mirror of https://github.com/ArduPilot/ardupilot
148 lines
3.8 KiB
C++
148 lines
3.8 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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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 connector for ardupilot version of last_letter
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*/
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#include "SIM_last_letter.h"
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#include <fcntl.h>
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#include <stdio.h>
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#include <sys/stat.h>
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#include <sys/types.h>
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#include <AP_HAL/AP_HAL.h>
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extern const AP_HAL::HAL& hal;
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namespace SITL {
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last_letter::last_letter(const char *home_str, const char *_frame_str) :
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Aircraft(home_str, _frame_str),
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last_timestamp_us(0),
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sock(true),
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frame_str(_frame_str)
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{
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// try to bind to a specific port so that if we restart ArduPilot
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// last_letter keeps sending us packets. Not strictly necessary but
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// useful for debugging
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sock.bind("127.0.0.1", fdm_port+1);
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sock.reuseaddress();
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sock.set_blocking(false);
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start_last_letter();
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}
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/*
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start last_letter child
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*/
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void last_letter::start_last_letter(void)
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{
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pid_t child_pid = fork();
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if (child_pid != 0) {
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return;
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}
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// in child
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close(0);
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open("/dev/null", O_RDONLY);
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for (uint8_t i=3; i<100; i++) {
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close(i);
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}
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char argHome[50];
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sprintf(argHome,"home:=[%f,%f,%f]",home.lat*1.0e-7,home.lng*1.0e-7,(double)home.alt*1.0e-2);
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const char *uav_name = strchr(frame_str, ':');
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if (uav_name != NULL) {
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uav_name++;
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}
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int ret = execlp("roslaunch",
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"roslaunch",
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"last_letter",
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"launcher.launch",
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"ArduPlane:=true",
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"simRate:=500",
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"deltaT:=0.002",
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argHome,
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uav_name,
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NULL);
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if (ret != 0) {
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perror("roslaunch");
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}
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exit(1);
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}
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/*
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send servos
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*/
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void last_letter::send_servos(const struct sitl_input &input)
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{
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servo_packet pkt;
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memcpy(pkt.servos, input.servos, sizeof(pkt.servos));
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sock.sendto(&pkt, sizeof(pkt), "127.0.0.1", fdm_port);
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}
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/*
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receive an update from the FDM
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This is a blocking function
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*/
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void last_letter::recv_fdm(const struct sitl_input &input)
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{
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fdm_packet pkt;
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/*
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we re-send the servo packet every 0.1 seconds until we get a
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reply. This allows us to cope with some packet loss to the FDM
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*/
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while (sock.recv(&pkt, sizeof(pkt), 100) != sizeof(pkt)) {
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send_servos(input);
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}
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accel_body = Vector3f(pkt.xAccel, pkt.yAccel, pkt.zAccel);
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gyro = Vector3f(pkt.rollRate, pkt.pitchRate, pkt.yawRate);
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velocity_ef = Vector3f(pkt.speedN, pkt.speedE, pkt.speedD);
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location.lat = pkt.latitude * 1.0e7;
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location.lng = pkt.longitude * 1.0e7;
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location.alt = pkt.altitude*1.0e2;
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dcm.from_euler(pkt.roll, pkt.pitch, pkt.yaw);
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airspeed = pkt.airspeed;
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// auto-adjust to last_letter frame rate
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uint64_t deltat_us = pkt.timestamp_us - last_timestamp_us;
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time_now_us += deltat_us;
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if (deltat_us < 1.0e4 && deltat_us > 0) {
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adjust_frame_time(1.0e6/deltat_us);
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}
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last_timestamp_us = pkt.timestamp_us;
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}
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/*
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update the last_letter simulation by one time step
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*/
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void last_letter::update(const struct sitl_input &input)
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{
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send_servos(input);
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recv_fdm(input);
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sync_frame_time();
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}
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} // namespace SITL
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