mirror of https://github.com/ArduPilot/ardupilot
111 lines
2.8 KiB
C++
111 lines
2.8 KiB
C++
/*
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Simulator connector for Airsim: https://github.com/Microsoft/AirSim
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*/
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#pragma once
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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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Airsim Simulator
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*/
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class AirSim : public Aircraft {
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public:
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AirSim(const char *home_str, 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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/* static object creator */
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static Aircraft *create(const char *home_str, const char *frame_str) {
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return new AirSim(home_str, frame_str);
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}
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/* Create and set in/out socket for Airsim simulator */
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void set_interface_ports(const char* address, const int port_in, const int port_out) override;
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private:
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/*
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rotor control packet sent by Ardupilot
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*/
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static const int kArduCopterRotorControlCount = 11;
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struct servo_packet {
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uint16_t pwm[kArduCopterRotorControlCount];
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};
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// default connection_info_.ip_address
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const char *airsim_ip = "127.0.0.1";
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// connection_info_.ip_port
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uint16_t airsim_sensor_port = 9003;
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// connection_info_.sitl_ip_port
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uint16_t airsim_control_port = 9002;
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SocketAPM sock;
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double average_frame_time;
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uint64_t frame_counter;
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uint64_t last_frame_count;
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void send_servos(const struct sitl_input &input);
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void recv_fdm();
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void report_FPS(void);
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bool parse_sensors(const char *json);
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// buffer for parsing pose data in JSON format
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uint8_t sensor_buffer[2048];
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uint32_t sensor_buffer_len;
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enum data_type {
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DATA_UINT64,
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DATA_FLOAT,
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DATA_DOUBLE,
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DATA_VECTOR3F,
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};
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struct {
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uint64_t timestamp;
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struct {
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Vector3f angular_velocity;
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Vector3f linear_acceleration;
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} imu;
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struct {
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float lat, lon, alt;
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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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} 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[10] = {
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{ "", "timestamp", &state.timestamp, DATA_UINT64 },
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{ "imu", "angular_velocity", &state.imu.angular_velocity, DATA_VECTOR3F },
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{ "imu", "linear_acceleration", &state.imu.linear_acceleration, DATA_VECTOR3F },
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{ "gps", "lat", &state.gps.lat, DATA_FLOAT },
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{ "gps", "lon", &state.gps.lon, DATA_FLOAT },
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{ "gps", "alt", &state.gps.alt, 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", "world_linear_velocity", &state.velocity.world_linear_velocity, DATA_VECTOR3F },
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};
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};
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}
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