ardupilot/libraries/SITL/SIM_AirSim.h

153 lines
4.3 KiB
C++

/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
Simulator connector for Airsim: https://github.com/Microsoft/AirSim
*/
#pragma once
#include <AP_HAL/utility/Socket.h>
#include "SIM_Aircraft.h"
namespace SITL {
/*
Airsim Simulator
*/
class AirSim : public Aircraft {
public:
AirSim(const char *frame_str);
/* update model by one time step */
void update(const struct sitl_input &input) override;
/* static object creator */
static Aircraft *create(const char *frame_str) {
return new AirSim(frame_str);
}
/* Create and set in/out socket for Airsim simulator */
void set_interface_ports(const char* address, const int port_in, const int port_out) override;
private:
enum class OutputType {
Copter = 1,
Rover = 2
} output_type;
// Control packet for Rover
struct rover_packet {
float throttle; // -1 to 1
float steering; // -1 to 1
};
// rotor control packet sent by Ardupilot
static const int kArduCopterRotorControlCount = 11;
struct servo_packet {
uint16_t pwm[kArduCopterRotorControlCount];
};
// default connection_info_.ip_address
const char *airsim_ip = "127.0.0.1";
// connection_info_.ip_port
uint16_t airsim_sensor_port = 9003;
// connection_info_.sitl_ip_port
uint16_t airsim_control_port = 9002;
SocketAPM sock;
double average_frame_time;
uint64_t frame_counter;
uint64_t last_frame_count;
uint64_t last_timestamp;
void output_copter(const sitl_input& input);
void output_rover(const sitl_input& input);
// Wrapper function over the above 2 output methods
void output_servos(const sitl_input& input);
void recv_fdm(const sitl_input& input);
void report_FPS(void);
bool parse_sensors(const char *json);
// buffer for parsing pose data in JSON format
uint8_t sensor_buffer[65000];
uint32_t sensor_buffer_len;
enum data_type {
DATA_UINT64,
DATA_FLOAT,
DATA_DOUBLE,
DATA_VECTOR3F,
DATA_VECTOR3F_ARRAY,
DATA_FLOAT_ARRAY,
};
struct {
uint64_t timestamp;
struct {
Vector3f angular_velocity;
Vector3f linear_acceleration;
} imu;
struct {
double lat, lon, alt;
} gps;
struct {
float roll, pitch, yaw;
} pose;
struct {
Vector3f world_linear_velocity;
} velocity;
struct {
struct vector3f_array points;
} lidar;
struct {
struct float_array rc_channels;
} rc;
struct {
struct float_array rng_distances;
} rng;
} state;
// table to aid parsing of JSON sensor data
struct keytable {
const char *section;
const char *key;
void *ptr;
enum data_type type;
} keytable[13] = {
{ "", "timestamp", &state.timestamp, DATA_UINT64 },
{ "imu", "angular_velocity", &state.imu.angular_velocity, DATA_VECTOR3F },
{ "imu", "linear_acceleration", &state.imu.linear_acceleration, DATA_VECTOR3F },
{ "gps", "lat", &state.gps.lat, DATA_DOUBLE },
{ "gps", "lon", &state.gps.lon, DATA_DOUBLE },
{ "gps", "alt", &state.gps.alt, DATA_DOUBLE },
{ "pose", "roll", &state.pose.roll, DATA_FLOAT },
{ "pose", "pitch", &state.pose.pitch, DATA_FLOAT },
{ "pose", "yaw", &state.pose.yaw, DATA_FLOAT },
{ "velocity", "world_linear_velocity", &state.velocity.world_linear_velocity, DATA_VECTOR3F },
{ "lidar", "point_cloud", &state.lidar.points, DATA_VECTOR3F_ARRAY },
{ "rc", "channels", &state.rc.rc_channels, DATA_FLOAT_ARRAY },
{ "rng", "distances", &state.rng.rng_distances, DATA_FLOAT_ARRAY },
};
};
}