mirror of https://github.com/ArduPilot/ardupilot
147 lines
4.3 KiB
Python
Executable File
147 lines
4.3 KiB
Python
Executable File
#!/usr/bin/env python
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'''
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simple rover simulator
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'''
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from rover import Rover
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import util, time, os, sys, math
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import socket, struct
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import select, errno
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sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..', '..', '..', '..', 'mavlink', 'pymavlink'))
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def sim_send(a):
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'''send flight information to mavproxy'''
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from math import degrees
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earth_rates = util.BodyRatesToEarthRates(a.dcm, a.gyro)
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(roll, pitch, yaw) = a.dcm.to_euler()
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buf = struct.pack('<17dI',
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a.latitude, a.longitude, a.altitude, degrees(yaw),
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a.velocity.x, a.velocity.y, a.velocity.z,
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a.accelerometer.x, a.accelerometer.y, a.accelerometer.z,
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degrees(earth_rates.x), degrees(earth_rates.y), degrees(earth_rates.z),
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degrees(roll), degrees(pitch), degrees(yaw),
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math.sqrt(a.velocity.x*a.velocity.x + a.velocity.y*a.velocity.y),
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0x4c56414f)
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try:
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sim_out.send(buf)
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except socket.error as e:
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if not e.errno in [ errno.ECONNREFUSED ]:
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raise
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def sim_recv(state):
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'''receive control information from SITL'''
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try:
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buf = sim_in.recv(28)
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except socket.error as e:
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if not e.errno in [ errno.EAGAIN, errno.EWOULDBLOCK ]:
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raise
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return
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if len(buf) != 28:
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print('len=%u' % len(buf))
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return
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control = list(struct.unpack('<14H', buf))
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pwm = control[0:11]
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# map steering and throttle to -1/1
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state.steering = (pwm[0]-1500)/500.0
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state.throttle = (pwm[2]-1500)/500.0
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# print("steering=%f throttle=%f pwm=%s" % (state.steering, state.throttle, str(pwm)))
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def interpret_address(addrstr):
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'''interpret a IP:port string'''
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a = addrstr.split(':')
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a[1] = int(a[1])
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return tuple(a)
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class ControlState:
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def __init__(self):
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# steering from -1 to 1, where -1 is left, 1 is right
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self.steering = 0
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# throttle from -1 to 1, where -1 is full reverse, 1 is full forward
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self.throttle = 0
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##################
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# main program
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from optparse import OptionParser
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parser = OptionParser("sim_rover.py [options]")
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parser.add_option("--simin", dest="simin", help="SIM input (IP:port)", default="127.0.0.1:5502")
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parser.add_option("--simout", dest="simout", help="SIM output (IP:port)", default="127.0.0.1:5501")
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parser.add_option("--home", dest="home", type='string', default=None, help="home lat,lng,alt,hdg (required)")
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parser.add_option("--rate", dest="rate", type='int', help="SIM update rate", default=100)
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parser.add_option("--skid-steering", action='store_true', default=False, help="Use skid steering")
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(opts, args) = parser.parse_args()
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for m in [ 'home' ]:
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if not opts.__dict__[m]:
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print("Missing required option '%s'" % m)
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parser.print_help()
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sys.exit(1)
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# UDP socket addresses
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sim_out_address = interpret_address(opts.simout)
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sim_in_address = interpret_address(opts.simin)
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# setup input from SITL
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sim_in = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
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sim_in.bind(sim_in_address)
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sim_in.setblocking(0)
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# setup output to SITL
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sim_out = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
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sim_out.connect(sim_out_address)
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sim_out.setblocking(0)
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# create the quadcopter model
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a = Rover(skid_steering=opts.skid_steering)
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# initial controls state
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state = ControlState()
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# parse home
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v = opts.home.split(',')
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if len(v) != 4:
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print("home should be lat,lng,alt,hdg")
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sys.exit(1)
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a.home_latitude = float(v[0])
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a.home_longitude = float(v[1])
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a.home_altitude = float(v[2])
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a.altitude = a.home_altitude
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a.yaw = float(v[3])
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a.latitude = a.home_latitude
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a.longitude = a.home_longitude
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a.set_yaw_degrees(a.yaw)
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print("Starting at lat=%f lon=%f alt=%f heading=%.1f" % (
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a.home_latitude,
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a.home_longitude,
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a.altitude,
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a.yaw))
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frame_time = 1.0/opts.rate
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sleep_overhead = 0
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while True:
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frame_start = time.time()
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sim_recv(state)
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a.update(state)
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sim_send(a)
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t = time.time()
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frame_end = time.time()
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if frame_end - frame_start < frame_time:
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dt = frame_time - (frame_end - frame_start)
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dt -= sleep_overhead
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if dt > 0:
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time.sleep(dt)
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sleep_overhead = 0.99*sleep_overhead + 0.01*(time.time() - frame_end)
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