mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-30 08:10:35 +08:00
Daniel Agar
4040e4cdf2
- new modules/simulation directory to collect all simulators and related modules - new Tools/simulation directory to collect and organize scattered simulation submodules, scripts, etc - simulation module renamed to simulator_mavlink - sih renamed to simulator_sih (not a great name, but I wanted to be clear it was a simulator) - ignition_simulator renamed to simulator_ignition_bridge - large sitl_target.cmake split by simulation option and in some cases pushed to appropriate modules - sitl targets broken down to what's actually available (eg jmavsim only has 1 model and 1 world) - new Gazebo consistently referred to as Ignition for now (probably the least confusing thing until we fully drop Gazebo classic support someday)
92 lines
3.5 KiB
C++
92 lines
3.5 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2020 PX4 Development Team. 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
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* notice, this list of conditions and the following disclaimer in
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* 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
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* 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
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* 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
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#pragma once
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#include <lib/battery/battery.h>
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#include <lib/perf/perf_counter.h>
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#include <px4_platform_common/defines.h>
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#include <px4_platform_common/module.h>
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#include <px4_platform_common/module_params.h>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <uORB/Publication.hpp>
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#include <uORB/Subscription.hpp>
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#include <uORB/SubscriptionInterval.hpp>
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#include <uORB/topics/battery_status.h>
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#include <uORB/topics/parameter_update.h>
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#include <uORB/topics/vehicle_status.h>
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using namespace time_literals;
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class BatterySimulator : public ModuleBase<BatterySimulator>, public ModuleParams, public px4::ScheduledWorkItem
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{
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public:
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BatterySimulator();
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~BatterySimulator() override;
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/** @see ModuleBase */
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static int task_spawn(int argc, char *argv[]);
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/** @see ModuleBase */
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static int custom_command(int argc, char *argv[]);
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/** @see ModuleBase */
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static int print_usage(const char *reason = nullptr);
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bool init();
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private:
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void Run() override;
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static constexpr uint32_t BATTERY_SIMLATOR_SAMPLE_FREQUENCY_HZ = 100; // Hz
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static constexpr uint32_t BATTERY_SIMLATOR_SAMPLE_INTERVAL_US = 1_s / BATTERY_SIMLATOR_SAMPLE_FREQUENCY_HZ;
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uORB::Publication<battery_status_s> _battery_pub{ORB_ID(battery_status)};
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uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
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uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
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Battery _battery;
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uint64_t _last_integration_us{0};
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float _battery_percentage{1.f};
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bool _armed{false};
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perf_counter_t _loop_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};
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DEFINE_PARAMETERS(
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(ParamFloat<px4::params::SIM_BAT_DRAIN>) _param_sim_bat_drain, ///< battery drain interval
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(ParamFloat<px4::params::SIM_BAT_MIN_PCT>) _param_bat_min_pct //< minimum battery percentage
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)
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};
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