mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
d32a80df3a
- this is one of the last pieces of the system that still depend on DriverFramework - add new SIM_GPS_NOISE_X parameter for optionally increasing the GPS noise multiplier (was previously a gpssim command line option) - add SIM_x_BLOCK parameters to block sensor publication - SIM_GPS_BLOCK - SIM_ACCEL_BLOCK - SIM_GYRO_BLOCK - SIM_MAG_BLOCK - SIM_BARO_BLOCK - SIM_DPRES_BLOCK
153 lines
4.2 KiB
C++
153 lines
4.2 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2015 Mark Charlebois. All rights reserved.
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* Copyright (c) 2016-2019 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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/**
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* @file simulator.cpp
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*
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* This module interfaces via MAVLink to a software in the loop simulator (SITL)
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* such as jMAVSim or Gazebo.
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*/
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#include <px4_platform_common/log.h>
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#include <px4_platform_common/tasks.h>
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#include <px4_platform_common/time.h>
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#include <systemlib/err.h>
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#include <drivers/drv_board_led.h>
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#include "simulator.h"
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static px4_task_t g_sim_task = -1;
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Simulator *Simulator::_instance = nullptr;
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void Simulator::parameters_update(bool force)
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{
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// check for parameter updates
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if (_parameter_update_sub.updated() || force) {
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// clear update
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parameter_update_s pupdate;
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_parameter_update_sub.copy(&pupdate);
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// update parameters from storage
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updateParams();
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}
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}
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int Simulator::start(int argc, char *argv[])
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{
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_instance = new Simulator();
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if (_instance) {
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if (argc == 4 && strcmp(argv[2], "-u") == 0) {
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_instance->set_ip(InternetProtocol::UDP);
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_instance->set_port(atoi(argv[3]));
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}
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if (argc == 4 && strcmp(argv[2], "-c") == 0) {
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_instance->set_ip(InternetProtocol::TCP);
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_instance->set_port(atoi(argv[3]));
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}
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#ifndef __PX4_QURT
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_instance->run();
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#endif
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return 0;
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} else {
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PX4_WARN("Simulator creation failed");
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return 1;
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}
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}
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static void usage()
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{
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PX4_INFO("Usage: simulator {start -[spt] [-u udp_port / -c tcp_port] |stop}");
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PX4_INFO("Start simulator: simulator start");
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PX4_INFO("Connect using UDP: simulator start -u udp_port");
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PX4_INFO("Connect using TCP: simulator start -c tcp_port");
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}
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__BEGIN_DECLS
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extern int simulator_main(int argc, char *argv[]);
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__END_DECLS
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int simulator_main(int argc, char *argv[])
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{
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if (argc > 1 && strcmp(argv[1], "start") == 0) {
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if (g_sim_task >= 0) {
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PX4_WARN("Simulator already started");
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return 0;
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}
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g_sim_task = px4_task_spawn_cmd("simulator",
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SCHED_DEFAULT,
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SCHED_PRIORITY_DEFAULT,
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1500,
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Simulator::start,
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argv);
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#if !defined(__PX4_QURT) && defined(ENABLE_LOCKSTEP_SCHEDULER)
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// We want to prevent the rest of the startup script from running until time
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// is initialized by the HIL_SENSOR messages from the simulator.
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while (true) {
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if (Simulator::getInstance() && Simulator::getInstance()->has_initialized()) {
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break;
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}
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system_usleep(100);
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}
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#endif
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} else if (argc == 2 && strcmp(argv[1], "stop") == 0) {
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if (g_sim_task < 0) {
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PX4_WARN("Simulator not running");
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return 1;
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} else {
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px4_task_delete(g_sim_task);
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g_sim_task = -1;
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}
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} else {
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usage();
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return 1;
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}
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return 0;
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}
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