();
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}
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}
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void PS_LightWare_SF45B::handle_message()
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{
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// GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Got message %u", (unsigned)_msg.packed_msgstream.msg.msgid);
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switch (MessageID(_msg.packed_msgstream.msg.msgid)) {
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case MessageID::STREAM: {
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stream = _msg.packed_msgstream.msg.stream;
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send_response.stream = true;
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return;
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}
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case MessageID::DISTANCE_OUTPUT: {
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desired_fields = _msg.packed_distance_output.msg.desired_fields;
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send_response.desired_fields = true;
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return;
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}
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case MessageID::UPDATE_RATE: {
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update_rate = _msg.packed_update_rate.msg.rate;
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send_response.update_rate = true;
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return;
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}
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case MessageID::DISTANCE_DATA_CM: {
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::fprintf(stderr, "Got a distance data. Weird.\n");
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return;
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}
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}
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// AP_HAL::panic("Unrecognised message (%u)", _msg.common.msgid);
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::fprintf(stderr, "Unrecognised message (%u)\n", _msg.packed_msgstream.msg.msgid);
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}
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void PS_LightWare_SF45B::update_input()
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{
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const ssize_t n = read_from_autopilot(&_msg.buffer[_buflen], ARRAY_SIZE(_msg.buffer) - _buflen - 1);
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if (n < 0) {
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// TODO: do better here
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if (errno != EAGAIN && errno != EWOULDBLOCK && errno != 0) {
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AP_HAL::panic("Failed to read from autopilot");
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}
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} else {
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_buflen += n;
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}
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switch (_inputstate) {
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case InputState::WANT_PREAMBLE:
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move_preamble_in_buffer();
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if (_buflen == 0) {
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return;
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}
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set_inputstate(InputState::WANT_FLAGS);
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FALLTHROUGH;
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case InputState::WANT_FLAGS:
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if (_buflen < 4) { // 1 preamble, 2 flags, 1 msg
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return;
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}
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set_inputstate(InputState::WANT_PAYLOAD);
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FALLTHROUGH;
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case InputState::WANT_PAYLOAD: {
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// 1 preamble, 2 flags, 1 msg + payload
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const uint8_t want_len = 4 + payload_length();
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if (_buflen < want_len) {
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return;
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}
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set_inputstate(InputState::WANT_CRC);
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FALLTHROUGH;
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}
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case InputState::WANT_CRC: {
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// 1 preamble, 2 flags, 1 msg + payload + 2 crc
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const uint8_t want_len = 4 + payload_length() + 2;
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if (_buflen < want_len) {
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return;
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}
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const uint16_t got_checksum = UINT16_VALUE(uint8_t(_msg.buffer[want_len-1]), uint8_t(_msg.buffer[want_len-2]));
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const uint16_t calc_checksum = msg_checksum();
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if (calc_checksum == got_checksum) {
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// GCS_SEND_TEXT(MAV_SEVERITY_INFO, "sim-SF45B: Got one (%u)!", _msg.common.msgid);
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// see if this was a read or a write request..
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handle_message();
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} else {
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GCS_SEND_TEXT(MAV_SEVERITY_INFO, "sim-SF45B: Bad checksum");
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}
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// consume these bytes
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move_preamble_in_buffer(want_len-1);
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set_inputstate(InputState::WANT_PREAMBLE);
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return;
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}
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}
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}
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void PS_LightWare_SF45B::update(const Location &location)
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{
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update_input();
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update_output(location);
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}
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void PS_LightWare_SF45B::update_output(const Location &location)
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{
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switch (_state) {
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case State::SCANNING:
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update_output_responses();
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update_output_scan(location);
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return;
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}
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}
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void PS_LightWare_SF45B::update_output_responses()
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{
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if (send_response.stream) {
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send_response.stream = false;
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PackedMessage<MsgStream> packed { MsgStream(stream), 0x1 };
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packed.update_checksum();
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send((char*)&packed, sizeof(packed));
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}
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if (send_response.update_rate) {
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send_response.update_rate = false;
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PackedMessage<UpdateRate> packed { UpdateRate(update_rate), 0x1 };
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packed.update_checksum();
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send((char*)&packed, sizeof(packed));
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}
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if (send_response.desired_fields) {
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send_response.desired_fields = false;
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PackedMessage<DistanceOutput> packed { DistanceOutput(desired_fields), 0x1 };
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packed.update_checksum();
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send((char*)&packed, sizeof(packed));
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}
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}
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void PS_LightWare_SF45B::update_output_scan(const Location &location)
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{
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const uint32_t now = AP_HAL::millis();
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if (last_scan_output_time_ms == 0) {
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last_scan_output_time_ms = now;
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return;
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}
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const uint32_t time_delta = (now - last_scan_output_time_ms);
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const uint32_t samples_per_second = 1000;
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const float samples_per_ms = samples_per_second / 1000.0f;
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const uint32_t sample_count = time_delta / samples_per_ms;
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const float degrees_per_ms = 3600 / 1000.0f;
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const float degrees_per_sample = degrees_per_ms / samples_per_ms;
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// ::fprintf(stderr, "Packing %u samples in for %ums interval (%f degrees/sample)\n", sample_count, time_delta, degrees_per_sample);
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last_scan_output_time_ms += sample_count/samples_per_ms;
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for (uint32_t i=0; i<sample_count; i++) {
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const float current_degrees_bf = fmod((last_degrees_bf + degrees_per_sample), 360.0f);
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last_degrees_bf = current_degrees_bf;
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const float MAX_RANGE = 16.0f;
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float distance = measure_distance_at_angle_bf(location, current_degrees_bf);
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// ::fprintf(stderr, "SIM: %f=%fm\n", current_degrees_bf, distance);
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if (distance > MAX_RANGE) {
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// sensor returns zero for out-of-range
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distance = 0.0f;
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}
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PackedMessage<DistanceDataCM> packed_distance_data {
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DistanceDataCM(
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uint16_t(distance*100.0),
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uint16_t(current_degrees_bf * 100)
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), 0x1 };
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packed_distance_data.update_checksum();
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send((char*)&packed_distance_data, sizeof(packed_distance_data));
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}
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}
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@ -0,0 +1,259 @@
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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Simulator for the LightWare S45B proximity sensor
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./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:sf45b --speedup=1 -l 51.8752066,14.6487840,0,0
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param set SERIAL5_PROTOCOL 11 # proximity
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param set PRX_TYPE 8 # s45b
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reboot
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arm throttle
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rc 3 1600
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# for avoidance:
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param set DISARM_DELAY 0
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param set AVOID_ENABLE 2 # use proximity sensor
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param set AVOID_MARGIN 2.00 # 2m
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param set AVOID_BEHAVE 0 # slide
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reboot
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mode loiter
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script /tmp/post-locations.scr
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arm throttle
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rc 3 1600
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rc 3 1500
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rc 2 1450
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*/
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#pragma once
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#include "SIM_PS_LightWare.h"
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#include <AP_Math/crc.h>
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namespace SITL {
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class PS_LightWare_SF45B : public PS_LightWare {
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public:
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uint32_t packet_for_location(const Location &location,
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uint8_t *data,
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uint8_t buflen) override;
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void update(const Location &location) override;
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PS_LightWare_SF45B() : PS_LightWare() { }
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private:
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template <typename T>
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class PACKED PackedMessage {
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public:
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PackedMessage(T _msg, uint16_t _flags) :
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msg(_msg),
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flags(_flags)
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{
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flags |= (sizeof(T)) << 6;
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}
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uint8_t preamble { PREAMBLE };
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uint16_t flags;
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T msg;
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uint16_t checksum;
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uint16_t calculate_checksum(uint16_t len) const WARN_IF_UNUSED {
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uint16_t ret = 0;
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for (uint8_t i=0; i<len; i++) {
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ret = crc_xmodem_update(ret, ((const char*)this)[i]);
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}
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return ret;
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}
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uint16_t calculate_checksum() const WARN_IF_UNUSED {
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return calculate_checksum(3+sizeof(T));
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}
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void update_checksum() {
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checksum = calculate_checksum();
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}
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};
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class PACKED MsgStream {
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public:
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MsgStream(uint32_t _stream) :
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stream(_stream)
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{ }
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uint8_t msgid { (uint8_t)MessageID::STREAM };
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uint32_t stream;
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};
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class PACKED DistanceOutput {
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public:
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DistanceOutput(uint32_t _desired_fields) :
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desired_fields(_desired_fields)
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{ }
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uint8_t msgid { (uint8_t)MessageID::DISTANCE_OUTPUT };
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uint32_t desired_fields;
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};
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class PACKED UpdateRate {
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public:
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UpdateRate(uint8_t _rate) :
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rate(_rate)
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{ }
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uint8_t msgid { (uint8_t)MessageID::UPDATE_RATE };
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uint8_t rate;
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};
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class PACKED DistanceDataCM {
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public:
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DistanceDataCM(uint16_t _distance_cm, uint16_t _angle_cd) :
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distance_cm(_distance_cm),
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angle_cd(_angle_cd)
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{ }
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uint8_t msgid { (uint8_t)MessageID::DISTANCE_DATA_CM };
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uint16_t distance_cm;
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uint16_t angle_cd;
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};
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// message ids
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enum class MessageID : uint8_t {
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// PRODUCT_NAME = 0,
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// HARDWARE_VERSION = 1,
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// FIRMWARE_VERSION = 2,
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// SERIAL_NUMBER = 3,
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// TEXT_MESSAGE = 7,
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// USER_DATA = 9,
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// TOKEN = 10,
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// SAVE_PARAMETERS = 12,
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// RESET = 14,
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// STAGE_FIRMWARE = 16,
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// COMMIT_FIRMWARE = 17,
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DISTANCE_OUTPUT = 27,
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STREAM = 30,
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DISTANCE_DATA_CM = 44,
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// DISTANCE_DATA_MM = 45,
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// LASER_FIRING = 50,
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// TEMPERATURE = 57,
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UPDATE_RATE = 66,
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// NOISE = 74,
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// ZERO_OFFSET = 75,
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// LOST_SIGNAL_COUNTER = 76,
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// BAUD_RATE = 79,
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// I2C_ADDRESS = 80,
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// STEPPER_STATUS = 93,
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// SCAN_ON_STARTUP = 94,
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// SCAN_ENABLE = 96,
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// SCAN_POSITION = 97,
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// SCAN_LOW_ANGLE = 98,
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// SCAN_HIGH_ANGLE = 99
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};
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/*
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* Input Handling
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*/
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void update_input();
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// make the message in the buffer a read message and return to sender
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void boomerang_buffer_message(uint8_t len);
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// handle a complete checksummed message
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void handle_message();
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void send(const char *data, uint32_t len);
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union u {
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u() {}
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char buffer[256]; // from-autopilot
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PackedMessage<MsgStream> packed_msgstream;
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PackedMessage<DistanceOutput> packed_distance_output;
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PackedMessage<UpdateRate> packed_update_rate;
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} _msg;
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uint8_t _buflen;
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static uint16_t checksum_bytes(const char *buffer, uint8_t len) {
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uint16_t crc = 0;
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for (uint8_t i=0; i<len; i++) {
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crc = crc_xmodem_update(crc, buffer[i]);
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}
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return crc;
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}
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uint16_t msg_checksum() const {
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// 4 is 1 preamble, 2 flags, 1 msgid
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return checksum_bytes(_msg.buffer, payload_length() + 4);
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}
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uint8_t payload_length() const {
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if (_buflen < 3) {
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INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
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}
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return (_msg.packed_msgstream.flags >> 6) - 1;
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}
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static const uint8_t PREAMBLE = 0xAA;
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void move_preamble_in_buffer(uint8_t search_start_pos=0);
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enum class InputState {
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WANT_PREAMBLE = 45,
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WANT_FLAGS = 46,
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WANT_PAYLOAD = 47,
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WANT_CRC = 48,
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};
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InputState _inputstate = InputState::WANT_PREAMBLE;
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void set_inputstate(InputState newstate) {
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// ::fprintf(stderr, "Moving from inputstate (%u) to (%u)\n", (uint8_t)_inputstate, (uint8_t)newstate);
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_inputstate = newstate;
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}
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/*
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* SETTINGS
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*/
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uint32_t stream;
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uint32_t desired_fields;
|
||||
uint8_t update_rate;
|
||||
|
||||
/*
|
||||
* OUTPUT HANDLING
|
||||
*/
|
||||
|
||||
struct {
|
||||
bool stream;
|
||||
bool desired_fields;
|
||||
bool update_rate;
|
||||
} send_response;
|
||||
|
||||
enum class State {
|
||||
SCANNING = 21,
|
||||
};
|
||||
State _state = State::SCANNING;
|
||||
void set_state(State newstate) {
|
||||
// ::fprintf(stderr, "Moving from state (%u) to (%u)\n", (uint8_t)_state, (uint8_t)newstate);
|
||||
_state = newstate;
|
||||
}
|
||||
|
||||
void update_output(const Location &location);
|
||||
void update_output_responses();
|
||||
void update_output_scan(const Location &location);
|
||||
|
||||
uint32_t last_scan_output_time_ms;
|
||||
|
||||
float last_degrees_bf;
|
||||
|
||||
};
|
||||
|
||||
};
|
||||
Loading…
Reference in New Issue