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SITL: use millis/micros/panic functions

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Caio Marcelo de Oliveira Filho 2015-11-20 12:15:52 +09:00 committed by Randy Mackay
parent e839892524
commit d343bfdc6c
3 changed files with 11 additions and 11 deletions
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6
libraries/SITL/SIM_Gimbal.cpp
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@ -50,7 +50,7 @@ Gimbal::Gimbal(const struct sitl_fdm &_fdm) :
void Gimbal::update(void) void Gimbal::update(void)
{ {
// calculate delta time in seconds // calculate delta time in seconds
uint32_t now_us = hal.scheduler->micros(); uint32_t now_us = AP_HAL::micros();
float delta_t = (now_us - last_update_us) * 1.0e-6f; float delta_t = (now_us - last_update_us) * 1.0e-6f;
last_update_us = now_us; last_update_us = now_us;
@ -230,7 +230,7 @@ void Gimbal::send_report(void)
if (!seen_heartbeat) { if (!seen_heartbeat) {
return; return;
} }
uint32_t now = hal.scheduler->millis(); uint32_t now = AP_HAL::millis();
mavlink_message_t msg; mavlink_message_t msg;
uint16_t len; uint16_t len;
@ -262,7 +262,7 @@ void Gimbal::send_report(void)
/* /*
send a GIMBAL_REPORT message send a GIMBAL_REPORT message
*/ */
uint32_t now_us = hal.scheduler->micros(); uint32_t now_us = AP_HAL::micros();
if (now_us - last_report_us > reporting_period_ms*1000UL) { if (now_us - last_report_us > reporting_period_ms*1000UL) {
mavlink_gimbal_report_t gimbal_report; mavlink_gimbal_report_t gimbal_report;
float delta_time = (now_us - last_report_us) * 1.0e-6f; float delta_time = (now_us - last_report_us) * 1.0e-6f;

14
libraries/SITL/SIM_JSBSim.cpp
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@ -80,7 +80,7 @@ bool JSBSim::create_templates(void)
FILE *f = fopen(jsbsim_script, "w"); FILE *f = fopen(jsbsim_script, "w");
if (f == NULL) { if (f == NULL) {
hal.scheduler->panic("Unable to create jsbsim script %s", jsbsim_script); AP_HAL::panic("Unable to create jsbsim script %s", jsbsim_script);
} }
fprintf(f, fprintf(f,
"<?xml version=\"1.0\" encoding=\"utf-8\"?>\n" "<?xml version=\"1.0\" encoding=\"utf-8\"?>\n"
@ -125,7 +125,7 @@ bool JSBSim::create_templates(void)
f = fopen(jsbsim_fgout, "w"); f = fopen(jsbsim_fgout, "w");
if (f == NULL) { if (f == NULL) {
hal.scheduler->panic("Unable to create jsbsim fgout script %s", jsbsim_fgout); AP_HAL::panic("Unable to create jsbsim fgout script %s", jsbsim_fgout);
} }
fprintf(f, "<?xml version=\"1.0\"?>\n" fprintf(f, "<?xml version=\"1.0\"?>\n"
"<output name=\"127.0.0.1\" type=\"FLIGHTGEAR\" port=\"%u\" protocol=\"udp\" rate=\"1000\"/>\n", "<output name=\"127.0.0.1\" type=\"FLIGHTGEAR\" port=\"%u\" protocol=\"udp\" rate=\"1000\"/>\n",
@ -136,7 +136,7 @@ bool JSBSim::create_templates(void)
asprintf(&jsbsim_reset, "%s/aircraft/%s/reset.xml", autotest_dir, jsbsim_model); asprintf(&jsbsim_reset, "%s/aircraft/%s/reset.xml", autotest_dir, jsbsim_model);
f = fopen(jsbsim_reset, "w"); f = fopen(jsbsim_reset, "w");
if (f == NULL) { if (f == NULL) {
hal.scheduler->panic("Unable to create jsbsim reset script %s", jsbsim_reset); AP_HAL::panic("Unable to create jsbsim reset script %s", jsbsim_reset);
} }
float r, p, y; float r, p, y;
dcm.to_euler(&r, &p, &y); dcm.to_euler(&r, &p, &y);
@ -177,7 +177,7 @@ bool JSBSim::start_JSBSim(void)
int p[2]; int p[2];
int devnull = open("/dev/null", O_RDWR); int devnull = open("/dev/null", O_RDWR);
if (pipe(p) != 0) { if (pipe(p) != 0) {
hal.scheduler->panic("Unable to create pipe"); AP_HAL::panic("Unable to create pipe");
} }
pid_t child_pid = fork(); pid_t child_pid = fork();
if (child_pid == 0) { if (child_pid == 0) {
@ -219,14 +219,14 @@ bool JSBSim::start_JSBSim(void)
// read startup to be sure it is running // read startup to be sure it is running
char c; char c;
if (read(jsbsim_stdout, &c, 1) != 1) { if (read(jsbsim_stdout, &c, 1) != 1) {
hal.scheduler->panic("Unable to start JSBSim"); AP_HAL::panic("Unable to start JSBSim");
} }
if (!expect("JSBSim Execution beginning")) { if (!expect("JSBSim Execution beginning")) {
hal.scheduler->panic("Failed to start JSBSim"); AP_HAL::panic("Failed to start JSBSim");
} }
if (!open_control_socket()) { if (!open_control_socket()) {
hal.scheduler->panic("Failed to open JSBSim control socket"); AP_HAL::panic("Failed to open JSBSim control socket");
} }
fcntl(jsbsim_stdout, F_SETFL, fcntl(jsbsim_stdout, F_GETFL, 0) | O_NONBLOCK); fcntl(jsbsim_stdout, F_SETFL, fcntl(jsbsim_stdout, F_GETFL, 0) | O_NONBLOCK);

2
libraries/SITL/SITL.cpp
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@ -117,7 +117,7 @@ void SITL::Log_Write_SIMSTATE(DataFlash_Class *DataFlash)
struct log_AHRS pkt = { struct log_AHRS pkt = {
LOG_PACKET_HEADER_INIT(LOG_SIMSTATE_MSG), LOG_PACKET_HEADER_INIT(LOG_SIMSTATE_MSG),
time_us : hal.scheduler->micros64(), time_us : AP_HAL::micros64(),
roll : (int16_t)(state.rollDeg*100), roll : (int16_t)(state.rollDeg*100),
pitch : (int16_t)(state.pitchDeg*100), pitch : (int16_t)(state.pitchDeg*100),
yaw : (uint16_t)(wrap_360_cd(yaw*100)), yaw : (uint16_t)(wrap_360_cd(yaw*100)),