mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-18 18:40:35 +08:00
cmake remove circular linking and reorganize
- px4_add_module now requires MAIN - px4_add_library doesn't automatically link
This commit is contained in:
Daniel Agar
@@ -0,0 +1,633 @@
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/****************************************************************************
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*
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* Copyright (c) 2015 Roman Bapst. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
|
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* modification, are permitted provided that the following conditions
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||||
* are met:
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||||
*
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||||
* 1. Redistributions of source code must retain the above copyright
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||||
* notice, this list of conditions and the following disclaimer.
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||||
* 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
|
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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||||
* 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
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||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file gpssim.cpp
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* Simulated GPS driver
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*/
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#include <sys/types.h>
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#include <px4_defines.h>
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#include <px4_getopt.h>
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#include <inttypes.h>
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#include <stdio.h>
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#include <stdbool.h>
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#include <stdlib.h>
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#include <semaphore.h>
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#include <string.h>
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#include <fcntl.h>
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#include <poll.h>
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#include <errno.h>
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#include <stdio.h>
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#include <random>
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#include <math.h>
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#include <unistd.h>
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#include <fcntl.h>
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#include <px4_config.h>
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#include <px4_tasks.h>
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#include <drivers/drv_hrt.h>
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#include <drivers/device/device.h>
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#include <drivers/drv_gps.h>
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#include <uORB/uORB.h>
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#include <uORB/topics/vehicle_gps_position.h>
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#include <uORB/topics/satellite_info.h>
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#include <simulator/simulator.h>
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#include "DevMgr.hpp"
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#include "VirtDevObj.hpp"
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using namespace DriverFramework;
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#define GPS_DRIVER_MODE_UBX_SIM
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#define GPSSIM_DEVICE_PATH "/dev/gpssim"
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#define TIMEOUT_100MS 100000
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#define RATE_MEASUREMENT_PERIOD 5000000
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/* class for dynamic allocation of satellite info data */
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class GPS_Sat_Info
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{
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public:
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struct satellite_info_s _data;
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};
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class GPSSIM : public VirtDevObj
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{
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public:
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GPSSIM(const char *uart_path, bool fake_gps, bool enable_sat_info,
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int fix_type, int num_sat, int noise_multiplier);
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virtual ~GPSSIM();
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virtual int init();
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virtual int devIOCTL(unsigned long cmd, unsigned long arg);
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void set(int fix_type, int num_sat, int noise_multiplier);
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/**
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* Diagnostics - print some basic information about the driver.
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*/
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void print_info();
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protected:
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virtual void _measure() {}
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private:
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bool _task_should_exit; ///< flag to make the main worker task exit
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int _serial_fd; ///< serial interface to GPS
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unsigned _baudrate; ///< current baudrate
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char _port[20]; ///< device / serial port path
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volatile int _task; ///< worker task
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bool _healthy; ///< flag to signal if the GPS is ok
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bool _baudrate_changed; ///< flag to signal that the baudrate with the GPS has changed
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bool _mode_changed; ///< flag that the GPS mode has changed
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//gps_driver_mode_t _mode; ///< current mode
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GPS_Sat_Info *_Sat_Info; ///< instance of GPS sat info data object
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struct vehicle_gps_position_s _report_gps_pos; ///< uORB topic for gps position
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orb_advert_t _report_gps_pos_pub; ///< uORB pub for gps position
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struct satellite_info_s *_p_report_sat_info; ///< pointer to uORB topic for satellite info
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orb_advert_t _report_sat_info_pub; ///< uORB pub for satellite info
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float _rate; ///< position update rate
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SyncObj _sync;
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int _fix_type;
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int _num_sat;
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int _noise_multiplier;
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std::default_random_engine _gen;
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/**
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* Try to configure the GPS, handle outgoing communication to the GPS
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*/
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void config();
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/**
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* Trampoline to the worker task
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*/
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static void task_main_trampoline(void *arg);
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/**
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* Worker task: main GPS thread that configures the GPS and parses incoming data, always running
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*/
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void task_main();
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/**
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* Set the baudrate of the UART to the GPS
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*/
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int set_baudrate(unsigned baud);
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/**
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* Send a reset command to the GPS
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*/
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void cmd_reset();
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int receive(int timeout);
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};
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/*
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* Driver 'main' command.
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*/
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extern "C" __EXPORT int gpssim_main(int argc, char *argv[]);
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namespace
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{
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GPSSIM *g_dev = nullptr;
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}
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GPSSIM::GPSSIM(const char *uart_path, bool fake_gps, bool enable_sat_info,
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int fix_type, int num_sat, int noise_multiplier) :
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VirtDevObj("gps", GPSSIM_DEVICE_PATH, nullptr, 1e6 / 10),
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_task_should_exit(false),
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//_healthy(false),
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//_mode_changed(false),
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//_mode(GPS_DRIVER_MODE_UBX),
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//_Helper(nullptr),
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_Sat_Info(nullptr),
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_report_gps_pos_pub(nullptr),
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_p_report_sat_info(nullptr),
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_report_sat_info_pub(nullptr),
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_rate(0.0f),
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_fix_type(fix_type),
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_num_sat(num_sat),
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_noise_multiplier(noise_multiplier)
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{
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// /* store port name */
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// strncpy(_port, uart_path, sizeof(_port));
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// /* enforce null termination */
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// _port[sizeof(_port) - 1] = '\0';
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/* we need this potentially before it could be set in task_main */
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g_dev = this;
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memset(&_report_gps_pos, 0, sizeof(_report_gps_pos));
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/* create satellite info data object if requested */
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if (enable_sat_info) {
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_Sat_Info = new (GPS_Sat_Info);
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_p_report_sat_info = &_Sat_Info->_data;
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memset(_p_report_sat_info, 0, sizeof(*_p_report_sat_info));
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}
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}
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GPSSIM::~GPSSIM()
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{
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delete _Sat_Info;
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/* tell the task we want it to go away */
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_task_should_exit = true;
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/* spin waiting for the task to stop */
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for (unsigned i = 0; (i < 10) && (_task != -1); i++) {
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/* give it another 100ms */
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usleep(100000);
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}
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/* well, kill it anyway, though this will probably crash */
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if (_task != -1) {
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px4_task_delete(_task);
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}
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g_dev = nullptr;
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}
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int
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GPSSIM::init()
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{
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int ret = PX4_ERROR;
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/* do regular cdev init */
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if (VirtDevObj::init() != OK) {
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goto out;
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}
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/* start the GPS driver worker task */
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_task = px4_task_spawn_cmd("gps", SCHED_DEFAULT,
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SCHED_PRIORITY_DEFAULT, 1500, (px4_main_t)&GPSSIM::task_main_trampoline, nullptr);
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if (_task < 0) {
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PX4_ERR("task start failed: %d", errno);
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return -errno;
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}
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ret = OK;
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out:
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return ret;
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}
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int
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GPSSIM::devIOCTL(unsigned long cmd, unsigned long arg)
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{
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_sync.lock();
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int ret = OK;
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switch (cmd) {
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case SENSORIOCRESET:
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cmd_reset();
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break;
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default:
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/* give it to parent if no one wants it */
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ret = VirtDevObj::devIOCTL(cmd, arg);
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break;
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}
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_sync.unlock();
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return ret;
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}
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void
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GPSSIM::task_main_trampoline(void *arg)
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{
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g_dev->task_main();
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}
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int
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GPSSIM::receive(int timeout)
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{
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Simulator *sim = Simulator::getInstance();
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simulator::RawGPSData gps;
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sim->getGPSSample((uint8_t *)&gps, sizeof(gps));
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static int64_t timestamp_last = 0;
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if (gps.timestamp != timestamp_last) {
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_report_gps_pos.timestamp = hrt_absolute_time();
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_report_gps_pos.lat = gps.lat;
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_report_gps_pos.lon = gps.lon;
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_report_gps_pos.alt = gps.alt;
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_report_gps_pos.eph = (float)gps.eph * 1e-2f;
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_report_gps_pos.epv = (float)gps.epv * 1e-2f;
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_report_gps_pos.vel_m_s = (float)(gps.vel) / 100.0f;
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_report_gps_pos.vel_n_m_s = (float)(gps.vn) / 100.0f;
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_report_gps_pos.vel_e_m_s = (float)(gps.ve) / 100.0f;
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_report_gps_pos.vel_d_m_s = (float)(gps.vd) / 100.0f;
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_report_gps_pos.cog_rad = (float)(gps.cog) * 3.1415f / (100.0f * 180.0f);
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_report_gps_pos.fix_type = gps.fix_type;
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_report_gps_pos.satellites_used = gps.satellites_visible;
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timestamp_last = gps.timestamp;
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// check for data set by the user
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_report_gps_pos.fix_type = (_fix_type < 0) ? _report_gps_pos.fix_type : _fix_type;
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_report_gps_pos.satellites_used = (_num_sat < 0) ? _report_gps_pos.satellites_used : _num_sat;
|
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// use normal distribution for noise
|
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std::normal_distribution<float> normal_distribution(0.0f, 1.0f);
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_report_gps_pos.lat += (int32_t)(_noise_multiplier * normal_distribution(_gen));
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_report_gps_pos.lon += (int32_t)(_noise_multiplier * normal_distribution(_gen));
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||||
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return 1;
|
||||
|
||||
} else {
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||||
|
||||
usleep(timeout);
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||||
return 0;
|
||||
}
|
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}
|
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|
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void
|
||||
GPSSIM::task_main()
|
||||
{
|
||||
/* loop handling received serial bytes and also configuring in between */
|
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while (!_task_should_exit) {
|
||||
|
||||
// GPS is obviously detected successfully, reset statistics
|
||||
//_Helper->reset_update_rates();
|
||||
|
||||
int recv_ret = receive(TIMEOUT_100MS);
|
||||
|
||||
if (recv_ret > 0) {
|
||||
|
||||
/* opportunistic publishing - else invalid data would end up on the bus */
|
||||
if (_report_gps_pos_pub != nullptr) {
|
||||
orb_publish(ORB_ID(vehicle_gps_position), _report_gps_pos_pub, &_report_gps_pos);
|
||||
|
||||
} else {
|
||||
_report_gps_pos_pub = orb_advertise(ORB_ID(vehicle_gps_position), &_report_gps_pos);
|
||||
}
|
||||
|
||||
if (_p_report_sat_info) {
|
||||
if (_report_sat_info_pub != nullptr) {
|
||||
orb_publish(ORB_ID(satellite_info), _report_sat_info_pub, _p_report_sat_info);
|
||||
|
||||
} else {
|
||||
_report_sat_info_pub = orb_advertise(ORB_ID(satellite_info), _p_report_sat_info);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
PX4_INFO("exiting");
|
||||
|
||||
/* tell the dtor that we are exiting */
|
||||
_task = -1;
|
||||
}
|
||||
|
||||
|
||||
|
||||
void
|
||||
GPSSIM::cmd_reset()
|
||||
{
|
||||
}
|
||||
|
||||
void
|
||||
GPSSIM::print_info()
|
||||
{
|
||||
//GPS Mode
|
||||
PX4_INFO("protocol: SIM");
|
||||
|
||||
PX4_INFO("port: %s, baudrate: %d, status: %s", _port, _baudrate, (_healthy) ? "OK" : "NOT OK");
|
||||
PX4_INFO("sat info: %s, noise: %d, jamming detected: %s",
|
||||
(_p_report_sat_info != nullptr) ? "enabled" : "disabled",
|
||||
_report_gps_pos.noise_per_ms,
|
||||
_report_gps_pos.jamming_indicator == 255 ? "YES" : "NO");
|
||||
|
||||
if (_report_gps_pos.timestamp != 0) {
|
||||
print_message(_report_gps_pos);
|
||||
}
|
||||
|
||||
usleep(100000);
|
||||
}
|
||||
|
||||
void
|
||||
GPSSIM::set(int fix_type, int num_sat, int noise_multiplier)
|
||||
{
|
||||
_fix_type = fix_type;
|
||||
_num_sat = num_sat;
|
||||
_noise_multiplier = noise_multiplier;
|
||||
PX4_INFO("Parameters set");
|
||||
}
|
||||
|
||||
/**
|
||||
* Local functions in support of the shell command.
|
||||
*/
|
||||
namespace gpssim
|
||||
{
|
||||
|
||||
GPSSIM *g_dev = nullptr;
|
||||
|
||||
void start(const char *uart_path, bool fake_gps, bool enable_sat_info,
|
||||
int fix_type, int num_sat, int noise_multiplier);
|
||||
void stop();
|
||||
void test();
|
||||
void reset();
|
||||
void info();
|
||||
void usage(const char *reason);
|
||||
|
||||
/**
|
||||
* Start the driver.
|
||||
*/
|
||||
void
|
||||
start(const char *uart_path, bool fake_gps, bool enable_sat_info, int fix_type, int num_sat, int noise_multiplier)
|
||||
{
|
||||
DevHandle h;
|
||||
|
||||
/* create the driver */
|
||||
g_dev = new GPSSIM(uart_path, fake_gps, enable_sat_info, fix_type, num_sat, noise_multiplier);
|
||||
|
||||
if (g_dev == nullptr) {
|
||||
goto fail;
|
||||
}
|
||||
|
||||
if (OK != g_dev->init()) {
|
||||
goto fail;
|
||||
}
|
||||
|
||||
/* set the poll rate to default, starts automatic data collection */
|
||||
DevMgr::getHandle(GPSSIM_DEVICE_PATH, h);
|
||||
|
||||
if (!h.isValid()) {
|
||||
PX4_ERR("getHandle failed: %s", GPSSIM_DEVICE_PATH);
|
||||
goto fail;
|
||||
}
|
||||
|
||||
return;
|
||||
|
||||
fail:
|
||||
|
||||
if (g_dev != nullptr) {
|
||||
delete g_dev;
|
||||
g_dev = nullptr;
|
||||
}
|
||||
|
||||
PX4_ERR("start failed");
|
||||
}
|
||||
|
||||
/**
|
||||
* Stop the driver.
|
||||
*/
|
||||
void
|
||||
stop()
|
||||
{
|
||||
delete g_dev;
|
||||
g_dev = nullptr;
|
||||
}
|
||||
|
||||
/**
|
||||
* Perform some basic functional tests on the driver;
|
||||
* make sure we can collect data from the sensor in polled
|
||||
* and automatic modes.
|
||||
*/
|
||||
void
|
||||
test()
|
||||
{
|
||||
PX4_INFO("PASS");
|
||||
}
|
||||
|
||||
/**
|
||||
* Reset the driver.
|
||||
*/
|
||||
void
|
||||
reset()
|
||||
{
|
||||
DevHandle h;
|
||||
DevMgr::getHandle(GPSSIM_DEVICE_PATH, h);
|
||||
|
||||
if (!h.isValid()) {
|
||||
PX4_ERR("failed ");
|
||||
}
|
||||
|
||||
if (h.ioctl(SENSORIOCRESET, 0) < 0) {
|
||||
PX4_ERR("reset failed");
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Print the status of the driver.
|
||||
*/
|
||||
void
|
||||
info()
|
||||
{
|
||||
if (g_dev == nullptr) {
|
||||
PX4_ERR("gpssim not running");
|
||||
return;
|
||||
}
|
||||
|
||||
g_dev->print_info();
|
||||
}
|
||||
|
||||
void
|
||||
usage(const char *reason)
|
||||
{
|
||||
if (reason) {
|
||||
PX4_WARN("%s", reason);
|
||||
}
|
||||
|
||||
PX4_INFO("usage:");
|
||||
PX4_INFO("gpssim {start|stop|test|reset|status|set}");
|
||||
PX4_INFO(" [-d /dev/ttyS0-n][-f (for enabling fake)][-s (to enable sat info)]");
|
||||
PX4_INFO(" [-t # (for setting fix_type)][-n # (for setting # satellites)][-m # (for setting noise multiplier [scalar] for normal distribution)]");
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
||||
|
||||
|
||||
int
|
||||
gpssim_main(int argc, char *argv[])
|
||||
{
|
||||
// set to default
|
||||
const char *device_name = GPS_DEFAULT_UART_PORT;
|
||||
bool fake_gps = false;
|
||||
bool enable_sat_info = false;
|
||||
int fix_type = -1;
|
||||
int num_sat = -1;
|
||||
int noise_multiplier = 0;
|
||||
|
||||
// check for optional arguments
|
||||
int ch;
|
||||
int myoptind = 1;
|
||||
const char *myoptarg = nullptr;
|
||||
|
||||
while ((ch = px4_getopt(argc, argv, "d:fst:n:m:", &myoptind, &myoptarg)) != EOF) {
|
||||
switch (ch) {
|
||||
case 'd':
|
||||
device_name = myoptarg;
|
||||
PX4_INFO("Using device %s", device_name);
|
||||
break;
|
||||
|
||||
case 'f':
|
||||
fake_gps = true;
|
||||
PX4_INFO("Using fake GPS");
|
||||
break;
|
||||
|
||||
case 's':
|
||||
enable_sat_info = true;
|
||||
PX4_INFO("Satellite info enabled");
|
||||
break;
|
||||
|
||||
case 't':
|
||||
fix_type = atoi(myoptarg);
|
||||
PX4_INFO("Setting fix_type to %d", fix_type);
|
||||
break;
|
||||
|
||||
case 'n':
|
||||
num_sat = atoi(myoptarg);
|
||||
PX4_INFO("Setting number of satellites to %d", num_sat);
|
||||
break;
|
||||
|
||||
case 'm':
|
||||
noise_multiplier = atoi(myoptarg);
|
||||
PX4_INFO("Setting noise multiplier to %d", noise_multiplier);
|
||||
break;
|
||||
|
||||
default:
|
||||
PX4_WARN("Unknown option!");
|
||||
}
|
||||
}
|
||||
|
||||
if (myoptind >= argc) {
|
||||
gpssim::usage("not enough arguments supplied");
|
||||
return 1;
|
||||
}
|
||||
|
||||
/*
|
||||
* Start/load the driver.
|
||||
*/
|
||||
if (!strcmp(argv[myoptind], "start")) {
|
||||
if (g_dev != nullptr) {
|
||||
PX4_WARN("already started");
|
||||
return 0;
|
||||
}
|
||||
|
||||
gpssim::start(device_name, fake_gps, enable_sat_info, fix_type, num_sat, noise_multiplier);
|
||||
return 0;
|
||||
}
|
||||
|
||||
/* The following need gpssim running. */
|
||||
if (g_dev == nullptr) {
|
||||
PX4_WARN("not running");
|
||||
return 1;
|
||||
}
|
||||
|
||||
if (!strcmp(argv[myoptind], "stop")) {
|
||||
gpssim::stop();
|
||||
}
|
||||
|
||||
/*
|
||||
* Test the driver/device.
|
||||
*/
|
||||
if (!strcmp(argv[myoptind], "test")) {
|
||||
gpssim::test();
|
||||
}
|
||||
|
||||
/*
|
||||
* Reset the driver.
|
||||
*/
|
||||
if (!strcmp(argv[myoptind], "reset")) {
|
||||
gpssim::reset();
|
||||
}
|
||||
|
||||
/*
|
||||
* Print driver status.
|
||||
*/
|
||||
if (!strcmp(argv[myoptind], "status")) {
|
||||
gpssim::info();
|
||||
}
|
||||
|
||||
/*
|
||||
* Set parameters
|
||||
*/
|
||||
if (!strcmp(argv[myoptind], "set")) {
|
||||
g_dev->set(fix_type, num_sat, noise_multiplier);
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
Reference in New Issue
Block a user