mirror of https://github.com/ArduPilot/ardupilot
308 lines
8.1 KiB
C++
308 lines
8.1 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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#if defined(HAL_BUILD_AP_PERIPH)
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#include "SITL_Periph_State.h"
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#else
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#include "AP_HAL_SITL.h"
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#include "AP_HAL_SITL_Namespace.h"
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#include "HAL_SITL_Class.h"
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#include "RCInput.h"
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#include <sys/types.h>
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#include <sys/socket.h>
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#include <netinet/in.h>
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#include <netinet/udp.h>
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#include <arpa/inet.h>
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#include <vector>
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#include <AP_Baro/AP_Baro.h>
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#include <AP_InertialSensor/AP_InertialSensor.h>
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#include <AP_Compass/AP_Compass.h>
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#include <AP_Terrain/AP_Terrain.h>
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#include <SITL/SITL.h>
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#include <SITL/SITL_Input.h>
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#include <SITL/SIM_Gimbal.h>
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#include <SITL/SIM_ADSB.h>
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#include <SITL/SIM_Vicon.h>
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#include <SITL/SIM_RF_Benewake_TF02.h>
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#include <SITL/SIM_RF_Benewake_TF03.h>
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#include <SITL/SIM_RF_Benewake_TFmini.h>
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#include <SITL/SIM_RF_TeraRanger_Serial.h>
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#include <SITL/SIM_RF_LightWareSerial.h>
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#include <SITL/SIM_RF_LightWareSerialBinary.h>
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#include <SITL/SIM_RF_Lanbao.h>
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#include <SITL/SIM_RF_BLping.h>
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#include <SITL/SIM_RF_LeddarOne.h>
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#include <SITL/SIM_RF_USD1_v0.h>
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#include <SITL/SIM_RF_USD1_v1.h>
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#include <SITL/SIM_RF_MaxsonarSerialLV.h>
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#include <SITL/SIM_RF_Wasp.h>
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#include <SITL/SIM_RF_NMEA.h>
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#include <SITL/SIM_RF_MAVLink.h>
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#include <SITL/SIM_RF_GYUS42v2.h>
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#include <SITL/SIM_VectorNav.h>
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#include <SITL/SIM_LORD.h>
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#include <SITL/SIM_AIS.h>
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#include <SITL/SIM_GPS.h>
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#include <SITL/SIM_Frsky_D.h>
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#include <SITL/SIM_CRSF.h>
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// #include <SITL/SIM_Frsky_SPort.h>
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// #include <SITL/SIM_Frsky_SPortPassthrough.h>
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#include <SITL/SIM_PS_RPLidarA2.h>
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#include <SITL/SIM_PS_TeraRangerTower.h>
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#include <SITL/SIM_PS_LightWare_SF45B.h>
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#include <SITL/SIM_RichenPower.h>
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#include <SITL/SIM_FETtecOneWireESC.h>
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#include <AP_HAL/utility/Socket.h>
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class HAL_SITL;
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class HALSITL::SITL_State {
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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[]);
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enum vehicle_type {
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ArduCopter,
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Rover,
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ArduPlane,
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ArduSub,
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Blimp
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};
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uint16_t pwm_output[SITL_NUM_CHANNELS];
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uint16_t pwm_input[SITL_RC_INPUT_CHANNELS];
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bool output_ready = false;
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bool new_rc_input;
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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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// create a simulated serial device; type of device is given by
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// name parameter
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SITL::SerialDevice *create_serial_sim(const char *name, const char *arg);
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bool use_rtscts(void) const {
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return _use_rtscts;
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}
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// simulated airspeed, sonar and battery monitor
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uint16_t sonar_pin_value; // pin 0
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uint16_t airspeed_pin_value[AIRSPEED_MAX_SENSORS]; // pin 1
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uint16_t voltage_pin_value; // pin 13
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uint16_t current_pin_value; // pin 12
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uint16_t voltage2_pin_value; // pin 15
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uint16_t current2_pin_value; // pin 14
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// paths for UART devices
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const char *_uart_path[9] {
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"tcp:0:wait",
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"GPS1",
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"tcp:2",
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"tcp:3",
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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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enum vehicle_type _vehicle;
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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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SITL::SIM *_sitl;
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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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float _current;
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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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// internal SITL model
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SITL::Aircraft *sitl_model;
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#if HAL_SIM_GIMBAL_ENABLED
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// simulated gimbal
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bool enable_gimbal;
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SITL::Gimbal *gimbal;
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#endif
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#if HAL_SIM_ADSB_ENABLED
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// simulated ADSb
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SITL::ADSB *adsb;
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#endif
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// simulated vicon system:
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SITL::Vicon *vicon;
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// simulated Benewake tf02 rangefinder:
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SITL::RF_Benewake_TF02 *benewake_tf02;
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// simulated Benewake tf03 rangefinder:
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SITL::RF_Benewake_TF03 *benewake_tf03;
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// simulated Benewake tfmini rangefinder:
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SITL::RF_Benewake_TFmini *benewake_tfmini;
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// simulated TeraRanger Serial:
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SITL::RF_TeraRanger_Serial *teraranger_serial;
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// simulated LightWareSerial rangefinder - legacy protocol::
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SITL::RF_LightWareSerial *lightwareserial;
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// simulated LightWareSerial rangefinder - binary protocol:
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SITL::RF_LightWareSerialBinary *lightwareserial_binary;
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// simulated Lanbao rangefinder:
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SITL::RF_Lanbao *lanbao;
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// simulated BLping rangefinder:
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SITL::RF_BLping *blping;
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// simulated LeddarOne rangefinder:
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SITL::RF_LeddarOne *leddarone;
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// simulated USD1 v0 rangefinder:
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SITL::RF_USD1_v0 *USD1_v0;
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// simulated USD1 v1 rangefinder:
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SITL::RF_USD1_v1 *USD1_v1;
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// simulated MaxsonarSerialLV rangefinder:
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SITL::RF_MaxsonarSerialLV *maxsonarseriallv;
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// simulated Wasp rangefinder:
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SITL::RF_Wasp *wasp;
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// simulated NMEA rangefinder:
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SITL::RF_NMEA *nmea;
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// simulated MAVLink rangefinder:
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SITL::RF_MAVLink *rf_mavlink;
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// simulated GYUS42v2 rangefinder:
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SITL::RF_GYUS42v2 *gyus42v2;
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// simulated Frsky devices
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SITL::Frsky_D *frsky_d;
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// SITL::Frsky_SPort *frsky_sport;
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// SITL::Frsky_SPortPassthrough *frsky_sportpassthrough;
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#if HAL_SIM_PS_RPLIDARA2_ENABLED
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// simulated RPLidarA2:
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SITL::PS_RPLidarA2 *rplidara2;
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#endif
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// simulated FETtec OneWire ESCs:
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SITL::FETtecOneWireESC *fetteconewireesc;
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#if HAL_SIM_PS_LIGHTWARE_SF45B_ENABLED
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// simulated SF45B proximity sensor:
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SITL::PS_LightWare_SF45B *sf45b;
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#endif
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#if HAL_SIM_PS_TERARANGERTOWER_ENABLED
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SITL::PS_TeraRangerTower *terarangertower;
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#endif
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#if AP_SIM_CRSF_ENABLED
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// simulated CRSF devices
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SITL::CRSF *crsf;
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#endif
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// simulated VectorNav system:
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SITL::VectorNav *vectornav;
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// simulated LORD Microstrain system
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SITL::LORD *lord;
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#if HAL_SIM_JSON_MASTER_ENABLED
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// Ride along instances via JSON SITL backend
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SITL::JSON_Master ride_along;
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#endif
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#if HAL_SIM_AIS_ENABLED
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// simulated AIS stream
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SITL::AIS *ais;
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#endif
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// simulated EFI MegaSquirt device:
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SITL::EFI_MegaSquirt *efi_ms;
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// output socket for flightgear viewing
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SocketAPM fg_socket{true};
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const char *defaults_path = HAL_PARAM_DEFAULTS_PATH;
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char *_gps_fifo[2];
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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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};
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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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