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simulator move to PX4Accelerometer, PX4Gyroscope, PX4Magnetometer, PX4Barometer helpers (#12081)

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This commit is contained in:
Daniel Agar
2019-05-30 21:07:26 -04:00
committed by GitHub
parent 4a4d323a97
commit 43e3fc707d
30 changed files with 156 additions and 4460 deletions
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src/modules/simulator/simulator.cpp
+26 -98
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@@ -65,66 +65,16 @@ Simulator *Simulator::getInstance()
return _instance;
}
bool Simulator::getMPUReport(uint8_t *buf, int len)
{
return _mpu.copyData(buf, len);
}
bool Simulator::getRawAccelReport(uint8_t *buf, int len)
{
return _accel.copyData(buf, len);
}
bool Simulator::getMagReport(uint8_t *buf, int len)
{
return _mag.copyData(buf, len);
}
bool Simulator::getBaroSample(uint8_t *buf, int len)
{
return _baro.copyData(buf, len);
}
bool Simulator::getGPSSample(uint8_t *buf, int len)
{
return _gps.copyData(buf, len);
}
bool Simulator::getAirspeedSample(uint8_t *buf, int len)
{
return _airspeed.copyData(buf, len);
}
void Simulator::write_MPU_data(void *buf)
{
_mpu.writeData(buf);
}
void Simulator::write_accel_data(void *buf)
{
_accel.writeData(buf);
}
void Simulator::write_mag_data(void *buf)
{
_mag.writeData(buf);
}
void Simulator::write_baro_data(void *buf)
{
_baro.writeData(buf);
}
void Simulator::write_gps_data(void *buf)
{
_gps.writeData(buf);
}
void Simulator::write_airspeed_data(void *buf)
{
_airspeed.writeData(buf);
}
void Simulator::parameters_update(bool force)
{
bool updated;
@@ -149,33 +99,21 @@ int Simulator::start(int argc, char *argv[])
if (_instance) {
drv_led_start();
if (argc == 5 && strcmp(argv[3], "-u") == 0) {
if (argc == 4 && strcmp(argv[2], "-u") == 0) {
_instance->set_ip(InternetProtocol::UDP);
_instance->set_port(atoi(argv[4]));
_instance->set_port(atoi(argv[3]));
}
if (argc == 5 && strcmp(argv[3], "-c") == 0) {
if (argc == 4 && strcmp(argv[2], "-c") == 0) {
_instance->set_ip(InternetProtocol::TCP);
_instance->set_port(atoi(argv[4]));
_instance->set_port(atoi(argv[3]));
}
if (argv[2][1] == 's') {
_instance->initialize_sensor_data();
#ifndef __PX4_QURT
// Update sensor data
_instance->poll_for_MAVLink_messages();
// Update sensor data
_instance->poll_for_MAVLink_messages();
#endif
} else if (argv[2][1] == 'p') {
// Update sensor data
_instance->set_publish(true);
_instance->poll_for_MAVLink_messages();
} else {
_instance->initialize_sensor_data();
_instance->_initialized = true;
}
return 0;
} else {
@@ -197,11 +135,9 @@ void Simulator::set_port(unsigned port)
static void usage()
{
PX4_WARN("Usage: simulator {start -[spt] [-u udp_port / -c tcp_port] |stop}");
PX4_WARN("Simulate raw sensors: simulator start -s");
PX4_WARN("Publish sensors combined: simulator start -p");
PX4_WARN("Start simulator: simulator start");
PX4_WARN("Connect using UDP: simulator start -u udp_port");
PX4_WARN("Connect using TCP: simulator start -c tcp_port");
PX4_WARN("Dummy unit test data: simulator start -t");
}
__BEGIN_DECLS
@@ -212,35 +148,27 @@ extern "C" {
int simulator_main(int argc, char *argv[])
{
if (argc > 2 && strcmp(argv[1], "start") == 0) {
if (strcmp(argv[2], "-s") == 0 ||
strcmp(argv[2], "-p") == 0 ||
strcmp(argv[2], "-t") == 0) {
if (argc > 1 && strcmp(argv[1], "start") == 0) {
if (g_sim_task >= 0) {
PX4_WARN("Simulator already started");
return 0;
if (g_sim_task >= 0) {
PX4_WARN("Simulator already started");
return 0;
}
g_sim_task = px4_task_spawn_cmd("simulator",
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT,
1500,
Simulator::start,
argv);
while (true) {
if (Simulator::getInstance()) {
break;
} else {
system_sleep(1);
}
g_sim_task = px4_task_spawn_cmd("simulator",
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT,
1500,
Simulator::start,
argv);
while (true) {
if (Simulator::getInstance() && Simulator::getInstance()->isInitialized()) {
break;
} else {
system_sleep(1);
}
}
} else {
usage();
return 1;
}
} else if (argc == 2 && strcmp(argv[1], "stop") == 0) {