SITL: use AP_JSON

libraries/SITL/SIM_Aircraft.cpp

@@ -35,10 +35,8 @@
 #include <AP_Terrain/AP_Terrain.h>
 #include <AP_Scheduler/AP_Scheduler.h>
 #include <AP_BoardConfig/AP_BoardConfig.h>
-#if USE_PICOJSON
+#include <AP_JSON/AP_JSON.h>
-#include "picojson.h"
 #include <AP_Filesystem/AP_Filesystem.h>
-#endif
 
 using namespace SITL;
 

libraries/SITL/SIM_Aircraft.h

@@ -38,10 +38,6 @@
 #include <Filter/Filter.h>
 #include "SIM_JSON_Master.h"
 
-#ifndef USE_PICOJSON
-#define USE_PICOJSON (CONFIG_HAL_BOARD == HAL_BOARD_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX)
-#endif
-
 namespace SITL {
 
 /*

libraries/SITL/SIM_Frame.cpp

@@ -331,7 +331,6 @@ float Frame::get_air_density(float alt_amsl) const
     return air_pressure / (ISA_GAS_CONSTANT * (C_TO_KELVIN(model.refTempC)));
 }
 
-#if USE_PICOJSON
 /*
   load frame specific parameters from a json file if available
  */
@@ -350,7 +349,7 @@ void Frame::load_frame_params(const char *model_json)
     if (fname == nullptr) {
         AP_HAL::panic("%s failed to load\n", model_json);
     }
-    picojson::value *obj = (picojson::value *)load_json(model_json);
+    AP_JSON::value *obj = AP_JSON::load_json(model_json);
     if (obj == nullptr) {
         AP_HAL::panic("%s failed to load\n", model_json);
     }
@@ -395,7 +394,7 @@ void Frame::load_frame_params(const char *model_json)
 
     for (uint8_t i=0; i<ARRAY_SIZE(vars); i++) {
         auto v = obj->get(vars[i].label);
-        if (v.is<picojson::null>()) {
+        if (v.is<AP_JSON::null>()) {
             // use default value
             continue;
         }
@@ -418,7 +417,7 @@ void Frame::load_frame_params(const char *model_json)
         for (uint8_t j=0; j<12; j++) {
             snprintf(label_name, 20, "motor%i_%s", j+1, per_motor_vars[i].label);
             auto v = obj->get(label_name);
-            if (v.is<picojson::null>()) {
+            if (v.is<AP_JSON::null>()) {
                 // use default value
                 continue;
             }
@@ -436,15 +435,15 @@ void Frame::load_frame_params(const char *model_json)
     ::printf("Loaded model params from %s\n", model_json);
 }
 
-void Frame::parse_float(picojson::value val, const char* label, float &param) {
+void Frame::parse_float(AP_JSON::value val, const char* label, float &param) {
     if (!val.is<double>()) {
         AP_HAL::panic("Bad json type for %s: %s", label, val.to_str().c_str());
     }
     param = val.get<double>();
 }
 
-void Frame::parse_vector3(picojson::value val, const char* label, Vector3f &param) {
+void Frame::parse_vector3(AP_JSON::value val, const char* label, Vector3f &param) {
-    if (!val.is<picojson::array>() || !val.contains(2) || val.contains(3)) {
+    if (!val.is<AP_JSON::value::array>() || !val.contains(2) || val.contains(3)) {
         AP_HAL::panic("Bad json type for %s: %s", label, val.to_str().c_str());
     }
     for (uint8_t j=0; j<3; j++) {
@@ -452,8 +451,6 @@ void Frame::parse_vector3(picojson::value val, const char* label, Vector3f &para
     }
 }
 
-#endif
-
 #if AP_SIM_ENABLED
 
 /*
@@ -464,13 +461,11 @@ void Frame::init(const char *frame_str, Battery *_battery)
     model = default_model;
     battery = _battery;
 
-#if USE_PICOJSON
     const char *colon = strchr(frame_str, ':');
     size_t slen = strlen(frame_str);
     if (colon != nullptr && slen > 5 && strcmp(&frame_str[slen-5], ".json") == 0) {
         load_frame_params(colon+1);
     }
-#endif
     mass = model.mass;
 
     const float drag_force = model.mass * GRAVITY_MSS * tanf(radians(model.refAngle));

libraries/SITL/SIM_Frame.h

@@ -20,10 +20,7 @@
 
 #include "SIM_Aircraft.h"
 #include "SIM_Motor.h"
-
+#include <AP_JSON/AP_JSON.h>
-#if USE_PICOJSON
-#include "picojson.h"
-#endif
 
 namespace SITL {
 
@@ -146,10 +143,8 @@ private:
     } default_model;
 
 protected:
-#if USE_PICOJSON
     // load frame parameters from a json model file
     void load_frame_params(const char *model_json);
-#endif
 
     // get air density in kg/m^3
     float get_air_density(float alt_amsl) const;
@@ -166,9 +161,7 @@ private:
 #endif
 
     // json parsing helpers
-#if USE_PICOJSON
+    void parse_float(AP_JSON::value val, const char* label, float &param);
-    void parse_float(picojson::value val, const char* label, float &param);
+    void parse_vector3(AP_JSON::value val, const char* label, Vector3f &param);
-    void parse_vector3(picojson::value val, const char* label, Vector3f &param);
-#endif
 };
 }

libraries/SITL/SIM_XPlane.cpp

@@ -30,7 +30,6 @@
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Filesystem/AP_Filesystem.h>
 #include <SRV_Channel/SRV_Channel.h>
-#include "picojson.h"
 #include <AP_Vehicle/AP_Vehicle_Type.h>
 
 // ignore cast errors in this case to keep complexity down
@@ -124,7 +123,7 @@ XPlane::XPlane(const char *frame_str) :
 /*
   add one DRef to list
  */
-void XPlane::add_dref(const char *name, DRefType type, const picojson::value &dref)
+void XPlane::add_dref(const char *name, DRefType type, const AP_JSON::value &dref)
 {
     struct DRef *d = new struct DRef;
     if (d == nullptr) {
@@ -149,7 +148,7 @@ void XPlane::add_dref(const char *name, DRefType type, const picojson::value &dr
 /*
   add one joystick axis to list
  */
-void XPlane::add_joyinput(const char *label, JoyType type, const picojson::value &d)
+void XPlane::add_joyinput(const char *label, JoyType type, const AP_JSON::value &d)
 {
     if (strncmp(label, "axis", 4) == 0) {
         struct JoyInput *j = new struct JoyInput;
@@ -180,7 +179,7 @@ void XPlane::add_joyinput(const char *label, JoyType type, const picojson::value
 /*
   handle a setting
  */
-void XPlane::handle_setting(const picojson::value &d)
+void XPlane::handle_setting(const AP_JSON::value &d)
 {
     if (d.contains("debug")) {
         dref_debug = d.get("debug").get<double>();
@@ -205,7 +204,7 @@ bool XPlane::load_dref_map(const char *map_json)
     if (fname == nullptr) {
         return false;
     }
-    picojson::value *obj = (picojson::value *)load_json(fname);
+    AP_JSON::value *obj = AP_JSON::load_json(fname);
     if (obj == nullptr) {
         return false;
     }
@@ -230,8 +229,8 @@ bool XPlane::load_dref_map(const char *map_json)
     
     uint32_t count = 0;
     // obtain a const reference to the map, and print the contents
-    const picojson::value::object& o = obj->get<picojson::object>();
+    const AP_JSON::value::object& o = obj->get<AP_JSON::value::object>();
-    for (picojson::value::object::const_iterator i = o.begin();
+    for (AP_JSON::value::object::const_iterator i = o.begin();
          i != o.end();
          ++i) {
         const char *label = i->first.c_str();

libraries/SITL/SIM_XPlane.h

@@ -30,7 +30,7 @@
 #include <AP_Filesystem/AP_Filesystem.h>
 
 #include "SIM_Aircraft.h"
-#include "picojson.h"
+#include <AP_JSON/AP_JSON.h>
 
 namespace SITL {
 
@@ -126,9 +126,9 @@ private:
     struct stat map_st;
 
     bool load_dref_map(const char *map_json);
-    void add_dref(const char *name, DRefType type, const picojson::value &dref);
+    void add_dref(const char *name, DRefType type, const AP_JSON::value &dref);
-    void add_joyinput(const char *name, JoyType type, const picojson::value &d);
+    void add_joyinput(const char *name, JoyType type, const AP_JSON::value &d);
-    void handle_setting(const picojson::value &d);
+    void handle_setting(const AP_JSON::value &d);
 
     void check_reload_dref(void);
 

libraries/SITL/examples/EvaluateBatteryModel/wscript

@@ -9,9 +9,6 @@ def build(bld):
     source = bld.path.ant_glob('*.cpp')
     source.append('../../../../libraries/SITL/SIM_Battery.cpp')
     source.append('../../../../libraries/SITL/SIM_Frame.cpp')
-    source.append('../../../../libraries/SITL/picojson.cpp')
-
-    bld.env.DEFINES.append("USE_PICOJSON=1")
 
     bld.ap_program(
         use='ap',

libraries/SITL/examples/EvaluateMotorModel/wscript

@@ -9,9 +9,6 @@ def build(bld):
     source = bld.path.ant_glob('*.cpp')
     source.append('../../../../libraries/SITL/SIM_Motor.cpp')
     source.append('../../../../libraries/SITL/SIM_Frame.cpp')
-    source.append('../../../../libraries/SITL/picojson.cpp')
-
-    bld.env.DEFINES.append("USE_PICOJSON=1")
 
     bld.ap_program(
         use='ap',

libraries/SITL/picojson.cpp

@@ -1,62 +0,0 @@
-
-#include "SIM_Aircraft.h"
-#include <AP_Filesystem/AP_Filesystem.h>
-
-#if USE_PICOJSON
-#include "picojson.h"
-
-/*
-  load JSON file, returning a picojson object or nullptr on failure
- */
-void *load_json(const char *filename)
-{
-    struct stat st;
-    if (AP::FS().stat(filename, &st) != 0) {
-        ::printf("No such json file %s\n", filename);
-        return nullptr;
-    }
-    int fd = AP::FS().open(filename, O_RDONLY);
-    if (fd == -1) {
-        ::printf("failed to open json %s\n", filename);
-        return nullptr;
-    }
-    char buf[st.st_size+1];
-    memset(buf, '\0', sizeof(buf));
-    if (AP::FS().read(fd, buf, st.st_size) != st.st_size) {
-        ::printf("failed to read json %s\n", filename);
-        AP::FS().close(fd);
-        return nullptr;
-    }
-    AP::FS().close(fd);
-
-    char *start = strchr(buf, '{');
-    if (!start) {
-        ::printf("Invalid json %s", filename);
-        return nullptr;
-    }
-
-    /*
-      remove comments, as not allowed by the parser
-     */
-    for (char *p = strchr(start,'#'); p; p=strchr(p+1, '#')) {
-        // clear to end of line
-        do {
-            *p++ = ' ';
-        } while (*p != '\n' && *p != '\r' && *p);
-    }
-
-    picojson::value *obj = new picojson::value;
-    if (obj == nullptr) {
-        ::printf("Invalid allocate json for %s", filename);
-        return nullptr;
-    }
-    std::string err = picojson::parse(*obj, start);
-    if (!err.empty()) {
-        ::printf("parse failed for json %s", filename);
-        delete obj;
-        return nullptr;
-    }
-
-    return obj;
-}
-#endif // USE_PICOJSON