forked from Archive/PX4-Autopilot
simulator: replace gpssim with simple orb publication
- this is one of the last pieces of the system that still depend on DriverFramework - add new SIM_GPS_NOISE_X parameter for optionally increasing the GPS noise multiplier (was previously a gpssim command line option) - add SIM_x_BLOCK parameters to block sensor publication - SIM_GPS_BLOCK - SIM_ACCEL_BLOCK - SIM_GYRO_BLOCK - SIM_MAG_BLOCK - SIM_BARO_BLOCK - SIM_DPRES_BLOCK
This commit is contained in:
Daniel Agar
GitHub
parent
faec9fe579
commit
d32a80df3a
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@ -237,7 +237,6 @@ dataman start
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replay tryapplyparams
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simulator start -c $simulator_tcp_port
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tone_alarm start
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gpssim start
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rc_update start
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sensors start
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commander start
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@ -12,7 +12,6 @@ dataman start
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simulator start
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tone_alarm start
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gpssim start
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pwm_out_sim start
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ver all
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@ -12,7 +12,6 @@ dataman start
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simulator start
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tone_alarm start
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gpssim start
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pwm_out_sim start
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ver all
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@ -16,7 +16,6 @@ dataman start
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simulator start
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tone_alarm start
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gpssim start
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pwm_out_sim start
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rc_update start
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@ -84,7 +83,6 @@ sleep 2
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simulator stop
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tone_alarm stop
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gpssim stop
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dataman stop
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#uorb stop
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@ -12,7 +12,6 @@ dataman start
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simulator start
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tone_alarm start
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gpssim start
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pwm_out_sim start
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ver all
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@ -76,5 +76,3 @@ px4_add_module(
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drivers_magnetometer
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)
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target_include_directories(modules__simulator INTERFACE ${PX4_SOURCE_DIR}/mavlink/include/mavlink)
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add_subdirectory(gpssim)
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@ -1,45 +0,0 @@
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############################################################################
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#
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# Copyright (c) 2015 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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px4_add_module(
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MODULE drivers__gpssim
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MAIN gpssim
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COMPILE_FLAGS
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-Wno-double-promotion
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-Wno-cast-align # TODO: fix and enable
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-Wno-address-of-packed-member # TODO: fix in c_library_v2
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SRCS
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gpssim.cpp
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DEPENDS
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modules__simulator
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)
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@ -1,559 +0,0 @@
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/****************************************************************************
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*
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* Copyright (c) 2015 Roman Bapst. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file gpssim.cpp
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* Simulated GPS driver
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*/
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#include <sys/types.h>
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#include <px4_platform_common/defines.h>
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#include <px4_platform_common/getopt.h>
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#include <inttypes.h>
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#include <stdio.h>
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#include <stdbool.h>
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#include <stdlib.h>
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#include <semaphore.h>
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#include <string.h>
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#include <fcntl.h>
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#include <poll.h>
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#include <errno.h>
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#include <stdio.h>
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#include <random>
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#include <math.h>
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#include <unistd.h>
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#include <fcntl.h>
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#include <px4_platform_common/px4_config.h>
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#include <px4_platform_common/tasks.h>
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#include <drivers/drv_hrt.h>
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#include <drivers/device/device.h>
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#include <uORB/PublicationMulti.hpp>
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#include <uORB/topics/vehicle_gps_position.h>
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#include <simulator/simulator.h>
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#include "DevMgr.hpp"
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#include "VirtDevObj.hpp"
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using namespace DriverFramework;
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#define GPS_DRIVER_MODE_UBX_SIM
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#define GPSSIM_DEVICE_PATH "/dev/gpssim"
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#define TIMEOUT_100MS 100000
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#define RATE_MEASUREMENT_PERIOD 5000000
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class GPSSIM : public VirtDevObj
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{
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public:
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GPSSIM(bool fake_gps, bool enable_sat_info, int fix_type, int num_sat, int noise_multiplier);
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~GPSSIM() override;
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int init() override;
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int devIOCTL(unsigned long cmd, unsigned long arg) override;
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void set(int fix_type, int num_sat, int noise_multiplier);
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/**
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* Diagnostics - print some basic information about the driver.
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*/
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void print_info();
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protected:
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void _measure() override {}
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private:
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bool _task_should_exit{false}; ///< flag to make the main worker task exit
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volatile int _task{-1}; ///< worker task
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vehicle_gps_position_s _report_gps_pos{}; ///< uORB topic for gps position
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uORB::PublicationMulti<vehicle_gps_position_s> _report_gps_pos_pub{ORB_ID(vehicle_gps_position)}; ///< uORB pub for gps position
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SyncObj _sync;
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int _fix_type{0};
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int _num_sat{0};
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int _noise_multiplier{0};
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std::default_random_engine _gen;
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/**
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* Try to configure the GPS, handle outgoing communication to the GPS
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*/
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void config();
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/**
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* Trampoline to the worker task
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*/
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static int task_main_trampoline(int argc, char *argv[]);
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/**
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* Worker task: main GPS thread that configures the GPS and parses incoming data, always running
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*/
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void task_main();
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/**
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* Set the baudrate of the UART to the GPS
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*/
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int set_baudrate(unsigned baud);
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/**
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* Send a reset command to the GPS
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*/
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void cmd_reset();
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int receive(int timeout);
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};
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/*
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* Driver 'main' command.
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*/
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extern "C" __EXPORT int gpssim_main(int argc, char *argv[]);
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namespace
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{
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GPSSIM *g_dev = nullptr;
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}
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GPSSIM::GPSSIM(bool fake_gps, bool enable_sat_info, int fix_type, int num_sat, int noise_multiplier) :
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VirtDevObj("gps", GPSSIM_DEVICE_PATH, nullptr, 1e6 / 10),
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_fix_type(fix_type),
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_num_sat(num_sat),
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_noise_multiplier(noise_multiplier)
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{
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/* we need this potentially before it could be set in task_main */
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g_dev = this;
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_report_gps_pos.heading = NAN;
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_report_gps_pos.heading_offset = NAN;
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}
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GPSSIM::~GPSSIM()
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{
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/* tell the task we want it to go away */
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_task_should_exit = true;
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/* spin waiting for the task to stop */
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for (unsigned i = 0; (i < 10) && (_task != -1); i++) {
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/* give it another 100ms */
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px4_usleep(100000);
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}
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/* well, kill it anyway, though this will probably crash */
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if (_task != -1) {
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px4_task_delete(_task);
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}
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g_dev = nullptr;
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}
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int
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GPSSIM::init()
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{
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int ret = PX4_ERROR;
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/* do regular cdev init */
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if (VirtDevObj::init() != OK) {
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goto out;
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}
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/* start the GPS driver worker task */
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_task = px4_task_spawn_cmd("gpssim", SCHED_DEFAULT,
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SCHED_PRIORITY_DEFAULT, 1500, (px4_main_t)&GPSSIM::task_main_trampoline, nullptr);
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if (_task < 0) {
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PX4_ERR("task start failed: %d", errno);
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return -errno;
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}
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ret = OK;
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out:
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return ret;
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}
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int
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GPSSIM::devIOCTL(unsigned long cmd, unsigned long arg)
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{
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_sync.lock();
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int ret = OK;
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switch (cmd) {
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case SENSORIOCRESET:
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cmd_reset();
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break;
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default:
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/* give it to parent if no one wants it */
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ret = VirtDevObj::devIOCTL(cmd, arg);
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break;
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}
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_sync.unlock();
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return ret;
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}
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int
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GPSSIM::task_main_trampoline(int argc, char *argv[])
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{
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g_dev->task_main();
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return 0;
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}
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int
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GPSSIM::receive(int timeout)
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{
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Simulator *sim = Simulator::getInstance();
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simulator::RawGPSData gps;
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static uint64_t timestamp_last = 0;
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if (sim->getGPSSample((uint8_t *)&gps, sizeof(gps)) &&
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(gps.timestamp != timestamp_last || timestamp_last == 0)) {
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_report_gps_pos.timestamp = hrt_absolute_time();
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_report_gps_pos.lat = gps.lat;
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_report_gps_pos.lon = gps.lon;
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_report_gps_pos.alt = gps.alt;
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_report_gps_pos.eph = (float)gps.eph * 1e-2f;
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_report_gps_pos.epv = (float)gps.epv * 1e-2f;
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_report_gps_pos.vel_m_s = (float)(gps.vel) / 100.0f;
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_report_gps_pos.vel_n_m_s = (float)(gps.vn) / 100.0f;
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_report_gps_pos.vel_e_m_s = (float)(gps.ve) / 100.0f;
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_report_gps_pos.vel_d_m_s = (float)(gps.vd) / 100.0f;
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_report_gps_pos.cog_rad = (float)(gps.cog) * 3.1415f / (100.0f * 180.0f);
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_report_gps_pos.fix_type = gps.fix_type;
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_report_gps_pos.satellites_used = gps.satellites_visible;
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_report_gps_pos.s_variance_m_s = 0.25f;
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timestamp_last = gps.timestamp;
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// check for data set by the user
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_report_gps_pos.fix_type = (_fix_type < 0) ? _report_gps_pos.fix_type : _fix_type;
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_report_gps_pos.satellites_used = (_num_sat < 0) ? _report_gps_pos.satellites_used : _num_sat;
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// use normal distribution for noise
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std::normal_distribution<float> normal_distribution(0.0f, 1.0f);
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_report_gps_pos.lat += (int32_t)(_noise_multiplier * normal_distribution(_gen));
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_report_gps_pos.lon += (int32_t)(_noise_multiplier * normal_distribution(_gen));
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return 1;
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} else {
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px4_usleep(timeout);
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return 0;
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}
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}
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void
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GPSSIM::task_main()
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{
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/* loop handling received serial bytes and also configuring in between */
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while (!_task_should_exit) {
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int recv_ret = receive(TIMEOUT_100MS);
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if (recv_ret > 0) {
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/* opportunistic publishing - else invalid data would end up on the bus */
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_report_gps_pos_pub.publish(_report_gps_pos);
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}
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}
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PX4_INFO("exiting");
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/* tell the dtor that we are exiting */
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_task = -1;
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}
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void
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GPSSIM::cmd_reset()
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{
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}
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void
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GPSSIM::print_info()
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{
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// GPS Mode
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PX4_INFO("protocol: SIM");
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if (_report_gps_pos.timestamp != 0) {
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print_message(_report_gps_pos);
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}
|
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|
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px4_usleep(100000);
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}
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|
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void
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GPSSIM::set(int fix_type, int num_sat, int noise_multiplier)
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{
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_fix_type = fix_type;
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_num_sat = num_sat;
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_noise_multiplier = noise_multiplier;
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PX4_INFO("Parameters set");
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}
|
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/**
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* Local functions in support of the shell command.
|
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*/
|
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namespace gpssim
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{
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GPSSIM *g_dev = nullptr;
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void start(bool fake_gps, bool enable_sat_info,
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int fix_type, int num_sat, int noise_multiplier);
|
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void stop();
|
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void test();
|
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void reset();
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void info();
|
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void usage(const char *reason);
|
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|
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/**
|
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* Start the driver.
|
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*/
|
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void
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start(bool fake_gps, bool enable_sat_info, int fix_type, int num_sat, int noise_multiplier)
|
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{
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DevHandle h;
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|
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/* create the driver */
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g_dev = new GPSSIM(fake_gps, enable_sat_info, fix_type, num_sat, noise_multiplier);
|
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|
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if (g_dev == nullptr) {
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goto fail;
|
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}
|
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|
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if (OK != g_dev->init()) {
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goto fail;
|
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}
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|
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/* set the poll rate to default, starts automatic data collection */
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DevMgr::getHandle(GPSSIM_DEVICE_PATH, h);
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|
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if (!h.isValid()) {
|
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PX4_ERR("getHandle failed: %s", GPSSIM_DEVICE_PATH);
|
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goto fail;
|
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}
|
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|
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return;
|
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|
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fail:
|
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|
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if (g_dev != nullptr) {
|
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delete g_dev;
|
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g_dev = nullptr;
|
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}
|
||||
|
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PX4_ERR("start failed");
|
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}
|
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|
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/**
|
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* Stop the driver.
|
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*/
|
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void
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stop()
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{
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delete g_dev;
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g_dev = nullptr;
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}
|
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|
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/**
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* Perform some basic functional tests on the driver;
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||||
* make sure we can collect data from the sensor in polled
|
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* and automatic modes.
|
||||
*/
|
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void
|
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test()
|
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{
|
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PX4_INFO("PASS");
|
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}
|
||||
|
||||
/**
|
||||
* Reset the driver.
|
||||
*/
|
||||
void
|
||||
reset()
|
||||
{
|
||||
DevHandle h;
|
||||
DevMgr::getHandle(GPSSIM_DEVICE_PATH, h);
|
||||
|
||||
if (!h.isValid()) {
|
||||
PX4_ERR("failed ");
|
||||
}
|
||||
|
||||
if (h.ioctl(SENSORIOCRESET, 0) < 0) {
|
||||
PX4_ERR("reset failed");
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Print the status of the driver.
|
||||
*/
|
||||
void
|
||||
info()
|
||||
{
|
||||
if (g_dev == nullptr) {
|
||||
PX4_ERR("gpssim not running");
|
||||
return;
|
||||
}
|
||||
|
||||
g_dev->print_info();
|
||||
}
|
||||
|
||||
void
|
||||
usage(const char *reason)
|
||||
{
|
||||
if (reason) {
|
||||
PX4_WARN("%s", reason);
|
||||
}
|
||||
|
||||
PX4_INFO("usage:");
|
||||
PX4_INFO("gpssim {start|stop|test|reset|status|set}");
|
||||
PX4_INFO(" [-d /dev/ttyS0-n][-f (for enabling fake)][-s (to enable sat info)]");
|
||||
PX4_INFO(" [-t # (for setting fix_type)][-n # (for setting # satellites)][-m # (for setting noise multiplier [scalar] for normal distribution)]");
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
||||
|
||||
|
||||
int
|
||||
gpssim_main(int argc, char *argv[])
|
||||
{
|
||||
// set to default
|
||||
bool fake_gps = false;
|
||||
bool enable_sat_info = false;
|
||||
int fix_type = -1;
|
||||
int num_sat = -1;
|
||||
int noise_multiplier = 0;
|
||||
|
||||
// check for optional arguments
|
||||
int ch;
|
||||
int myoptind = 1;
|
||||
const char *myoptarg = nullptr;
|
||||
|
||||
while ((ch = px4_getopt(argc, argv, "fst:n:m:", &myoptind, &myoptarg)) != EOF) {
|
||||
switch (ch) {
|
||||
case 'f':
|
||||
fake_gps = true;
|
||||
PX4_INFO("Using fake GPS");
|
||||
break;
|
||||
|
||||
case 's':
|
||||
enable_sat_info = true;
|
||||
PX4_INFO("Satellite info enabled");
|
||||
break;
|
||||
|
||||
case 't':
|
||||
fix_type = atoi(myoptarg);
|
||||
PX4_INFO("Setting fix_type to %d", fix_type);
|
||||
break;
|
||||
|
||||
case 'n':
|
||||
num_sat = atoi(myoptarg);
|
||||
PX4_INFO("Setting number of satellites to %d", num_sat);
|
||||
break;
|
||||
|
||||
case 'm':
|
||||
noise_multiplier = atoi(myoptarg);
|
||||
PX4_INFO("Setting noise multiplier to %d", noise_multiplier);
|
||||
break;
|
||||
|
||||
default:
|
||||
PX4_WARN("Unknown option!");
|
||||
}
|
||||
}
|
||||
|
||||
if (myoptind >= argc) {
|
||||
gpssim::usage("not enough arguments supplied");
|
||||
return 1;
|
||||
}
|
||||
|
||||
/*
|
||||
* Start/load the driver.
|
||||
*/
|
||||
if (!strcmp(argv[myoptind], "start")) {
|
||||
if (g_dev != nullptr) {
|
||||
PX4_WARN("already started");
|
||||
return 0;
|
||||
}
|
||||
|
||||
gpssim::start(fake_gps, enable_sat_info, fix_type, num_sat, noise_multiplier);
|
||||
return 0;
|
||||
}
|
||||
|
||||
/* The following need gpssim running. */
|
||||
if (g_dev == nullptr) {
|
||||
PX4_WARN("not running");
|
||||
return 1;
|
||||
}
|
||||
|
||||
if (!strcmp(argv[myoptind], "stop")) {
|
||||
gpssim::stop();
|
||||
}
|
||||
|
||||
/*
|
||||
* Test the driver/device.
|
||||
*/
|
||||
if (!strcmp(argv[myoptind], "test")) {
|
||||
gpssim::test();
|
||||
}
|
||||
|
||||
/*
|
||||
* Reset the driver.
|
||||
*/
|
||||
if (!strcmp(argv[myoptind], "reset")) {
|
||||
gpssim::reset();
|
||||
}
|
||||
|
||||
/*
|
||||
* Print driver status.
|
||||
*/
|
||||
if (!strcmp(argv[myoptind], "status")) {
|
||||
gpssim::info();
|
||||
}
|
||||
|
||||
/*
|
||||
* Set parameters
|
||||
*/
|
||||
if (!strcmp(argv[myoptind], "set")) {
|
||||
g_dev->set(fix_type, num_sat, noise_multiplier);
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
|
@ -1,96 +0,0 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file ubx.cpp
|
||||
*
|
||||
* U-Blox protocol implementation. Following u-blox 6/7/8 Receiver Description
|
||||
* including Prototol Specification.
|
||||
*
|
||||
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
|
||||
* @author Julian Oes <joes@student.ethz.ch>
|
||||
* @author Anton Babushkin <anton.babushkin@me.com>
|
||||
*
|
||||
* @author Hannes Delago
|
||||
* (rework, add ubx7+ compatibility)
|
||||
*
|
||||
* @see http://www.u-blox.com/images/downloads/Product_Docs/u-blox6_ReceiverDescriptionProtocolSpec_%28GPS.G6-SW-10018%29.pdf
|
||||
* @see http://www.u-blox.com/images/downloads/Product_Docs/u-bloxM8_ReceiverDescriptionProtocolSpec_%28UBX-13003221%29_Public.pdf
|
||||
*/
|
||||
|
||||
#include <assert.h>
|
||||
#include <math.h>
|
||||
#include <poll.h>
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include <time.h>
|
||||
#include <unistd.h>
|
||||
|
||||
#include <systemlib/err.h>
|
||||
#include <uORB/uORB.h>
|
||||
#include <uORB/topics/vehicle_gps_position.h>
|
||||
#include <uORB/topics/satellite_info.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
|
||||
#include "ubx_sim.h"
|
||||
#include <simulator/simulator.h>
|
||||
|
||||
#define UBX_CONFIG_TIMEOUT 200 // ms, timeout for waiting ACK
|
||||
#define UBX_PACKET_TIMEOUT 2 // ms, if now data during this delay assume that full update received
|
||||
#define UBX_WAIT_BEFORE_READ 20 // ms, wait before reading to save read() calls
|
||||
#define DISABLE_MSG_INTERVAL 1000000 // us, try to disable message with this interval
|
||||
|
||||
|
||||
UBX::UBX(const int &fd, struct vehicle_gps_position_s *gps_position, struct satellite_info_s *satellite_info) :
|
||||
_fd(fd),
|
||||
_gps_position(gps_position),
|
||||
_satellite_info(satellite_info),
|
||||
{
|
||||
}
|
||||
|
||||
UBX::~UBX()
|
||||
{
|
||||
}
|
||||
|
||||
int UBX_SIM::configure(unsigned &baudrate)
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
int // -1 = error, 0 = no message handled, 1 = message handled, 2 = sat info message handled
|
||||
UBX_SIM::receive(const unsigned timeout)
|
||||
{
|
||||
/* copy data from simulator here */
|
||||
usleep(1000000);
|
||||
return 1;
|
||||
}
|
||||
|
|
@ -1,57 +0,0 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012, 2013, 2014 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file ubx_sim.h
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef UBX_SIM_H_
|
||||
#define UBX_SIM_H_
|
||||
|
||||
class UBX_SIM
|
||||
{
|
||||
public:
|
||||
UBX_SIM(const int &fd, struct vehicle_gps_position_s *gps_position, struct satellite_info_s *satellite_info);
|
||||
~UBX_SIM();
|
||||
int receive(const unsigned timeout);
|
||||
int configure(unsigned &baudrate);
|
||||
|
||||
private:
|
||||
int _fd;
|
||||
struct vehicle_gps_position_s *_gps_position;
|
||||
struct satellite_info_s *_satellite_info;
|
||||
bool _enable_sat_info;
|
||||
};
|
||||
|
||||
#endif /* UBX_SIM_H_ */
|
||||
|
|
@ -47,27 +47,10 @@
|
|||
|
||||
#include "simulator.h"
|
||||
|
||||
using namespace simulator;
|
||||
|
||||
static px4_task_t g_sim_task = -1;
|
||||
|
||||
Simulator *Simulator::_instance = nullptr;
|
||||
|
||||
Simulator *Simulator::getInstance()
|
||||
{
|
||||
return _instance;
|
||||
}
|
||||
|
||||
bool Simulator::getGPSSample(uint8_t *buf, int len)
|
||||
{
|
||||
return _gps.copyData(buf, len);
|
||||
}
|
||||
|
||||
void Simulator::write_gps_data(void *buf)
|
||||
{
|
||||
_gps.writeData(buf);
|
||||
}
|
||||
|
||||
void Simulator::parameters_update(bool force)
|
||||
{
|
||||
// check for parameter updates
|
||||
|
|
@ -107,16 +90,6 @@ int Simulator::start(int argc, char *argv[])
|
|||
}
|
||||
}
|
||||
|
||||
void Simulator::set_ip(InternetProtocol ip)
|
||||
{
|
||||
_ip = ip;
|
||||
}
|
||||
|
||||
void Simulator::set_port(unsigned port)
|
||||
{
|
||||
_port = port;
|
||||
}
|
||||
|
||||
static void usage()
|
||||
{
|
||||
PX4_INFO("Usage: simulator {start -[spt] [-u udp_port / -c tcp_port] |stop}");
|
||||
|
|
|
|||
|
|
@ -50,7 +50,7 @@
|
|||
#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
|
||||
#include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
|
||||
#include <lib/ecl/geo/geo.h>
|
||||
#include <perf/perf_counter.h>
|
||||
#include <lib/perf/perf_counter.h>
|
||||
#include <px4_platform_common/atomic.h>
|
||||
#include <px4_platform_common/module_params.h>
|
||||
#include <px4_platform_common/posix.h>
|
||||
|
|
@ -68,99 +68,21 @@
|
|||
#include <uORB/topics/vehicle_angular_velocity.h>
|
||||
#include <uORB/topics/vehicle_attitude.h>
|
||||
#include <uORB/topics/vehicle_global_position.h>
|
||||
#include <uORB/topics/vehicle_gps_position.h>
|
||||
#include <uORB/topics/vehicle_local_position.h>
|
||||
#include <uORB/topics/vehicle_odometry.h>
|
||||
#include <uORB/topics/vehicle_status.h>
|
||||
#include <uORB/uORB.h>
|
||||
|
||||
#include <random>
|
||||
|
||||
#include <v2.0/common/mavlink.h>
|
||||
#include <v2.0/mavlink_types.h>
|
||||
#include <lib/battery/battery.h>
|
||||
|
||||
namespace simulator
|
||||
{
|
||||
|
||||
#pragma pack(push, 1)
|
||||
struct RawGPSData {
|
||||
uint64_t timestamp;
|
||||
int32_t lat;
|
||||
int32_t lon;
|
||||
int32_t alt;
|
||||
uint16_t eph;
|
||||
uint16_t epv;
|
||||
uint16_t vel;
|
||||
int16_t vn;
|
||||
int16_t ve;
|
||||
int16_t vd;
|
||||
uint16_t cog;
|
||||
uint8_t fix_type;
|
||||
uint8_t satellites_visible;
|
||||
};
|
||||
#pragma pack(pop)
|
||||
|
||||
template <typename RType> class Report
|
||||
{
|
||||
public:
|
||||
Report(int readers) :
|
||||
_readidx(0),
|
||||
_max_readers(readers),
|
||||
_report_len(sizeof(RType))
|
||||
{
|
||||
memset(_buf, 0, sizeof(_buf));
|
||||
px4_sem_init(&_lock, 0, _max_readers);
|
||||
}
|
||||
|
||||
~Report() {}
|
||||
|
||||
bool copyData(void *outbuf, int len)
|
||||
{
|
||||
if (len != _report_len) {
|
||||
return false;
|
||||
}
|
||||
|
||||
read_lock();
|
||||
memcpy(outbuf, &_buf[_readidx], _report_len);
|
||||
read_unlock();
|
||||
return true;
|
||||
}
|
||||
void writeData(void *inbuf)
|
||||
{
|
||||
write_lock();
|
||||
memcpy(&_buf[!_readidx], inbuf, _report_len);
|
||||
_readidx = !_readidx;
|
||||
write_unlock();
|
||||
}
|
||||
|
||||
protected:
|
||||
void read_lock() { px4_sem_wait(&_lock); }
|
||||
void read_unlock() { px4_sem_post(&_lock); }
|
||||
void write_lock()
|
||||
{
|
||||
for (int i = 0; i < _max_readers; i++) {
|
||||
px4_sem_wait(&_lock);
|
||||
}
|
||||
}
|
||||
void write_unlock()
|
||||
{
|
||||
for (int i = 0; i < _max_readers; i++) {
|
||||
px4_sem_post(&_lock);
|
||||
}
|
||||
}
|
||||
|
||||
int _readidx;
|
||||
px4_sem_t _lock;
|
||||
const int _max_readers;
|
||||
const int _report_len;
|
||||
RType _buf[2];
|
||||
};
|
||||
|
||||
} // namespace simulator
|
||||
|
||||
|
||||
class Simulator : public ModuleParams
|
||||
{
|
||||
public:
|
||||
static Simulator *getInstance();
|
||||
static Simulator *getInstance() { return _instance; }
|
||||
|
||||
enum class InternetProtocol {
|
||||
TCP,
|
||||
|
|
@ -169,27 +91,16 @@ public:
|
|||
|
||||
static int start(int argc, char *argv[]);
|
||||
|
||||
bool getGPSSample(uint8_t *buf, int len);
|
||||
|
||||
void write_gps_data(void *buf);
|
||||
|
||||
void set_ip(InternetProtocol ip);
|
||||
void set_port(unsigned port);
|
||||
void set_ip(InternetProtocol ip) { _ip = ip; }
|
||||
void set_port(unsigned port) { _port = port; }
|
||||
|
||||
#if defined(ENABLE_LOCKSTEP_SCHEDULER)
|
||||
bool has_initialized() {return _has_initialized.load(); }
|
||||
#endif
|
||||
|
||||
private:
|
||||
Simulator() :
|
||||
ModuleParams(nullptr)
|
||||
Simulator() : ModuleParams(nullptr)
|
||||
{
|
||||
simulator::RawGPSData gps_data{};
|
||||
gps_data.eph = UINT16_MAX;
|
||||
gps_data.epv = UINT16_MAX;
|
||||
|
||||
_gps.writeData(&gps_data);
|
||||
|
||||
_px4_accel.set_sample_rate(250);
|
||||
_px4_gyro.set_sample_rate(250);
|
||||
}
|
||||
|
|
@ -197,7 +108,6 @@ private:
|
|||
~Simulator()
|
||||
{
|
||||
// free perf counters
|
||||
perf_free(_perf_gps);
|
||||
perf_free(_perf_sim_delay);
|
||||
perf_free(_perf_sim_interval);
|
||||
|
||||
|
|
@ -218,9 +128,6 @@ private:
|
|||
PX4Magnetometer _px4_mag{197388, ORB_PRIO_DEFAULT, ROTATION_NONE}; // 197388: DRV_MAG_DEVTYPE_MAGSIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
|
||||
PX4Barometer _px4_baro{6620172, ORB_PRIO_DEFAULT}; // 6620172: DRV_BARO_DEVTYPE_BAROSIM, BUS: 1, ADDR: 4, TYPE: SIMULATION
|
||||
|
||||
simulator::Report<simulator::RawGPSData> _gps{1};
|
||||
|
||||
perf_counter_t _perf_gps{perf_alloc(PC_ELAPSED, MODULE_NAME": gps delay")};
|
||||
perf_counter_t _perf_sim_delay{perf_alloc(PC_ELAPSED, MODULE_NAME": network delay")};
|
||||
perf_counter_t _perf_sim_interval{perf_alloc(PC_INTERVAL, MODULE_NAME": network interval")};
|
||||
|
||||
|
|
@ -287,7 +194,6 @@ private:
|
|||
void send_heartbeat();
|
||||
void send_mavlink_message(const mavlink_message_t &aMsg);
|
||||
void update_sensors(const hrt_abstime &time, const mavlink_hil_sensor_t &imu);
|
||||
void update_gps(const mavlink_hil_gps_t *gps_sim);
|
||||
|
||||
static void *sending_trampoline(void *);
|
||||
|
||||
|
|
@ -301,6 +207,10 @@ private:
|
|||
uORB::Publication<vehicle_local_position_s> _lpos_ground_truth_pub{ORB_ID(vehicle_local_position_groundtruth)};
|
||||
uORB::Publication<input_rc_s> _input_rc_pub{ORB_ID(input_rc)};
|
||||
|
||||
// HIL GPS
|
||||
uORB::Publication<vehicle_gps_position_s> _vehicle_gps_position_pub{ORB_ID(vehicle_gps_position)};
|
||||
std::default_random_engine _gen{};
|
||||
|
||||
// uORB subscription handlers
|
||||
int _actuator_outputs_sub{-1};
|
||||
actuator_outputs_s _actuator_outputs{};
|
||||
|
|
@ -322,19 +232,18 @@ private:
|
|||
|
||||
#if defined(ENABLE_LOCKSTEP_SCHEDULER)
|
||||
px4::atomic<bool> _has_initialized {false};
|
||||
|
||||
int _ekf2_timestamps_sub{-1};
|
||||
|
||||
enum class State {
|
||||
WaitingForFirstEkf2Timestamp = 0,
|
||||
WaitingForActuatorControls = 1,
|
||||
WaitingForEkf2Timestamp = 2,
|
||||
};
|
||||
#endif
|
||||
|
||||
DEFINE_PARAMETERS(
|
||||
(ParamFloat<px4::params::SIM_BAT_DRAIN>) _param_sim_bat_drain, ///< battery drain interval
|
||||
(ParamFloat<px4::params::SIM_BAT_MIN_PCT>) _battery_min_percentage, //< minimum battery percentage
|
||||
(ParamFloat<px4::params::SIM_GPS_NOISE_X>) _param_sim_gps_noise_x,
|
||||
(ParamBool<px4::params::SIM_GPS_BLOCK>) _param_sim_gps_block,
|
||||
(ParamBool<px4::params::SIM_ACCEL_BLOCK>) _param_sim_accel_block,
|
||||
(ParamBool<px4::params::SIM_GYRO_BLOCK>) _param_sim_gyro_block,
|
||||
(ParamBool<px4::params::SIM_BARO_BLOCK>) _param_sim_baro_block,
|
||||
(ParamBool<px4::params::SIM_MAG_BLOCK>) _param_sim_mag_block,
|
||||
(ParamBool<px4::params::SIM_DPRES_BLOCK>) _param_sim_dpres_block,
|
||||
(ParamInt<px4::params::MAV_TYPE>) _param_mav_type,
|
||||
(ParamInt<px4::params::MAV_SYS_ID>) _param_mav_sys_id,
|
||||
(ParamInt<px4::params::MAV_COMP_ID>) _param_mav_comp_id
|
||||
|
|
|
|||
|
|
@ -71,7 +71,6 @@ static unsigned _addrlen = sizeof(_srcaddr);
|
|||
const unsigned mode_flag_armed = 128;
|
||||
const unsigned mode_flag_custom = 1;
|
||||
|
||||
using namespace simulator;
|
||||
using namespace time_literals;
|
||||
|
||||
mavlink_hil_actuator_controls_t Simulator::actuator_controls_from_outputs()
|
||||
|
|
@ -192,7 +191,7 @@ void Simulator::update_sensors(const hrt_abstime &time, const mavlink_hil_sensor
|
|||
}
|
||||
|
||||
// gyro
|
||||
{
|
||||
if (!_param_sim_gyro_block.get()) {
|
||||
static constexpr float scaling = 1000.0f;
|
||||
_px4_gyro.set_scale(1 / scaling);
|
||||
_px4_gyro.set_temperature(imu.temperature);
|
||||
|
|
@ -200,7 +199,7 @@ void Simulator::update_sensors(const hrt_abstime &time, const mavlink_hil_sensor
|
|||
}
|
||||
|
||||
// accel
|
||||
{
|
||||
if (!_param_sim_accel_block.get()) {
|
||||
static constexpr float scaling = 1000.0f;
|
||||
_px4_accel.set_scale(1 / scaling);
|
||||
_px4_accel.set_temperature(imu.temperature);
|
||||
|
|
@ -208,7 +207,7 @@ void Simulator::update_sensors(const hrt_abstime &time, const mavlink_hil_sensor
|
|||
}
|
||||
|
||||
// magnetometer
|
||||
{
|
||||
if (!_param_sim_mag_block.get()) {
|
||||
static constexpr float scaling = 1000.0f;
|
||||
_px4_mag.set_scale(1 / scaling);
|
||||
_px4_mag.set_temperature(imu.temperature);
|
||||
|
|
@ -216,13 +215,13 @@ void Simulator::update_sensors(const hrt_abstime &time, const mavlink_hil_sensor
|
|||
}
|
||||
|
||||
// baro
|
||||
{
|
||||
if (!_param_sim_baro_block.get()) {
|
||||
_px4_baro.set_temperature(imu.temperature);
|
||||
_px4_baro.update(time, imu.abs_pressure);
|
||||
}
|
||||
|
||||
// differential pressure
|
||||
{
|
||||
if (!_param_sim_dpres_block.get()) {
|
||||
differential_pressure_s report{};
|
||||
report.timestamp = time;
|
||||
report.temperature = imu.temperature;
|
||||
|
|
@ -233,26 +232,6 @@ void Simulator::update_sensors(const hrt_abstime &time, const mavlink_hil_sensor
|
|||
}
|
||||
}
|
||||
|
||||
void Simulator::update_gps(const mavlink_hil_gps_t *gps_sim)
|
||||
{
|
||||
RawGPSData gps = {};
|
||||
gps.timestamp = hrt_absolute_time();
|
||||
gps.lat = gps_sim->lat;
|
||||
gps.lon = gps_sim->lon;
|
||||
gps.alt = gps_sim->alt;
|
||||
gps.eph = gps_sim->eph;
|
||||
gps.epv = gps_sim->epv;
|
||||
gps.vel = gps_sim->vel;
|
||||
gps.vn = gps_sim->vn;
|
||||
gps.ve = gps_sim->ve;
|
||||
gps.vd = gps_sim->vd;
|
||||
gps.cog = gps_sim->cog;
|
||||
gps.fix_type = gps_sim->fix_type;
|
||||
gps.satellites_visible = gps_sim->satellites_visible;
|
||||
|
||||
write_gps_data((void *)&gps);
|
||||
}
|
||||
|
||||
void Simulator::handle_message(const mavlink_message_t *msg)
|
||||
{
|
||||
switch (msg->msgid) {
|
||||
|
|
@ -303,10 +282,37 @@ void Simulator::handle_message_distance_sensor(const mavlink_message_t *msg)
|
|||
|
||||
void Simulator::handle_message_hil_gps(const mavlink_message_t *msg)
|
||||
{
|
||||
mavlink_hil_gps_t gps_sim;
|
||||
mavlink_msg_hil_gps_decode(msg, &gps_sim);
|
||||
mavlink_hil_gps_t hil_gps;
|
||||
mavlink_msg_hil_gps_decode(msg, &hil_gps);
|
||||
|
||||
update_gps(&gps_sim);
|
||||
if (!_param_sim_gps_block.get()) {
|
||||
vehicle_gps_position_s gps{};
|
||||
|
||||
gps.timestamp = hrt_absolute_time();
|
||||
gps.time_utc_usec = hil_gps.time_usec;
|
||||
gps.fix_type = hil_gps.fix_type;
|
||||
gps.lat = hil_gps.lat;
|
||||
gps.lon = hil_gps.lon;
|
||||
gps.alt = hil_gps.alt;
|
||||
gps.eph = (float)hil_gps.eph * 1e-2f; // cm -> m
|
||||
gps.epv = (float)hil_gps.epv * 1e-2f; // cm -> m
|
||||
gps.vel_m_s = (float)(hil_gps.vel) / 100.0f; // cm/s -> m/s
|
||||
gps.vel_n_m_s = (float)(hil_gps.vn) / 100.0f; // cm/s -> m/s
|
||||
gps.vel_e_m_s = (float)(hil_gps.ve) / 100.0f; // cm/s -> m/s
|
||||
gps.vel_d_m_s = (float)(hil_gps.vd) / 100.0f; // cm/s -> m/s
|
||||
gps.cog_rad = math::radians((float)(hil_gps.cog) / 100.0f); // cdeg -> rad
|
||||
gps.satellites_used = hil_gps.satellites_visible;
|
||||
gps.s_variance_m_s = 0.25f;
|
||||
|
||||
// use normal distribution for noise
|
||||
if (_param_sim_gps_noise_x.get() > 0.0f) {
|
||||
std::normal_distribution<float> normal_distribution(0.0f, 1.0f);
|
||||
gps.lat += (int32_t)(_param_sim_gps_noise_x.get() * normal_distribution(_gen));
|
||||
gps.lon += (int32_t)(_param_sim_gps_noise_x.get() * normal_distribution(_gen));
|
||||
}
|
||||
|
||||
_vehicle_gps_position_pub.publish(gps);
|
||||
}
|
||||
}
|
||||
|
||||
void Simulator::handle_message_hil_sensor(const mavlink_message_t *msg)
|
||||
|
|
|
|||
|
|
@ -38,7 +38,6 @@
|
|||
*
|
||||
* @author Mohamed Abdelkader <mohamedashraf123@gmail.com>
|
||||
*/
|
||||
#include <parameters/param.h>
|
||||
|
||||
/**
|
||||
* Simulator Battery drain interval
|
||||
|
|
@ -65,3 +64,75 @@ PARAM_DEFINE_FLOAT(SIM_BAT_DRAIN, 60);
|
|||
* @group SITL
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SIM_BAT_MIN_PCT, 50.0f);
|
||||
|
||||
/**
|
||||
* Simulator GPS noise multiplier.
|
||||
*
|
||||
* @min 0
|
||||
* @max 10
|
||||
* @increment 0.1
|
||||
* @unit %
|
||||
*
|
||||
* @group SITL
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(SIM_GPS_NOISE_X, 0.0f);
|
||||
|
||||
/**
|
||||
* Simulator block GPS data.
|
||||
*
|
||||
* Enable to block the publication of any incoming simulation GPS data.
|
||||
*
|
||||
* @boolean
|
||||
* @group SITL
|
||||
*/
|
||||
PARAM_DEFINE_INT32(SIM_GPS_BLOCK, 0);
|
||||
|
||||
/**
|
||||
* Simulator block accelerometer data.
|
||||
*
|
||||
* Enable to block the publication of any incoming simulation accelerometer data.
|
||||
*
|
||||
* @boolean
|
||||
* @group SITL
|
||||
*/
|
||||
PARAM_DEFINE_INT32(SIM_ACCEL_BLOCK, 0);
|
||||
|
||||
/**
|
||||
* Simulator block gyroscope data.
|
||||
*
|
||||
* Enable to block the publication of any incoming simulation gyroscope data.
|
||||
*
|
||||
* @boolean
|
||||
* @group SITL
|
||||
*/
|
||||
PARAM_DEFINE_INT32(SIM_GYRO_BLOCK, 0);
|
||||
|
||||
/**
|
||||
* Simulator block magnetometer data.
|
||||
*
|
||||
* Enable to block the publication of any incoming simulation magnetometer data.
|
||||
*
|
||||
* @boolean
|
||||
* @group SITL
|
||||
*/
|
||||
PARAM_DEFINE_INT32(SIM_MAG_BLOCK, 0);
|
||||
|
||||
/**
|
||||
* Simulator block barometer data.
|
||||
*
|
||||
* Enable to block the publication of any incoming simulation barometer data.
|
||||
*
|
||||
* @boolean
|
||||
* @group SITL
|
||||
*/
|
||||
PARAM_DEFINE_INT32(SIM_BARO_BLOCK, 0);
|
||||
|
||||
/**
|
||||
* Simulator block differential pressure data.
|
||||
*
|
||||
* Enable to block the publication of any incoming simulation differential pressure data.
|
||||
*
|
||||
* @boolean
|
||||
* @group SITL
|
||||
*/
|
||||
PARAM_DEFINE_INT32(SIM_DPRES_BLOCK, 0);
|
||||
|
|
|
|||
Loading…
Reference in New Issue