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262 lines
9.7 KiB
C++
262 lines
9.7 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2015 Mark Charlebois. All rights reserved.
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* Copyright (c) 2016-2019 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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/**
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* @file simulator.h
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*
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* This module interfaces via MAVLink to a software in the loop simulator (SITL)
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* such as jMAVSim or Gazebo.
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*/
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#pragma once
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#include <drivers/drv_hrt.h>
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#include <drivers/drv_rc_input.h>
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#include <drivers/drv_range_finder.h>
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#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
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#include <lib/drivers/barometer/PX4Barometer.hpp>
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#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
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#include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
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#include <lib/ecl/geo/geo.h>
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#include <lib/perf/perf_counter.h>
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#include <px4_platform_common/atomic.h>
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#include <px4_platform_common/bitmask.h>
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#include <px4_platform_common/module_params.h>
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#include <px4_platform_common/posix.h>
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#include <uORB/Publication.hpp>
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#include <uORB/Subscription.hpp>
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#include <uORB/topics/actuator_outputs.h>
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#include <uORB/topics/differential_pressure.h>
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#include <uORB/topics/distance_sensor.h>
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#include <uORB/topics/ekf2_timestamps.h>
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#include <uORB/topics/irlock_report.h>
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#include <uORB/topics/manual_control_setpoint.h>
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#include <uORB/topics/optical_flow.h>
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#include <uORB/topics/parameter_update.h>
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#include <uORB/topics/vehicle_angular_velocity.h>
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#include <uORB/topics/vehicle_attitude.h>
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#include <uORB/topics/vehicle_global_position.h>
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#include <uORB/topics/vehicle_gps_position.h>
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#include <uORB/topics/vehicle_local_position.h>
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#include <uORB/topics/vehicle_odometry.h>
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#include <uORB/topics/vehicle_status.h>
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#include <random>
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#include <v2.0/common/mavlink.h>
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#include <v2.0/mavlink_types.h>
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using namespace time_literals;
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//! Enumeration to use on the bitmask in HIL_SENSOR
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enum class SensorSource {
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ACCEL = 0b111,
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GYRO = 0b111000,
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MAG = 0b111000000,
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BARO = 0b1101000000000,
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DIFF_PRESS = 0b10000000000
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};
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ENABLE_BIT_OPERATORS(SensorSource)
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//! AND operation for the enumeration and unsigned types that returns the bitmask
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template<typename A, typename B>
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static inline SensorSource operator &(A lhs, B rhs)
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{
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// make it type safe
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static_assert((std::is_same<A, uint32_t>::value || std::is_same<A, SensorSource>::value),
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"first argument is not uint32_t or SensorSource enum type");
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static_assert((std::is_same<B, uint32_t>::value || std::is_same<B, SensorSource>::value),
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"second argument is not uint32_t or SensorSource enum type");
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typedef typename std::underlying_type<SensorSource>::type underlying;
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return static_cast<SensorSource>(
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static_cast<underlying>(lhs) &
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static_cast<underlying>(rhs)
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);
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}
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class Simulator : public ModuleParams
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{
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public:
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static Simulator *getInstance() { return _instance; }
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enum class InternetProtocol {
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TCP,
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UDP
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};
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static int start(int argc, char *argv[]);
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void set_ip(InternetProtocol ip) { _ip = ip; }
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void set_port(unsigned port) { _port = port; }
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#if defined(ENABLE_LOCKSTEP_SCHEDULER)
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bool has_initialized() { return _has_initialized.load(); }
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#endif
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void print_status();
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private:
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Simulator() : ModuleParams(nullptr)
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{
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}
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~Simulator()
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{
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// free perf counters
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perf_free(_perf_sim_delay);
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perf_free(_perf_sim_interval);
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for (size_t i = 0; i < sizeof(_dist_pubs) / sizeof(_dist_pubs[0]); i++) {
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delete _dist_pubs[i];
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}
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_instance = nullptr;
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}
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// class methods
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int publish_flow_topic(const mavlink_hil_optical_flow_t *flow);
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int publish_odometry_topic(const mavlink_message_t *odom_mavlink);
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int publish_distance_topic(const mavlink_distance_sensor_t *dist);
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static Simulator *_instance;
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// simulated sensor instances
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PX4Accelerometer _px4_accel{1311244, ORB_PRIO_DEFAULT, ROTATION_NONE}; // 1311244: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
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PX4Gyroscope _px4_gyro{1311244, ORB_PRIO_DEFAULT, ROTATION_NONE}; // 1311244: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
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PX4Magnetometer _px4_mag{197388, ORB_PRIO_DEFAULT, ROTATION_NONE}; // 197388: DRV_MAG_DEVTYPE_MAGSIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
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PX4Barometer _px4_baro{6620172, ORB_PRIO_DEFAULT}; // 6620172: DRV_BARO_DEVTYPE_BAROSIM, BUS: 1, ADDR: 4, TYPE: SIMULATION
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perf_counter_t _perf_sim_delay{perf_alloc(PC_ELAPSED, MODULE_NAME": network delay")};
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perf_counter_t _perf_sim_interval{perf_alloc(PC_INTERVAL, MODULE_NAME": network interval")};
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// uORB publisher handlers
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uORB::Publication<differential_pressure_s> _differential_pressure_pub{ORB_ID(differential_pressure)};
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uORB::PublicationMulti<optical_flow_s> _flow_pub{ORB_ID(optical_flow)};
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uORB::Publication<irlock_report_s> _irlock_report_pub{ORB_ID(irlock_report)};
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uORB::Publication<vehicle_odometry_s> _visual_odometry_pub{ORB_ID(vehicle_visual_odometry)};
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uORB::Publication<vehicle_odometry_s> _mocap_odometry_pub{ORB_ID(vehicle_mocap_odometry)};
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uORB::PublicationMulti<distance_sensor_s> *_dist_pubs[RANGE_FINDER_MAX_SENSORS] {};
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uint8_t _dist_sensor_ids[RANGE_FINDER_MAX_SENSORS] {};
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uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
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unsigned int _port{14560};
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InternetProtocol _ip{InternetProtocol::UDP};
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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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void run();
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void handle_message(const mavlink_message_t *msg);
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void handle_message_distance_sensor(const mavlink_message_t *msg);
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void handle_message_hil_gps(const mavlink_message_t *msg);
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void handle_message_hil_sensor(const mavlink_message_t *msg);
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void handle_message_hil_state_quaternion(const mavlink_message_t *msg);
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void handle_message_landing_target(const mavlink_message_t *msg);
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void handle_message_odometry(const mavlink_message_t *msg);
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void handle_message_optical_flow(const mavlink_message_t *msg);
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void handle_message_rc_channels(const mavlink_message_t *msg);
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void handle_message_vision_position_estimate(const mavlink_message_t *msg);
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void parameters_update(bool force);
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void poll_for_MAVLink_messages();
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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(const hrt_abstime &time, const mavlink_hil_sensor_t &sensors);
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static void *sending_trampoline(void *);
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mavlink_hil_actuator_controls_t actuator_controls_from_outputs();
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// uORB publisher handlers
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uORB::Publication<vehicle_angular_velocity_s> _vehicle_angular_velocity_ground_truth_pub{ORB_ID(vehicle_angular_velocity_groundtruth)};
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uORB::Publication<vehicle_attitude_s> _attitude_ground_truth_pub{ORB_ID(vehicle_attitude_groundtruth)};
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uORB::Publication<vehicle_global_position_s> _gpos_ground_truth_pub{ORB_ID(vehicle_global_position_groundtruth)};
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uORB::Publication<vehicle_local_position_s> _lpos_ground_truth_pub{ORB_ID(vehicle_local_position_groundtruth)};
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uORB::Publication<input_rc_s> _input_rc_pub{ORB_ID(input_rc)};
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// HIL GPS
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uORB::PublicationMulti<vehicle_gps_position_s> *_vehicle_gps_position_pubs[ORB_MULTI_MAX_INSTANCES] {};
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uint8_t _gps_ids[ORB_MULTI_MAX_INSTANCES] {};
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std::default_random_engine _gen{};
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// uORB subscription handlers
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int _actuator_outputs_sub{-1};
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actuator_outputs_s _actuator_outputs{};
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uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
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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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float _hil_ref_alt{0.0f};
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uint64_t _hil_ref_timestamp{0};
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// uORB data containers
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vehicle_status_s _vehicle_status{};
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#if defined(ENABLE_LOCKSTEP_SCHEDULER)
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px4::atomic<bool> _has_initialized {false};
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#endif
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DEFINE_PARAMETERS(
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(ParamBool<px4::params::SIM_GPS_BLOCK>) _param_sim_gps_block,
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(ParamBool<px4::params::SIM_ACCEL_BLOCK>) _param_sim_accel_block,
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(ParamBool<px4::params::SIM_GYRO_BLOCK>) _param_sim_gyro_block,
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(ParamBool<px4::params::SIM_BARO_BLOCK>) _param_sim_baro_block,
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(ParamBool<px4::params::SIM_MAG_BLOCK>) _param_sim_mag_block,
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(ParamBool<px4::params::SIM_DPRES_BLOCK>) _param_sim_dpres_block,
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(ParamInt<px4::params::MAV_TYPE>) _param_mav_type,
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(ParamInt<px4::params::MAV_SYS_ID>) _param_mav_sys_id,
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(ParamInt<px4::params::MAV_COMP_ID>) _param_mav_comp_id
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)
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};
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