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ardupilot/libraries/AP_HAL_SITL/SITL_State.h

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#pragma once
#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
#if defined(HAL_BUILD_AP_PERIPH)
#include "SITL_Periph_State.h"
#else
#include "AP_HAL_SITL.h"
#include "AP_HAL_SITL_Namespace.h"
#include "HAL_SITL_Class.h"
#include "RCInput.h"
#include <sys/types.h>
#include <sys/socket.h>
#include <netinet/in.h>
#include <netinet/udp.h>
#include <arpa/inet.h>
#include <vector>
#include <AP_Baro/AP_Baro.h>
#include <AP_InertialSensor/AP_InertialSensor.h>
#include <AP_Compass/AP_Compass.h>
#include <AP_Terrain/AP_Terrain.h>
#include <SITL/SITL.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_NoopLoop.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_RDS02UF.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_MicroStrain.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_Frsky_SPort.h>
// #include <SITL/SIM_Frsky_SPortPassthrough.h>
#include <SITL/SIM_PS_RPLidarA2.h>
#include <SITL/SIM_PS_RPLidarA1.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>
class HAL_SITL;
class HALSITL::SITL_State {
friend class HALSITL::Scheduler;
friend class HALSITL::Util;
friend class HALSITL::GPIO;
public:
void init(int argc, char * const argv[]);
enum vehicle_type {
ArduCopter,
Rover,
ArduPlane,
ArduSub,
Blimp
};
uint16_t pwm_output[SITL_NUM_CHANNELS];
uint16_t pwm_input[SITL_RC_INPUT_CHANNELS];
bool output_ready = false;
bool new_rc_input;
void loop_hook(void);
uint16_t base_port(void) const {
return _base_port;
}
// create a simulated serial device; type of device is given by
// name parameter
SITL::SerialDevice *create_serial_sim(const char *name, const char *arg);
bool use_rtscts(void) const {
return _use_rtscts;
}
// simulated airspeed, sonar and battery monitor
float sonar_pin_voltage; // pin 0
float airspeed_pin_voltage[AIRSPEED_MAX_SENSORS]; // pin 1
float voltage_pin_voltage; // pin 13
float current_pin_voltage; // pin 12
float voltage2_pin_voltage; // pin 15
float current2_pin_voltage; // pin 14
// paths for UART devices
const char *_uart_path[9] {
"tcp:0:wait",
"GPS1",
"tcp:2",
"tcp:3",
"GPS2",
"tcp:5",
"tcp:6",
"tcp:7",
"tcp:8",
};
std::vector<struct AP_Param::defaults_table_struct> cmdline_param;
/* parse a home location string */
static bool parse_home(const char *home_str,
Location &loc,
float &yaw_degrees);
/* lookup a location in locations.txt */
static bool lookup_location(const char *home_str,
Location &loc,
float &yaw_degrees);
uint8_t get_instance() const { return _instance; }
private:
void _parse_command_line(int argc, char * const argv[]);
void _set_param_default(const char *parm);
void _usage(void);
void _sitl_setup();
void _setup_fdm(void);
void _setup_timer(void);
void _setup_adc(void);
void set_height_agl(void);
void _update_rangefinder();
void _set_signal_handlers(void) const;
void _update_airspeed(float airspeed);
void _check_rc_input(void);
bool _read_rc_sitl_input();
void _fdm_input_local(void);
void _output_to_flightgear(void);
void _simulator_servos(struct sitl_input &input);
void _fdm_input_step(void);
void wait_clock(uint64_t wait_time_usec);
// internal state
enum vehicle_type _vehicle;
uint8_t _instance;
uint16_t _base_port;
pid_t _parent_pid;
uint32_t _update_count;
Scheduler *_scheduler;
SocketAPM _sitl_rc_in{true};
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;
// delay buffer variables
static const uint8_t wind_buffer_length = 50;
// airspeed sensor delay buffer variables
struct readings_wind {
uint32_t time;
float data;
};
uint8_t store_index_wind;
uint32_t last_store_time_wind;
VectorN<readings_wind,wind_buffer_length> buffer_wind;
uint32_t time_delta_wind;
uint32_t delayed_time_wind;
uint32_t wind_start_delay_micros;
// 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 NoopLoop TOFSense rangefinder:
SITL::RF_Nooploop *nooploop;
// simulated TeraRanger Serial:
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 RDS02UF rangefinder:
SITL::RF_RDS02UF *rds02uf;
// 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;
// simulated RPLidarA1:
SITL::PS_RPLidarA1 *rplidara1;
#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::MicroStrain *microstrain;
#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;
// output socket for flightgear viewing
SocketAPM fg_socket{true};
const char *defaults_path = HAL_PARAM_DEFAULTS_PATH;
char *_gps_fifo[2];
// simulated GPS devices
SITL::GPS *gps[2]; // constrained by # of parameter sets
// returns a voltage between 0V to 5V which should appear as the
// voltage from the sensor
float _sonar_pin_voltage() const;
};
#endif // defined(HAL_BUILD_AP_PERIPH)
#endif // CONFIG_HAL_BOARD == HAL_BOARD_SITL
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