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simulator cleanup initialization

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This commit is contained in:
Daniel Agar
2019-02-10 10:48:30 -05:00
parent 0acdffad90
commit 24d46df577
1 changed files with 42 additions and 80 deletions
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src/modules/simulator/simulator.h
+42 -80
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@@ -240,12 +240,6 @@ public:
private:
Simulator() : ModuleParams(nullptr),
_accel(1),
_mpu(1),
_baro(1),
_mag(1),
_gps(1),
_airspeed(1),
_perf_accel(perf_alloc_once(PC_ELAPSED, "sim_accel_delay")),
_perf_mpu(perf_alloc_once(PC_ELAPSED, "sim_mpu_delay")),
_perf_baro(perf_alloc_once(PC_ELAPSED, "sim_baro_delay")),
@@ -253,42 +247,9 @@ private:
_perf_gps(perf_alloc_once(PC_ELAPSED, "sim_gps_delay")),
_perf_airspeed(perf_alloc_once(PC_ELAPSED, "sim_airspeed_delay")),
_perf_sim_delay(perf_alloc_once(PC_ELAPSED, "sim_network_delay")),
_perf_sim_interval(perf_alloc(PC_INTERVAL, "sim_network_interval")),
_accel_pub(nullptr),
_baro_pub(nullptr),
_gyro_pub(nullptr),
_mag_pub(nullptr),
_flow_pub(nullptr),
_visual_odometry_pub(nullptr),
_dist_pub(nullptr),
_battery_pub(nullptr),
_param_sub(-1),
_initialized(false),
_realtime_factor(1.0),
#ifndef __PX4_QURT
_rc_channels_pub(nullptr),
_attitude_pub(nullptr),
_gpos_pub(nullptr),
_lpos_pub(nullptr),
_actuator_outputs_sub{},
_vehicle_attitude_sub(-1),
_manual_sub(-1),
_vehicle_status_sub(-1),
_hil_local_proj_ref(),
_hil_local_proj_inited(false),
_hil_ref_lat(0),
_hil_ref_lon(0),
_hil_ref_alt(0),
_hil_ref_timestamp(0),
_rc_input{},
_actuators{},
_attitude{},
_manual{},
_vehicle_status{}
#endif
_perf_sim_interval(perf_alloc(PC_INTERVAL, "sim_network_interval"))
{
for (unsigned i = 0; i < (sizeof(_actuator_outputs_sub) / sizeof(_actuator_outputs_sub[0])); i++)
{
for (unsigned i = 0; i < (sizeof(_actuator_outputs_sub) / sizeof(_actuator_outputs_sub[0])); i++) {
_actuator_outputs_sub[i] = -1;
}
@@ -301,6 +262,7 @@ private:
_battery_status.timestamp = hrt_absolute_time();
}
~Simulator()
{
if (_instance != nullptr) {
@@ -315,12 +277,12 @@ private:
static Simulator *_instance;
// simulated sensor instances
simulator::Report<simulator::RawAccelData> _accel;
simulator::Report<simulator::RawMPUData> _mpu;
simulator::Report<simulator::RawBaroData> _baro;
simulator::Report<simulator::RawMagData> _mag;
simulator::Report<simulator::RawGPSData> _gps;
simulator::Report<simulator::RawAirspeedData> _airspeed;
simulator::Report<simulator::RawAccelData> _accel{1};
simulator::Report<simulator::RawMPUData> _mpu{1};
simulator::Report<simulator::RawBaroData> _baro{1};
simulator::Report<simulator::RawMagData> _mag{1};
simulator::Report<simulator::RawGPSData> _gps{1};
simulator::Report<simulator::RawAirspeedData> _airspeed{1};
perf_counter_t _perf_accel;
perf_counter_t _perf_mpu;
@@ -332,25 +294,25 @@ private:
perf_counter_t _perf_sim_interval;
// uORB publisher handlers
orb_advert_t _accel_pub;
orb_advert_t _baro_pub;
orb_advert_t _gyro_pub;
orb_advert_t _mag_pub;
orb_advert_t _flow_pub;
orb_advert_t _visual_odometry_pub;
orb_advert_t _dist_pub;
orb_advert_t _battery_pub;
orb_advert_t _irlock_report_pub;
orb_advert_t _accel_pub{nullptr};
orb_advert_t _baro_pub{nullptr};
orb_advert_t _gyro_pub{nullptr};
orb_advert_t _mag_pub{nullptr};
orb_advert_t _flow_pub{nullptr};
orb_advert_t _visual_odometry_pub{nullptr};
orb_advert_t _dist_pub{nullptr};
orb_advert_t _battery_pub{nullptr};
orb_advert_t _irlock_report_pub{nullptr};
int _param_sub;
int _param_sub{-1};
unsigned _port = 14560;
InternetProtocol _ip = InternetProtocol::UDP;
bool _initialized;
double _realtime_factor; ///< How fast the simulation runs in comparison to real system time
hrt_abstime _last_sim_timestamp;
hrt_abstime _last_sitl_timestamp;
bool _initialized{false};
double _realtime_factor{1.0}; ///< How fast the simulation runs in comparison to real system time
hrt_abstime _last_sim_timestamp{0};
hrt_abstime _last_sitl_timestamp{0};
// Lib used to do the battery calculations.
Battery _battery;
@@ -364,31 +326,31 @@ private:
#ifndef __PX4_QURT
// uORB publisher handlers
orb_advert_t _rc_channels_pub;
orb_advert_t _attitude_pub;
orb_advert_t _gpos_pub;
orb_advert_t _lpos_pub;
orb_advert_t _rc_channels_pub{nullptr};
orb_advert_t _attitude_pub{nullptr};
orb_advert_t _gpos_pub{nullptr};
orb_advert_t _lpos_pub{nullptr};
// uORB subscription handlers
int _actuator_outputs_sub[ORB_MULTI_MAX_INSTANCES];
int _vehicle_attitude_sub;
int _manual_sub;
int _vehicle_status_sub;
int _actuator_outputs_sub[ORB_MULTI_MAX_INSTANCES] {-1, -1, -1, -1};
int _vehicle_attitude_sub{-1};
int _manual_sub{-1};
int _vehicle_status_sub{-1};
// hil map_ref data
struct map_projection_reference_s _hil_local_proj_ref;
bool _hil_local_proj_inited;
double _hil_ref_lat;
double _hil_ref_lon;
float _hil_ref_alt;
uint64_t _hil_ref_timestamp;
struct map_projection_reference_s _hil_local_proj_ref {};
bool _hil_local_proj_inited{false};
double _hil_ref_lat{0};
double _hil_ref_lon{0};
float _hil_ref_alt{0.0f};
uint64_t _hil_ref_timestamp{0};
// uORB data containers
struct input_rc_s _rc_input;
struct actuator_outputs_s _actuators[ORB_MULTI_MAX_INSTANCES];
struct vehicle_attitude_s _attitude;
struct manual_control_setpoint_s _manual;
struct vehicle_status_s _vehicle_status;
input_rc_s _rc_input {};
actuator_outputs_s _actuators[ORB_MULTI_MAX_INSTANCES] {};
vehicle_attitude_s _attitude {};
manual_control_setpoint_s _manual {};
vehicle_status_s _vehicle_status {};
DEFINE_PARAMETERS(
(ParamFloat<px4::params::SIM_BAT_DRAIN>) _battery_drain_interval_s, ///< battery drain interval