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 Scrimmage Simulator
      17             : */
      18             : 
      19             : #pragma once
      20             : 
      21             : #include "SIM_config.h"
      22             : 
      23             : #if AP_SIM_SCRIMMAGE_ENABLED
      24             : 
      25             : #include <string>
      26             : 
      27             : #include <AP_HAL/utility/Socket_native.h>
      28             : 
      29             : #include "SIM_Aircraft.h"
      30             : 
      31             : namespace SITL {
      32             : 
      33             : /*
      34             :   a last_letter simulator
      35             :  */
      36             : class Scrimmage : public Aircraft {
      37             : public:
      38             :     Scrimmage(const char *frame_str);
      39             : 
      40             :     /* update model by one time step */
      41             :     void update(const struct sitl_input &input) override;
      42             : 
      43             :     /* static object creator */
      44           0 :     static Aircraft *create(const char *frame_str) {
      45           0 :         return NEW_NOTHROW Scrimmage(frame_str);
      46             :     }
      47             : 
      48             :     /*  Create and set in/out socket for extenal simulator */
      49             :     void set_interface_ports(const char* address, const int port_in, const int port_out) override;
      50             : 
      51             : private:
      52             :     uint16_t fdm_port_in;
      53             :     uint16_t fdm_port_out;
      54             :     const char* fdm_address;
      55             : 
      56             :     /*
      57             :       packet sent to Scrimmage from ArduPilot
      58             :      */
      59             :     static const int MAX_NUM_SERVOS = 16;
      60             :     struct servo_packet {
      61             :         uint16_t servos[MAX_NUM_SERVOS];
      62             :     };
      63             : 
      64             :     /*
      65             :       state packet sent from Scrimmage to ArduPilot
      66             :      */
      67             :     struct fdm_packet {
      68             :         uint64_t timestamp_us; // simulation time in microseconds
      69             :         double latitude, longitude;
      70             :         double altitude;
      71             :         double heading;
      72             :         double speedN, speedE, speedD;
      73             :         double xAccel, yAccel, zAccel;
      74             :         double rollRate, pitchRate, yawRate;
      75             :         double roll, pitch, yaw;
      76             :         double airspeed;
      77             :     };
      78             : 
      79             :     void recv_fdm(const struct sitl_input &input);
      80             :     void send_servos(const struct sitl_input &input);
      81             : 
      82             :     uint64_t prev_timestamp_us;
      83             :     SocketAPM_native recv_sock;
      84             :     SocketAPM_native send_sock;
      85             : };
      86             : 
      87             : } // namespace SITL
      88             : 
      89             : #endif  // AP_SIM_SCRIMMAGE_ENABLED