mirror of https://github.com/ArduPilot/ardupilot
121 lines
3.8 KiB
Matlab
121 lines
3.8 KiB
Matlab
% this function handles all the UDP connection to SITL using the TCP/UDP/IP
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% Toolbox 2.0.6 by Peter Rydesäter
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% https://uk.mathworks.com/matlabcentral/fileexchange/345-tcp-udp-ip-toolbox-2-0-6
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function SITL_connector(state,init_function,physics_function,max_timestep)
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try
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pnet('closeall') % close any connections left open from past runs
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catch
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warning('Could not execute pnet mex, trying to compile')
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if ispc
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% running on windows
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mex -O -outdir ../tcp_udp_ip_2.0.6 ../tcp_udp_ip_2.0.6/pnet.c ws2_32.lib -DWIN32
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else
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% running on unix or mac
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mex -O -outdir ../tcp_udp_ip_2.0.6 ../tcp_udp_ip_2.0.6/pnet.c
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end
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try
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pnet('closeall')
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catch
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error('Failed to compile pnet mex file, see tcp_udp_ip_2.0.6/pnet.c for instructions on manual complication')
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end
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end
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% init physics
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state = init_function(state);
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% Init the UDP port
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u = pnet('udpsocket',9002);
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pnet(u,'setwritetimeout',1);
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pnet(u,'setreadtimeout',0);
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frame_time = tic;
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frame_count = 0;
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physics_time_s = 0;
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last_SITL_frame = -1;
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print_frame_count = 1000; % print the fps every x frames
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connected = false;
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bytes_read = 4 + 4 + 16*2; % the number of bytes received in each packet
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while true
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% Wait for data
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while true
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in_bytes = pnet(u,'readpacket',bytes_read);
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if in_bytes > 0
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break;
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end
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end
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% if there is another frame waiting, read it straight away
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if in_bytes > bytes_read
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if in_bytes == u.InputBufferSize
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% buffer got full, reset
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% should only happen if we have been paused in Matlab for some time
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fprintf('Buffer reset\n')
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continue;
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end
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continue;
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end
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% read in data from AP
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magic = pnet(u,'read',1,'UINT16','intel');
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frame_rate = double(pnet(u,'read',1,'UINT16','intel'));
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SITL_frame = pnet(u,'read',1,'UINT32','intel');
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pwm_in = double(pnet(u,'read',16,'UINT16','intel'))';
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% check the magic value is what expect
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if magic ~= 18458
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warning('incorrect magic value')
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continue;
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end
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% Check if the fame is in expected order
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if SITL_frame < last_SITL_frame
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% Controller has reset, reset physics also
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state = init_function(state);
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connected = false;
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fprintf('Controller reset\n')
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elseif SITL_frame == last_SITL_frame
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% duplicate frame, skip
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fprintf('Duplicate input frame\n')
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continue;
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elseif SITL_frame ~= last_SITL_frame + 1 && connected
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fprintf('Missed %i input frames\n',SITL_frame - last_SITL_frame - 1)
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end
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last_SITL_frame = SITL_frame;
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state.delta_t = min(1/frame_rate,max_timestep);
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physics_time_s = physics_time_s + state.delta_t;
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if ~connected
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% use port -1 to indicate connection to address of last recv pkt
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connected = true;
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[ip, port] = pnet(u,'gethost');
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fprintf('Connected to %i.%i.%i.%i:%i\n',ip,port)
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end
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frame_count = frame_count + 1;
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% do a physics time step
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state = physics_function(pwm_in,state);
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% build structure representing the JSON string to be sent
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JSON.timestamp = physics_time_s;
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JSON.imu.gyro = state.gyro;
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JSON.imu.accel_body = state.accel;
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JSON.position = state.position;
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JSON.attitude = state.attitude;
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JSON.velocity = state.velocity;
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% Report to AP
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pnet(u,'printf',sprintf('\n%s\n',jsonencode(JSON)));
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pnet(u,'writepacket');
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% print a fps and runtime update
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if rem(frame_count,print_frame_count) == 0
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total_time = toc(frame_time);
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frame_time = tic;
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time_ratio = (print_frame_count*state.delta_t)/total_time;
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fprintf("%0.2f fps, %0.2f%% of realtime\n",print_frame_count/total_time,time_ratio*100)
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end
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end
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