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ardupilot/libraries/AP_HAL_AVR_SITL/sitl_gps.cpp

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
SITL handling
This simulates a GPS on a serial port
Andrew Tridgell November 2011
*/
#include <AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
#include <AP_HAL_AVR.h>
#include <AP_HAL_AVR_SITL.h>
#include "AP_HAL_AVR_SITL_Namespace.h"
#include "HAL_AVR_SITL_Class.h"
#include <AP_Math.h>
#include "../SITL/SITL.h"
#include "Scheduler.h"
#include "UARTDriver.h"
#include "../AP_GPS/AP_GPS.h"
#include "../AP_GPS/AP_GPS_UBLOX.h"
#include <sys/ioctl.h>
#include <unistd.h>
#include <time.h>
#include <stdio.h>
#include <sys/time.h>
using namespace AVR_SITL;
extern const AP_HAL::HAL& hal;
static uint8_t next_gps_index;
static uint8_t gps_delay;
SITL_State::gps_data SITL_State::_gps_data[MAX_GPS_DELAY];
// state of GPS emulation
static struct gps_state {
/* pipe emulating UBLOX GPS serial stream */
int gps_fd, client_fd;
uint32_t last_update; // milliseconds
} gps_state, gps2_state;
/*
hook for reading from the GPS pipe
*/
ssize_t SITL_State::gps_read(int fd, void *buf, size_t count)
{
#ifdef FIONREAD
// use FIONREAD to get exact value if possible
int num_ready;
while (ioctl(fd, FIONREAD, &num_ready) == 0 && num_ready > 256) {
// the pipe is filling up - drain it
uint8_t tmp[128];
if (read(fd, tmp, sizeof(tmp)) != sizeof(tmp)) {
break;
}
}
#endif
return read(fd, buf, count);
}
/*
setup GPS input pipe
*/
int SITL_State::gps_pipe(void)
{
int fd[2];
if (gps_state.client_fd != 0) {
return gps_state.client_fd;
}
pipe(fd);
gps_state.gps_fd = fd[1];
gps_state.client_fd = fd[0];
gps_state.last_update = _scheduler->millis();
AVR_SITL::SITLUARTDriver::_set_nonblocking(gps_state.gps_fd);
AVR_SITL::SITLUARTDriver::_set_nonblocking(fd[0]);
return gps_state.client_fd;
}
/*
setup GPS2 input pipe
*/
int SITL_State::gps2_pipe(void)
{
int fd[2];
if (gps2_state.client_fd != 0) {
return gps2_state.client_fd;
}
pipe(fd);
gps2_state.gps_fd = fd[1];
gps2_state.client_fd = fd[0];
gps2_state.last_update = _scheduler->millis();
AVR_SITL::SITLUARTDriver::_set_nonblocking(gps2_state.gps_fd);
AVR_SITL::SITLUARTDriver::_set_nonblocking(fd[0]);
return gps2_state.client_fd;
}
/*
write some bytes from the simulated GPS
*/
void SITL_State::_gps_write(const uint8_t *p, uint16_t size)
{
while (size--) {
if (_sitl->gps_byteloss > 0.0) {
float r = ((((unsigned)random()) % 1000000)) / 1.0e4;
if (r < _sitl->gps_byteloss) {
// lose the byte
p++;
continue;
}
}
write(gps_state.gps_fd, p, 1);
if (_sitl->gps2_enable) {
write(gps2_state.gps_fd, p, 1);
}
p++;
}
}
/*
send a UBLOX GPS message
*/
void SITL_State::_gps_send_ubx(uint8_t msgid, uint8_t *buf, uint16_t size)
{
const uint8_t PREAMBLE1 = 0xb5;
const uint8_t PREAMBLE2 = 0x62;
const uint8_t CLASS_NAV = 0x1;
uint8_t hdr[6], chk[2];
hdr[0] = PREAMBLE1;
hdr[1] = PREAMBLE2;
hdr[2] = CLASS_NAV;
hdr[3] = msgid;
hdr[4] = size & 0xFF;
hdr[5] = size >> 8;
chk[0] = chk[1] = hdr[2];
chk[1] += (chk[0] += hdr[3]);
chk[1] += (chk[0] += hdr[4]);
chk[1] += (chk[0] += hdr[5]);
for (uint8_t i=0; i<size; i++) {
chk[1] += (chk[0] += buf[i]);
}
_gps_write(hdr, sizeof(hdr));
_gps_write(buf, size);
_gps_write(chk, sizeof(chk));
}
/*
return GPS time of week in milliseconds
*/
static void gps_time(uint16_t *time_week, uint32_t *time_week_ms)
{
struct timeval tv;
gettimeofday(&tv, NULL);
const uint32_t epoch = 86400*(10*365 + (1980-1969)/4 + 1 + 6 - 2) - 15;
uint32_t epoch_seconds = tv.tv_sec - epoch;
*time_week = epoch_seconds / (86400*7UL);
*time_week_ms = (epoch_seconds % (86400*7UL))*1000 + tv.tv_usec/1000;
}
/*
send a new set of GPS UBLOX packets
*/
void SITL_State::_update_gps_ubx(const struct gps_data *d)
{
struct PACKED ubx_nav_posllh {
uint32_t time; // GPS msToW
int32_t longitude;
int32_t latitude;
int32_t altitude_ellipsoid;
int32_t altitude_msl;
uint32_t horizontal_accuracy;
uint32_t vertical_accuracy;
} pos;
struct PACKED ubx_nav_status {
uint32_t time; // GPS msToW
uint8_t fix_type;
uint8_t fix_status;
uint8_t differential_status;
uint8_t res;
uint32_t time_to_first_fix;
uint32_t uptime; // milliseconds
} status;
struct PACKED ubx_nav_velned {
uint32_t time; // GPS msToW
int32_t ned_north;
int32_t ned_east;
int32_t ned_down;
uint32_t speed_3d;
uint32_t speed_2d;
int32_t heading_2d;
uint32_t speed_accuracy;
uint32_t heading_accuracy;
} velned;
struct PACKED ubx_nav_solution {
uint32_t time;
int32_t time_nsec;
int16_t week;
uint8_t fix_type;
uint8_t fix_status;
int32_t ecef_x;
int32_t ecef_y;
int32_t ecef_z;
uint32_t position_accuracy_3d;
int32_t ecef_x_velocity;
int32_t ecef_y_velocity;
int32_t ecef_z_velocity;
uint32_t speed_accuracy;
uint16_t position_DOP;
uint8_t res;
uint8_t satellites;
uint32_t res2;
} sol;
const uint8_t MSG_POSLLH = 0x2;
const uint8_t MSG_STATUS = 0x3;
const uint8_t MSG_VELNED = 0x12;
const uint8_t MSG_SOL = 0x6;
uint16_t time_week;
uint32_t time_week_ms;
gps_time(&time_week, &time_week_ms);
pos.time = time_week_ms;
pos.longitude = d->longitude * 1.0e7;
pos.latitude = d->latitude * 1.0e7;
pos.altitude_ellipsoid = d->altitude*1000.0;
pos.altitude_msl = d->altitude*1000.0;
pos.horizontal_accuracy = 5;
pos.vertical_accuracy = 10;
status.time = time_week_ms;
status.fix_type = d->have_lock?3:0;
status.fix_status = d->have_lock?1:0;
status.differential_status = 0;
status.res = 0;
status.time_to_first_fix = 0;
status.uptime = hal.scheduler->millis();
velned.time = time_week_ms;
velned.ned_north = 100.0 * d->speedN;
velned.ned_east = 100.0 * d->speedE;
velned.ned_down = 100.0 * d->speedD;
velned.speed_2d = pythagorous2(d->speedN, d->speedE) * 100;
velned.speed_3d = pythagorous3(d->speedN, d->speedE, d->speedD) * 100;
velned.heading_2d = ToDeg(atan2f(d->speedE, d->speedN)) * 100000.0;
if (velned.heading_2d < 0.0) {
velned.heading_2d += 360.0 * 100000.0;
}
velned.speed_accuracy = 2;
velned.heading_accuracy = 4;
memset(&sol, 0, sizeof(sol));
sol.fix_type = d->have_lock?3:0;
sol.fix_status = 221;
sol.satellites = d->have_lock?_sitl->gps_numsats:3;
sol.time = time_week_ms;
sol.week = time_week;
_gps_send_ubx(MSG_POSLLH, (uint8_t*)&pos, sizeof(pos));
_gps_send_ubx(MSG_STATUS, (uint8_t*)&status, sizeof(status));
_gps_send_ubx(MSG_VELNED, (uint8_t*)&velned, sizeof(velned));
_gps_send_ubx(MSG_SOL, (uint8_t*)&sol, sizeof(sol));
}
static void swap_uint32(uint32_t *v, uint8_t n)
{
while (n--) {
*v = htonl(*v);
v++;
}
}
/*
MTK type simple checksum
*/
static void mtk_checksum(const uint8_t *data, uint8_t n, uint8_t *ck_a, uint8_t *ck_b)
{
*ck_a = *ck_b = 0;
while (n--) {
*ck_a += *data++;
*ck_b += *ck_a;
}
}
/*
send a new GPS MTK packet
*/
void SITL_State::_update_gps_mtk(const struct gps_data *d)
{
struct PACKED mtk_msg {
uint8_t preamble1;
uint8_t preamble2;
uint8_t msg_class;
uint8_t msg_id;
int32_t latitude;
int32_t longitude;
int32_t altitude;
int32_t ground_speed;
int32_t ground_course;
uint8_t satellites;
uint8_t fix_type;
uint32_t utc_time;
uint8_t ck_a;
uint8_t ck_b;
} p;
p.preamble1 = 0xb5;
p.preamble2 = 0x62;
p.msg_class = 1;
p.msg_id = 5;
p.latitude = d->latitude * 1.0e6;
p.longitude = d->longitude * 1.0e6;
p.altitude = d->altitude * 100;
p.ground_speed = pythagorous2(d->speedN, d->speedE) * 100;
p.ground_course = ToDeg(atan2f(d->speedE, d->speedN)) * 1000000.0;
if (p.ground_course < 0.0) {
p.ground_course += 360.0 * 1000000.0;
}
p.satellites = d->have_lock?_sitl->gps_numsats:3;
p.fix_type = d->have_lock?3:1;
// the spec is not very clear, but the time field seems to be
// milliseconds since the start of the day in UTC time,
// done in powers of 100.
// The date is powers of 100 as well, but in days since 1/1/2000
struct tm tm;
struct timeval tv;
gettimeofday(&tv, NULL);
tm = *gmtime(&tv.tv_sec);
uint32_t hsec = (tv.tv_usec / (10000*20)) * 20; // always multiple of 20
p.utc_time = hsec + tm.tm_sec*100 + tm.tm_min*100*100 + tm.tm_hour*100*100*100;
swap_uint32((uint32_t *)&p.latitude, 5);
swap_uint32((uint32_t *)&p.utc_time, 1);
mtk_checksum(&p.msg_class, sizeof(p)-4, &p.ck_a, &p.ck_b);
_gps_write((uint8_t*)&p, sizeof(p));
}
/*
send a new GPS MTK 1.6 packet
*/
void SITL_State::_update_gps_mtk16(const struct gps_data *d)
{
struct PACKED mtk_msg {
uint8_t preamble1;
uint8_t preamble2;
uint8_t size;
int32_t latitude;
int32_t longitude;
int32_t altitude;
int32_t ground_speed;
int32_t ground_course;
uint8_t satellites;
uint8_t fix_type;
uint32_t utc_date;
uint32_t utc_time;
uint16_t hdop;
uint8_t ck_a;
uint8_t ck_b;
} p;
p.preamble1 = 0xd0;
p.preamble2 = 0xdd;
p.size = sizeof(p) - 5;
p.latitude = d->latitude * 1.0e6;
p.longitude = d->longitude * 1.0e6;
p.altitude = d->altitude * 100;
p.ground_speed = pythagorous2(d->speedN, d->speedE) * 100;
p.ground_course = ToDeg(atan2f(d->speedE, d->speedN)) * 100.0;
if (p.ground_course < 0.0) {
p.ground_course += 360.0 * 100.0;
}
p.satellites = d->have_lock?_sitl->gps_numsats:3;
p.fix_type = d->have_lock?3:1;
// the spec is not very clear, but the time field seems to be
// milliseconds since the start of the day in UTC time,
// done in powers of 100.
// The date is powers of 100 as well, but in days since 1/1/2000
struct tm tm;
struct timeval tv;
gettimeofday(&tv, NULL);
tm = *gmtime(&tv.tv_sec);
uint32_t hsec = (tv.tv_usec / (10000*20)) * 20; // always multiple of 20
p.utc_date = (tm.tm_year-100) + ((tm.tm_mon+1)*100) + (tm.tm_mday*100*100);
p.utc_time = hsec + tm.tm_sec*100 + tm.tm_min*100*100 + tm.tm_hour*100*100*100;
p.hdop = 115;
mtk_checksum(&p.size, sizeof(p)-4, &p.ck_a, &p.ck_b);
_gps_write((uint8_t*)&p, sizeof(p));
}
/*
send a new GPS MTK 1.9 packet
*/
void SITL_State::_update_gps_mtk19(const struct gps_data *d)
{
struct PACKED mtk_msg {
uint8_t preamble1;
uint8_t preamble2;
uint8_t size;
int32_t latitude;
int32_t longitude;
int32_t altitude;
int32_t ground_speed;
int32_t ground_course;
uint8_t satellites;
uint8_t fix_type;
uint32_t utc_date;
uint32_t utc_time;
uint16_t hdop;
uint8_t ck_a;
uint8_t ck_b;
} p;
p.preamble1 = 0xd1;
p.preamble2 = 0xdd;
p.size = sizeof(p) - 5;
p.latitude = d->latitude * 1.0e7;
p.longitude = d->longitude * 1.0e7;
p.altitude = d->altitude * 100;
p.ground_speed = pythagorous2(d->speedN, d->speedE) * 100;
p.ground_course = ToDeg(atan2f(d->speedE, d->speedN)) * 100.0;
if (p.ground_course < 0.0) {
p.ground_course += 360.0 * 100.0;
}
p.satellites = d->have_lock?_sitl->gps_numsats:3;
p.fix_type = d->have_lock?3:1;
// the spec is not very clear, but the time field seems to be
// milliseconds since the start of the day in UTC time,
// done in powers of 100.
// The date is powers of 100 as well, but in days since 1/1/2000
struct tm tm;
struct timeval tv;
gettimeofday(&tv, NULL);
tm = *gmtime(&tv.tv_sec);
uint32_t millisec = (tv.tv_usec / (1000*200)) * 200; // always multiple of 200
p.utc_date = (tm.tm_year-100) + ((tm.tm_mon+1)*100) + (tm.tm_mday*100*100);
p.utc_time = millisec + tm.tm_sec*1000 + tm.tm_min*1000*100 + tm.tm_hour*1000*100*100;
p.hdop = 115;
mtk_checksum(&p.size, sizeof(p)-4, &p.ck_a, &p.ck_b);
_gps_write((uint8_t*)&p, sizeof(p));
}
/*
NMEA checksum
*/
uint16_t SITL_State::_gps_nmea_checksum(const char *s)
{
uint16_t cs = 0;
const uint8_t *b = (const uint8_t *)s;
for (uint16_t i=1; s[i]; i++) {
cs ^= b[i];
}
return cs;
}
/*
formated print of NMEA message, with checksum appended
*/
void SITL_State::_gps_nmea_printf(const char *fmt, ...)
{
char *s = NULL;
uint16_t csum;
char trailer[6];
va_list ap;
va_start(ap, fmt);
vasprintf(&s, fmt, ap);
va_end(ap);
csum = _gps_nmea_checksum(s);
snprintf(trailer, sizeof(trailer), "*%02X\r\n", (unsigned)csum);
_gps_write((const uint8_t*)s, strlen(s));
_gps_write((const uint8_t*)trailer, 5);
free(s);
}
/*
send a new GPS NMEA packet
*/
void SITL_State::_update_gps_nmea(const struct gps_data *d)
{
struct timeval tv;
struct tm *tm;
char tstring[20];
char dstring[20];
char lat_string[20];
char lng_string[20];
gettimeofday(&tv, NULL);
tm = gmtime(&tv.tv_sec);
// format time string
snprintf(tstring, sizeof(tstring), "%02u%02u%06.3f", tm->tm_hour, tm->tm_min, tm->tm_sec + tv.tv_usec*1.0e-6);
// format date string
snprintf(dstring, sizeof(dstring), "%02u%02u%02u", tm->tm_mday, tm->tm_mon+1, tm->tm_year % 100);
// format latitude
double deg = fabs(d->latitude);
snprintf(lat_string, sizeof(lat_string), "%02u%08.5f,%c",
(unsigned)deg,
(deg - int(deg))*60,
d->latitude<0?'S':'N');
// format longitude
deg = fabs(d->longitude);
snprintf(lng_string, sizeof(lng_string), "%03u%08.5f,%c",
(unsigned)deg,
(deg - int(deg))*60,
d->longitude<0?'W':'E');
_gps_nmea_printf("$GPGGA,%s,%s,%s,%01d,%02d,%04.1f,%07.2f,M,0.0,M,,",
tstring,
lat_string,
lng_string,
d->have_lock?1:0,
d->have_lock?_sitl->gps_numsats:3,
2.0,
d->altitude);
float speed_knots = pythagorous2(d->speedN, d->speedE)*1.94384449f;
float heading = ToDeg(atan2f(d->speedE, d->speedN));
if (heading < 0) {
heading += 360.0f;
}
_gps_nmea_printf("$GPRMC,%s,%c,%s,%s,%.2f,%.2f,%s,,",
tstring,
d->have_lock?'A':'V',
lat_string,
lng_string,
speed_knots,
heading,
dstring);
}
/*
possibly send a new GPS packet
*/
void SITL_State::_update_gps(double latitude, double longitude, float altitude,
double speedN, double speedE, double speedD, bool have_lock)
{
struct gps_data d;
char c;
Vector3f glitch_offsets = _sitl->gps_glitch;
// run at configured GPS rate (default 5Hz)
if ((hal.scheduler->millis() - gps_state.last_update) < (uint32_t)(1000/_sitl->gps_hertz)) {
return;
}
// swallow any config bytes
if (gps_state.gps_fd != 0) {
read(gps_state.gps_fd, &c, 1);
}
if (gps2_state.gps_fd != 0) {
read(gps2_state.gps_fd, &c, 1);
}
gps_state.last_update = hal.scheduler->millis();
gps2_state.last_update = hal.scheduler->millis();
d.latitude = latitude + glitch_offsets.x;
d.longitude = longitude + glitch_offsets.y;
d.altitude = altitude + glitch_offsets.z;
d.speedN = speedN;
d.speedE = speedE;
d.speedD = speedD;
d.have_lock = have_lock;
// add in some GPS lag
_gps_data[next_gps_index++] = d;
if (next_gps_index >= gps_delay+1) {
next_gps_index = 0;
}
d = _gps_data[next_gps_index];
if (_sitl->gps_delay != gps_delay) {
// cope with updates to the delay control
gps_delay = _sitl->gps_delay;
for (uint8_t i=0; i<gps_delay; i++) {
_gps_data[i] = d;
}
}
if (gps_state.gps_fd == 0 && gps2_state.gps_fd == 0) {
return;
}
switch ((SITL::GPSType)_sitl->gps_type.get()) {
case SITL::GPS_TYPE_NONE:
// no GPS attached
break;
case SITL::GPS_TYPE_UBLOX:
_update_gps_ubx(&d);
break;
case SITL::GPS_TYPE_MTK:
_update_gps_mtk(&d);
break;
case SITL::GPS_TYPE_MTK16:
_update_gps_mtk16(&d);
break;
case SITL::GPS_TYPE_MTK19:
_update_gps_mtk19(&d);
break;
case SITL::GPS_TYPE_NMEA:
_update_gps_nmea(&d);
break;
}
}
#endif
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