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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
2015-04-20 11:35:49 -07:00
parent f00dc44475
commit ac1679dbc3
3 changed files with 315 additions and 0 deletions
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src/modules/simulator/simulator.h
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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;
};