mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-06-01 11:06:04 +08:00
Move remaining variable initialization from constructor list and alphabetize/organize methods and vars ordering.
This commit is contained in:
mcsauder
Beat Küng
@@ -219,19 +219,19 @@ public:
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static int start(int argc, char *argv[]);
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bool getRawAccelReport(uint8_t *buf, int len);
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bool getMagReport(uint8_t *buf, int len);
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bool getMPUReport(uint8_t *buf, int len);
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bool getAirspeedSample(uint8_t *buf, int len);
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bool getBaroSample(uint8_t *buf, int len);
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bool getGPSSample(uint8_t *buf, int len);
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bool getAirspeedSample(uint8_t *buf, int len);
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bool getMagReport(uint8_t *buf, int len);
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bool getMPUReport(uint8_t *buf, int len);
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bool getRawAccelReport(uint8_t *buf, int len);
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void write_MPU_data(void *buf);
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void write_airspeed_data(void *buf);
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void write_accel_data(void *buf);
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void write_mag_data(void *buf);
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void write_baro_data(void *buf);
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void write_gps_data(void *buf);
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void write_airspeed_data(void *buf);
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void write_mag_data(void *buf);
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void write_MPU_data(void *buf);
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bool isInitialized() { return _initialized; }
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@@ -239,19 +239,13 @@ public:
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void set_port(unsigned port);
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private:
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Simulator() : ModuleParams(nullptr),
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_perf_accel(perf_alloc_once(PC_ELAPSED, "sim_accel_delay")),
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_perf_mpu(perf_alloc_once(PC_ELAPSED, "sim_mpu_delay")),
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_perf_baro(perf_alloc_once(PC_ELAPSED, "sim_baro_delay")),
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_perf_mag(perf_alloc_once(PC_ELAPSED, "sim_mag_delay")),
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_perf_gps(perf_alloc_once(PC_ELAPSED, "sim_gps_delay")),
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_perf_airspeed(perf_alloc_once(PC_ELAPSED, "sim_airspeed_delay")),
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_perf_sim_delay(perf_alloc_once(PC_ELAPSED, "sim_network_delay")),
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_perf_sim_interval(perf_alloc(PC_INTERVAL, "sim_network_interval"))
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Simulator() :
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ModuleParams(nullptr)
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{
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simulator::RawGPSData gps_data{};
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gps_data.eph = UINT16_MAX;
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gps_data.epv = UINT16_MAX;
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_gps.writeData(&gps_data);
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_param_sub = orb_subscribe(ORB_ID(parameter_update));
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@@ -268,73 +262,94 @@ private:
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_instance = NULL;
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}
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// class methods
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void initializeSensorData();
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static Simulator *_instance;
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// simulated sensor instances
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simulator::Report<simulator::RawAccelData> _accel{1};
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simulator::Report<simulator::RawMPUData> _mpu{1};
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simulator::Report<simulator::RawBaroData> _baro{1};
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simulator::Report<simulator::RawMagData> _mag{1};
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simulator::Report<simulator::RawGPSData> _gps{1};
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simulator::Report<simulator::RawAirspeedData> _airspeed{1};
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perf_counter_t _perf_accel;
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perf_counter_t _perf_mpu;
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perf_counter_t _perf_baro;
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perf_counter_t _perf_mag;
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perf_counter_t _perf_gps;
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perf_counter_t _perf_airspeed;
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perf_counter_t _perf_sim_delay;
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perf_counter_t _perf_sim_interval;
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// uORB publisher handlers
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orb_advert_t _accel_pub{nullptr};
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orb_advert_t _baro_pub{nullptr};
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orb_advert_t _gyro_pub{nullptr};
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orb_advert_t _mag_pub{nullptr};
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orb_advert_t _flow_pub{nullptr};
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orb_advert_t _visual_odometry_pub{nullptr};
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orb_advert_t _dist_pub{nullptr};
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orb_advert_t _battery_pub{nullptr};
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orb_advert_t _irlock_report_pub{nullptr};
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int _param_sub{-1};
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unsigned _port = 14560;
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InternetProtocol _ip = InternetProtocol::UDP;
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bool _initialized{false};
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double _realtime_factor{1.0}; ///< How fast the simulation runs in comparison to real system time
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hrt_abstime _last_sim_timestamp{0};
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hrt_abstime _last_sitl_timestamp{0};
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// Lib used to do the battery calculations.
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Battery _battery;
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battery_status_s _battery_status{};
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// class methods
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int publish_sensor_topics(mavlink_hil_sensor_t *imu);
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int publish_flow_topic(mavlink_hil_optical_flow_t *flow);
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int publish_odometry_topic(mavlink_message_t *odom_mavlink);
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int publish_distance_topic(mavlink_distance_sensor_t *dist);
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#ifndef __PX4_QURT
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static Simulator *_instance;
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// simulated sensor instances
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simulator::Report<simulator::RawAirspeedData> _airspeed{1};
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simulator::Report<simulator::RawAccelData> _accel{1};
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simulator::Report<simulator::RawBaroData> _baro{1};
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simulator::Report<simulator::RawGPSData> _gps{1};
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simulator::Report<simulator::RawMagData> _mag{1};
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simulator::Report<simulator::RawMPUData> _mpu{1};
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perf_counter_t _perf_accel{perf_alloc_once(PC_ELAPSED, "sim_accel_delay")};
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perf_counter_t _perf_airspeed{perf_alloc_once(PC_ELAPSED, "sim_airspeed_delay")};
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perf_counter_t _perf_baro{perf_alloc_once(PC_ELAPSED, "sim_baro_delay")};
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perf_counter_t _perf_gps{perf_alloc_once(PC_ELAPSED, "sim_gps_delay")};
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perf_counter_t _perf_mag{perf_alloc_once(PC_ELAPSED, "sim_mag_delay")};
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perf_counter_t _perf_mpu{perf_alloc_once(PC_ELAPSED, "sim_mpu_delay")};
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perf_counter_t _perf_sim_delay{perf_alloc_once(PC_ELAPSED, "sim_network_delay")};
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perf_counter_t _perf_sim_interval{perf_alloc(PC_INTERVAL, "sim_network_interval")};
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// uORB publisher handlers
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orb_advert_t _accel_pub{nullptr};
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orb_advert_t _baro_pub{nullptr};
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orb_advert_t _battery_pub{nullptr};
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orb_advert_t _dist_pub{nullptr};
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orb_advert_t _flow_pub{nullptr};
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orb_advert_t _gyro_pub{nullptr};
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orb_advert_t _irlock_report_pub{nullptr};
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orb_advert_t _mag_pub{nullptr};
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orb_advert_t _visual_odometry_pub{nullptr};
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int _param_sub{-1};
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unsigned int _port{14560};
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InternetProtocol _ip{InternetProtocol::UDP};
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bool _initialized{false};
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double _realtime_factor{1.0}; ///< How fast the simulation runs in comparison to real system time
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hrt_abstime _last_sim_timestamp{0};
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hrt_abstime _last_sitl_timestamp{0};
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// Lib used to do the battery calculations.
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Battery _battery {};
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battery_status_s _battery_status{};
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#ifndef __PX4_QURT
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mavlink_hil_actuator_controls_t actuator_controls_from_outputs(const actuator_outputs_s &actuators);
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void handle_message(mavlink_message_t *msg, bool publish);
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void parameters_update(bool force);
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void poll_topics();
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void pollForMAVLinkMessages(bool publish);
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void request_hil_state_quaternion();
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void send();
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void send_controls();
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void send_heartbeat();
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void send_mavlink_message(const mavlink_message_t &aMsg);
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void update_sensors(mavlink_hil_sensor_t *imu);
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void update_gps(mavlink_hil_gps_t *gps_sim);
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static void *sending_trampoline(void *);
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// uORB publisher handlers
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orb_advert_t _rc_channels_pub{nullptr};
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orb_advert_t _attitude_pub{nullptr};
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orb_advert_t _gpos_pub{nullptr};
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orb_advert_t _lpos_pub{nullptr};
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orb_advert_t _rc_channels_pub{nullptr};
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// uORB subscription handlers
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int _actuator_outputs_sub{-1};
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int _vehicle_attitude_sub{-1};
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int _manual_sub{-1};
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int _vehicle_attitude_sub{-1};
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int _vehicle_status_sub{-1};
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// hil map_ref data
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struct map_projection_reference_s _hil_local_proj_ref {};
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bool _hil_local_proj_inited{false};
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double _hil_ref_lat{0};
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double _hil_ref_lon{0};
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@@ -350,22 +365,7 @@ private:
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DEFINE_PARAMETERS(
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(ParamFloat<px4::params::SIM_BAT_DRAIN>) _battery_drain_interval_s, ///< battery drain interval
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(ParamInt<px4::params::MAV_TYPE>) _param_system_type
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)
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void poll_topics();
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void handle_message(mavlink_message_t *msg, bool publish);
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void send_controls();
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void send_heartbeat();
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void request_hil_state_quaternion();
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void pollForMAVLinkMessages(bool publish);
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mavlink_hil_actuator_controls_t actuator_controls_from_outputs(const actuator_outputs_s &actuators);
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void send_mavlink_message(const mavlink_message_t &aMsg);
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void update_sensors(mavlink_hil_sensor_t *imu);
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void update_gps(mavlink_hil_gps_t *gps_sim);
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void parameters_update(bool force);
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static void *sending_trampoline(void *);
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void send();
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#endif
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};
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