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simulator: cleanup and wait for startup

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Unfortunately this commit contains two things:
1. Some cleanup and renaiming.
2. An additional wait until lockstep has been initialized.
   By waiting until HIL_SENSOR messages arrive including timestamps we
   stop the startup script and prevent other modules from running until
   time is set up. This should resolve some busy waiting by various
   modules and prevent races on initialization (e.g. the landing state
   being subscribed by mavlink before being published by the land
   detector).
This commit is contained in:
Julian Oes
2019-12-26 10:16:58 +01:00
committed by Lorenz Meier
parent 99fbadac70
commit 8817f172ea
3 changed files with 67 additions and 59 deletions
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src/modules/simulator/simulator.h
+10 -4
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@@ -1,7 +1,7 @@
/****************************************************************************
*
* Copyright (c) 2015 Mark Charlebois. All rights reserved.
* Copyright (c) 2018 PX4 Development Team. All rights reserved.
* Copyright (c) 2016-2019 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
@@ -51,6 +51,7 @@
#include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
#include <lib/ecl/geo/geo.h>
#include <perf/perf_counter.h>
#include <px4_platform_common/atomic.h>
#include <px4_platform_common/module_params.h>
#include <px4_platform_common/posix.h>
#include <uORB/Publication.hpp>
@@ -173,6 +174,7 @@ public:
void set_ip(InternetProtocol ip);
void set_port(unsigned port);
bool has_initialized() {return _has_initialized.load(); }
private:
Simulator() :
@@ -261,8 +263,7 @@ private:
#ifndef __PX4_QURT
mavlink_hil_actuator_controls_t actuator_controls_from_outputs(const actuator_outputs_s &actuators);
void run();
void handle_message(const mavlink_message_t *msg);
void handle_message_distance_sensor(const mavlink_message_t *msg);
void handle_message_hil_gps(const mavlink_message_t *msg);
@@ -275,7 +276,6 @@ private:
void handle_message_vision_position_estimate(const mavlink_message_t *msg);
void parameters_update(bool force);
void poll_for_MAVLink_messages();
void request_hil_state_quaternion();
void send();
@@ -287,6 +287,8 @@ private:
static void *sending_trampoline(void *);
mavlink_hil_actuator_controls_t actuator_controls_from_outputs(const actuator_outputs_s &actuators);
// uORB publisher handlers
uORB::Publication<vehicle_angular_velocity_s> _vehicle_angular_velocity_ground_truth_pub{ORB_ID(vehicle_angular_velocity_groundtruth)};
uORB::Publication<vehicle_attitude_s> _attitude_ground_truth_pub{ORB_ID(vehicle_attitude_groundtruth)};
@@ -311,6 +313,10 @@ private:
// uORB data containers
vehicle_status_s _vehicle_status{};
#if defined(ENABLE_LOCKSTEP_SCHEDULER)
px4::atomic<bool> _has_initialized {false};
#endif
DEFINE_PARAMETERS(
(ParamFloat<px4::params::SIM_BAT_DRAIN>) _param_sim_bat_drain, ///< battery drain interval
(ParamFloat<px4::params::SIM_BAT_MIN_PCT>) _battery_min_percentage, //< minimum battery percentage