ardupilot/libraries/AP_HAL/SIMState.h

221 lines
5.6 KiB
C++

#pragma once
#include <SITL/SITL.h>
#if AP_SIM_ENABLED
#include <AP_HAL/AP_HAL.h>
#include <SITL/SITL_Input.h>
#include <SITL/SIM_Gimbal.h>
#include <SITL/SIM_ADSB.h>
#include <SITL/SIM_Vicon.h>
#include <SITL/SIM_RF_Benewake_TF02.h>
#include <SITL/SIM_RF_Benewake_TF03.h>
#include <SITL/SIM_RF_Benewake_TFmini.h>
#include <SITL/SIM_RF_TeraRanger_Serial.h>
#include <SITL/SIM_RF_LightWareSerial.h>
#include <SITL/SIM_RF_LightWareSerialBinary.h>
#include <SITL/SIM_RF_Lanbao.h>
#include <SITL/SIM_RF_BLping.h>
#include <SITL/SIM_RF_LeddarOne.h>
#include <SITL/SIM_RF_USD1_v0.h>
#include <SITL/SIM_RF_USD1_v1.h>
#include <SITL/SIM_RF_MaxsonarSerialLV.h>
#include <SITL/SIM_RF_Wasp.h>
#include <SITL/SIM_RF_NMEA.h>
#include <SITL/SIM_RF_MAVLink.h>
#include <SITL/SIM_RF_GYUS42v2.h>
#include <SITL/SIM_VectorNav.h>
#include <SITL/SIM_LORD.h>
#include <SITL/SIM_AIS.h>
#include <SITL/SIM_GPS.h>
#include <SITL/SIM_Frsky_D.h>
#include <SITL/SIM_CRSF.h>
#include <SITL/SIM_PS_RPLidarA2.h>
#include <SITL/SIM_PS_TeraRangerTower.h>
#include <SITL/SIM_PS_LightWare_SF45B.h>
#include <SITL/SIM_RichenPower.h>
#include <SITL/SIM_FETtecOneWireESC.h>
#include <AP_HAL/utility/Socket.h>
#include <AP_HAL/AP_HAL_Namespace.h>
class AP_HAL::SIMState {
public:
// simulated airspeed, sonar and battery monitor
uint16_t sonar_pin_value; // pin 0
uint16_t airspeed_pin_value[2]; // pin 1
uint16_t voltage_pin_value; // pin 13
uint16_t current_pin_value; // pin 12
uint16_t voltage2_pin_value; // pin 15
uint16_t current2_pin_value; // pin 14
void update();
#if HAL_SIM_GPS_ENABLED
void set_gps0(SITL::GPS *_gps) { gps[0] = _gps; }
#endif
uint16_t pwm_output[32]; // was SITL_NUM_CHANNELS
private:
void _set_param_default(const char *parm);
void _sitl_setup(const char *home_str);
void _setup_timer(void);
void _setup_adc(void);
void set_height_agl(void);
void _set_signal_handlers(void) const;
void _update_airspeed(float airspeed);
void _simulator_servos(struct sitl_input &input);
void _fdm_input_step(void);
void fdm_input_local(void);
void wait_clock(uint64_t wait_time_usec);
uint16_t pwm_input[16]; // was SITL_RC_INPUT_CHANNELS
// internal state
// enum vehicle_type _vehicle;
uint8_t _instance;
uint16_t _base_port;
pid_t _parent_pid;
uint32_t _update_count;
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
SocketAPM _sitl_rc_in{true};
#endif
SITL::SIM *_sitl;
uint16_t _rcin_port;
uint16_t _fg_view_port;
uint16_t _irlock_port;
float _current;
bool _synthetic_clock_mode;
bool _use_rtscts;
bool _use_fg_view;
const char *_fg_address;
// internal SITL model
SITL::Aircraft *sitl_model;
#if HAL_SIM_GIMBAL_ENABLED
// simulated gimbal
bool enable_gimbal;
SITL::Gimbal *gimbal;
#endif
#if HAL_SIM_ADSB_ENABLED
// simulated ADSb
SITL::ADSB *adsb;
#endif
// simulated vicon system:
SITL::Vicon *vicon;
// simulated Benewake tf02 rangefinder:
SITL::RF_Benewake_TF02 *benewake_tf02;
// simulated Benewake tf03 rangefinder:
SITL::RF_Benewake_TF03 *benewake_tf03;
// simulated Benewake tfmini rangefinder:
SITL::RF_Benewake_TFmini *benewake_tfmini;
// simulated TeraRangerSerial rangefinder:
SITL::RF_TeraRanger_Serial *teraranger_serial;
// simulated LightWareSerial rangefinder - legacy protocol::
SITL::RF_LightWareSerial *lightwareserial;
// simulated LightWareSerial rangefinder - binary protocol:
SITL::RF_LightWareSerialBinary *lightwareserial_binary;
// simulated Lanbao rangefinder:
SITL::RF_Lanbao *lanbao;
// simulated BLping rangefinder:
SITL::RF_BLping *blping;
// simulated LeddarOne rangefinder:
SITL::RF_LeddarOne *leddarone;
// simulated USD1 v0 rangefinder:
SITL::RF_USD1_v0 *USD1_v0;
// simulated USD1 v1 rangefinder:
SITL::RF_USD1_v1 *USD1_v1;
// simulated MaxsonarSerialLV rangefinder:
SITL::RF_MaxsonarSerialLV *maxsonarseriallv;
// simulated Wasp rangefinder:
SITL::RF_Wasp *wasp;
// simulated NMEA rangefinder:
SITL::RF_NMEA *nmea;
// simulated MAVLink rangefinder:
SITL::RF_MAVLink *rf_mavlink;
// simulated GYUS42v2 rangefinder:
SITL::RF_GYUS42v2 *gyus42v2;
// simulated Frsky devices
SITL::Frsky_D *frsky_d;
// SITL::Frsky_SPort *frsky_sport;
// SITL::Frsky_SPortPassthrough *frsky_sportpassthrough;
#if HAL_SIM_PS_RPLIDARA2_ENABLED
// simulated RPLidarA2:
SITL::PS_RPLidarA2 *rplidara2;
#endif
// simulated FETtec OneWire ESCs:
SITL::FETtecOneWireESC *fetteconewireesc;
#if HAL_SIM_PS_LIGHTWARE_SF45B_ENABLED
// simulated SF45B proximity sensor:
SITL::PS_LightWare_SF45B *sf45b;
#endif
#if HAL_SIM_PS_TERARANGERTOWER_ENABLED
SITL::PS_TeraRangerTower *terarangertower;
#endif
#if AP_SIM_CRSF_ENABLED
// simulated CRSF devices
SITL::CRSF *crsf;
#endif
// simulated VectorNav system:
SITL::VectorNav *vectornav;
// simulated LORD Microstrain system
SITL::LORD *lord;
#if HAL_SIM_JSON_MASTER_ENABLED
// Ride along instances via JSON SITL backend
SITL::JSON_Master ride_along;
#endif
#if HAL_SIM_AIS_ENABLED
// simulated AIS stream
SITL::AIS *ais;
#endif
// simulated EFI MegaSquirt device:
SITL::EFI_MegaSquirt *efi_ms;
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
// output socket for flightgear viewing
SocketAPM fg_socket{true};
#endif
const char *defaults_path = HAL_PARAM_DEFAULTS_PATH;
const char *_home_str;
uint32_t wind_start_delay_micros;
#if HAL_SIM_GPS_ENABLED
// simulated GPS devices
SITL::GPS *gps[2]; // constrained by # of parameter sets
#endif
};
#endif // AP_SIM_ENABLED