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simulator using jsbsim

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This commit is contained in:
Gautier Hattenberger
2009-02-19 16:25:39 +00:00
parent 9922e16062
commit 1a6c37b044
3 changed files with 182 additions and 95 deletions
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sw/simulator/sim_ac_fw.c
+59
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@@ -0,0 +1,59 @@
/*
* $Id$
*
* Copyright (C) 2008 Gautier Hattenberger
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*
*/
#include "sim_ac_jsbsim.hpp"
#include "main_ap.h"
#include "main_fbw.h"
static void sim_gps_feed_data(void);
static void sim_ir_feed_data(void);
void autopilot_init(void) {
init_fbw();
init_ap();
}
void autopilot_periodic_task(void) {
periodic_task_ap();
periodic_task_fbw();
}
void autopilot_event_task(void) {
event_task_ap();
event_task_fbw();
}
void copy_inputs_to_jsbsim(JSBSim::FGFDMExec & FDMExec) {
}
void copy_outputs_from_jsbsim(JSBSim::FGFDMExec & FDMExec) {
}
#include "gps.h"
static void sim_gps_feed_data(void) {
}
sw/simulator/sim_ac_jsbsim.cpp
+82 -95
View File
@@ -22,19 +22,14 @@
*
*/
#include "sim_ac_jsbsim.hpp"
#include <glib.h>
#include <getopt.h>
#include <JSBSim/FGFDMExec.h>
#include <Ivy/ivy.h>
#include <Ivy/ivyglibloop.h>
#include "aircraft.h"
#include "main_ap.h"
#include "main_fbw.h"
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
GLOBAL DATA
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
@@ -53,13 +48,10 @@ double sim_time;
#define DT_DISPLAY 0.04
double disp_time;
static void sim_gps_feed_data(void);
static void sim_ir_feed_data(void);
static void sim_parse_options(int argc, char** argv);
static void sim_init(void);
static gboolean sim_periodic(gpointer data);
static void sim_display(void);
//static void sim_display(void);
static void ivy_transport_init(void);
static void on_DL_SETTING(IvyClientPtr app __attribute__ ((unused)),
@@ -71,34 +63,64 @@ static void sim_init(void) {
sim_time = 0.;
disp_time = 0.;
// init flight model
// init sensors
// init environment
// *** SET UP JSBSIM *** //
FDMExec = new JSBSim::FGFDMExec();
FDMExec->SetAircraftPath(RootDir + "aircraft");
FDMExec->SetEnginePath(RootDir + "engine");
FDMExec->SetSystemsPath(RootDir + "systems");
//FDMExec->GetPropertyManager()->Tie("simulation/frame_start_time", &actual_elapsed_time);
//FDMExec->GetPropertyManager()->Tie("simulation/cycle_duration", &cycle_duration);
if (!AircraftName.empty()) {
FDMExec->SetDebugLevel(0); // No DEBUG messages
if ( ! FDMExec->LoadModel( RootDir + "aircraft",
RootDir + "engine",
RootDir + "systems",
AircraftName)) {
cerr << " JSBSim could not be started" << endl << endl;
delete FDMExec;
exit(-1);
}
// Initial conditions (from flight_plan.h and aircraft.h ???)
JSBSim::FGInitialCondition *IC = FDMExec->GetIC();
//if ( ! IC->Load(ResetName)) {
// delete FDMExec;
// cerr << "Initialization unsuccessful" << endl;
// exit(-1);
//}
} else {
cerr << " No Aircraft given" << endl << endl;
delete FDMExec;
exit(-1);
}
// init sensors ? or discribe them in jSBSim
ivy_transport_init();
// main init
init_fbw();
init_ap();
// main AP init (feed the sensors once before ?)
init_autopilot();
}
static gboolean sim_periodic(gpointer data __attribute__ ((unused))) {
/* read actuators positions */
// wind model
/* read actuators positions and feed JSBSim inputs */
copy_inputs_to_jsbsim(FDMExec);
// flight model
/* run JSBSim flight model */
FDMExec->Run();
// sensors
sim_time += DT;
/* outputs models state */
/* read outputs from model state (and display ?) */
copy_outputs_from_jsbsim(FDMExec);
sim_display();
/* run the airborne code */
@@ -106,43 +128,16 @@ static gboolean sim_periodic(gpointer data __attribute__ ((unused))) {
// feed a rc frame and signal event
// process it
event_task_ap();
event_task_fbw();
autopilot_event_task();
//if (booz_sensors_model_baro_available()) {
// Booz2BaroISRHandler(bsm.baro);
// booz2_main_event();
//}
//if (booz_sensors_model_gyro_available()) {
// booz2_imu_b2_feed_data();
// booz2_main_event();
//}
//if (booz_sensors_model_gps_available()) {
// sim_gps_feed_data();
// booz2_main_event();
//}
//if (booz_sensors_model_mag_available()) {
// sim_mag_feed_data();
// booz2_main_event();
//}
periodic_task_ap();
periodic_task_fbw();
autopilot_periodic_task();
return TRUE;
}
#include "gps.h"
static void sim_gps_feed_data(void) {
}
#define RPM_OF_RAD_S(a) ((a)*60./M_PI)
static void sim_display(void) {
}
//static void sim_display(void) {
//}
int main ( int argc, char** argv) {
@@ -170,48 +165,40 @@ static void ivy_transport_init(void) {
IvyStart("127.255.255.255");
}
void print_help(char** argv) {
cout << "Usage: " << argv[0] << " [options]" << endl;
cout << " Options :" << endl;
cout << " -a <aircraft name>" << endl;
cout << " -b <Ivy bus>\tdefault is 127.255.255.255:2010" << endl;
cout << " -fg <flight gear client address>" << endl;
cout << " -h --help show this help" << endl;
}
static void sim_parse_options(int argc, char** argv) {
static const char* usage =
"Usage: %s [options]\n"
" Options :\n";
if (argc == 1) {
print_help();
exit(0);
}
int i;
for (i = 1; i < argc; ++i) {
string argument = string(argv[i]);
if (argument == "--help" || argument == "-h") {
PrintHelp();
exit(0);
} else if (argument == "-a") {
} else if (argument == "-b") {
} else if (argument == "-fg") {
} else {
cerr << "Unknown argument" << endl;
PrintHelp();
exit(0);
}
}
// while (1) {
//
// static struct option long_options[] = {
// {"fg_host", 1, NULL, 0},
// {"fg_port", 1, NULL, 0},
// {"js_dev", 1, NULL, 0},
// {0, 0, 0, 0}
// };
// int option_index = 0;
// int c = getopt_long(argc, argv, "j:",
// long_options, &option_index);
// if (c == -1)
// break;
//
// switch (c) {
// case 0:
// switch (option_index) {
// case 0:
// fg_host = strdup(optarg); break;
// case 1:
// fg_port = atoi(optarg); break;
// case 2:
// joystick_dev = strdup(optarg); break;
// }
// break;
//
// case 'j':
// joystick_dev = strdup(optarg);
// break;
//
// default: /* $B!G(B?$B!G(B */
// printf("?? getopt returned character code 0%o ??\n", c);
// fprintf(stderr, usage, argv[0]);
// exit(EXIT_FAILURE);
// }
// }
}
sw/simulator/sim_ac_jsbsim.hpp
+41
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@@ -0,0 +1,41 @@
/*
* $Id$
*
* Copyright (C) 2008 Gautier Hattenberger
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*
*/
#ifndef SIM_AC_JSBSIM_HPP
#define SIM_AC_JSBSIM_HPP
#include <JSBSim/FGFDMExec.h>
//#include <JSBSIM/math/FGColumnVector3.h>
#include "aircraft.h"
#include "flight_plan.h"
extern void autopilot_init(void);
extern void autopilot_periodic_task(void);
extern void autopilot_event_task(void);
extern void copy_inputs_to_jsbsim(JSBSIM::FGFDMExec & FDMExec);
extern void copy_outputs_from_jsbsim(JSBSIM::FGFDMExec & FDMExec);
#endif // SIM_AC_JSBSIM_HPP