#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL && defined(HAL_BUILD_AP_PERIPH)
#include "AP_HAL_SITL.h"
#include "AP_HAL_SITL_Namespace.h"
#include "HAL_SITL_Class.h"
#include "UARTDriver.h"
#include "Scheduler.h"
#include <stdio.h>
#include <signal.h>
#include <unistd.h>
#include <stdlib.h>
#include <errno.h>
#include <sys/select.h>
#include <AP_Param/AP_Param.h>
#include <SITL/SIM_JSBSim.h>
#include <AP_HAL/utility/Socket_native.h>
#include <AP_HAL/utility/getopt_cpp.h>
#include <SITL/SITL.h>
extern const AP_HAL::HAL& hal;
using namespace HALSITL;
enum long_options {
CMDLINE_SERIAL0=1,
CMDLINE_SERIAL1,
CMDLINE_SERIAL2,
CMDLINE_SERIAL3,
CMDLINE_SERIAL4,
CMDLINE_SERIAL5,
CMDLINE_SERIAL6,
CMDLINE_SERIAL7,
CMDLINE_SERIAL8,
CMDLINE_SERIAL9,
CMDLINE_DEFAULTS,
};
void SITL_State::init(int argc, char * const argv[]) {
int opt;
const struct GetOptLong::option options[] = {
{"help", false, 0, 'h'},
{"instance", true, 0, 'I'},
{"maintenance", false, 0, 'M'},
{"serial0", true, 0, CMDLINE_SERIAL0},
{"serial1", true, 0, CMDLINE_SERIAL1},
{"serial2", true, 0, CMDLINE_SERIAL2},
{"serial3", true, 0, CMDLINE_SERIAL3},
{"serial4", true, 0, CMDLINE_SERIAL4},
{"serial5", true, 0, CMDLINE_SERIAL5},
{"serial6", true, 0, CMDLINE_SERIAL6},
{"serial7", true, 0, CMDLINE_SERIAL7},
{"serial8", true, 0, CMDLINE_SERIAL8},
{"serial9", true, 0, CMDLINE_SERIAL9},
{"defaults", true, 0, CMDLINE_DEFAULTS},
{0, false, 0, 0}
};
setvbuf(stdout, (char *)0, _IONBF, 0);
setvbuf(stderr, (char *)0, _IONBF, 0);
GetOptLong gopt(argc, argv, "hI:M",
options);
while((opt = gopt.getoption()) != -1) {
switch (opt) {
case 'I':
_instance = atoi(gopt.optarg);
break;
case 'M':
printf("Running in Maintenance Mode\n");
_maintenance = true;
break;
case CMDLINE_SERIAL0:
case CMDLINE_SERIAL1:
case CMDLINE_SERIAL2:
case CMDLINE_SERIAL3:
case CMDLINE_SERIAL4:
case CMDLINE_SERIAL5:
case CMDLINE_SERIAL6:
case CMDLINE_SERIAL7:
case CMDLINE_SERIAL8:
case CMDLINE_SERIAL9:
_serial_path[opt - CMDLINE_SERIAL0] = gopt.optarg;
break;
case CMDLINE_DEFAULTS:
defaults_path = strdup(gopt.optarg);
break;
default:
printf("Options:\n"
"\t--help|-h display this help information\n"
"\t--instance|-I N set instance of SITL Periph\n"
"\t--maintenance|-M run in maintenance mode\n"
"\t--defaults path set param defaults file\n"
"\t--serial0 device set device string for SERIAL0\n"
"\t--serial1 device set device string for SERIAL1\n"
"\t--serial2 device set device string for SERIAL2\n"
"\t--serial3 device set device string for SERIAL3\n"
"\t--serial4 device set device string for SERIAL4\n"
"\t--serial5 device set device string for SERIAL5\n"
"\t--serial6 device set device string for SERIAL6\n"
"\t--serial7 device set device string for SERIAL7\n"
"\t--serial8 device set device string for SERIAL8\n"
"\t--serial9 device set device string for SERIAL9\n"
);
exit(1);
}
}
printf("Running Instance: %d\n", _instance);
sitl_model = NEW_NOTHROW SimMCast("");
_sitl = AP::sitl();
_sitl->i2c_sim.init();
sitl_model->set_i2c(&_sitl->i2c_sim);
}
void SITL_State::wait_clock(uint64_t wait_time_usec)
{
while (AP_HAL::micros64() < wait_time_usec) {
struct sitl_input input {};
sitl_model->update(input); // delays up to 1 millisecond
sim_update();
update_voltage_current(input, 0);
}
}
/*
open multicast input from main simulator
*/
void SimMCast::multicast_open(void)
{
if (!sock.connect(SITL_MCAST_IP, SITL_MCAST_PORT)) {
fprintf(stderr, "multicast socket failed - %s\n", strerror(errno));
exit(1);
}
servo_sock.set_blocking(false);
::printf("multicast receiver initialised\n");
}
/*
open UDP socket back to master for servo output
*/
void SimMCast::servo_fd_open(void)
{
const char *in_addr = nullptr;
uint16_t port;
sock.last_recv_address(in_addr, port);
if (in_addr == nullptr) {
return;
}
if (!servo_sock.connect(in_addr, SITL_SERVO_PORT)) {
fprintf(stderr, "servo socket failed - %s\n", strerror(errno));
exit(1);
}
servo_sock.set_blocking(false);
}
/*
send servo outputs back to master
*/
void SimMCast::servo_send(void)
{
const auto *_sitl = AP::sitl();
if (_sitl == nullptr) {
return;
}
uint16_t out[SITL_NUM_CHANNELS] {};
hal.rcout->read(out, SITL_NUM_CHANNELS);
float out_float[SITL_NUM_CHANNELS];
const uint32_t mask = uint32_t(_sitl->can_servo_mask.get());
for (uint8_t i=0; i<SITL_NUM_CHANNELS; i++) {
out_float[i] = (mask & (1U<<i)) ? out[i] : nanf("");
}
servo_sock.send((void*)out_float, sizeof(out_float));
}
/*
read state from multicast
*/
void SimMCast::multicast_read(void)
{
auto *_sitl = AP::sitl();
if (_sitl == nullptr) {
return;
}
if (_sitl->state.timestamp_us == 0) {
printf("Waiting for multicast state\n");
}
struct SITL::sitl_fdm state;
while (sock.recv((void*)&state, sizeof(state), 1) != sizeof(state)) {
// nop
}
if (_sitl->state.timestamp_us == 0) {
printf("Got multicast state input\n");
}
if (state.timestamp_us < _sitl->state.timestamp_us) {
printf("multicast state time reset\n");
// main process has rebooted
base_time_us += (_sitl->state.timestamp_us - state.timestamp_us);
}
_sitl->state = state;
location.lat = state.latitude*1.0e7;
location.lng = state.longitude*1.0e7;
location.alt = state.altitude*1.0e2;
if (home.is_zero()) {
home = location;
}
hal.scheduler->stop_clock(_sitl->state.timestamp_us + base_time_us);
HALSITL::Scheduler::timer_event();
if (!servo_sock.is_connected()) {
servo_fd_open();
} else {
servo_send();
}
}
SimMCast::SimMCast(const char *frame_str) :
Aircraft(frame_str)
{
multicast_open();
}
void SimMCast::update(const struct sitl_input &input)
{
multicast_read();
update_home();
update_external_payload(input);
auto *_sitl = AP::sitl();
if (_sitl != nullptr) {
battery_voltage = _sitl->batt_voltage;
}
}
#endif //CONFIG_HAL_BOARD == HAL_BOARD_SITL && defined(HAL_BUILD_AP_PERIPH)