simulator.cpp

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/****************************************************************************
 *
 *   Copyright (c) 2015 Mark Charlebois. All rights reserved.
 *   Copyright (c) 2018 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name PX4 nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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 ****************************************************************************/

/**
 * @file simulator.cpp
 *
 * This module interfaces via MAVLink to a software in the loop simulator (SITL)
 * such as jMAVSim or Gazebo.
 */

#include <px4_platform_common/log.h>
#include <px4_platform_common/tasks.h>
#include <px4_platform_common/time.h>
#include <pthread.h>
#include <poll.h>
#include <systemlib/err.h>
#include <errno.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <sys/types.h>
#include <drivers/drv_board_led.h>

#include "simulator.h"

using namespace simulator;

static px4_task_t g_sim_task = -1;

Simulator *Simulator::_instance = nullptr;

Simulator *Simulator::getInstance()
{
    return _instance;
}

bool Simulator::getGPSSample(uint8_t *buf, int len)
{
    return _gps.copyData(buf, len);
}

void Simulator::write_gps_data(void *buf)
{
    _gps.writeData(buf);
}

void Simulator::parameters_update(bool force)
{
    // check for parameter updates
    if (_parameter_update_sub.updated() || force) {
        // clear update
        parameter_update_s pupdate;
        _parameter_update_sub.copy(&pupdate);

        // update parameters from storage
        updateParams();
    }
}

int Simulator::start(int argc, char *argv[])
{
    _instance = new Simulator();

    if (_instance) {
        drv_led_start();

        if (argc == 4 && strcmp(argv[2], "-u") == 0) {
            _instance->set_ip(InternetProtocol::UDP);
            _instance->set_port(atoi(argv[3]));
        }

        if (argc == 4 && strcmp(argv[2], "-c") == 0) {
            _instance->set_ip(InternetProtocol::TCP);
            _instance->set_port(atoi(argv[3]));
        }

#ifndef __PX4_QURT
        // Update sensor data
        _instance->poll_for_MAVLink_messages();
#endif

        return 0;

    } else {
        PX4_WARN("Simulator creation failed");
        return 1;
    }
}

void Simulator::set_ip(InternetProtocol ip)
{
    _ip = ip;
}

void Simulator::set_port(unsigned port)
{
    _port = port;
}

static void usage()
{
    PX4_WARN("Usage: simulator {start -[spt] [-u udp_port / -c tcp_port] |stop}");
    PX4_WARN("Start simulator:     simulator start");
    PX4_WARN("Connect using UDP: simulator start -u udp_port");
    PX4_WARN("Connect using TCP: simulator start -c tcp_port");
}

__BEGIN_DECLS
extern int simulator_main(int argc, char *argv[]);
__END_DECLS

extern "C" {

    int simulator_main(int argc, char *argv[])
    {
        if (argc > 1 && strcmp(argv[1], "start") == 0) {

            if (g_sim_task >= 0) {
                PX4_WARN("Simulator already started");
                return 0;
            }

            g_sim_task = px4_task_spawn_cmd("simulator",
                            SCHED_DEFAULT,
                            SCHED_PRIORITY_DEFAULT,
                            1500,
                            Simulator::start,
                            argv);

            while (true) {
                if (Simulator::getInstance()) {
                    break;

                } else {
                    system_sleep(1);
                }
            }

        } else if (argc == 2 && strcmp(argv[1], "stop") == 0) {
            if (g_sim_task < 0) {
                PX4_WARN("Simulator not running");

            } else {
                px4_task_delete(g_sim_task);
                g_sim_task = -1;
            }

        } else {
            usage();
            return 1;
        }

        return 0;
    }

}