forked from Archive/PX4-Autopilot
Merge pull request #6 from tumbili/simulator_udp
implemented bidirectional udp communication with simulator
This commit is contained in:
mcharleb
commit
c303525336
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@ -45,12 +45,8 @@
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#include <string.h>
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#include <sys/types.h>
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#include <drivers/drv_led.h>
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#ifndef __PX4_QURT
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#include <sys/socket.h>
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#include <netinet/in.h>
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#endif
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#include "simulator.h"
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#include <drivers/drv_hrt.h>
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using namespace simulator;
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@ -58,6 +54,9 @@ static px4_task_t g_sim_task = -1;
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Simulator *Simulator::_instance = NULL;
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static const uint8_t mavlink_message_lengths[256] = MAVLINK_MESSAGE_LENGTHS;
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static const uint8_t mavlink_message_crcs[256] = MAVLINK_MESSAGE_CRCS;
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Simulator *Simulator::getInstance()
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{
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return _instance;
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@ -100,6 +99,83 @@ int Simulator::start(int argc, char *argv[])
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return ret;
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}
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void Simulator::poll_topics() {
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// copy new data if available
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bool updated;
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orb_check(_actuator_outputs_sub, &updated);
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if(updated) {
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orb_copy(ORB_ID(actuator_outputs), _actuator_outputs_sub, &_actuators);
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}
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orb_check(_vehicle_attitude_sub, &updated);
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if(updated) {
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orb_copy(ORB_ID(vehicle_attitude), _vehicle_attitude_sub, &_attitude);
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}
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}
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void Simulator::send_data() {
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// check if it's time to send new data
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hrt_abstime time_now = hrt_absolute_time();
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if (time_now - _time_last >= (hrt_abstime)(_interval * 1000)) {
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_time_last = time_now;
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mavlink_message_t msg;
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pack_actuator_message(&msg);
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send_mavlink_message(MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, &msg, 200);
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// can add more messages here, can also setup different timings
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}
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}
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void Simulator::pack_actuator_message(mavlink_message_t *msg) {
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// pack message and send
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mavlink_servo_output_raw_t actuator_msg;
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actuator_msg.time_usec = hrt_absolute_time();
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actuator_msg.port = 8; // hardcoded for now
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actuator_msg.servo1_raw = _actuators.output[0];
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actuator_msg.servo2_raw = _actuators.output[1];
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actuator_msg.servo3_raw = _actuators.output[2];
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actuator_msg.servo4_raw = _actuators.output[3];
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actuator_msg.servo5_raw = _actuators.output[4];
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actuator_msg.servo6_raw = _actuators.output[5];
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actuator_msg.servo7_raw = _actuators.output[6];
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actuator_msg.servo8_raw = _actuators.output[7];
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// encode the message
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mavlink_msg_servo_output_raw_encode(1, 100, msg, &actuator_msg);
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}
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void Simulator::send_mavlink_message(const uint8_t msgid, const void *msg, uint8_t component_ID) {
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uint8_t payload_len = mavlink_message_lengths[msgid];
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uint8_t buf[MAVLINK_MAX_PACKET_LEN];
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/* header */
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buf[0] = MAVLINK_STX;
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buf[1] = payload_len;
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/* no idea which numbers should be here*/
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buf[2] = 100;
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buf[3] = 1;
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buf[4] = component_ID;
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buf[5] = msgid;
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/* payload */
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memcpy(&buf[MAVLINK_NUM_HEADER_BYTES],&msg, payload_len);
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/* checksum */
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uint16_t checksum;
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crc_init(&checksum);
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crc_accumulate_buffer(&checksum, (const char *) &buf[1], MAVLINK_CORE_HEADER_LEN + payload_len);
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crc_accumulate(mavlink_message_crcs[msgid], &checksum);
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buf[MAVLINK_NUM_HEADER_BYTES + payload_len] = (uint8_t)(checksum & 0xFF);
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buf[MAVLINK_NUM_HEADER_BYTES + payload_len + 1] = (uint8_t)(checksum >> 8);
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ssize_t len = sendto(_fd, buf, sizeof(buf), 0, (struct sockaddr *)&_srcaddr, _addrlen);
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if (len <= 0) {
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PX4_WARN("Failed sending mavlink message");
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}
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}
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void Simulator::fill_sensors_from_imu_msg(struct sensor_combined_s *sensor, mavlink_highres_imu_t *imu) {
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hrt_abstime timestamp = hrt_absolute_time();
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sensor->timestamp = timestamp;
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@ -221,7 +297,6 @@ void Simulator::publishSensorsCombined() {
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// advertise
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_sensor_combined_pub = orb_advertise(ORB_ID(sensor_combined), &sensors);
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hrt_abstime time_last = hrt_absolute_time();
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uint64_t delta;
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for(;;) {
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@ -270,46 +345,52 @@ void Simulator::updateSamples()
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// mag report
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struct mag_report mag;
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memset(&mag, 0 ,sizeof(mag));
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// init publishers
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_baro_pub = orb_advertise(ORB_ID(sensor_baro), &baro);
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_accel_pub = orb_advertise(ORB_ID(sensor_accel), &accel);
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_gyro_pub = orb_advertise(ORB_ID(sensor_gyro), &gyro);
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_mag_pub = orb_advertise(ORB_ID(sensor_mag), &mag);
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// get samples from external provider
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struct sockaddr_in myaddr;
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struct sockaddr_in srcaddr;
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socklen_t addrlen = sizeof(srcaddr);
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int len, fd;
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const int buflen = 200;
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const int port = 14550;
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unsigned char buf[buflen];
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// subscribe to topics
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_actuator_outputs_sub = orb_subscribe(ORB_ID(actuator_outputs));
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_vehicle_attitude_sub = orb_subscribe(ORB_ID(vehicle_attitude));
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if ((fd = socket(AF_INET, SOCK_DGRAM, 0)) < 0) {
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// try to setup udp socket for communcation with simulator
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memset((char *)&_myaddr, 0, sizeof(_myaddr));
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_myaddr.sin_family = AF_INET;
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_myaddr.sin_addr.s_addr = htonl(INADDR_ANY);
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_myaddr.sin_port = htons(_port);
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if ((_fd = socket(AF_INET, SOCK_DGRAM, 0)) < 0) {
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PX4_WARN("create socket failed\n");
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return;
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}
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memset((char *)&myaddr, 0, sizeof(myaddr));
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myaddr.sin_family = AF_INET;
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myaddr.sin_addr.s_addr = htonl(INADDR_ANY);
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myaddr.sin_port = htons(port);
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if (bind(fd, (struct sockaddr *)&myaddr, sizeof(myaddr)) < 0) {
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if (bind(_fd, (struct sockaddr *)&_myaddr, sizeof(_myaddr)) < 0) {
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PX4_WARN("bind failed\n");
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return;
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}
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// this is used to time message sending
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_time_last = hrt_absolute_time();
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// make socket non-blocking
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int flags = fcntl(_fd,F_GETFL);
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flags |= O_NONBLOCK;
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fcntl(_fd, F_SETFL, flags);
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int len = 0;
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// wait for new mavlink messages to arrive
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for (;;) {
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len = 0;
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len = recvfrom(fd, buf, buflen, 0, (struct sockaddr *)&srcaddr, &addrlen);
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// see if we can receive data from simulator
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len = recvfrom(_fd, _buf, _buflen, 0, (struct sockaddr *)&_srcaddr, &_addrlen);
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if (len > 0) {
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mavlink_message_t msg;
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mavlink_status_t status;
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for (int i = 0; i < len; ++i)
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{
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if (mavlink_parse_char(MAVLINK_COMM_0, buf[i], &msg, &status))
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if (mavlink_parse_char(MAVLINK_COMM_0, _buf[i], &msg, &status))
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{
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// have a message, handle it
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handle_message(&msg);
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@ -324,35 +405,16 @@ void Simulator::updateSamples()
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gyro.timestamp = time_last;
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mag.timestamp = time_last;
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// publish the sensor values
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//printf("Publishing SensorsCombined\n");
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orb_publish(ORB_ID(sensor_baro), _baro_pub, &baro);
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orb_publish(ORB_ID(sensor_accel), _accel_pub, &baro);
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orb_publish(ORB_ID(sensor_gyro), _gyro_pub, &baro);
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orb_publish(ORB_ID(sensor_mag), _mag_pub, &mag);
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}
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/*
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for (;;) {
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len = recvfrom(fd, buf, buflen, 0, (struct sockaddr *)&srcaddr, &addrlen);
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if (len > 0) {
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if (len == sizeof(RawMPUData)) {
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PX4_DBG("received: MPU data\n");
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_mpu.writeData(buf);
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}
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else if (len == sizeof(RawAccelData)) {
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PX4_DBG("received: accel data\n");
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_accel.writeData(buf);
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}
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else if (len == sizeof(RawBaroData)) {
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PX4_DBG("received: accel data\n");
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_baro.writeData(buf);
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}
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else {
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PX4_DBG("bad packet: len = %d\n", len);
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}
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}
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// see if there is new data to send to simulator
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poll_topics();
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send_data();
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usleep(10000);
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}
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*/
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}
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#endif
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@ -41,13 +41,20 @@
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#include <semaphore.h>
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#include <uORB/topics/sensor_combined.h>
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#include <uORB/topics/manual_control_setpoint.h>
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#include <uORB/topics/actuator_outputs.h>
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#include <uORB/topics/vehicle_attitude.h>
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#include <drivers/drv_accel.h>
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#include <drivers/drv_gyro.h>
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#include <drivers/drv_baro.h>
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#include <drivers/drv_mag.h>
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#include <drivers/drv_hrt.h>
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#include <uORB/uORB.h>
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#include <v1.0/mavlink_types.h>
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#include <v1.0/common/mavlink.h>
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#include <sys/socket.h>
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#ifndef __PX4_QURT
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#include <netinet/in.h>
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#endif
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namespace simulator {
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@ -160,25 +167,30 @@ private:
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_baro(1),
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_sensor_combined_pub(-1),
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_manual_control_sp_pub(-1),
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_actuator_outputs_sub(-1),
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_vehicle_attitude_sub(-1),
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_sensor{},
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_manual_control_sp{}
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{}
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_manual_control_sp{},
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_actuators{},
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_attitude{},
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_interval(1000)
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{
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_buf = new unsigned char [_buflen];
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}
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~Simulator() { _instance=NULL; }
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#ifndef __PX4_QURT
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void updateSamples();
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#endif
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void publishSensorsCombined();
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void fill_sensors_from_imu_msg(struct sensor_combined_s *sensor, mavlink_highres_imu_t *imu);
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void fill_manual_control_sp_msg(struct manual_control_setpoint_s *manual, mavlink_manual_control_t *man_msg);
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void handle_message(mavlink_message_t *msg);
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static Simulator *_instance;
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// simulated sensor instances
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simulator::Report<simulator::RawAccelData> _accel;
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simulator::Report<simulator::RawMPUData> _mpu;
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simulator::Report<simulator::RawBaroData> _baro;
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// uORB publisher handlers
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orb_advert_t _accel_pub;
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orb_advert_t _baro_pub;
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orb_advert_t _gyro_pub;
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@ -186,7 +198,37 @@ private:
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orb_advert_t _sensor_combined_pub;
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orb_advert_t _manual_control_sp_pub;
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// uORB subscription handlers
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int _actuator_outputs_sub;
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int _vehicle_attitude_sub;
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// uORB data containers
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struct sensor_combined_s _sensor;
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struct manual_control_setpoint_s _manual_control_sp;
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};
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struct actuator_outputs_s _actuators;
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struct vehicle_attitude_s _attitude;
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// udp socket data
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struct sockaddr_in _myaddr;
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struct sockaddr_in _srcaddr;
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socklen_t _addrlen = sizeof(_srcaddr);
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int _fd;
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const int _buflen = 200;
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const int _port = 14550;
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unsigned char *_buf;
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hrt_abstime _time_last;
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int _interval;
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// class methods
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int setup_udp_socket();
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void do_subscriptions();
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void poll_topics();
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void publishSensorsCombined();
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void fill_sensors_from_imu_msg(struct sensor_combined_s *sensor, mavlink_highres_imu_t *imu);
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void fill_manual_control_sp_msg(struct manual_control_setpoint_s *manual, mavlink_manual_control_t *man_msg);
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void handle_message(mavlink_message_t *msg);
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void send_data();
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void send_mavlink_message(const uint8_t msgid, const void *msg, uint8_t component_ID);
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void pack_actuator_message(mavlink_message_t *msg);
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};
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