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 Xplane
      17             : */
      18             : 
      19             : #pragma once
      20             : 
      21             : #include "SIM_config.h"
      22             : 
      23             : #if AP_SIM_XPLANE_ENABLED
      24             : 
      25             : #include <AP_HAL/utility/Socket_native.h>
      26             : #include <AP_Filesystem/AP_Filesystem.h>
      27             : 
      28             : #include "SIM_Aircraft.h"
      29             : #include <AP_JSON/AP_JSON.h>
      30             : 
      31             : namespace SITL {
      32             : 
      33             : /*
      34             :   a Xplane simulator
      35             :  */
      36             : class XPlane : public Aircraft {
      37             : public:
      38             :     XPlane(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 XPlane(frame_str);
      46             :     }
      47             : 
      48             : private:
      49             : 
      50             :     bool receive_data(void);
      51             :     void send_dref(const char *name, float value);
      52             :     void request_drefs(void);
      53             :     void request_dref(const char *name, uint8_t code, uint32_t rate_hz);
      54             :     void send_drefs(const struct sitl_input &input);
      55             :     void handle_rref(const uint8_t *p, uint32_t len);
      56             :     void select_data(void);
      57             :     void deselect_code(uint8_t code);
      58             :     int8_t find_data_index(uint8_t id);
      59             : 
      60             :     // return true if at least X
      61           0 :     bool is_xplane12(void) const {
      62           0 :         return xplane_version / 10000 >= 12;
      63             :     }
      64             :     
      65             :     const char *xplane_ip = "127.0.0.1";
      66             :     uint16_t xplane_port = 49000;
      67             :     uint16_t bind_port = 49001;
      68             :     // udp socket, input and output
      69             :     SocketAPM_native socket_in{true};
      70             :     SocketAPM_native socket_out{true};
      71             : 
      72             :     uint64_t time_base_us;
      73             :     uint32_t last_data_time_ms;
      74             :     Vector3d position_zero;
      75             :     Vector3f accel_earth;
      76             :     bool connected = false;
      77             :     uint32_t xplane_frame_time;
      78             :     uint64_t seen_mask;
      79             : 
      80             :     struct {
      81             :         uint32_t last_report_ms;
      82             :         uint32_t data_count;
      83             :         uint32_t frame_count;
      84             :     } report;
      85             : 
      86             :     enum class DRefType {
      87             :         ANGLE = 0,
      88             :         RANGE = 1,
      89             :         FIXED = 2,
      90             :     };
      91             : 
      92             :     struct DRef {
      93             :         struct DRef *next;
      94             :         char *name;
      95             :         DRefType type;
      96             :         uint8_t channel;
      97             :         float range;
      98             :         float fixed_value;
      99             :     };
     100             : 
     101             :     // list of DRefs;
     102             :     struct DRef *drefs;
     103             :     uint32_t dref_debug;
     104             : 
     105             :     enum class JoyType {
     106             :         AXIS = 0,
     107             :         BUTTON = 1,
     108             :     };
     109             : 
     110             :     // list of joystick inputs
     111             :     struct JoyInput {
     112             :         struct JoyInput *next;
     113             :         uint8_t axis;
     114             :         uint8_t channel;
     115             :         JoyType type;
     116             :         float input_min, input_max;
     117             :         uint32_t mask;
     118             :     };
     119             :     struct JoyInput *joyinputs;
     120             : 
     121             :     char *map_filename;
     122             :     struct stat map_st;
     123             : 
     124             :     bool load_dref_map(const char *map_json);
     125             :     void add_dref(const char *name, DRefType type, const AP_JSON::value &dref);
     126             :     void add_joyinput(const char *name, JoyType type, const AP_JSON::value &d);
     127             :     void handle_setting(const AP_JSON::value &d);
     128             : 
     129             :     void check_reload_dref(void);
     130             : 
     131             :     uint32_t xplane_version;
     132             : };
     133             : 
     134             : 
     135             : } // namespace SITL
     136             : 
     137             : 
     138             : #endif  // AP_SIM_XPLANE_ENABLED