PX4-Autopilot/src/modules/simulation/sensor_gps_sim/SensorGpsSim.cpp

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#include "SensorGpsSim.hpp"

#include <drivers/drv_sensor.h>
#include <lib/drivers/device/Device.hpp>
#include <lib/geo/geo.h>

using namespace matrix;

SensorGpsSim::SensorGpsSim() :
	ModuleParams(nullptr),
	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default)
{
}

SensorGpsSim::~SensorGpsSim()
{
	perf_free(_loop_perf);
}

bool SensorGpsSim::init()
{
	ScheduleOnInterval(125_ms); // 8 Hz
	return true;
}

float SensorGpsSim::generate_wgn()
{
	// generate white Gaussian noise sample with std=1

	// algorithm 1:
	// float temp=((float)(rand()+1))/(((float)RAND_MAX+1.0f));
	// return sqrtf(-2.0f*logf(temp))*cosf(2.0f*M_PI_F*rand()/RAND_MAX);
	// algorithm 2: from BlockRandGauss.hpp
	static float V1, V2, S;
	static bool phase = true;
	float X;

	if (phase) {
		do {
			float U1 = (float)rand() / (float)RAND_MAX;
			float U2 = (float)rand() / (float)RAND_MAX;
			V1 = 2.0f * U1 - 1.0f;
			V2 = 2.0f * U2 - 1.0f;
			S = V1 * V1 + V2 * V2;
		} while (S >= 1.0f || fabsf(S) < 1e-8f);

		X = V1 * float(sqrtf(-2.0f * float(logf(S)) / S));

	} else {
		X = V2 * float(sqrtf(-2.0f * float(logf(S)) / S));
	}

	phase = !phase;
	return X;
}

void SensorGpsSim::Run()
{
	if (should_exit()) {
		ScheduleClear();
		exit_and_cleanup();
		return;
	}

	perf_begin(_loop_perf);

	// Check if parameters have changed
	if (_parameter_update_sub.updated()) {
		// clear update
		parameter_update_s param_update;
		_parameter_update_sub.copy(&param_update);

		updateParams();
	}

	if (_vehicle_local_position_sub.updated() && _vehicle_global_position_sub.updated()) {

		check_failure_injection();

		// PX4_INFO("gps blocked: %d", (int) _gps_blocked);

		if (!_gps_blocked) {

			vehicle_local_position_s lpos{};
			_vehicle_local_position_sub.copy(&lpos);

			vehicle_global_position_s gpos{};
			_vehicle_global_position_sub.copy(&gpos);

			double latitude = gpos.lat + math::degrees((double)generate_wgn() * 0.2 / CONSTANTS_RADIUS_OF_EARTH);
			double longitude = gpos.lon + math::degrees((double)generate_wgn() * 0.2 / CONSTANTS_RADIUS_OF_EARTH);
			double altitude = (double)(gpos.alt + (generate_wgn() * 0.5f));

			Vector3f gps_vel = Vector3f{lpos.vx, lpos.vy, lpos.vz} + noiseGauss3f(0.06f, 0.077f, 0.158f);

			// device id
			device::Device::DeviceId device_id;
			device_id.devid_s.bus_type = device::Device::DeviceBusType::DeviceBusType_SIMULATION;
			device_id.devid_s.bus = 0;
			device_id.devid_s.address = 0;
			device_id.devid_s.devtype = DRV_GPS_DEVTYPE_SIM;

			sensor_gps_s sensor_gps{};

			if (_sim_gps_used.get() >= 4) {
				// fix
				sensor_gps.fix_type = 3; // 3D fix
				sensor_gps.s_variance_m_s = 0.4f;
				sensor_gps.c_variance_rad = 0.1f;
				sensor_gps.eph = 0.9f;
				sensor_gps.epv = 1.78f;
				sensor_gps.hdop = 0.7f;
				sensor_gps.vdop = 1.1f;

			} else {
				// no fix
				sensor_gps.fix_type = 0; // No fix
				sensor_gps.s_variance_m_s = 100.f;
				sensor_gps.c_variance_rad = 100.f;
				sensor_gps.eph = 100.f;
				sensor_gps.epv = 100.f;
				sensor_gps.hdop = 100.f;
				sensor_gps.vdop = 100.f;
			}

			sensor_gps.timestamp_sample = gpos.timestamp_sample;
			sensor_gps.time_utc_usec = 0;
			sensor_gps.device_id = device_id.devid;
			sensor_gps.latitude_deg = latitude; // Latitude in degrees
			sensor_gps.longitude_deg = longitude; // Longitude in degrees
			sensor_gps.altitude_msl_m = altitude; // Altitude in meters above MSL
			sensor_gps.altitude_ellipsoid_m = altitude;
			sensor_gps.noise_per_ms = 0;
			sensor_gps.jamming_indicator = 0;
			sensor_gps.vel_m_s = sqrtf(gps_vel(0) * gps_vel(0) + gps_vel(1) * gps_vel(1)); // GPS ground speed, (metres/sec)
			sensor_gps.vel_n_m_s = gps_vel(0);
			sensor_gps.vel_e_m_s = gps_vel(1);
			sensor_gps.vel_d_m_s = gps_vel(2);
			sensor_gps.cog_rad = atan2(gps_vel(1),
						gps_vel(0)); // Course over ground (NOT heading, but direction of movement), -PI..PI, (radians)
			sensor_gps.timestamp_time_relative = 0;
			sensor_gps.heading = NAN;
			sensor_gps.heading_offset = NAN;
			sensor_gps.heading_accuracy = 0;
			sensor_gps.automatic_gain_control = 0;
			sensor_gps.jamming_state = 0;
			sensor_gps.spoofing_state = 0;
			sensor_gps.vel_ned_valid = true;
			sensor_gps.satellites_used = _sim_gps_used.get();

			sensor_gps.timestamp = hrt_absolute_time();
			_sensor_gps_pub.publish(sensor_gps);
		}
	}

	perf_end(_loop_perf);
}

void SensorGpsSim::check_failure_injection()
{
	vehicle_command_s vehicle_command;
	// PX4_INFO("ENTERING check_failure_injection");

	while (_vehicle_command_sub.update(&vehicle_command)) {
		if (vehicle_command.command != vehicle_command_s::VEHICLE_CMD_INJECT_FAILURE) {
			continue;
		}

		bool handled = false;
		bool supported = false;

		const int failure_unit = static_cast<int>(vehicle_command.param1 + 0.5f);
		const int failure_type = static_cast<int>(vehicle_command.param2 + 0.5f);
		/// const int instance = static_cast<int>(vehicle_command.param3 + 0.5f);

		if (failure_unit == vehicle_command_s::FAILURE_UNIT_SENSOR_GPS) {
			handled = true;

			if (failure_type == vehicle_command_s::FAILURE_TYPE_OFF) {
				PX4_WARN("CMD_INJECT_FAILURE, GPS off");
				supported = true;
				_gps_blocked = true;

			} else if (failure_type == vehicle_command_s::FAILURE_TYPE_OK) {
				PX4_INFO("CMD_INJECT_FAILURE, GPS ok");
				supported = true;
				_gps_blocked = false;
			}
		}

		if (handled) {
			vehicle_command_ack_s ack{};
			ack.command = vehicle_command.command;
			ack.from_external = false;
			ack.result = supported ?
				     vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED :
				     vehicle_command_ack_s::VEHICLE_CMD_RESULT_UNSUPPORTED;
			ack.timestamp = hrt_absolute_time();
			_command_ack_pub.publish(ack);
		}
	}
}


int SensorGpsSim::task_spawn(int argc, char *argv[])
{
	SensorGpsSim *instance = new SensorGpsSim();

	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 SensorGpsSim::custom_command(int argc, char *argv[])
{
	return print_usage("unknown command");
}

int SensorGpsSim::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("sensor_gps_sim", "system");
	PRINT_MODULE_USAGE_COMMAND("start");
	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();

	return 0;
}

extern "C" __EXPORT int sensor_gps_sim_main(int argc, char *argv[])
{
	return SensorGpsSim::main(argc, argv);
}