mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-18 08:03:34 +08:00
simulation organization and cleanup
- new modules/simulation directory to collect all simulators and related modules - new Tools/simulation directory to collect and organize scattered simulation submodules, scripts, etc - simulation module renamed to simulator_mavlink - sih renamed to simulator_sih (not a great name, but I wanted to be clear it was a simulator) - ignition_simulator renamed to simulator_ignition_bridge - large sitl_target.cmake split by simulation option and in some cases pushed to appropriate modules - sitl targets broken down to what's actually available (eg jmavsim only has 1 model and 1 world) - new Gazebo consistently referred to as Ignition for now (probably the least confusing thing until we fully drop Gazebo classic support someday)
This commit is contained in:
Daniel Agar
@@ -1,50 +0,0 @@
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############################################################################
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#
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# Copyright (c) 2015 PX4 Development Team. All rights reserved.
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||||
#
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||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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if (${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL} STREQUAL "px4_sitl")
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set(module_config "module_sim.yaml")
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else()
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set(module_config "module_hil.yaml")
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endif()
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px4_add_module(
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MODULE drivers__pwm_out_sim
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MAIN pwm_out_sim
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SRCS
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PWMSim.cpp
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MODULE_CONFIG
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${module_config}
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DEPENDS
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mixer
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mixer_module
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)
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@@ -1,5 +0,0 @@
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menuconfig DRIVERS_PWM_OUT_SIM
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bool "pwm_out_sim"
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default n
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---help---
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Enable support for pwm_out_sim
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@@ -1,330 +0,0 @@
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/****************************************************************************
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*
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* Copyright (c) 2012-2022 PX4 Development Team. All rights reserved.
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*
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||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include "PWMSim.hpp"
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#include <mathlib/mathlib.h>
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#include <px4_platform_common/getopt.h>
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#include <uORB/Subscription.hpp>
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#include <uORB/topics/parameter_update.h>
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#include <px4_platform_common/sem.hpp>
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PWMSim::PWMSim(bool hil_mode_enabled) :
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CDev(PWM_OUTPUT0_DEVICE_PATH),
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OutputModuleInterface(MODULE_NAME, px4::wq_configurations::hp_default)
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{
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_mixing_output.setAllDisarmedValues(PWM_SIM_DISARMED_MAGIC);
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_mixing_output.setAllFailsafeValues(PWM_SIM_FAILSAFE_MAGIC);
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_mixing_output.setAllMinValues(PWM_SIM_PWM_MIN_MAGIC);
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_mixing_output.setAllMaxValues(PWM_SIM_PWM_MAX_MAGIC);
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_mixing_output.setIgnoreLockdown(hil_mode_enabled);
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CDev::init();
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}
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void
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PWMSim::Run()
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{
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if (should_exit()) {
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ScheduleClear();
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_mixing_output.unregister();
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exit_and_cleanup();
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return;
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}
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SmartLock lock_guard(_lock);
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_mixing_output.update();
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// check for parameter updates
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if (_parameter_update_sub.updated()) {
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parameter_update_s pupdate;
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_parameter_update_sub.copy(&pupdate);
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updateParams();
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}
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// check at end of cycle (updateSubscriptions() can potentially change to a different WorkQueue thread)
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_mixing_output.updateSubscriptions(true);
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}
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bool
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PWMSim::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs,
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unsigned num_control_groups_updated)
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{
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// Only publish once we receive actuator_controls (important for lock-step to work correctly)
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if (num_control_groups_updated > 0) {
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actuator_outputs_s actuator_outputs{};
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actuator_outputs.noutputs = num_outputs;
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const uint32_t reversible_outputs = _mixing_output.reversibleOutputs();
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for (int i = 0; i < (int)num_outputs; i++) {
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if (outputs[i] != PWM_SIM_DISARMED_MAGIC) {
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OutputFunction function = _mixing_output.outputFunction(i);
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bool is_reversible = reversible_outputs & (1u << i);
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float output = outputs[i];
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if (((int)function >= (int)OutputFunction::Motor1 && (int)function <= (int)OutputFunction::MotorMax)
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&& !is_reversible) {
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// Scale non-reversible motors to [0, 1]
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actuator_outputs.output[i] = (output - PWM_SIM_PWM_MIN_MAGIC) / (PWM_SIM_PWM_MAX_MAGIC - PWM_SIM_PWM_MIN_MAGIC);
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} else {
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// Scale everything else to [-1, 1]
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const float pwm_center = (PWM_SIM_PWM_MAX_MAGIC + PWM_SIM_PWM_MIN_MAGIC) / 2.f;
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const float pwm_delta = (PWM_SIM_PWM_MAX_MAGIC - PWM_SIM_PWM_MIN_MAGIC) / 2.f;
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actuator_outputs.output[i] = (output - pwm_center) / pwm_delta;
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}
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}
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}
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actuator_outputs.timestamp = hrt_absolute_time();
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_actuator_outputs_sim_pub.publish(actuator_outputs);
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return true;
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}
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return false;
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}
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int
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PWMSim::ioctl(device::file_t *filp, int cmd, unsigned long arg)
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{
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SmartLock lock_guard(_lock);
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int ret = OK;
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switch (cmd) {
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case PWM_SERVO_ARM:
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break;
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case PWM_SERVO_DISARM:
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break;
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case PWM_SERVO_SET_MIN_PWM: {
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struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
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for (unsigned i = 0; i < pwm->channel_count; i++) {
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if (i < OutputModuleInterface::MAX_ACTUATORS && !_mixing_output.useDynamicMixing()) {
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_mixing_output.minValue(i) = pwm->values[i];
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}
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}
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break;
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}
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case PWM_SERVO_SET_MAX_PWM: {
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struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
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for (unsigned i = 0; i < pwm->channel_count; i++) {
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if (i < OutputModuleInterface::MAX_ACTUATORS && !_mixing_output.useDynamicMixing()) {
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_mixing_output.maxValue(i) = pwm->values[i];
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}
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}
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break;
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}
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case PWM_SERVO_SET_UPDATE_RATE:
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// PWMSim does not limit the update rate
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break;
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case PWM_SERVO_SET_SELECT_UPDATE_RATE:
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break;
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case PWM_SERVO_GET_DEFAULT_UPDATE_RATE:
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*(uint32_t *)arg = 9999;
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break;
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case PWM_SERVO_GET_UPDATE_RATE:
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*(uint32_t *)arg = 9999;
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break;
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case PWM_SERVO_GET_SELECT_UPDATE_RATE:
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*(uint32_t *)arg = 0;
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break;
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case PWM_SERVO_GET_FAILSAFE_PWM: {
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struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
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for (unsigned i = 0; i < OutputModuleInterface::MAX_ACTUATORS; i++) {
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pwm->values[i] = _mixing_output.failsafeValue(i);
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}
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pwm->channel_count = OutputModuleInterface::MAX_ACTUATORS;
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break;
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}
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case PWM_SERVO_GET_DISARMED_PWM: {
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struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
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for (unsigned i = 0; i < OutputModuleInterface::MAX_ACTUATORS; i++) {
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pwm->values[i] = _mixing_output.disarmedValue(i);
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}
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pwm->channel_count = OutputModuleInterface::MAX_ACTUATORS;
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break;
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}
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case PWM_SERVO_GET_MIN_PWM: {
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struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
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for (unsigned i = 0; i < OutputModuleInterface::MAX_ACTUATORS; i++) {
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pwm->values[i] = _mixing_output.minValue(i);
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}
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pwm->channel_count = OutputModuleInterface::MAX_ACTUATORS;
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break;
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}
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case PWM_SERVO_GET_MAX_PWM: {
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struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
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for (unsigned i = 0; i < OutputModuleInterface::MAX_ACTUATORS; i++) {
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pwm->values[i] = _mixing_output.maxValue(i);
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}
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pwm->channel_count = OutputModuleInterface::MAX_ACTUATORS;
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break;
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}
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case PWM_SERVO_GET_RATEGROUP(0) ... PWM_SERVO_GET_RATEGROUP(PWM_OUTPUT_MAX_CHANNELS - 1): {
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// no restrictions on output grouping
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unsigned channel = cmd - PWM_SERVO_GET_RATEGROUP(0);
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*(uint32_t *)arg = (1 << channel);
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break;
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}
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case PWM_SERVO_GET_COUNT:
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*(unsigned *)arg = OutputModuleInterface::MAX_ACTUATORS;
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break;
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case MIXERIOCRESET:
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_mixing_output.resetMixer();
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break;
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case MIXERIOCLOADBUF: {
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const char *buf = (const char *)arg;
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unsigned buflen = strlen(buf);
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ret = _mixing_output.loadMixer(buf, buflen);
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break;
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}
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default:
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ret = -ENOTTY;
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break;
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}
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return ret;
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}
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int
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PWMSim::task_spawn(int argc, char *argv[])
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{
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bool hil_mode = false;
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int myoptind = 1;
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int ch;
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const char *myoptarg = nullptr;
|
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while ((ch = px4_getopt(argc, argv, "m:", &myoptind, &myoptarg)) != EOF) {
|
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switch (ch) {
|
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case 'm':
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hil_mode = strcmp(myoptarg, "hil") == 0;
|
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break;
|
||||
|
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default:
|
||||
return print_usage("unrecognized flag");
|
||||
}
|
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}
|
||||
|
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PWMSim *instance = new PWMSim(hil_mode);
|
||||
|
||||
if (!instance) {
|
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PX4_ERR("alloc failed");
|
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return -1;
|
||||
}
|
||||
|
||||
_object.store(instance);
|
||||
_task_id = task_id_is_work_queue;
|
||||
instance->ScheduleNow();
|
||||
return 0;
|
||||
}
|
||||
|
||||
int PWMSim::custom_command(int argc, char *argv[])
|
||||
{
|
||||
return print_usage("unknown command");
|
||||
}
|
||||
|
||||
int PWMSim::print_status()
|
||||
{
|
||||
_mixing_output.printStatus();
|
||||
return 0;
|
||||
}
|
||||
|
||||
int PWMSim::print_usage(const char *reason)
|
||||
{
|
||||
if (reason) {
|
||||
PX4_WARN("%s\n", reason);
|
||||
}
|
||||
|
||||
PRINT_MODULE_DESCRIPTION(
|
||||
R"DESCR_STR(
|
||||
### Description
|
||||
Driver for simulated PWM outputs.
|
||||
|
||||
Its only function is to take `actuator_control` uORB messages,
|
||||
mix them with any loaded mixer and output the result to the
|
||||
`actuator_output` uORB topic.
|
||||
|
||||
It is used in SITL and HITL.
|
||||
|
||||
)DESCR_STR");
|
||||
|
||||
PRINT_MODULE_USAGE_NAME("pwm_out_sim", "driver");
|
||||
PRINT_MODULE_USAGE_COMMAND_DESCR("start", "Start the module");
|
||||
PRINT_MODULE_USAGE_PARAM_STRING('m', "sim", "hil|sim", "Mode", true);
|
||||
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
extern "C" __EXPORT int pwm_out_sim_main(int argc, char *argv[])
|
||||
{
|
||||
return PWMSim::main(argc, argv);
|
||||
}
|
||||
@@ -1,95 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2019 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <drivers/device/device.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <drivers/drv_mixer.h>
|
||||
#include <drivers/drv_pwm_output.h>
|
||||
#include <lib/mixer_module/mixer_module.hpp>
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
#include <px4_platform_common/module.h>
|
||||
#include <px4_platform_common/tasks.h>
|
||||
#include <px4_platform_common/time.h>
|
||||
#include <uORB/topics/parameter_update.h>
|
||||
#include <uORB/topics/actuator_outputs.h>
|
||||
#include <uORB/Publication.hpp>
|
||||
#include <uORB/Subscription.hpp>
|
||||
|
||||
#if defined(CONFIG_ARCH_BOARD_PX4_SITL)
|
||||
#define PARAM_PREFIX "PWM_MAIN"
|
||||
#else
|
||||
#define PARAM_PREFIX "HIL_ACT"
|
||||
#endif
|
||||
|
||||
|
||||
using namespace time_literals;
|
||||
|
||||
class PWMSim : public cdev::CDev, public ModuleBase<PWMSim>, public OutputModuleInterface
|
||||
{
|
||||
public:
|
||||
PWMSim(bool hil_mode_enabled);
|
||||
|
||||
/** @see ModuleBase */
|
||||
static int task_spawn(int argc, char *argv[]);
|
||||
|
||||
/** @see ModuleBase */
|
||||
static int custom_command(int argc, char *argv[]);
|
||||
|
||||
/** @see ModuleBase */
|
||||
static int print_usage(const char *reason = nullptr);
|
||||
|
||||
/** @see ModuleBase::print_status() */
|
||||
int print_status() override;
|
||||
|
||||
int ioctl(device::file_t *filp, int cmd, unsigned long arg) override;
|
||||
|
||||
bool updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
|
||||
unsigned num_outputs, unsigned num_control_groups_updated) override;
|
||||
|
||||
private:
|
||||
|
||||
void Run() override;
|
||||
|
||||
static constexpr uint16_t PWM_SIM_DISARMED_MAGIC = 900;
|
||||
static constexpr uint16_t PWM_SIM_FAILSAFE_MAGIC = 600;
|
||||
static constexpr uint16_t PWM_SIM_PWM_MIN_MAGIC = 1000;
|
||||
static constexpr uint16_t PWM_SIM_PWM_MAX_MAGIC = 2000;
|
||||
|
||||
MixingOutput _mixing_output{PARAM_PREFIX, MAX_ACTUATORS, *this, MixingOutput::SchedulingPolicy::Auto, false, false};
|
||||
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
|
||||
|
||||
uORB::Publication<actuator_outputs_s> _actuator_outputs_sim_pub{ORB_ID(actuator_outputs_sim)};
|
||||
};
|
||||
|
||||
@@ -1,8 +0,0 @@
|
||||
|
||||
module_name: HIL
|
||||
actuator_output:
|
||||
show_subgroups_if: 'SYS_HITL>0'
|
||||
output_groups:
|
||||
- param_prefix: HIL_ACT
|
||||
channel_label: Channel
|
||||
num_channels: 16
|
||||
@@ -1,7 +0,0 @@
|
||||
|
||||
module_name: SIM
|
||||
actuator_output:
|
||||
output_groups:
|
||||
- param_prefix: PWM_MAIN
|
||||
channel_label: Channel
|
||||
num_channels: 16
|
||||
@@ -1 +0,0 @@
|
||||
add_subdirectory(pcf8583)
|
||||
+10
-7
@@ -1,7 +1,10 @@
|
||||
menuconfig DRIVERS_RPM
|
||||
bool "rpm"
|
||||
default n
|
||||
---help---
|
||||
Enable support for rpm
|
||||
|
||||
rsource "*/Kconfig"
|
||||
menu "RPM"
|
||||
menuconfig COMMON_RPM
|
||||
bool "Common RPM drivers"
|
||||
default n
|
||||
select DRIVERS_RPM_PCF8583
|
||||
select DRIVERS_RPM_RPM_SIMULATOR
|
||||
---help---
|
||||
Enable default set of RPM drivers
|
||||
rsource "*/Kconfig"
|
||||
endmenu
|
||||
|
||||
@@ -0,0 +1,5 @@
|
||||
menuconfig DRIVERS_RPM_PCF8583
|
||||
bool "pcf8583"
|
||||
default n
|
||||
---help---
|
||||
Enable support for pcf8583
|
||||
@@ -1,6 +1,6 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2020 PX4 Development Team. All rights reserved.
|
||||
# Copyright (c) 2020-2022 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
@@ -31,7 +31,7 @@
|
||||
#
|
||||
############################################################################
|
||||
px4_add_module(
|
||||
MODULE examples__rpm_simulator
|
||||
MODULE drivers__rpm__rpm_simulator
|
||||
MAIN rpm_simulator
|
||||
SRCS
|
||||
rpm_simulator.cpp
|
||||
|
||||
@@ -2,4 +2,4 @@ menuconfig DRIVERS_RPM_RPM_SIMULATOR
|
||||
bool "rpm_simulator"
|
||||
default n
|
||||
---help---
|
||||
Enable support for rpm_simulator
|
||||
Enable support for rpm_simulator
|
||||
|
||||
@@ -51,7 +51,6 @@
|
||||
extern "C" __EXPORT int rpm_simulator_main(int argc, char *argv[]);
|
||||
int rpm_simulator_main(int argc, char *argv[])
|
||||
{
|
||||
|
||||
// check input
|
||||
if (argc != 2) {
|
||||
PX4_INFO("Usage: rpm_simulator <published RPM>");
|
||||
|
||||
Reference in New Issue
Block a user