Line data    Source code

       1             : /*
       2             :    This program is free software: you can redistribute it and/or modify
       3             :    it under the terms of the GNU General Public License as published by
       4             :    the Free Software Foundation, either version 3 of the License, or
       5             :    (at your option) any later version.
       6             : 
       7             :    This program is distributed in the hope that it will be useful,
       8             :    but WITHOUT ANY WARRANTY; without even the implied warranty of
       9             :    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
      10             :    GNU General Public License for more details.
      11             : 
      12             :    You should have received a copy of the GNU General Public License
      13             :    along with this program.  If not, see <http://www.gnu.org/licenses/>.
      14             :  */
      15             : /*
      16             :   simulator connection for ardupilot version of CRRCSim
      17             : */
      18             : 
      19             : #pragma once
      20             : 
      21             : #include "SIM_config.h"
      22             : 
      23             : #if AP_SIM_CRRCSIM_ENABLED
      24             : 
      25             : #include <AP_HAL/utility/Socket_native.h>
      26             : 
      27             : #include "SIM_Aircraft.h"
      28             : 
      29             : namespace SITL {
      30             : 
      31             : /*
      32             :   a CRRCSim simulator
      33             :  */
      34             : class CRRCSim : public Aircraft {
      35             : public:
      36             :     CRRCSim(const char *frame_str);
      37             : 
      38             :     /* update model by one time step */
      39             :     void update(const struct sitl_input &input) override;
      40             : 
      41             :     /* static object creator */
      42           0 :     static Aircraft *create(const char *frame_str) {
      43           0 :         return NEW_NOTHROW CRRCSim(frame_str);
      44             :     }
      45             : 
      46             : private:
      47             :     /*
      48             :       packet sent to CRRCSim
      49             :      */
      50             :     struct servo_packet {
      51             :         float roll_rate;
      52             :         float pitch_rate;
      53             :         float throttle;
      54             :         float yaw_rate;
      55             :         float col_pitch;
      56             :     };
      57             : 
      58             :     /*
      59             :       reply packet sent from CRRCSim to ArduPilot
      60             :      */
      61             :     struct fdm_packet {
      62             :         double timestamp;
      63             :         double latitude, longitude;
      64             :         double altitude;
      65             :         double heading;
      66             :         double speedN, speedE, speedD;
      67             :         double xAccel, yAccel, zAccel;
      68             :         double rollRate, pitchRate, yawRate;
      69             :         double roll, pitch, yaw;
      70             :         double airspeed;
      71             :     };
      72             : 
      73             :     void send_servos_heli(const struct sitl_input &input);
      74             :     void send_servos_fixed_wing(const struct sitl_input &input);
      75             :     void recv_fdm(const struct sitl_input &input);
      76             :     void send_servos(const struct sitl_input &input);
      77             : 
      78             :     bool heli_servos;
      79             :     double last_timestamp;
      80             :     SocketAPM_native sock;
      81             : };
      82             : 
      83             : } // namespace SITL
      84             : 
      85             : #endif  // AP_SIM_CRRCSIM_ENABLED