mirror of https://github.com/ArduPilot/ardupilot
145 lines
4.2 KiB
Python
Executable File
145 lines
4.2 KiB
Python
Executable File
#!/usr/bin/env python
|
|
'''
|
|
simple rover simulator
|
|
'''
|
|
|
|
from rover import Rover
|
|
import util, time, os, sys, math
|
|
import socket, struct
|
|
import select, errno
|
|
|
|
def sim_send(a):
|
|
'''send flight information to mavproxy'''
|
|
from math import degrees
|
|
|
|
earth_rates = util.BodyRatesToEarthRates(a.dcm, a.gyro)
|
|
(roll, pitch, yaw) = a.dcm.to_euler()
|
|
|
|
buf = struct.pack('<17dI',
|
|
a.latitude, a.longitude, a.altitude, degrees(yaw),
|
|
a.velocity.x, a.velocity.y, a.velocity.z,
|
|
a.accelerometer.x, a.accelerometer.y, a.accelerometer.z,
|
|
degrees(earth_rates.x), degrees(earth_rates.y), degrees(earth_rates.z),
|
|
degrees(roll), degrees(pitch), degrees(yaw),
|
|
math.sqrt(a.velocity.x*a.velocity.x + a.velocity.y*a.velocity.y),
|
|
0x4c56414f)
|
|
try:
|
|
sim_out.send(buf)
|
|
except socket.error as e:
|
|
if not e.errno in [ errno.ECONNREFUSED ]:
|
|
raise
|
|
|
|
|
|
def sim_recv(state):
|
|
'''receive control information from SITL'''
|
|
try:
|
|
buf = sim_in.recv(28)
|
|
except socket.error as e:
|
|
if not e.errno in [ errno.EAGAIN, errno.EWOULDBLOCK ]:
|
|
raise
|
|
return
|
|
|
|
if len(buf) != 28:
|
|
print('len=%u' % len(buf))
|
|
return
|
|
control = list(struct.unpack('<14H', buf))
|
|
pwm = control[0:11]
|
|
|
|
# map steering and throttle to -1/1
|
|
state.steering = (pwm[0]-1500)/500.0
|
|
state.throttle = (pwm[2]-1500)/500.0
|
|
|
|
# print("steering=%f throttle=%f pwm=%s" % (state.steering, state.throttle, str(pwm)))
|
|
|
|
|
|
|
|
def interpret_address(addrstr):
|
|
'''interpret a IP:port string'''
|
|
a = addrstr.split(':')
|
|
a[1] = int(a[1])
|
|
return tuple(a)
|
|
|
|
class ControlState:
|
|
def __init__(self):
|
|
# steering from -1 to 1, where -1 is left, 1 is right
|
|
self.steering = 0
|
|
# throttle from -1 to 1, where -1 is full reverse, 1 is full forward
|
|
self.throttle = 0
|
|
|
|
##################
|
|
# main program
|
|
from optparse import OptionParser
|
|
parser = OptionParser("sim_rover.py [options]")
|
|
parser.add_option("--simin", dest="simin", help="SIM input (IP:port)", default="127.0.0.1:5502")
|
|
parser.add_option("--simout", dest="simout", help="SIM output (IP:port)", default="127.0.0.1:5501")
|
|
parser.add_option("--home", dest="home", type='string', default=None, help="home lat,lng,alt,hdg (required)")
|
|
parser.add_option("--rate", dest="rate", type='int', help="SIM update rate", default=100)
|
|
parser.add_option("--skid-steering", action='store_true', default=False, help="Use skid steering")
|
|
|
|
(opts, args) = parser.parse_args()
|
|
|
|
for m in [ 'home' ]:
|
|
if not opts.__dict__[m]:
|
|
print("Missing required option '%s'" % m)
|
|
parser.print_help()
|
|
sys.exit(1)
|
|
|
|
# UDP socket addresses
|
|
sim_out_address = interpret_address(opts.simout)
|
|
sim_in_address = interpret_address(opts.simin)
|
|
|
|
# setup input from SITL
|
|
sim_in = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
|
|
sim_in.bind(sim_in_address)
|
|
sim_in.setblocking(0)
|
|
|
|
# setup output to SITL
|
|
sim_out = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
|
|
sim_out.connect(sim_out_address)
|
|
sim_out.setblocking(0)
|
|
|
|
# create the quadcopter model
|
|
a = Rover(skid_steering=opts.skid_steering)
|
|
|
|
# initial controls state
|
|
state = ControlState()
|
|
|
|
|
|
# parse home
|
|
v = opts.home.split(',')
|
|
if len(v) != 4:
|
|
print("home should be lat,lng,alt,hdg")
|
|
sys.exit(1)
|
|
a.home_latitude = float(v[0])
|
|
a.home_longitude = float(v[1])
|
|
a.home_altitude = float(v[2])
|
|
a.altitude = a.home_altitude
|
|
a.yaw = float(v[3])
|
|
a.latitude = a.home_latitude
|
|
a.longitude = a.home_longitude
|
|
|
|
a.set_yaw_degrees(a.yaw)
|
|
|
|
print("Starting at lat=%f lon=%f alt=%f heading=%.1f" % (
|
|
a.home_latitude,
|
|
a.home_longitude,
|
|
a.altitude,
|
|
a.yaw))
|
|
|
|
frame_time = 1.0/opts.rate
|
|
sleep_overhead = 0
|
|
|
|
while True:
|
|
frame_start = time.time()
|
|
sim_recv(state)
|
|
a.update(state)
|
|
sim_send(a)
|
|
t = time.time()
|
|
frame_end = time.time()
|
|
if frame_end - frame_start < frame_time:
|
|
dt = frame_time - (frame_end - frame_start)
|
|
dt -= sleep_overhead
|
|
if dt > 0:
|
|
time.sleep(dt)
|
|
sleep_overhead = 0.99*sleep_overhead + 0.01*(time.time() - frame_end)
|