mirror of https://github.com/ArduPilot/ardupilot
133 lines
3.2 KiB
C++
133 lines
3.2 KiB
C++
#pragma once
|
|
|
|
#include <AP_HAL/AP_HAL.h>
|
|
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
|
|
|
|
#include "SITL_State_common.h"
|
|
|
|
#if defined(HAL_BUILD_AP_PERIPH)
|
|
#include "SITL_Periph_State.h"
|
|
#else
|
|
|
|
class HAL_SITL;
|
|
|
|
class HALSITL::SITL_State : public SITL_State_Common {
|
|
friend class HALSITL::Scheduler;
|
|
friend class HALSITL::Util;
|
|
friend class HALSITL::GPIO;
|
|
public:
|
|
void init(int argc, char * const argv[]) override;
|
|
|
|
void loop_hook(void);
|
|
uint16_t base_port(void) const {
|
|
return _base_port;
|
|
}
|
|
|
|
bool use_rtscts(void) const {
|
|
return _use_rtscts;
|
|
}
|
|
|
|
// paths for UART devices
|
|
const char *_serial_path[9] {
|
|
"tcp:0:wait",
|
|
"tcp:2",
|
|
"tcp:3",
|
|
"GPS1",
|
|
"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_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 _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
|
|
uint8_t _instance;
|
|
uint16_t _base_port;
|
|
pid_t _parent_pid;
|
|
uint32_t _update_count;
|
|
|
|
Scheduler *_scheduler;
|
|
|
|
uint16_t _rcin_port;
|
|
uint16_t _fg_view_port;
|
|
uint16_t _irlock_port;
|
|
|
|
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;
|
|
|
|
// 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;
|
|
|
|
// multicast state
|
|
int mc_out_fd = -1;
|
|
int servo_in_fd = -1;
|
|
|
|
// send out SITL state as UDP multicast
|
|
void multicast_state_open(void);
|
|
void multicast_state_send(void);
|
|
void multicast_servo_update(struct sitl_input &input);
|
|
|
|
uint16_t mc_servo[SITL_NUM_CHANNELS];
|
|
void check_servo_input(void);
|
|
};
|
|
|
|
#endif // defined(HAL_BUILD_AP_PERIPH)
|
|
#endif // CONFIG_HAL_BOARD == HAL_BOARD_SITL
|