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             :   VICON (visual positioning) simulation
      17             : 
      18             : ./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --serial5=sim:vicon:
      19             : param set SERIAL5_PROTOCOL 1
      20             : graph SIMSTATE.lat-GPS_GLOBAL_ORIGIN.latitude SIMSTATE.lng-GPS_GLOBAL_ORIGIN.longitude
      21             : reboot
      22             : 
      23             : mavproxy.py --master tcp:localhost:5763 --source-system=72
      24             : vehicle 17
      25             : graph VISION_POSITION_ESTIMATE.x VISION_POSITION_ESTIMATE.y
      26             : 
      27             : */
      28             : 
      29             : #pragma once
      30             : 
      31             : #include "SIM_config.h"
      32             : 
      33             : #if AP_SIM_VICON_ENABLED
      34             : 
      35             : #include "SIM_Aircraft.h"
      36             : 
      37             : #include <SITL/SITL.h>
      38             : 
      39             : #include <AP_HAL/utility/RingBuffer.h>
      40             : 
      41             : #include "SIM_SerialDevice.h"
      42             : 
      43             : namespace SITL {
      44             : 
      45             : class Vicon : public SerialDevice {
      46             : public:
      47             : 
      48             :     Vicon();
      49             : 
      50             :     // update state
      51             :     void update(const Location &loc, const Vector3d &position, const Vector3f &velocity, const Quaternion &attitude);
      52             : 
      53             : private:
      54             : 
      55             :     // TODO: make these parameters:
      56             :     const uint8_t system_id = 17;
      57             :     const uint8_t component_id = 18;
      58             : 
      59             :     uint64_t last_observation_usec; // time last observation was sent
      60             :     uint64_t time_offset_us;        // simulated timeoffset between external system and autopilot
      61             : 
      62             :     // buffer of messages to send
      63             :     struct {
      64             :         uint64_t time_send_us;      // system time this message should be sent or 0 if no message to send
      65             :         mavlink_message_t obs_msg;  // message to be sent
      66             :     } msg_buf[3];
      67             : 
      68             :     // SIM_VICON_TYPE parameter bit values
      69             :     enum class ViconTypeMask : uint8_t {
      70             :         VISION_POSITION_ESTIMATE    = (1 << 0),
      71             :         VISION_SPEED_ESTIMATE       = (1 << 1),
      72             :         VICON_POSITION_ESTIMATE     = (1 << 2),
      73             :         VISION_POSITION_DELTA       = (1 << 3),
      74             :         ODOMETRY                    = (1 << 4),
      75             :     };
      76             : 
      77             :     // return true if the given message type should be sent
      78       77335 :     bool should_send(ViconTypeMask type_mask) const { return (((uint8_t)type_mask & _sitl->vicon.type_mask.get()) > 0); }
      79             : 
      80             :     // get unused index in msg_buf
      81             :     bool get_free_msg_buf_index(uint8_t &index);
      82             : 
      83             :     void update_vicon_position_estimate(const Location &loc,
      84             :                                         const Vector3d &position,
      85             :                                         const Vector3f &velocity,
      86             :                                         const Quaternion &attitude);
      87             : 
      88             :     void maybe_send_heartbeat();
      89             :     uint32_t last_heartbeat_ms;
      90             : 
      91             :     // position delta message 
      92             :     Quaternion _attitude_prev; // Rotation to previous MAV_FRAME_BODY_FRD from MAV_FRAME_LOCAL_NED
      93             :     Vector3d _position_prev;  // previous position from origin (m) MAV_FRAME_LOCAL_NED
      94             : 
      95             :     mavlink_status_t mav_status;
      96             : };
      97             : 
      98             : }
      99             : 
     100             : #endif  // AP_SIM_VICON_ENABLED