mirror of https://github.com/ArduPilot/ardupilot
137 lines
3.4 KiB
C++
137 lines
3.4 KiB
C++
#pragma once
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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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#include "SITL_State_common.h"
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#if defined(HAL_BUILD_AP_PERIPH)
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#include "SITL_Periph_State.h"
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#else
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class HAL_SITL;
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class HALSITL::SITL_State : public SITL_State_Common {
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friend class HALSITL::Scheduler;
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friend class HALSITL::Util;
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friend class HALSITL::GPIO;
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public:
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void init(int argc, char * const argv[]) override;
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void loop_hook(void);
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uint16_t base_port(void) const {
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return _base_port;
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}
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bool use_rtscts(void) const {
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return _use_rtscts;
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}
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// paths for UART devices
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const char *_serial_path[9] {
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"tcp:0:wait",
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"tcp:2",
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"tcp:3",
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"GPS1",
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"GPS2",
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"tcp:5",
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"tcp:6",
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"tcp:7",
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"tcp:8",
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};
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std::vector<struct AP_Param::defaults_table_struct> cmdline_param;
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/* parse a home location string */
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static bool parse_home(const char *home_str,
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Location &loc,
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float &yaw_degrees);
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/* lookup a location in locations.txt */
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static bool lookup_location(const char *home_str,
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Location &loc,
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float &yaw_degrees);
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uint8_t get_instance() const { return _instance; }
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private:
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void _parse_command_line(int argc, char * const argv[]);
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void _set_param_default(const char *parm);
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void _usage(void);
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void _sitl_setup();
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void _setup_fdm(void);
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void _setup_timer(void);
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void _setup_adc(void);
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void set_height_agl(void);
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void _update_rangefinder();
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void _set_signal_handlers(void) const;
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void _update_airspeed(float airspeed);
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void _check_rc_input(void);
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bool _read_rc_sitl_input();
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void _fdm_input_local(void);
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void _output_to_flightgear(void);
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void _simulator_servos(struct sitl_input &input);
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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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// internal state
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uint8_t _instance;
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uint16_t _base_port;
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pid_t _parent_pid;
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uint32_t _update_count;
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Scheduler *_scheduler;
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SocketAPM _sitl_rc_in{true};
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uint16_t _rcin_port;
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uint16_t _fg_view_port;
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uint16_t _irlock_port;
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bool _synthetic_clock_mode;
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bool _use_rtscts;
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bool _use_fg_view;
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const char *_fg_address;
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// delay buffer variables
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static const uint8_t wind_buffer_length = 50;
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// airspeed sensor delay buffer variables
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struct readings_wind {
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uint32_t time;
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float data;
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};
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uint8_t store_index_wind;
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uint32_t last_store_time_wind;
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VectorN<readings_wind,wind_buffer_length> buffer_wind;
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uint32_t time_delta_wind;
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uint32_t delayed_time_wind;
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uint32_t wind_start_delay_micros;
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// simulated GPS devices
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SITL::GPS *gps[2]; // constrained by # of parameter sets
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// returns a voltage between 0V to 5V which should appear as the
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// voltage from the sensor
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float _sonar_pin_voltage() const;
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// multicast state
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int mc_out_fd = -1;
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int servo_in_fd = -1;
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// send out SITL state as UDP multicast
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void multicast_state_open(void);
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void multicast_state_send(void);
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void multicast_servo_update(struct sitl_input &input);
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uint16_t mc_servo[SITL_NUM_CHANNELS];
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void check_servo_input(void);
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};
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#endif // defined(HAL_BUILD_AP_PERIPH)
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#endif // CONFIG_HAL_BOARD == HAL_BOARD_SITL
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