mirror of
https://github.com/ArduPilot/ardupilot.git
synced 2026-10-06 19:00:27 +08:00
Andy Piper
318a2ec318
SIM_AIS: use abs() instead of fabsf() for integer argument SIM_INA3221: fix unused message SIM_JSON: guard debug field with preprocessor conditional
217 lines
7.8 KiB
C++
217 lines
7.8 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include "SIM_config.h"
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#if AP_SIM_JSON_ENABLED
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#include <AP_HAL/utility/Socket.h>
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#include "SIM_Aircraft.h"
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#define SITL_JSON_DEBUG 0
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namespace SITL {
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class JSON : public Aircraft {
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public:
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JSON(const char *frame_str);
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/* update model by one time step */
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void update(const struct sitl_input &input) override;
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/* static object creator */
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static Aircraft *create(const char *frame_str) {
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return NEW_NOTHROW JSON(frame_str);
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}
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/* Create and set in/out socket for JSON generic simulator */
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void set_interface_ports(const char* address, const int port_in, const int port_out) override;
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private:
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struct servo_packet_16 {
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uint16_t magic = 18458; // constant magic value
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uint16_t frame_rate;
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uint32_t frame_count;
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uint16_t pwm[16];
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};
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struct servo_packet_32 {
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uint16_t magic = 29569; // constant magic value
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uint16_t frame_rate;
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uint32_t frame_count;
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uint16_t pwm[32];
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};
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// default connection_info_.ip_address
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const char *target_ip = "127.0.0.1";
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// default connection_info_.sitl_ip_port
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uint16_t control_port = 9002;
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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SocketAPM_native sock;
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#else
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// sim-on-hardware
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SocketAPM sock;
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#endif
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uint32_t frame_counter;
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double last_timestamp_s;
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void output_servos(const struct sitl_input &input);
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void recv_fdm(const struct sitl_input &input);
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uint64_t parse_sensors(const char *json);
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// buffer for parsing pose data in JSON format
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uint8_t sensor_buffer[65000];
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uint32_t sensor_buffer_len;
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enum data_type {
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DATA_UINT64,
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DATA_FLOAT,
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DATA_DOUBLE,
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DATA_VECTOR3F,
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DATA_VECTOR3D,
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QUATERNION,
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BOOLEAN,
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};
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struct {
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double timestamp_s;
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double latitude;
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double longitude;
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double altitude;
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struct {
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Vector3f gyro;
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Vector3f accel_body;
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} imu;
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Vector3d position;
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Vector3f attitude;
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Quaternion quaternion;
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Vector3f velocity;
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Vector3f velocity_wind;
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float rng[6];
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float rc[12];
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float bat_volt;
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float bat_amp;
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struct {
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float direction;
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float speed;
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} wind_vane_apparent;
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float airspeed;
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bool no_time_sync;
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bool no_lockstep;
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} state;
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// table to aid parsing of JSON sensor data
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struct keytable {
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const char *section;
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const char *key;
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void *ptr;
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enum data_type type;
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bool required;
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} keytable[36] {
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{ "", "timestamp", &state.timestamp_s, DATA_DOUBLE, true },
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{ "", "latitude", &state.latitude, DATA_DOUBLE, false },
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{ "", "longitude", &state.longitude, DATA_DOUBLE, false },
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{ "", "altitude", &state.altitude, DATA_DOUBLE, false },
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{ "imu", "gyro", &state.imu.gyro, DATA_VECTOR3F, true },
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{ "imu", "accel_body", &state.imu.accel_body, DATA_VECTOR3F, true },
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{ "", "position", &state.position, DATA_VECTOR3D, false },
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{ "", "attitude", &state.attitude, DATA_VECTOR3F, false },
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{ "", "quaternion", &state.quaternion, QUATERNION, false },
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{ "", "velocity", &state.velocity, DATA_VECTOR3F, true },
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{ "", "rng_1", &state.rng[0], DATA_FLOAT, false },
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{ "", "rng_2", &state.rng[1], DATA_FLOAT, false },
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{ "", "rng_3", &state.rng[2], DATA_FLOAT, false },
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{ "", "rng_4", &state.rng[3], DATA_FLOAT, false },
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{ "", "rng_5", &state.rng[4], DATA_FLOAT, false },
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{ "", "rng_6", &state.rng[5], DATA_FLOAT, false },
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{"","velocity_wind", &state.velocity_wind, DATA_VECTOR3F, false},
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{"windvane","direction", &state.wind_vane_apparent.direction, DATA_FLOAT, false},
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{"windvane","speed", &state.wind_vane_apparent.speed, DATA_FLOAT, false},
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{"", "airspeed", &state.airspeed, DATA_FLOAT, false},
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{"", "no_time_sync", &state.no_time_sync, BOOLEAN, false},
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{"", "no_lockstep", &state.no_lockstep, BOOLEAN, false},
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{ "rc", "rc_1", &state.rc[0], DATA_FLOAT, false },
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{ "rc", "rc_2", &state.rc[1], DATA_FLOAT, false },
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{ "rc", "rc_3", &state.rc[2], DATA_FLOAT, false },
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{ "rc", "rc_4", &state.rc[3], DATA_FLOAT, false },
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{ "rc", "rc_5", &state.rc[4], DATA_FLOAT, false },
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{ "rc", "rc_6", &state.rc[5], DATA_FLOAT, false },
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{ "rc", "rc_7", &state.rc[6], DATA_FLOAT, false },
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{ "rc", "rc_8", &state.rc[7], DATA_FLOAT, false },
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{ "rc", "rc_9", &state.rc[8], DATA_FLOAT, false },
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{ "rc", "rc_10", &state.rc[9], DATA_FLOAT, false },
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{ "rc", "rc_11", &state.rc[10], DATA_FLOAT, false },
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{ "rc", "rc_12", &state.rc[11], DATA_FLOAT, false },
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{ "battery", "voltage", &state.bat_volt, DATA_FLOAT, false },
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{ "battery", "current", &state.bat_amp, DATA_FLOAT, false },
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};
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// Enum coresponding to the ordering of keys in the keytable.
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enum DataKey : uint64_t {
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TIMESTAMP = 0x0000000000000001ULL, // 1ULL << 0
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LATITUDE = 0x0000000000000002ULL, // 1ULL << 1
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LONGITUDE = 0x0000000000000004ULL, // 1ULL << 2
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ALTITUDE = 0x0000000000000008ULL, // 1ULL << 3
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GYRO = 0x0000000000000010ULL, // 1ULL << 4
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ACCEL_BODY = 0x0000000000000020ULL, // 1ULL << 5
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POSITION = 0x0000000000000040ULL, // 1ULL << 6
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EULER_ATT = 0x0000000000000080ULL, // 1ULL << 7
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QUAT_ATT = 0x0000000000000100ULL, // 1ULL << 8
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VELOCITY = 0x0000000000000200ULL, // 1ULL << 9
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RNG_1 = 0x0000000000000400ULL, // 1ULL << 10
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RNG_2 = 0x0000000000000800ULL, // 1ULL << 11
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RNG_3 = 0x0000000000001000ULL, // 1ULL << 12
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RNG_4 = 0x0000000000002000ULL, // 1ULL << 13
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RNG_5 = 0x0000000000004000ULL, // 1ULL << 14
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RNG_6 = 0x0000000000008000ULL, // 1ULL << 15
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WIND_VEL = 0x0000000000010000ULL, // 1ULL << 16
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WIND_DIR = 0x0000000000020000ULL, // 1ULL << 17
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WIND_SPD = 0x0000000000040000ULL, // 1ULL << 18
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AIRSPEED = 0x0000000000080000ULL, // 1ULL << 19
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TIME_SYNC = 0x0000000000100000ULL, // 1ULL << 20
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LOCKSTEP = 0x0000000000200000ULL, // 1ULL << 21
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RC_1 = 0x0000000000400000ULL, // 1ULL << 22
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RC_2 = 0x0000000000800000ULL, // 1ULL << 23
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RC_3 = 0x0000000001000000ULL, // 1ULL << 24
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RC_4 = 0x0000000002000000ULL, // 1ULL << 25
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RC_5 = 0x0000000004000000ULL, // 1ULL << 26
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RC_6 = 0x0000000008000000ULL, // 1ULL << 27
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RC_7 = 0x0000000010000000ULL, // 1ULL << 28
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RC_8 = 0x0000000020000000ULL, // 1ULL << 29
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RC_9 = 0x0000000040000000ULL, // 1ULL << 30
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RC_10 = 0x0000000080000000ULL, // 1ULL << 31
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RC_11 = 0x0000000100000000ULL, // 1ULL << 32
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RC_12 = 0x0000000200000000ULL, // 1ULL << 33
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BAT_VOLT = 0x0000000400000000ULL, // 1ULL << 34
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BAT_AMP = 0x0000000800000000ULL, // 1ULL << 35
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};
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uint64_t last_received_bitmask;
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#if SITL_JSON_DEBUG
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uint32_t last_debug_ms;
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#endif
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bool last_no_lockstep;
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};
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}
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#endif // AP_SIM_JSON_ENABLED
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