mirror of https://github.com/ArduPilot/ardupilot
149 lines
4.1 KiB
C++
149 lines
4.1 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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simulator connection for webots simulator https://github.com/omichel/webots
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*/
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#pragma once
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#include <AP_HAL/AP_HAL_Boards.h>
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#ifndef HAL_SIM_WEBOTS_ENABLED
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#define HAL_SIM_WEBOTS_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL)
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#endif
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#if HAL_SIM_WEBOTS_ENABLED
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#include <cmath>
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#include <AP_HAL/utility/Socket.h>
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#include "SIM_Aircraft.h"
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namespace SITL {
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/*
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simulation interface
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*/
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class Webots : public Aircraft {
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public:
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Webots(const char *frame_str);
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/* update model by one time step */
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void update(const struct sitl_input &input) override;
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/* output servo to simulator */
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void output(const struct sitl_input &input);
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/* static object creator */
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static Aircraft *create(const char *frame_str) {
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return new Webots(frame_str);
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}
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private:
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const char *webots_ip = "127.0.0.1";
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// assume sensors are streamed on port 5599
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uint16_t webots_sensors_port = 5599;
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enum {
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OUTPUT_ROVER=1,
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OUTPUT_QUAD=2,
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OUTPUT_TRICOPTER=3,
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OUTPUT_PWM=4
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} output_type;
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bool connect_sockets(void);
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bool parse_sensors(const char *json);
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bool sensors_receive(void);
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void output_rover(const struct sitl_input &input);
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void output_quad(const struct sitl_input &input);
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void output_tricopter(const struct sitl_input &input);
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void output_pwm(const struct sitl_input &input);
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void report_FPS();
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// buffer for parsing pose data in JSON format
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uint8_t sensor_buffer[50000];
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uint32_t sensor_buffer_len;
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SocketAPM *sim_sock;
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uint32_t connect_counter;
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uint64_t socket_frame_counter;
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uint64_t last_socket_frame_counter;
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uint64_t frame_counter;
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double last_frame_count_s;
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enum data_type {
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DATA_FLOAT,
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DATA_DOUBLE,
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DATA_VECTOR3F,
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DATA_VECTOR3F_ARRAY,
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DATA_FLOAT_ARRAY,
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};
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struct {
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double timestamp;
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struct {
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Vector3f angular_velocity;
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Vector3f linear_acceleration;
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Vector3f magnetic_field;
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} imu;
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struct {
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float x, y, z;
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} gps;
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struct {
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float roll, pitch, yaw;
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} pose;
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struct {
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Vector3f world_linear_velocity;
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} velocity;
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struct {
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struct vector3f_array points;
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struct float_array ranges;
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} scanner;
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} state, last_state;
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// table to aid parsing of JSON sensor data
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struct keytable {
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const char *section;
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const char *key;
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void *ptr;
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enum data_type type;
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} keytable[13] = {
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{ "", "ts", &state.timestamp, DATA_DOUBLE },
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{ ".imu", "av", &state.imu.angular_velocity, DATA_VECTOR3F },
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{ ".imu", "la", &state.imu.linear_acceleration, DATA_VECTOR3F },
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{ ".imu", "mf", &state.imu.magnetic_field, DATA_VECTOR3F },
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{ ".gps", "x", &state.gps.x, DATA_FLOAT },
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{ ".gps", "y", &state.gps.y, DATA_FLOAT },
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{ ".gps", "z", &state.gps.z, DATA_FLOAT },
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{ ".pose", "roll", &state.pose.roll, DATA_FLOAT },
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{ ".pose", "pitch", &state.pose.pitch, DATA_FLOAT },
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{ ".pose", "yaw", &state.pose.yaw, DATA_FLOAT },
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{ ".velocity", "wlv", &state.velocity.world_linear_velocity, DATA_VECTOR3F },
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{ ".scan", "pl", &state.scanner.points, DATA_VECTOR3F_ARRAY },
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{ ".scan", "rl", &state.scanner.ranges, DATA_FLOAT_ARRAY },
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};
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};
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} // namespace SITL
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#endif // HAL_SIM_WEBOTS_ENABLED
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