mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-30 20:48:33 -04:00
HAL_SITL: removed the need for the FDM thread
this also removes the need for the barriers
This commit is contained in:
Andrew Tridgell
parent
19147a05f6
commit
a6f41b3ca6
@ -20,12 +20,9 @@
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#include <sys/select.h>
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#include <AP_Param.h>
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#include <pthread.h>
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#include <SIM_Multicopter.h>
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typedef void *(*pthread_startroutine_t)(void *);
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#ifdef __CYGWIN__
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#include <stdio.h>
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#include <signal.h>
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@ -54,7 +51,6 @@ extern const AP_HAL::HAL& hal;
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using namespace AVR_SITL;
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// this allows loop_hook to be called
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SITL_State *g_state;
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// catch floating point exceptions
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@ -72,6 +68,9 @@ void SITL_State::_usage(void)
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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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fprintf(stdout, "\t-I set instance of SITL (adds 10*instance to all port numbers)\n");
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fprintf(stdout, "\t-s SPEEDUP simulation speedup\n");
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fprintf(stdout, "\t-O ORIGIN set home location (lat,lng,alt,yaw)\n");
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fprintf(stdout, "\t-M MODEL set simulation model\n");
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}
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void SITL_State::_parse_command_line(int argc, char * const argv[])
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@ -79,6 +78,7 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
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int opt;
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const char *home_str = NULL;
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const char *model_str = NULL;
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float speedup = 1.0f;
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signal(SIGFPE, _sig_fpe);
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// No-op SIGPIPE handler
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@ -92,7 +92,7 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
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_rcout_port = 5502;
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_simin_port = 5501;
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while ((opt = getopt(argc, argv, "swhr:H:CI:P:SO:M:")) != -1) {
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while ((opt = getopt(argc, argv, "s:whr:H:CI:P:SO:M:S:")) != -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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@ -125,6 +125,9 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
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break;
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case 'M':
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model_str = optarg;
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break;
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case 's':
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speedup = atof(optarg);
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break;
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default:
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_usage();
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@ -134,7 +137,9 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
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if (model_str && home_str) {
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sitl_model = new MultiCopter(home_str, model_str);
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printf("Started model %s at %s\n", model_str, home_str);
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sitl_model->set_speedup(speedup);
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_synthetic_clock_mode = true;
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printf("Started model %s at %s at speed %.1f\n", model_str, home_str, speedup);
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}
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fprintf(stdout, "Starting sketch '%s'\n", SKETCH);
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@ -233,22 +238,8 @@ void SITL_State::_sitl_setup(void)
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hal.scheduler->stop_clock(1);
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}
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// setup a pipe used to trigger loop to stop sleeping
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pipe(_fdm_pipe);
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AVR_SITL::SITLUARTDriver::_set_nonblocking(_fdm_pipe[0]);
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AVR_SITL::SITLUARTDriver::_set_nonblocking(_fdm_pipe[1]);
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// keep a global state pointer for static callbacks
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g_state = this;
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/*
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setup thread that receives input from the FDM
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*/
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pthread_attr_t thread_attr;
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pthread_attr_init(&thread_attr);
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pthread_create(&_fdm_thread_ctx, &thread_attr,
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(pthread_startroutine_t)&AVR_SITL::SITL_State::_fdm_thread, this);
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}
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@ -291,92 +282,81 @@ void SITL_State::_setup_fdm(void)
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/*
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thread for FDM input
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step the FDM by one time step
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*/
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void SITL_State::_fdm_thread(void)
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void SITL_State::_fdm_input_step(void)
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{
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uint32_t last_update_count = 0;
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uint32_t last_pwm_input = 0;
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static uint32_t last_pwm_input = 0;
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fd_set fds;
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struct timeval tv;
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while (true) {
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fd_set fds;
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struct timeval tv;
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if (sitl_model != NULL) {
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_fdm_input_local();
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} else {
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tv.tv_sec = 1;
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tv.tv_usec = 0;
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if (next_stop_clock != 0) {
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hal.scheduler->stop_clock(next_stop_clock);
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next_stop_clock = 0;
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FD_ZERO(&fds);
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FD_SET(_sitl_fd, &fds);
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if (select(_sitl_fd+1, &fds, NULL, NULL, &tv) != 1) {
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// internal error
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_simulator_output(true);
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return;
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}
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if (sitl_model != NULL) {
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_fdm_input_local();
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} else {
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tv.tv_sec = 1;
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tv.tv_usec = 0;
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/* check for packet from flight sim */
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_fdm_input();
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}
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FD_ZERO(&fds);
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FD_SET(_sitl_fd, &fds);
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if (select(_sitl_fd+1, &fds, NULL, NULL, &tv) != 1) {
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// internal error
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_simulator_output(true);
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continue;
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}
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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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/* check for packet from flight sim */
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_fdm_input();
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}
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if (_scheduler->interrupts_are_blocked() || _sitl == NULL) {
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return;
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}
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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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// simulate RC input at 50Hz
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if (hal.scheduler->millis() - last_pwm_input >= 20 && _sitl->rc_fail == 0) {
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last_pwm_input = hal.scheduler->millis();
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new_rc_input = true;
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}
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if (_scheduler->interrupts_are_blocked() || _sitl == NULL) {
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continue;
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}
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_scheduler->sitl_begin_atomic();
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// simulate RC input at 50Hz
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if (hal.scheduler->millis() - last_pwm_input >= 20 && _sitl->rc_fail == 0) {
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last_pwm_input = hal.scheduler->millis();
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new_rc_input = true;
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}
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_scheduler->sitl_begin_atomic();
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if (_update_count == 0 && _sitl != NULL) {
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_update_gps(0, 0, 0, 0, 0, 0, false);
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_update_barometer(0);
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_scheduler->timer_event();
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_scheduler->sitl_end_atomic();
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continue;
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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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_scheduler->sitl_end_atomic();
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continue;
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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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_sitl->state.speedN, _sitl->state.speedE, _sitl->state.speedD,
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!_sitl->gps_disable);
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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, _sitl->state.altitude);
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_update_barometer(_sitl->state.altitude);
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_update_compass(_sitl->state.rollDeg, _sitl->state.pitchDeg, _sitl->state.yawDeg);
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_update_flow();
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}
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// trigger all APM timers.
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if (_update_count == 0 && _sitl != NULL) {
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_update_gps(0, 0, 0, 0, 0, 0, false);
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_update_barometer(0);
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_scheduler->timer_event();
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_scheduler->sitl_end_atomic();
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return;
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}
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char b = 0;
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write(_fdm_pipe[1], &b, 1);
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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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_sitl->state.speedN, _sitl->state.speedE, _sitl->state.speedD,
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!_sitl->gps_disable);
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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, _sitl->state.altitude);
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_update_barometer(_sitl->state.altitude);
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_update_compass(_sitl->state.rollDeg, _sitl->state.pitchDeg, _sitl->state.yawDeg);
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_update_flow();
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}
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// trigger all APM timers.
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_scheduler->timer_event();
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_scheduler->sitl_end_atomic();
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}
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void SITL_State::wait_clock(uint64_t wait_time_usec)
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{
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while (hal.scheduler->micros64() < wait_time_usec) {
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_fdm_input_step();
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}
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}
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@ -395,7 +375,6 @@ void SITL_State::_fdm_input(void)
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struct pwm_packet pwm_pkt;
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} d;
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bool got_fg_input = false;
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next_stop_clock = 0;
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size = recv(_sitl_fd, &d, sizeof(d), MSG_DONTWAIT);
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switch (size) {
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@ -408,7 +387,7 @@ void SITL_State::_fdm_input(void)
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return;
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}
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next_stop_clock = d.fg_pkt.timestamp_us;
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hal.scheduler->stop_clock(d.fg_pkt.timestamp_us);
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_synthetic_clock_mode = true;
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got_fg_input = true;
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@ -469,7 +448,7 @@ void SITL_State::_fdm_input_local(void)
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_simulator_servos(input);
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sitl_model->update(input);
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sitl_model->fill_fdm(_sitl->state);
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next_stop_clock = _sitl->state.timestamp_us;
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hal.scheduler->stop_clock(_sitl->state.timestamp_us);
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_synthetic_clock_mode = true;
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_update_count++;
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}
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@ -663,56 +642,6 @@ void SITL_State::init(int argc, char * const argv[])
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_parse_command_line(argc, argv);
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}
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// wait for serial input, or 100usec
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void SITL_State::loop_hook(void)
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{
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struct timeval tv;
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fd_set fds;
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int fd, max_fd = 0;
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FD_ZERO(&fds);
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fd = ((AVR_SITL::SITLUARTDriver*)hal.uartA)->_fd;
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if (fd != -1) {
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FD_SET(fd, &fds);
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max_fd = max(fd, max_fd);
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}
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fd = ((AVR_SITL::SITLUARTDriver*)hal.uartB)->_fd;
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if (fd != -1) {
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FD_SET(fd, &fds);
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max_fd = max(fd, max_fd);
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}
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fd = ((AVR_SITL::SITLUARTDriver*)hal.uartC)->_fd;
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if (fd != -1) {
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FD_SET(fd, &fds);
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max_fd = max(fd, max_fd);
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}
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fd = ((AVR_SITL::SITLUARTDriver*)hal.uartD)->_fd;
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if (fd != -1) {
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FD_SET(fd, &fds);
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max_fd = max(fd, max_fd);
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}
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fd = ((AVR_SITL::SITLUARTDriver*)hal.uartE)->_fd;
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if (fd != -1) {
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FD_SET(fd, &fds);
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max_fd = max(fd, max_fd);
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}
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FD_SET(_fdm_pipe[0], &fds);
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max_fd = max(_fdm_pipe[0], max_fd);
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tv.tv_sec = 0;
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tv.tv_usec = 100;
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fflush(stdout);
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fflush(stderr);
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select(max_fd+1, &fds, NULL, NULL, &tv);
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if (FD_ISSET(_fdm_pipe[0], &fds)) {
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char b;
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read(_fdm_pipe[0], &b, 1);
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}
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}
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/*
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return height above the ground in meters
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*/
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@ -111,11 +111,12 @@ private:
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float _gyro_drift(void);
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float _rand_float(void);
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Vector3f _rand_vec3f(void);
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void _fdm_input_step(void);
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void wait_clock(uint64_t wait_time_usec);
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pthread_t _fdm_thread_ctx;
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void _fdm_thread(void);
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int _fdm_pipe[2];
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uint64_t next_stop_clock;
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// internal state
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enum vehicle_type _vehicle;
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@ -30,18 +30,10 @@ bool SITLScheduler::_in_io_proc = false;
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struct timeval SITLScheduler::_sketch_start_time;
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static void sigcont_handler(int)
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{
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}
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SITLScheduler::SITLScheduler(SITL_State *sitlState) :
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_sitlState(sitlState),
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stopped_clock_usec(0)
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{
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signal(SIGCONT, sigcont_handler);
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pthread_mutex_init(&clock_barrier.m, NULL);
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pthread_cond_init(&clock_barrier.cv, NULL);
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clock_barrier.state = CLOCK_WAIT_INIT;
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}
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void SITLScheduler::init(void *unused)
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@ -92,50 +84,13 @@ uint32_t SITLScheduler::millis()
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extern AVR_SITL::SITL_State *g_state;
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/*
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implement a barrier wait for SITL lock-step scheduling. We don't use
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pthread_barrier_* as it is not available in cygwin
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*/
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void SITLScheduler::clock_barrier_wait(void)
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{
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pthread_mutex_lock(&clock_barrier.m);
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while (clock_barrier.state == CLOCK_WAIT_TWO ||
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clock_barrier.state == CLOCK_WAIT_THREE) {
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pthread_cond_wait(&clock_barrier.cv, &clock_barrier.m);
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}
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if (clock_barrier.state == CLOCK_WAIT_INIT) {
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clock_barrier.state = CLOCK_WAIT_ONE;
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pthread_cond_signal(&clock_barrier.cv);
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while (clock_barrier.state != CLOCK_WAIT_TWO) {
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pthread_cond_wait(&clock_barrier.cv, &clock_barrier.m);
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}
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clock_barrier.state = CLOCK_WAIT_THREE;
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pthread_cond_signal(&clock_barrier.cv);
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} else {
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clock_barrier.state = CLOCK_WAIT_TWO;
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pthread_cond_signal(&clock_barrier.cv);
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while (clock_barrier.state != CLOCK_WAIT_THREE) {
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pthread_cond_wait(&clock_barrier.cv, &clock_barrier.m);
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}
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clock_barrier.state = CLOCK_WAIT_INIT;
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pthread_cond_signal(&clock_barrier.cv);
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}
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pthread_mutex_unlock(&clock_barrier.m);
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}
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void SITLScheduler::delay_microseconds(uint16_t usec)
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{
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uint64_t start = micros64();
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uint64_t dtime;
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while ((dtime=(micros64() - start) < usec)) {
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if (stopped_clock_usec) {
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/*
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we are using a synthetic clock. We want to wait until
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the stop_clock() call advances the clock
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*/
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clock_barrier_wait();
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_sitlState->wait_clock(start+usec);
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} else {
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usleep(usec - dtime);
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}
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@ -317,24 +272,7 @@ void SITLScheduler::panic(const prog_char_t *errormsg) {
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*/
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void SITLScheduler::stop_clock(uint64_t time_usec)
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{
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if (time_usec == 1) {
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// special case for initialisation in synthetic clock mode
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stopped_clock_usec = time_usec;
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return;
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}
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if (stopped_clock_usec != 0) {
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/*
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wait until the main thread is waiting for us. This ensures
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that any processing is complete before we advance the clock
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*/
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clock_barrier_wait();
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}
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stopped_clock_usec = time_usec;
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/*
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wait again to ensure the main thread can't get behind the FDM
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*/
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clock_barrier_wait();
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_run_io_procs(false);
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}
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@ -74,16 +74,9 @@ private:
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#endif
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void stop_clock(uint64_t time_usec);
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void clock_barrier_wait();
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bool _initialized;
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volatile uint64_t stopped_clock_usec;
|
||||
enum clock_wait { CLOCK_WAIT_INIT, CLOCK_WAIT_ONE, CLOCK_WAIT_TWO, CLOCK_WAIT_THREE };
|
||||
struct {
|
||||
enum clock_wait state;
|
||||
pthread_mutex_t m;
|
||||
pthread_cond_t cv;
|
||||
} clock_barrier;
|
||||
uint64_t stopped_clock_usec;
|
||||
};
|
||||
#endif
|
||||
#endif // __AP_HAL_SITL_SCHEDULER_H__
|
||||
|
||||
Loading…
Reference in New Issue
Block a user