ardupilot/libraries/SITL/SIM_Gazebo.h

89 lines
2.3 KiB
C++

/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
simulator connection for ardupilot version of Gazebo
*/
#pragma once
#include <AP_HAL/AP_HAL_Boards.h>
#ifndef HAL_SIM_GAZEBO_ENABLED
#define HAL_SIM_GAZEBO_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL)
#endif
#if HAL_SIM_GAZEBO_ENABLED
#include "SIM_Aircraft.h"
#include <AP_HAL/utility/Socket_native.h>
namespace SITL {
/*
Gazebo simulator
*/
class Gazebo : public Aircraft {
public:
Gazebo(const char *frame_str);
/* update model by one time step */
void update(const struct sitl_input &input) override;
/* static object creator */
static Aircraft *create(const char *frame_str) {
return NEW_NOTHROW Gazebo(frame_str);
}
/* Create and set in/out socket for Gazebo simulator */
void set_interface_ports(const char* address, const int port_in, const int port_out) override;
private:
/*
packet sent to Gazebo
*/
struct servo_packet {
// size matches sitl_input upstream
float motor_speed[16];
};
/*
reply packet sent from Gazebo to ArduPilot
*/
struct fdm_packet {
double timestamp; // in seconds
double imu_angular_velocity_rpy[3];
double imu_linear_acceleration_xyz[3];
double imu_orientation_quat[4];
double velocity_xyz[3];
double position_xyz[3];
};
void recv_fdm(const struct sitl_input &input);
void send_servos(const struct sitl_input &input);
void drain_sockets();
double last_timestamp;
SocketAPM_native socket_sitl;
const char *_gazebo_address = "127.0.0.1";
int _gazebo_port = 9002;
static const uint64_t GAZEBO_TIMEOUT_US = 5000000;
};
} // namespace SITL
#endif // HAL_SIM_GAZEBO_ENABLED