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SITL: remove home_str from constructor

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This commit is contained in:
Peter Barker 2019-08-15 14:01:24 +10:00 committed by Peter Barker
parent cdab58d598
commit f7b47679bb
46 changed files with 128 additions and 123 deletions
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4
libraries/SITL/SIM_AirSim.cpp
View File

@ -16,8 +16,8 @@ extern const AP_HAL::HAL& hal;
using namespace SITL;
AirSim::AirSim(const char *home_str, const char *frame_str) :
Aircraft(home_str, frame_str),
AirSim::AirSim(const char *frame_str) :
Aircraft(frame_str),
sock(true)
{
printf("Starting SITL Airsim\n");

6
libraries/SITL/SIM_AirSim.h
View File

@ -15,14 +15,14 @@ namespace SITL {
class AirSim : public Aircraft {
public:
AirSim(const char *home_str, const char *frame_str);
AirSim(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 *home_str, const char *frame_str) {
return new AirSim(home_str, frame_str);
static Aircraft *create(const char *frame_str) {
return new AirSim(frame_str);
}
/* Create and set in/out socket for Airsim simulator */

26
libraries/SITL/SIM_Aircraft.cpp
View File

@ -38,7 +38,7 @@ using namespace SITL;
parent class for all simulator types
*/
Aircraft::Aircraft(const char *home_str, const char *frame_str) :
Aircraft::Aircraft(const char *frame_str) :
ground_level(0.0f),
frame_height(0.0f),
dcm(),
@ -63,6 +63,19 @@ Aircraft::Aircraft(const char *home_str, const char *frame_str) :
// make the SIM_* variables available to simulator backends
sitl = AP::sitl();
set_speedup(1.0f);
last_wall_time_us = get_wall_time_us();
frame_counter = 0;
// allow for orientation settings, such as with tailsitters
enum ap_var_type ptype;
ahrs_orientation = (AP_Int8 *)AP_Param::find("AHRS_ORIENTATION", &ptype);
terrain = reinterpret_cast<AP_Terrain *>(AP_Param::find_object("TERRAIN_"));
}
void Aircraft::set_start_location(const char *home_str)
{
if (!parse_home(home_str, home, home_yaw)) {
::printf("Failed to parse home string (%s). Should be LAT,LON,ALT,HDG e.g. 37.4003371,-122.0800351,0,353\n", home_str);
}
@ -75,19 +88,8 @@ Aircraft::Aircraft(const char *home_str, const char *frame_str) :
ground_level = home.alt * 0.01f;
dcm.from_euler(0.0f, 0.0f, radians(home_yaw));
set_speedup(1.0f);
last_wall_time_us = get_wall_time_us();
frame_counter = 0;
// allow for orientation settings, such as with tailsitters
enum ap_var_type ptype;
ahrs_orientation = (AP_Int8 *)AP_Param::find("AHRS_ORIENTATION", &ptype);
terrain = reinterpret_cast<AP_Terrain *>(AP_Param::find_object("TERRAIN_"));
}
/*
parse a home string into a location and yaw
*/

5
libraries/SITL/SIM_Aircraft.h
View File

@ -37,7 +37,10 @@ namespace SITL {
*/
class Aircraft {
public:
Aircraft(const char *home_str, const char *frame_str);
Aircraft(const char *frame_str);
// called directly after constructor:
virtual void set_start_location(const char *home_str);
/*
set simulation speedup

4
libraries/SITL/SIM_BalanceBot.cpp
View File

@ -23,8 +23,8 @@ extern const AP_HAL::HAL& hal;
namespace SITL {
BalanceBot::BalanceBot(const char *home_str, const char *frame_str) :
Aircraft(home_str, frame_str),
BalanceBot::BalanceBot(const char *frame_str) :
Aircraft(frame_str),
skid_turn_rate(140) // degrees/sec
{
dcm.from_euler(0,0,0); // initial yaw, pitch and roll in radians

6
libraries/SITL/SIM_BalanceBot.h
View File

@ -24,14 +24,14 @@ namespace SITL {
class BalanceBot : public Aircraft {
public:
BalanceBot(const char *home_str, const char *frame_str);
BalanceBot(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 *home_str, const char *frame_str) {
return new BalanceBot(home_str, frame_str);
static Aircraft *create(const char *frame_str) {
return new BalanceBot(frame_str);
}
private:

4
libraries/SITL/SIM_Balloon.cpp
View File

@ -22,8 +22,8 @@
namespace SITL {
Balloon::Balloon(const char *home_str, const char *frame_str) :
Aircraft(home_str, frame_str)
Balloon::Balloon(const char *frame_str) :
Aircraft(frame_str)
{
mass = 5.0f;
}

6
libraries/SITL/SIM_Balloon.h
View File

@ -27,14 +27,14 @@ namespace SITL {
*/
class Balloon : public Aircraft {
public:
Balloon(const char *home_str, const char *frame_str);
Balloon(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 *home_str, const char *frame_str) {
return new Balloon(home_str, frame_str);
static Aircraft *create(const char *frame_str) {
return new Balloon(frame_str);
}
private:

4
libraries/SITL/SIM_CRRCSim.cpp
View File

@ -26,8 +26,8 @@ extern const AP_HAL::HAL& hal;
namespace SITL {
CRRCSim::CRRCSim(const char *home_str, const char *frame_str) :
Aircraft(home_str, frame_str),
CRRCSim::CRRCSim(const char *frame_str) :
Aircraft(frame_str),
last_timestamp(0),
sock(true)
{

6
libraries/SITL/SIM_CRRCSim.h
View File

@ -29,14 +29,14 @@ namespace SITL {
*/
class CRRCSim : public Aircraft {
public:
CRRCSim(const char *home_str, const char *frame_str);
CRRCSim(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 *home_str, const char *frame_str) {
return new CRRCSim(home_str, frame_str);
static Aircraft *create(const char *frame_str) {
return new CRRCSim(frame_str);
}
private:

4
libraries/SITL/SIM_Calibration.cpp
View File

@ -24,8 +24,8 @@
#include <stdio.h>
SITL::Calibration::Calibration(const char *home_str, const char *frame_str)
: Aircraft(home_str, frame_str)
SITL::Calibration::Calibration(const char *frame_str)
: Aircraft(frame_str)
{
mass = 1.5f;
}

6
libraries/SITL/SIM_Calibration.h
View File

@ -64,12 +64,12 @@ namespace SITL {
*/
class Calibration : public Aircraft {
public:
Calibration(const char *home_str, const char *frame_str);
Calibration(const char *frame_str);
void update(const struct sitl_input &input) override;
static Aircraft *create(const char *home_str, const char *frame_str) {
return new Calibration(home_str, frame_str);
static Aircraft *create(const char *frame_str) {
return new Calibration(frame_str);
}
private:

4
libraries/SITL/SIM_FlightAxis.cpp
View File

@ -82,8 +82,8 @@ static const struct {
};
FlightAxis::FlightAxis(const char *home_str, const char *frame_str) :
Aircraft(home_str, frame_str)
FlightAxis::FlightAxis(const char *frame_str) :
Aircraft(frame_str)
{
use_time_sync = false;
rate_hz = 250 / target_speedup;

6
libraries/SITL/SIM_FlightAxis.h
View File

@ -29,14 +29,14 @@ namespace SITL {
*/
class FlightAxis : public Aircraft {
public:
FlightAxis(const char *home_str, const char *frame_str);
FlightAxis(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 *home_str, const char *frame_str) {
return new FlightAxis(home_str, frame_str);
static Aircraft *create(const char *frame_str) {
return new FlightAxis(frame_str);
}
struct state {

4
libraries/SITL/SIM_Gazebo.cpp
View File

@ -27,8 +27,8 @@ extern const AP_HAL::HAL& hal;
namespace SITL {
Gazebo::Gazebo(const char *home_str, const char *frame_str) :
Aircraft(home_str, frame_str),
Gazebo::Gazebo(const char *frame_str) :
Aircraft(frame_str),
last_timestamp(0),
socket_sitl{true}
{

6
libraries/SITL/SIM_Gazebo.h
View File

@ -28,14 +28,14 @@ namespace SITL {
*/
class Gazebo : public Aircraft {
public:
Gazebo(const char *home_str, const char *frame_str);
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 *home_str, const char *frame_str) {
return new Gazebo(home_str, frame_str);
static Aircraft *create(const char *frame_str) {
return new Gazebo(frame_str);
}
/* Create and set in/out socket for Gazebo simulator */

4
libraries/SITL/SIM_Helicopter.cpp
View File

@ -22,8 +22,8 @@
namespace SITL {
Helicopter::Helicopter(const char *home_str, const char *frame_str) :
Aircraft(home_str, frame_str)
Helicopter::Helicopter(const char *frame_str) :
Aircraft(frame_str)
{
mass = 2.13f;

6
libraries/SITL/SIM_Helicopter.h
View File

@ -27,14 +27,14 @@ namespace SITL {
*/
class Helicopter : public Aircraft {
public:
Helicopter(const char *home_str, const char *frame_str);
Helicopter(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 *home_str, const char *frame_str) {
return new Helicopter(home_str, frame_str);
static Aircraft *create(const char *frame_str) {
return new Helicopter(frame_str);
}
private:

4
libraries/SITL/SIM_JSBSim.cpp
View File

@ -36,8 +36,8 @@ namespace SITL {
#define DEBUG_JSBSIM 1
JSBSim::JSBSim(const char *home_str, const char *frame_str) :
Aircraft(home_str, frame_str),
JSBSim::JSBSim(const char *frame_str) :
Aircraft(frame_str),
sock_control(false),
sock_fgfdm(true),
initialised(false),

6
libraries/SITL/SIM_JSBSim.h
View File

@ -29,14 +29,14 @@ namespace SITL {
*/
class JSBSim : public Aircraft {
public:
JSBSim(const char *home_str, const char *frame_str);
JSBSim(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 *home_str, const char *frame_str) {
return new JSBSim(home_str, frame_str);
static Aircraft *create(const char *frame_str) {
return new JSBSim(frame_str);
}
private:

4
libraries/SITL/SIM_Morse.cpp
View File

@ -80,8 +80,8 @@ static const struct {
};
Morse::Morse(const char *home_str, const char *frame_str) :
Aircraft(home_str, frame_str)
Morse::Morse(const char *frame_str) :
Aircraft(frame_str)
{
char *saveptr = nullptr;
char *s = strdup(frame_str);

6
libraries/SITL/SIM_Morse.h
View File

@ -28,14 +28,14 @@ namespace SITL {
*/
class Morse : public Aircraft {
public:
Morse(const char *home_str, const char *frame_str);
Morse(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 *home_str, const char *frame_str) {
return new Morse(home_str, frame_str);
static Aircraft *create(const char *frame_str) {
return new Morse(frame_str);
}
private:

4
libraries/SITL/SIM_Multicopter.cpp
View File

@ -23,8 +23,8 @@
using namespace SITL;
MultiCopter::MultiCopter(const char *home_str, const char *frame_str) :
Aircraft(home_str, frame_str),
MultiCopter::MultiCopter(const char *frame_str) :
Aircraft(frame_str),
frame(nullptr)
{
mass = 1.5f;

6
libraries/SITL/SIM_Multicopter.h
View File

@ -29,14 +29,14 @@ namespace SITL {
*/
class MultiCopter : public Aircraft {
public:
MultiCopter(const char *home_str, const char *frame_str);
MultiCopter(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 *home_str, const char *frame_str) {
return new MultiCopter(home_str, frame_str);
static Aircraft *create(const char *frame_str) {
return new MultiCopter(frame_str);
}
protected:

4
libraries/SITL/SIM_Plane.cpp
View File

@ -23,8 +23,8 @@
using namespace SITL;
Plane::Plane(const char *home_str, const char *frame_str) :
Aircraft(home_str, frame_str)
Plane::Plane(const char *frame_str) :
Aircraft(frame_str)
{
mass = 2.0f;

6
libraries/SITL/SIM_Plane.h
View File

@ -29,14 +29,14 @@ namespace SITL {
*/
class Plane : public Aircraft {
public:
Plane(const char *home_str, const char *frame_str);
Plane(const char *frame_str);
/* update model by one time step */
virtual void update(const struct sitl_input &input) override;
/* static object creator */
static Aircraft *create(const char *home_str, const char *frame_str) {
return new Plane(home_str, frame_str);
static Aircraft *create(const char *frame_str) {
return new Plane(frame_str);
}
protected:

4
libraries/SITL/SIM_QuadPlane.cpp
View File

@ -22,8 +22,8 @@
using namespace SITL;
QuadPlane::QuadPlane(const char *home_str, const char *frame_str) :
Plane(home_str, frame_str)
QuadPlane::QuadPlane(const char *frame_str) :
Plane(frame_str)
{
// default to X frame
const char *frame_type = "x";

6
libraries/SITL/SIM_QuadPlane.h
View File

@ -29,14 +29,14 @@ namespace SITL {
*/
class QuadPlane : public Plane {
public:
QuadPlane(const char *home_str, const char *frame_str);
QuadPlane(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 *home_str, const char *frame_str) {
return new QuadPlane(home_str, frame_str);
static Aircraft *create(const char *frame_str) {
return new QuadPlane(frame_str);
}
private:
Frame *frame;

4
libraries/SITL/SIM_Rover.cpp
View File

@ -23,8 +23,8 @@
namespace SITL {
SimRover::SimRover(const char *home_str, const char *frame_str) :
Aircraft(home_str, frame_str),
SimRover::SimRover(const char *frame_str) :
Aircraft(frame_str),
max_speed(20),
max_accel(10),
max_wheel_turn(35),

6
libraries/SITL/SIM_Rover.h
View File

@ -27,14 +27,14 @@ namespace SITL {
*/
class SimRover : public Aircraft {
public:
SimRover(const char *home_str, const char *frame_str);
SimRover(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 *home_str, const char *frame_str) {
return new SimRover(home_str, frame_str);
static Aircraft *create(const char *frame_str) {
return new SimRover(frame_str);
}
private:

4
libraries/SITL/SIM_Sailboat.cpp
View File

@ -38,8 +38,8 @@ namespace SITL {
#define WAVE_ANGLE_GAIN 1
#define WAVE_HEAVE_GAIN 1
Sailboat::Sailboat(const char *home_str, const char *frame_str) :
Aircraft(home_str, frame_str),
Sailboat::Sailboat(const char *frame_str) :
Aircraft(frame_str),
steering_angle_max(35),
turning_circle(1.8)
{

6
libraries/SITL/SIM_Sailboat.h
View File

@ -27,14 +27,14 @@ namespace SITL {
*/
class Sailboat : public Aircraft {
public:
Sailboat(const char *home_str, const char *frame_str);
Sailboat(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 *home_str, const char *frame_str) {
return new Sailboat(home_str, frame_str);
static Aircraft *create(const char *frame_str) {
return new Sailboat(frame_str);
}
bool on_ground() const override {return true;};

4
libraries/SITL/SIM_Scrimmage.cpp
View File

@ -35,8 +35,8 @@ extern const AP_HAL::HAL& hal;
namespace SITL {
Scrimmage::Scrimmage(const char *home_str, const char *_frame_str) :
Aircraft(home_str, _frame_str),
Scrimmage::Scrimmage(const char *_frame_str) :
Aircraft(_frame_str),
prev_timestamp_us(0),
recv_sock(true),
send_sock(true),

6
libraries/SITL/SIM_Scrimmage.h
View File

@ -32,14 +32,14 @@ namespace SITL {
*/
class Scrimmage : public Aircraft {
public:
Scrimmage(const char *home_str, const char *frame_str);
Scrimmage(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 *home_str, const char *frame_str) {
return new Scrimmage(home_str, frame_str);
static Aircraft *create(const char *frame_str) {
return new Scrimmage(frame_str);
}
void set_config(const char *config) override;

4
libraries/SITL/SIM_SilentWings.cpp
View File

@ -51,8 +51,8 @@ static const struct {
{ "INS_ACCSCAL_Z", 1.001 },
};
SilentWings::SilentWings(const char *home_str, const char *frame_str) :
Aircraft(home_str, frame_str),
SilentWings::SilentWings(const char *frame_str) :
Aircraft(frame_str),
last_data_time_ms(0),
first_pkt_timestamp_ms(0),
time_base_us(0),

6
libraries/SITL/SIM_SilentWings.h
View File

@ -26,14 +26,14 @@ namespace SITL {
*/
class SilentWings : public Aircraft {
public:
SilentWings(const char *home_str, const char *frame_str);
SilentWings(const char *frame_str);
/* Updates the aircraft model by one time step */
void update(const struct sitl_input &input) override;
/* Static object creator */
static Aircraft *create(const char *home_str, const char *frame_str) {
return new SilentWings(home_str, frame_str);
static Aircraft *create(const char *frame_str) {
return new SilentWings(frame_str);
}
private:

4
libraries/SITL/SIM_SingleCopter.cpp
View File

@ -22,8 +22,8 @@
using namespace SITL;
SingleCopter::SingleCopter(const char *home_str, const char *frame_str) :
Aircraft(home_str, frame_str)
SingleCopter::SingleCopter(const char *frame_str) :
Aircraft(frame_str)
{
mass = 2.0f;

6
libraries/SITL/SIM_SingleCopter.h
View File

@ -28,14 +28,14 @@ namespace SITL {
*/
class SingleCopter : public Aircraft {
public:
SingleCopter(const char *home_str, const char *frame_str);
SingleCopter(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 *home_str, const char *frame_str) {
return new SingleCopter(home_str, frame_str);
static Aircraft *create(const char *frame_str) {
return new SingleCopter(frame_str);
}
private:

4
libraries/SITL/SIM_Submarine.cpp
View File

@ -35,8 +35,8 @@ static Thruster vectored_thrusters[] =
};
Submarine::Submarine(const char *home_str, const char *frame_str) :
Aircraft(home_str, frame_str),
Submarine::Submarine(const char *frame_str) :
Aircraft(frame_str),
frame(NULL)
{
frame_height = 0.0;

6
libraries/SITL/SIM_Submarine.h
View File

@ -31,14 +31,14 @@ namespace SITL {
class Submarine : public Aircraft {
public:
Submarine(const char *home_str, const char *frame_str);
Submarine(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 *home_str, const char *frame_str) {
return new Submarine(home_str, frame_str);
static Aircraft *create(const char *frame_str) {
return new Submarine(frame_str);
}

4
libraries/SITL/SIM_Tracker.cpp
View File

@ -22,8 +22,8 @@
namespace SITL {
Tracker::Tracker(const char *home_str, const char *frame_str) :
Aircraft(home_str, frame_str)
Tracker::Tracker(const char *frame_str) :
Aircraft(frame_str)
{}

6
libraries/SITL/SIM_Tracker.h
View File

@ -27,12 +27,12 @@ namespace SITL {
*/
class Tracker : public Aircraft {
public:
Tracker(const char *home_str, const char *frame_str);
Tracker(const char *frame_str);
void update(const struct sitl_input &input) override;
/* static object creator */
static Aircraft *create(const char *home_str, const char *frame_str) {
return new Tracker(home_str, frame_str);
static Aircraft *create(const char *frame_str) {
return new Tracker(frame_str);
}
private:

4
libraries/SITL/SIM_XPlane.cpp
View File

@ -32,8 +32,8 @@ extern const AP_HAL::HAL& hal;
namespace SITL {
XPlane::XPlane(const char *home_str, const char *frame_str) :
Aircraft(home_str, frame_str)
XPlane::XPlane(const char *frame_str) :
Aircraft(frame_str)
{
use_time_sync = false;
const char *colon = strchr(frame_str, ':');

6
libraries/SITL/SIM_XPlane.h
View File

@ -29,14 +29,14 @@ namespace SITL {
*/
class XPlane : public Aircraft {
public:
XPlane(const char *home_str, const char *frame_str);
XPlane(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 *home_str, const char *frame_str) {
return new XPlane(home_str, frame_str);
static Aircraft *create(const char *frame_str) {
return new XPlane(frame_str);
}
private:

4
libraries/SITL/SIM_last_letter.cpp
View File

@ -29,8 +29,8 @@ extern const AP_HAL::HAL& hal;
namespace SITL {
last_letter::last_letter(const char *home_str, const char *_frame_str) :
Aircraft(home_str, _frame_str),
last_letter::last_letter(const char *_frame_str) :
Aircraft(_frame_str),
last_timestamp_us(0),
sock(true)
{

6
libraries/SITL/SIM_last_letter.h
View File

@ -29,14 +29,14 @@ namespace SITL {
*/
class last_letter : public Aircraft {
public:
last_letter(const char *home_str, const char *frame_str);
last_letter(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 *home_str, const char *frame_str) {
return new last_letter(home_str, frame_str);
static Aircraft *create(const char *frame_str) {
return new last_letter(frame_str);
}
private: