mirror of https://github.com/ArduPilot/ardupilot
143 lines
3.5 KiB
C++
143 lines
3.5 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 ardupilot version of Xplane
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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_XPLANE_ENABLED
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#define HAL_SIM_XPLANE_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL)
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#endif
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#if HAL_SIM_XPLANE_ENABLED
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#include <AP_HAL/utility/Socket_native.h>
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#include <AP_Filesystem/AP_Filesystem.h>
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#include "SIM_Aircraft.h"
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#include <AP_JSON/AP_JSON.h>
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namespace SITL {
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/*
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a Xplane simulator
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*/
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class XPlane : public Aircraft {
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public:
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XPlane(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 *frame_str) {
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return NEW_NOTHROW XPlane(frame_str);
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}
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private:
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bool receive_data(void);
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void send_dref(const char *name, float value);
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void request_drefs(void);
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void request_dref(const char *name, uint8_t code, uint32_t rate_hz);
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void send_drefs(const struct sitl_input &input);
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void handle_rref(const uint8_t *p, uint32_t len);
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void select_data(void);
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void deselect_code(uint8_t code);
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int8_t find_data_index(uint8_t id);
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// return true if at least X
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bool is_xplane12(void) const {
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return xplane_version / 10000 >= 12;
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}
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const char *xplane_ip = "127.0.0.1";
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uint16_t xplane_port = 49000;
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uint16_t bind_port = 49001;
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// udp socket, input and output
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SocketAPM_native socket_in{true};
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SocketAPM_native socket_out{true};
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uint64_t time_base_us;
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uint32_t last_data_time_ms;
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Vector3d position_zero;
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Vector3f accel_earth;
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bool connected = false;
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uint32_t xplane_frame_time;
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uint64_t seen_mask;
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struct {
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uint32_t last_report_ms;
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uint32_t data_count;
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uint32_t frame_count;
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} report;
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enum class DRefType {
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ANGLE = 0,
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RANGE = 1,
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FIXED = 2,
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};
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struct DRef {
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struct DRef *next;
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char *name;
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DRefType type;
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uint8_t channel;
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float range;
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float fixed_value;
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};
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// list of DRefs;
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struct DRef *drefs;
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uint32_t dref_debug;
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enum class JoyType {
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AXIS = 0,
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BUTTON = 1,
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};
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// list of joystick inputs
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struct JoyInput {
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struct JoyInput *next;
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uint8_t axis;
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uint8_t channel;
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JoyType type;
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float input_min, input_max;
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uint32_t mask;
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};
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struct JoyInput *joyinputs;
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char *map_filename;
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struct stat map_st;
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bool load_dref_map(const char *map_json);
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void add_dref(const char *name, DRefType type, const AP_JSON::value &dref);
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void add_joyinput(const char *name, JoyType type, const AP_JSON::value &d);
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void handle_setting(const AP_JSON::value &d);
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void check_reload_dref(void);
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uint32_t xplane_version;
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};
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} // namespace SITL
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#endif // HAL_SIM_XPLANE_ENABLED
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