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Added simulator

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Simulator listens for UDP input data at port 9876.

Data is for now comma separated. Not yet connected to the various sim
classes: accelsim, gyrosim, magsim.

Barometer measurements not yet supported.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois 2015-04-14 14:44:38 -07:00
parent f00dc44475
commit ac1679dbc3
3 changed files with 315 additions and 0 deletions
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src/modules/simulator/module.mk Normal file
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############################################################################
#
# Copyright (c) 2015 MArk Charlebois. 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.
#
############################################################################
#
# Makefile to build simulator
#
MODULE_COMMAND = simulator
SRCS = simulator.cpp

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/****************************************************************************
*
* Copyright (c) 2015 Mark Charlebois. 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.
*
****************************************************************************/
/**
* @file simulator.cpp
* A device simulator
*/
#include <px4_tasks.h>
#include <stdio.h>
#include <string.h>
#include <sys/types.h>
#include <sys/socket.h>
#include <netinet/in.h>
#include "simulator.h"
Simulator *Simulator::_instance = NULL;
Simulator::Simulator() : _max_readers(3)
{
sem_init(&_lock, 0, _max_readers);
}
Simulator *Simulator::getInstance()
{
return _instance;
}
int Simulator::getSample(sim_dev_t dev, sample &val)
{
int ret;
switch (dev) {
case SIM_GYRO:
read_lock();
val = _gyro[_readidx];
read_unlock();
ret = 0;
break;
case SIM_ACCEL:
read_lock();
val = _accel[_readidx];
read_unlock();
ret = 0;
break;
case SIM_MAG:
read_lock();
val = _mag[_readidx];
read_unlock();
ret = 0;
break;
default:
ret = 1;
}
return ret;
}
int Simulator::start(int argc, char *argv[])
{
int ret = 0;
_instance = new Simulator();
if (_instance)
_instance->updateSamples();
else {
printf("Simulator creation failed\n");
ret = 1;
}
return ret;
}
void Simulator::updateSamples()
{
// get samples from external provider
struct sockaddr_in myaddr;
struct sockaddr_in srcaddr;
socklen_t addrlen = sizeof(srcaddr);
int len, fd;
const int buflen = 200;
const int port = 9876;
unsigned char buf[buflen];
int writeidx, num;
if ((fd = socket(AF_INET, SOCK_DGRAM, 0)) < 0) {
printf("create socket failed\n");
return;
}
memset((char *)&myaddr, 0, sizeof(myaddr));
myaddr.sin_family = AF_INET;
myaddr.sin_addr.s_addr = htonl(INADDR_ANY);
myaddr.sin_port = htons(port);
if (bind(fd, (struct sockaddr *)&myaddr, sizeof(myaddr)) < 0) {
printf("bind failed\n");
return;
}
for (;;) {
len = recvfrom(fd, buf, buflen, 0, (struct sockaddr *)&srcaddr, &addrlen);
if (len > 0) {
writeidx = !_readidx;
buf[len] = 0;
printf("received: %s\n", buf);
// FIXME - temp hack to read data, not safe - bad bad bad
num = sscanf((const char *)buf, "%f,%f,%f,%f,%f,%f,%f,%f,%f",
&_gyro[writeidx].x, &_gyro[writeidx].y, &_gyro[writeidx].z,
&_accel[writeidx].x, &_accel[writeidx].y, &_accel[writeidx].z,
&_mag[writeidx].x, &_mag[writeidx].y, &_mag[writeidx].z);
if (num != 9) {
printf("Only read %d items\n", num);
}
else {
// Swap read and write buffers
write_lock();
_readidx = !_readidx;
write_unlock();
}
}
}
}
void Simulator::read_lock()
{
sem_wait(&_lock);
}
void Simulator::read_unlock()
{
sem_post(&_lock);
}
void Simulator::write_lock()
{
for (int i=0; i<_max_readers; i++) {
sem_wait(&_lock);
}
}
void Simulator::write_unlock()
{
for (int i=0; i<_max_readers; i++) {
sem_post(&_lock);
}
}
extern "C" {
int simulator_main(int argc, char *argv[])
{
return (int)(px4_task_spawn_cmd("Simulator",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
1500,
Simulator::start,
nullptr) < 0);
return 0;
}
}

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/****************************************************************************
*
* Copyright (c) 2015 Mark Charlebois. 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.
*
****************************************************************************/
/**
* @file simulator.h
* A device simulator
*/
#pragma once
#include <semaphore.h>
class Simulator {
public:
static Simulator *getInstance();
enum sim_dev_t {
SIM_GYRO,
SIM_ACCEL,
SIM_MAG
};
struct sample {
float x;
float y;
float z;
sample() : x(0), y(0), z(0) {}
sample(float a, float b, float c) : x(a), y(b), z(c) {}
};
static int start(int argc, char *argv[]);
int getSample(sim_dev_t dev, sample &val);
private:
Simulator();
~Simulator() { _instance=NULL; }
void updateSamples();
void read_lock();
void read_unlock();
void write_lock();
void write_unlock();
int _readidx;
sample _accel[2];
sample _gyro[2];
sample _mag[2];
static Simulator *_instance;
sem_t _lock;
const int _max_readers;
};