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 the last_letter_lib flight dynamics library
      17             : 
      18             :   last_letter_lib speaks the standard JSON backend protocol, so all the wire
      19             :   handling is inherited from SITL::JSON. The only thing added here is launching
      20             :   the simulator process, which lives outside the ArduPilot tree:
      21             : 
      22             :       sim_vehicle.py -v ArduPlane --model last_letter:<aircraft>
      23             : 
      24             :   The aircraft name after the colon is passed to the child; it defaults to
      25             :   "ardupilot_plane". The binary is looked up on PATH as "last_letter_ardupilot",
      26             :   overridable with the LAST_LETTER_SITL_BIN environment variable.
      27             : 
      28             :   Optional features are selected with the SITL --config string, which
      29             :   sim_vehicle.py forwards through -A:
      30             : 
      31             :       sim_vehicle.py -v ArduPlane --model last_letter:<aircraft> -A "--config log"
      32             : */
      33             : 
      34             : #pragma once
      35             : 
      36             : #include "SIM_config.h"
      37             : 
      38             : #if AP_SIM_LAST_LETTER_ENABLED
      39             : 
      40             : #include "SIM_JSON.h"
      41             : 
      42             : namespace SITL {
      43             : 
      44             : /*
      45             :   a last_letter simulator
      46             :  */
      47             : class last_letter : public JSON {
      48             : public:
      49             :     last_letter(const char *frame_str);
      50             : 
      51             :     /* static object creator */
      52           0 :     static Aircraft *create(const char *frame_str) {
      53           0 :         return NEW_NOTHROW last_letter(frame_str);
      54             :     }
      55             : 
      56             :     /*
      57             :       the UDP port is only known once this is called, so it is recorded here
      58             :       rather than in the constructor
      59             :      */
      60             :     void set_interface_ports(const char* address, const int port_in, const int port_out) override;
      61             : 
      62             :     /*
      63             :       parse the SITL --config string
      64             :      */
      65             :     void set_config(const char *config) override;
      66             : 
      67             :     /*
      68             :       fork the last_letter_ardupilot binary
      69             :      */
      70             :     void launch_external_sim(void) override;
      71             : 
      72             : private:
      73             :     char model_name[64];
      74             : 
      75             :     // The port the child must bind, from set_interface_ports().
      76             :     uint16_t sim_port;
      77             : 
      78             :     // --config log
      79             :     bool want_log;
      80             : };
      81             : 
      82             : } // namespace SITL
      83             : 
      84             : #endif  // AP_SIM_LAST_LETTER_ENABLED