mirror of https://github.com/ArduPilot/ardupilot
91 lines
2.5 KiB
C++
91 lines
2.5 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 Webots 2023a
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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_WEBOTSPYTHON_ENABLED
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#define HAL_SIM_WEBOTSPYTHON_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL)
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#endif
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#if HAL_SIM_WEBOTSPYTHON_ENABLED
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#include "SIM_Aircraft.h"
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#include <AP_HAL/utility/Socket_native.h>
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namespace SITL {
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/*
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WebotsPython simulator
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*/
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class WebotsPython : public Aircraft {
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public:
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WebotsPython(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 WebotsPython(frame_str);
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}
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/* Create and set in/out socket for Webots 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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/// @brief packet to send to Webots
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/// python struct code 'f'*16
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struct servo_packet {
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float motor_speed[16];
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};
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/// @brief packet from Webots (the Flight Dynamics Model)
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/// python struct code 'd'*(1+3+3+3+3+3)
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struct fdm_packet {
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double timestamp; // in seconds
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double imu_angular_velocity_rpy[3];
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double imu_linear_acceleration_xyz[3];
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double imu_orientation_rpy[3];
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double velocity_xyz[3];
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double position_xyz[3];
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};
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/// @brief receive sensor packet from Webots
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void recv_fdm(const struct sitl_input &input);
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/// @brief send servo packet to Webots
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void send_servos(const struct sitl_input &input);
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/// @brief drain all pending packets from Webots
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void drain_sockets();
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double last_timestamp;
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SocketAPM_native socket_sitl;
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const char* _webots_address = "127.0.0.1";
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int _webots_port = 9002;
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static const uint64_t WEBOTS_TIMEOUT_US = 5000000;
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};
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} // namespace SITL
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#endif // HAL_SIM_WEBOTSPYTHON_ENABLED
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