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             :   gimbal simulator class
      17             : 
      18             : ./Tools/autotest/sim_vehicle.py -D -G -v ArduCopter --mavlink-gimbal
      19             : param set MNT1_TYPE 2
      20             : param set RC6_OPTION 213  # MOUNT1_PITCH
      21             : rc 6 1818  # for neutral pitch input
      22             : */
      23             : 
      24             : #pragma once
      25             : 
      26             : #include "SIM_config.h"
      27             : 
      28             : #if AP_SIM_SOLOGIMBAL_ENABLED
      29             : 
      30             : #include "SIM_Gimbal.h"
      31             : 
      32             : #include <AP_Math/AP_Math.h>
      33             : #include <GCS_MAVLink/GCS_MAVLink.h>
      34             : #include <AP_HAL/utility/Socket_native.h>
      35             : 
      36             : namespace SITL {
      37             : 
      38             : class SoloGimbal {
      39             : public:
      40             : 
      41             :     // endpoint for the vehicle's SERIAL1 MAVLink connection
      42           1 :     explicit SoloGimbal(uint16_t _target_port) : target_path(nullptr), target_port(_target_port) {}
      43           0 :     explicit SoloGimbal(const char *_target_path) : target_path(_target_path), target_port(0) {}
      44             :     void update(const Aircraft &aicraft);
      45             : 
      46             : private:
      47             : 
      48             :     const char *target_address = "127.0.0.1";
      49             :     const char *const target_path;
      50             :     const uint16_t target_port;
      51             : 
      52             :     // physic simulation of gimbal:
      53             :     Gimbal gimbal;
      54             : 
      55             :     // reporting variables. gimbal pushes these to vehicle code over
      56             :     // MAVLink at approx 100Hz
      57             : 
      58             :     // reporting period in ms
      59             :     const float reporting_period_ms = 10;
      60             : 
      61             :     uint32_t last_report_us;
      62             :     uint32_t last_heartbeat_ms;
      63             :     bool seen_heartbeat;
      64             :     bool seen_gimbal_control;
      65             :     uint8_t vehicle_system_id;
      66             :     uint8_t vehicle_component_id;
      67             : 
      68             :     SocketAPM_native mav_socket{false};
      69             :     struct {
      70             :         // socket to telem2 on aircraft
      71             :         bool connected;
      72             :         mavlink_message_t rxmsg;
      73             :         mavlink_status_t status;
      74             :         uint8_t seq;
      75             :     } mavlink;
      76             : 
      77             :     uint32_t param_send_last_ms;
      78             :     uint8_t param_send_idx;
      79             : 
      80             :     // component ID we send from:
      81             :     const uint8_t gimbal_component_id = 154;  // MAV_COMP_ID_GIMBAL
      82             : 
      83             :     void send_report(void);
      84             :     void param_send(const struct gimbal_param *p);
      85             :     struct gimbal_param *param_find(const char *name);
      86             : };
      87             : 
      88             : }  // namespace SITL
      89             : 
      90             : #endif  // AP_SIM_SOLOGIMBAL_ENABLED