simulator.h

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/****************************************************************************
 *
 *   Copyright (c) 2015 Mark Charlebois. All rights reserved.
 *   Copyright (c) 2018 PX4 Development Team. All rights reserved.
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 * modification, are permitted provided that the following conditions
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 *    distribution.
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/**
 * @file simulator.h
 *
 * This module interfaces via MAVLink to a software in the loop simulator (SITL)
 * such as jMAVSim or Gazebo.
 */

#pragma once

#include <battery/battery.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_rc_input.h>
#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
#include <lib/drivers/barometer/PX4Barometer.hpp>
#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
#include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
#include <lib/ecl/geo/geo.h>
#include <perf/perf_counter.h>
#include <px4_platform_common/module_params.h>
#include <px4_platform_common/posix.h>
#include <uORB/Subscription.hpp>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/differential_pressure.h>
#include <uORB/topics/distance_sensor.h>
#include <uORB/topics/irlock_report.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/optical_flow.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/vehicle_angular_velocity.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_global_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 <v2.0/common/mavlink.h>
#include <v2.0/mavlink_types.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();

    enum class InternetProtocol {
        TCP,
        UDP
    };

    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);

private:
    Simulator() :
        ModuleParams(nullptr)
    {
        simulator::RawGPSData gps_data{};
        gps_data.eph = UINT16_MAX;
        gps_data.epv = UINT16_MAX;

        _gps.writeData(&gps_data);

        _battery_status.timestamp = hrt_absolute_time();

        _px4_accel.set_sample_rate(250);
        _px4_gyro.set_sample_rate(250);
    }

    ~Simulator()
    {
        // free perf counters
        perf_free(_perf_gps);
        perf_free(_perf_sim_delay);
        perf_free(_perf_sim_interval);

        _instance = nullptr;
    }

    // class methods

    int publish_flow_topic(const mavlink_hil_optical_flow_t *flow);
    int publish_odometry_topic(const mavlink_message_t *odom_mavlink);
    int publish_distance_topic(const mavlink_distance_sensor_t *dist);

    static Simulator *_instance;

    // simulated sensor instances
    PX4Accelerometer    _px4_accel{1311244, ORB_PRIO_DEFAULT, ROTATION_NONE}; // 1311244: DRV_ACC_DEVTYPE_ACCELSIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
    PX4Gyroscope        _px4_gyro{2294028, ORB_PRIO_DEFAULT, ROTATION_NONE}; // 2294028: DRV_GYR_DEVTYPE_GYROSIM, BUS: 1, ADDR: 2, TYPE: SIMULATION
    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_once(PC_ELAPSED, "sim_gps_delay")};
    perf_counter_t _perf_sim_delay{perf_alloc_once(PC_ELAPSED, "sim_network_delay")};
    perf_counter_t _perf_sim_interval{perf_alloc(PC_INTERVAL, "sim_network_interval")};

    // uORB publisher handlers
    orb_advert_t _battery_pub{nullptr};
    orb_advert_t _differential_pressure_pub{nullptr};
    orb_advert_t _dist_pub{nullptr};
    orb_advert_t _flow_pub{nullptr};
    orb_advert_t _irlock_report_pub{nullptr};
    orb_advert_t _visual_odometry_pub{nullptr};

    uORB::Subscription  _parameter_update_sub{ORB_ID(parameter_update)};

    unsigned int _port{14560};

    InternetProtocol _ip{InternetProtocol::UDP};

    double _realtime_factor{1.0};       ///< How fast the simulation runs in comparison to real system time

    hrt_abstime _last_sim_timestamp{0};
    hrt_abstime _last_sitl_timestamp{0};

    // Lib used to do the battery calculations.
    Battery _battery {};
    battery_status_s _battery_status{};

#ifndef __PX4_QURT

    mavlink_hil_actuator_controls_t actuator_controls_from_outputs(const actuator_outputs_s &actuators);

    void handle_message(const mavlink_message_t *msg);
    void handle_message_distance_sensor(const mavlink_message_t *msg);
    void handle_message_hil_gps(const mavlink_message_t *msg);
    void handle_message_hil_sensor(const mavlink_message_t *msg);
    void handle_message_hil_state_quaternion(const mavlink_message_t *msg);
    void handle_message_landing_target(const mavlink_message_t *msg);
    void handle_message_odometry(const mavlink_message_t *msg);
    void handle_message_optical_flow(const mavlink_message_t *msg);
    void handle_message_rc_channels(const mavlink_message_t *msg);
    void handle_message_vision_position_estimate(const mavlink_message_t *msg);

    void parameters_update(bool force);
    void poll_topics();
    void poll_for_MAVLink_messages();
    void request_hil_state_quaternion();
    void send();
    void send_controls();
    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 *);

    // uORB publisher handlers
    orb_advert_t _vehicle_angular_velocity_pub{nullptr};
    orb_advert_t _attitude_pub{nullptr};
    orb_advert_t _gpos_pub{nullptr};
    orb_advert_t _lpos_pub{nullptr};
    orb_advert_t _rc_channels_pub{nullptr};

    // uORB subscription handlers
    int _actuator_outputs_sub{-1};
    int _vehicle_status_sub{-1};

    // hil map_ref data
    struct map_projection_reference_s _hil_local_proj_ref {};

    bool _hil_local_proj_inited{false};

    double _hil_ref_lat{0};
    double _hil_ref_lon{0};
    float _hil_ref_alt{0.0f};
    uint64_t _hil_ref_timestamp{0};

    // uORB data containers
    input_rc_s _rc_input {};
    manual_control_setpoint_s _manual {};
    vehicle_attitude_s _attitude {};
    vehicle_status_s _vehicle_status {};

    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
        (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
    )

#endif
};