Simulation: add SystemPowerSimulator to publish SystemPower.msg in sim

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -247,6 +247,8 @@ then
 	battery_simulator start
 fi
 
+system_power_simulator start
+
 tone_alarm start
 rc_update start
 manual_control start

src/modules/simulation/Kconfig

@@ -9,6 +9,7 @@ menu "Simulation"
         select MODULES_SIMULATION_SENSOR_BARO_SIM
         select MODULES_SIMULATION_SENSOR_GPS_SIM
         select MODULES_SIMULATION_SENSOR_MAG_SIM
+        select MODULES_SIMULATION_SYSTEM_POWER_SIMULATOR
         select MODULES_SIMULATION_SIMULATOR_MAVLINK
         select MODULES_SIMULATION_SIMULATOR_SIH
         ---help---

src/modules/simulation/system_power_simulator/CMakeLists.txt

@@ -0,0 +1,43 @@
+############################################################################
+#
+#   Copyright (c) 2024 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.
+#
+############################################################################
+
+px4_add_module(
+	MODULE modules__simulation__system_power_simulator
+	MAIN system_power_simulator
+	COMPILE_FLAGS
+	SRCS
+		SystemPowerSimulator.cpp
+		SystemPowerSimulator.hpp
+	DEPENDS
+		px4_work_queue
+	)

src/modules/simulation/system_power_simulator/Kconfig

@@ -0,0 +1,5 @@
+menuconfig MODULES_SIMULATION_SYSTEM_POWER_SIMULATOR
+	bool "system_power_simulator"
+	default n
+	---help---
+		Enable support for system_power_simulator

src/modules/simulation/system_power_simulator/SystemPowerSimulator.cpp

@@ -0,0 +1,131 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2024 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.
+ *
+ ****************************************************************************/
+
+#include "SystemPowerSimulator.hpp"
+
+SystemPowerSimulator::SystemPowerSimulator() :
+	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default)
+{
+}
+
+SystemPowerSimulator::~SystemPowerSimulator()
+{
+	perf_free(_loop_perf);
+}
+
+bool SystemPowerSimulator::init()
+{
+	ScheduleOnInterval(SYSTEM_POWER_SIMLATOR_SAMPLE_INTERVAL_US);
+	return true;
+}
+
+void SystemPowerSimulator::Run()
+{
+	if (should_exit()) {
+		ScheduleClear();
+		exit_and_cleanup();
+		return;
+	}
+
+	perf_begin(_loop_perf);
+
+	const hrt_abstime now_us = hrt_absolute_time();
+
+	// system power
+	system_power_s sim_system_power{};
+
+	sim_system_power.timestamp = now_us;
+	sim_system_power.voltage5v_v = 5.f;
+	sim_system_power.usb_connected = false;
+	sim_system_power.hipower_5v_oc = false;
+	sim_system_power.periph_5v_oc = false;
+	sim_system_power.brick_valid = 1;
+
+	_system_power_pub.publish(sim_system_power);
+
+	perf_end(_loop_perf);
+}
+
+int SystemPowerSimulator::task_spawn(int argc, char *argv[])
+{
+	SystemPowerSimulator *instance = new SystemPowerSimulator();
+
+	if (instance) {
+		_object.store(instance);
+		_task_id = task_id_is_work_queue;
+
+		if (instance->init()) {
+			return PX4_OK;
+		}
+
+	} else {
+		PX4_ERR("alloc failed");
+	}
+
+	delete instance;
+	_object.store(nullptr);
+	_task_id = -1;
+
+	return PX4_ERROR;
+}
+
+int SystemPowerSimulator::custom_command(int argc, char *argv[])
+{
+	return print_usage("unknown command");
+}
+
+
+int SystemPowerSimulator::print_usage(const char *reason)
+{
+	if (reason) {
+		PX4_WARN("%s\n", reason);
+	}
+
+	PRINT_MODULE_DESCRIPTION(
+		R"DESCR_STR(
+### Description
+
+
+)DESCR_STR");
+
+	PRINT_MODULE_USAGE_NAME("system_power_simulation", "system");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+
+	return 0;
+}
+
+extern "C" __EXPORT int system_power_simulator_main(int argc, char *argv[])
+{
+	return SystemPowerSimulator::main(argc, argv);
+}

src/modules/simulation/system_power_simulator/SystemPowerSimulator.hpp

@@ -0,0 +1,73 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2024 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 <lib/perf/perf_counter.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+#include <uORB/Publication.hpp>
+#include <uORB/Subscription.hpp>
+#include <uORB/SubscriptionInterval.hpp>
+#include <uORB/topics/system_power.h>
+
+using namespace time_literals;
+
+class SystemPowerSimulator : public ModuleBase<SystemPowerSimulator>, public px4::ScheduledWorkItem
+{
+public:
+	SystemPowerSimulator();
+	~SystemPowerSimulator() override;
+
+	/** @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);
+
+	bool init();
+
+private:
+	void Run() override;
+
+	static constexpr uint32_t SYSTEM_POWER_SIMLATOR_SAMPLE_FREQUENCY_HZ = 100; // Hz
+	static constexpr uint32_t SYSTEM_POWER_SIMLATOR_SAMPLE_INTERVAL_US = 1_s / SYSTEM_POWER_SIMLATOR_SAMPLE_FREQUENCY_HZ;
+
+	uORB::Publication<system_power_s> _system_power_pub{ORB_ID(system_power)};
+
+	perf_counter_t	_loop_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};
+};