mirror of https://github.com/ArduPilot/ardupilot
501 lines
12 KiB
C++
501 lines
12 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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/*
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SITL handling
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This simulates a GPS on a serial port
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Andrew Tridgell November 2011
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*/
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#include <AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
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#include <AP_HAL_AVR.h>
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#include <AP_HAL_AVR_SITL.h>
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#include "AP_HAL_AVR_SITL_Namespace.h"
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#include "HAL_AVR_SITL_Class.h"
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#include <AP_Math.h>
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#include "../SITL/SITL.h"
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#include "Scheduler.h"
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#include "UARTDriver.h"
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#include "../AP_GPS/AP_GPS.h"
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#include "../AP_GPS/AP_GPS_UBLOX.h"
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#include <sys/ioctl.h>
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#include <unistd.h>
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#include <time.h>
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#include <sys/time.h>
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using namespace AVR_SITL;
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extern const AP_HAL::HAL& hal;
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static uint8_t next_gps_index;
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static uint8_t gps_delay;
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SITL_State::gps_data SITL_State::_gps_data[MAX_GPS_DELAY];
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// state of GPS emulation
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static struct {
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/* pipe emulating UBLOX GPS serial stream */
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int gps_fd, client_fd;
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uint32_t last_update; // milliseconds
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} gps_state;
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/*
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hook for reading from the GPS pipe
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*/
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ssize_t SITL_State::gps_read(int fd, void *buf, size_t count)
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{
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#ifdef FIONREAD
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// use FIONREAD to get exact value if possible
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int num_ready;
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while (ioctl(fd, FIONREAD, &num_ready) == 0 && num_ready > 256) {
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// the pipe is filling up - drain it
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uint8_t tmp[128];
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if (read(fd, tmp, sizeof(tmp)) != sizeof(tmp)) {
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break;
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}
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}
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#endif
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return read(fd, buf, count);
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}
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/*
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setup GPS input pipe
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*/
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int SITL_State::gps_pipe(void)
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{
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int fd[2];
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if (gps_state.client_fd != 0) {
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return gps_state.client_fd;
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}
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pipe(fd);
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gps_state.gps_fd = fd[1];
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gps_state.client_fd = fd[0];
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gps_state.last_update = _scheduler->millis();
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AVR_SITL::SITLUARTDriver::_set_nonblocking(gps_state.gps_fd);
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AVR_SITL::SITLUARTDriver::_set_nonblocking(fd[0]);
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return gps_state.client_fd;
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}
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/*
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write some bytes from the simulated GPS
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*/
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void SITL_State::_gps_write(uint8_t *p, uint16_t size)
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{
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while (size--) {
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if (_sitl->gps_byteloss > 0.0) {
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float r = ((((unsigned)random()) % 1000000)) / 1.0e4;
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if (r < _sitl->gps_byteloss) {
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// lose the byte
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p++;
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continue;
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}
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}
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write(gps_state.gps_fd, p++, 1);
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}
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}
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/*
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send a UBLOX GPS message
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*/
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void SITL_State::_gps_send_ubx(uint8_t msgid, uint8_t *buf, uint16_t size)
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{
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const uint8_t PREAMBLE1 = 0xb5;
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const uint8_t PREAMBLE2 = 0x62;
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const uint8_t CLASS_NAV = 0x1;
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uint8_t hdr[6], chk[2];
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hdr[0] = PREAMBLE1;
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hdr[1] = PREAMBLE2;
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hdr[2] = CLASS_NAV;
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hdr[3] = msgid;
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hdr[4] = size & 0xFF;
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hdr[5] = size >> 8;
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chk[0] = chk[1] = hdr[2];
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chk[1] += (chk[0] += hdr[3]);
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chk[1] += (chk[0] += hdr[4]);
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chk[1] += (chk[0] += hdr[5]);
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for (uint8_t i=0; i<size; i++) {
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chk[1] += (chk[0] += buf[i]);
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}
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_gps_write(hdr, sizeof(hdr));
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_gps_write(buf, size);
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_gps_write(chk, sizeof(chk));
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}
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/*
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return GPS time of week in milliseconds
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*/
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static uint32_t millis_time_of_week(void)
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{
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struct tm tm;
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struct timeval tv;
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gettimeofday(&tv, NULL);
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tm = *gmtime(&tv.tv_sec);
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uint32_t tsec;
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tsec =
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tm.tm_wday * 24 * 3600 +
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tm.tm_hour * 3600 +
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tm.tm_min * 60 +
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tm.tm_sec;
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return tsec + (tv.tv_usec/1000);
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}
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/*
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send a new set of GPS UBLOX packets
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*/
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void SITL_State::_update_gps_ubx(const struct gps_data *d)
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{
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struct PACKED ubx_nav_posllh {
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uint32_t time; // GPS msToW
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int32_t longitude;
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int32_t latitude;
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int32_t altitude_ellipsoid;
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int32_t altitude_msl;
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uint32_t horizontal_accuracy;
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uint32_t vertical_accuracy;
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} pos;
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struct PACKED ubx_nav_status {
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uint32_t time; // GPS msToW
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uint8_t fix_type;
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uint8_t fix_status;
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uint8_t differential_status;
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uint8_t res;
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uint32_t time_to_first_fix;
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uint32_t uptime; // milliseconds
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} status;
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struct PACKED ubx_nav_velned {
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uint32_t time; // GPS msToW
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int32_t ned_north;
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int32_t ned_east;
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int32_t ned_down;
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uint32_t speed_3d;
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uint32_t speed_2d;
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int32_t heading_2d;
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uint32_t speed_accuracy;
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uint32_t heading_accuracy;
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} velned;
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struct PACKED ubx_nav_solution {
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uint32_t time;
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int32_t time_nsec;
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int16_t week;
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uint8_t fix_type;
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uint8_t fix_status;
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int32_t ecef_x;
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int32_t ecef_y;
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int32_t ecef_z;
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uint32_t position_accuracy_3d;
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int32_t ecef_x_velocity;
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int32_t ecef_y_velocity;
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int32_t ecef_z_velocity;
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uint32_t speed_accuracy;
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uint16_t position_DOP;
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uint8_t res;
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uint8_t satellites;
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uint32_t res2;
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} sol;
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const uint8_t MSG_POSLLH = 0x2;
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const uint8_t MSG_STATUS = 0x3;
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const uint8_t MSG_VELNED = 0x12;
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const uint8_t MSG_SOL = 0x6;
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pos.time = hal.scheduler->millis(); // FIX
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pos.longitude = d->longitude * 1.0e7;
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pos.latitude = d->latitude * 1.0e7;
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pos.altitude_ellipsoid = d->altitude*1000.0;
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pos.altitude_msl = d->altitude*1000.0;
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pos.horizontal_accuracy = 5;
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pos.vertical_accuracy = 10;
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status.time = millis_time_of_week();
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status.fix_type = d->have_lock?3:0;
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status.fix_status = d->have_lock?1:0;
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status.differential_status = 0;
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status.res = 0;
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status.time_to_first_fix = 0;
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status.uptime = hal.scheduler->millis();
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velned.time = status.time;
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velned.ned_north = 100.0 * d->speedN;
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velned.ned_east = 100.0 * d->speedE;
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velned.ned_down = 100.0 * d->speedD;
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velned.speed_2d = pythagorous2(d->speedN, d->speedE) * 100;
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velned.speed_3d = pythagorous3(d->speedN, d->speedE, d->speedD) * 100;
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velned.heading_2d = ToDeg(atan2f(d->speedE, d->speedN)) * 100000.0;
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if (velned.heading_2d < 0.0) {
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velned.heading_2d += 360.0 * 100000.0;
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}
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velned.speed_accuracy = 2;
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velned.heading_accuracy = 4;
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memset(&sol, 0, sizeof(sol));
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sol.fix_type = d->have_lock?3:0;
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sol.fix_status = 221;
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sol.satellites = d->have_lock?_sitl->gps_numsats:3;
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_gps_send_ubx(MSG_POSLLH, (uint8_t*)&pos, sizeof(pos));
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_gps_send_ubx(MSG_STATUS, (uint8_t*)&status, sizeof(status));
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_gps_send_ubx(MSG_VELNED, (uint8_t*)&velned, sizeof(velned));
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_gps_send_ubx(MSG_SOL, (uint8_t*)&sol, sizeof(sol));
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}
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static void swap_uint32(uint32_t *v, uint8_t n)
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{
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while (n--) {
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*v = htonl(*v);
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v++;
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}
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}
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/*
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MTK type simple checksum
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*/
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static void mtk_checksum(const uint8_t *data, uint8_t n, uint8_t *ck_a, uint8_t *ck_b)
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{
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*ck_a = *ck_b = 0;
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while (n--) {
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*ck_a += *data++;
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*ck_b += *ck_a;
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}
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}
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/*
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send a new GPS MTK packet
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*/
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void SITL_State::_update_gps_mtk(const struct gps_data *d)
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{
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struct PACKED mtk_msg {
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uint8_t preamble1;
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uint8_t preamble2;
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uint8_t msg_class;
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uint8_t msg_id;
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int32_t latitude;
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int32_t longitude;
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int32_t altitude;
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int32_t ground_speed;
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int32_t ground_course;
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uint8_t satellites;
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uint8_t fix_type;
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uint32_t utc_time;
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uint8_t ck_a;
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uint8_t ck_b;
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} p;
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p.preamble1 = 0xb5;
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p.preamble2 = 0x62;
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p.msg_class = 1;
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p.msg_id = 5;
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p.latitude = d->latitude * 1.0e6;
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p.longitude = d->longitude * 1.0e6;
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p.altitude = d->altitude * 100;
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p.ground_speed = pythagorous2(d->speedN, d->speedE) * 100;
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p.ground_course = ToDeg(atan2f(d->speedE, d->speedN)) * 1000000.0;
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if (p.ground_course < 0.0) {
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p.ground_course += 360.0 * 1000000.0;
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}
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p.satellites = d->have_lock?_sitl->gps_numsats:3;
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p.fix_type = d->have_lock?3:1;
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// the spec is not very clear, but the time field seems to be
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// seconds since the start of the day in UTC time, done in powers
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// of 100. Quite bizarre.
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struct tm tm;
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struct timeval tv;
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gettimeofday(&tv, NULL);
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tm = *gmtime(&tv.tv_sec);
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p.utc_time = tm.tm_sec + tm.tm_min*100 + tm.tm_hour*100*100;
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swap_uint32((uint32_t *)&p.latitude, 5);
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swap_uint32((uint32_t *)&p.utc_time, 1);
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mtk_checksum(&p.msg_class, sizeof(p)-4, &p.ck_a, &p.ck_b);
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_gps_write((uint8_t*)&p, sizeof(p));
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}
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/*
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send a new GPS MTK 1.6 packet
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*/
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void SITL_State::_update_gps_mtk16(const struct gps_data *d)
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{
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struct PACKED mtk_msg {
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uint8_t preamble1;
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uint8_t preamble2;
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uint8_t size;
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int32_t latitude;
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int32_t longitude;
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int32_t altitude;
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int32_t ground_speed;
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int32_t ground_course;
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uint8_t satellites;
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uint8_t fix_type;
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uint32_t utc_date;
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uint32_t utc_time;
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uint16_t hdop;
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uint8_t ck_a;
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uint8_t ck_b;
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} p;
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p.preamble1 = 0xd0;
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p.preamble2 = 0xdd;
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p.size = sizeof(p) - 5;
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p.latitude = d->latitude * 1.0e6;
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p.longitude = d->longitude * 1.0e6;
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p.altitude = d->altitude * 100;
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p.ground_speed = pythagorous2(d->speedN, d->speedE) * 100;
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p.ground_course = ToDeg(atan2f(d->speedE, d->speedN)) * 100.0;
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if (p.ground_course < 0.0) {
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p.ground_course += 360.0 * 100.0;
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}
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p.satellites = d->have_lock?_sitl->gps_numsats:3;
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p.fix_type = d->have_lock?3:1;
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// the spec is not very clear, but the time field seems to be
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// hundreadths of a second since the start of the day in UTC time,
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// done in powers of 100.
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// The data is powers of 100 as well, but in days since 1/1/2000
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struct tm tm;
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struct timeval tv;
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gettimeofday(&tv, NULL);
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tm = *gmtime(&tv.tv_sec);
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p.utc_date = (tm.tm_year-2000) + tm.tm_mon*100 + tm.tm_mday*100*100;
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p.utc_time = tv.tv_usec/10000 + tm.tm_sec*100 + tm.tm_min*100*100 + tm.tm_hour*100*100*100;
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p.hdop = 115;
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mtk_checksum(&p.size, sizeof(p)-4, &p.ck_a, &p.ck_b);
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_gps_write((uint8_t*)&p, sizeof(p));
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}
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/*
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send a new GPS MTK 1.9 packet
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*/
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void SITL_State::_update_gps_mtk19(const struct gps_data *d)
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{
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struct PACKED mtk_msg {
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uint8_t preamble1;
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uint8_t preamble2;
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uint8_t size;
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int32_t latitude;
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int32_t longitude;
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int32_t altitude;
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int32_t ground_speed;
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int32_t ground_course;
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uint8_t satellites;
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uint8_t fix_type;
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uint32_t utc_date;
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uint32_t utc_time;
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uint16_t hdop;
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uint8_t ck_a;
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uint8_t ck_b;
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} p;
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p.preamble1 = 0xd1;
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p.preamble2 = 0xdd;
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p.size = sizeof(p) - 5;
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p.latitude = d->latitude * 1.0e7;
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p.longitude = d->longitude * 1.0e7;
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p.altitude = d->altitude * 100;
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p.ground_speed = pythagorous2(d->speedN, d->speedE) * 100;
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p.ground_course = ToDeg(atan2f(d->speedE, d->speedN)) * 100.0;
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if (p.ground_course < 0.0) {
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p.ground_course += 360.0 * 100.0;
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}
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p.satellites = d->have_lock?_sitl->gps_numsats:3;
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p.fix_type = d->have_lock?3:1;
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// the spec is not very clear, but the time field seems to be
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// hundreadths of a second since the start of the day in UTC time,
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// done in powers of 100.
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// The data is powers of 100 as well, but in days since 1/1/2000
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struct tm tm;
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struct timeval tv;
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gettimeofday(&tv, NULL);
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tm = *gmtime(&tv.tv_sec);
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p.utc_date = (tm.tm_year-2000) + tm.tm_mon*100 + tm.tm_mday*100*100;
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p.utc_time = tv.tv_usec/10000 + tm.tm_sec*100 + tm.tm_min*100*100 + tm.tm_hour*100*100*100;
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p.hdop = 115;
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mtk_checksum(&p.size, sizeof(p)-4, &p.ck_a, &p.ck_b);
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_gps_write((uint8_t*)&p, sizeof(p));
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}
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/*
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possibly send a new GPS packet
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*/
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void SITL_State::_update_gps(double latitude, double longitude, float altitude,
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double speedN, double speedE, double speedD, bool have_lock)
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{
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struct gps_data d;
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char c;
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// 5Hz, to match the real config in APM
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if (hal.scheduler->millis() - gps_state.last_update < 200) {
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return;
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}
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// swallow any config bytes
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if (gps_state.gps_fd != 0) {
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read(gps_state.gps_fd, &c, 1);
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}
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gps_state.last_update = hal.scheduler->millis();
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d.latitude = latitude;
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d.longitude = longitude;
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d.altitude = altitude;
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d.speedN = speedN;
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d.speedE = speedE;
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d.speedD = speedD;
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d.have_lock = have_lock;
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// add in some GPS lag
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_gps_data[next_gps_index++] = d;
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if (next_gps_index >= gps_delay) {
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next_gps_index = 0;
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}
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d = _gps_data[next_gps_index];
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if (_sitl->gps_delay != gps_delay) {
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// cope with updates to the delay control
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gps_delay = _sitl->gps_delay;
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for (uint8_t i=0; i<gps_delay; i++) {
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_gps_data[i] = d;
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}
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}
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|
|
|
if (gps_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;
|
|
}
|
|
}
|
|
|
|
#endif
|