AP_HAL_SITL: change class name from SITL::SITL to SITL::SIM

libraries/AP_HAL_SITL/I2CDevice.cpp

@@ -60,7 +60,7 @@ uint8_t I2CBus::i2c_buscount;
 
 int I2CBus::_ioctl(uint8_t ioctl_number, void *data)
 {
-    SITL::SITL *sitl = AP::sitl();
+    SITL::SIM *sitl = AP::sitl();
     return sitl->i2c_ioctl(ioctl_number, data);
 }
 

libraries/AP_HAL_SITL/RCInput.cpp

@@ -48,7 +48,7 @@ uint16_t RCInput::read(uint8_t ch)
         return 0;
     }
 #ifdef SFML_JOYSTICK
-    SITL::SITL *_sitl = AP::sitl();
+    SITL::SIM *_sitl = AP::sitl();
     if (_sitl) {
         const sf::Joystick::Axis axis = sf::Joystick::Axis(_sitl->sfml_joystick_axis[ch].get());
         const unsigned int stickID = _sitl->sfml_joystick_id;
@@ -81,7 +81,7 @@ uint8_t RCInput::num_channels()
     if (using_rc_protocol) {
         return AP::RC().num_channels();
     }
-    SITL::SITL *_sitl = AP::sitl();
+    SITL::SIM *_sitl = AP::sitl();
     if (_sitl) {
 #ifdef SFML_JOYSTICK
         return (sf::Joystick::isConnected(_sitl->sfml_joystick_id.get())) ? ARRAY_SIZE(_sitl->sfml_joystick_axis) : 0;

libraries/AP_HAL_SITL/RCOutput.cpp

@@ -101,7 +101,7 @@ bool RCOutput::set_serial_led_num_LEDs(const uint16_t chan, uint8_t num_leds, ou
     if (chan > 15 || num_leds > 64) {
         return false;
     }
-    SITL::SITL *sitl = AP::sitl();
+    SITL::SIM *sitl = AP::sitl();
     if (sitl) {
         sitl->led.num_leds[chan] = num_leds;
         return true;
@@ -114,7 +114,7 @@ void RCOutput::set_serial_led_rgb_data(const uint16_t chan, int8_t led, uint8_t
     if (chan > 15) {
         return;
     }
-    SITL::SITL *sitl = AP::sitl();
+    SITL::SIM *sitl = AP::sitl();
     if (led == -1) {
         for (uint8_t i=0; i < sitl->led.num_leds[chan]; i++) {
             set_serial_led_rgb_data(chan, i, red, green, blue);
@@ -133,7 +133,7 @@ void RCOutput::set_serial_led_rgb_data(const uint16_t chan, int8_t led, uint8_t
 
 void RCOutput::serial_led_send(const uint16_t chan)
 {
-    SITL::SITL *sitl = AP::sitl();
+    SITL::SIM *sitl = AP::sitl();
     if (sitl) {
         sitl->led.send_counter++;
     }
@@ -143,7 +143,7 @@ void RCOutput::serial_led_send(const uint16_t chan)
 
 void RCOutput::force_safety_off(void)
 {
-    SITL::SITL *sitl = AP::sitl();
+    SITL::SIM *sitl = AP::sitl();
     if (sitl == nullptr) {
         return;
     }
@@ -152,7 +152,7 @@ void RCOutput::force_safety_off(void)
 
 bool RCOutput::force_safety_on(void)
 {
-    SITL::SITL *sitl = AP::sitl();
+    SITL::SIM *sitl = AP::sitl();
     if (sitl == nullptr) {
         return false;
     }

libraries/AP_HAL_SITL/SITL_State.cpp

@@ -162,7 +162,7 @@ void SITL_State::_fdm_input_step(void)
     }
 
     // simulate RC input at 50Hz
-    if (AP_HAL::millis() - last_pwm_input >= 20 && _sitl->rc_fail != SITL::SITL::SITL_RCFail_NoPulses) {
+    if (AP_HAL::millis() - last_pwm_input >= 20 && _sitl->rc_fail != SITL::SIM::SITL_RCFail_NoPulses) {
         last_pwm_input = AP_HAL::millis();
         new_rc_input = true;
     }
@@ -543,7 +543,7 @@ bool SITL_State::_read_rc_sitl_input()
             }
             uint16_t pwm = pwm_pkt.pwm[i];
             if (pwm != 0) {
-                if (_sitl->rc_fail == SITL::SITL::SITL_RCFail_Throttle950) {
+                if (_sitl->rc_fail == SITL::SIM::SITL_RCFail_Throttle950) {
                     if (i == 2) {
                         // set throttle (assumed to be on channel 3...)
                         pwm = 950;
@@ -624,7 +624,7 @@ void SITL_State::_fdm_input_local(void)
         sitl_model->fill_fdm(_sitl->state);
         _sitl->update_rate_hz = sitl_model->get_rate_hz();
 
-        if (_sitl->rc_fail == SITL::SITL::SITL_RCFail_None) {
+        if (_sitl->rc_fail == SITL::SIM::SITL_RCFail_None) {
             for (uint8_t i=0; i< _sitl->state.rcin_chan_count; i++) {
                 pwm_input[i] = 1000 + _sitl->state.rcin[i]*1000;
             }
@@ -788,17 +788,17 @@ void SITL_State::_simulator_servos(struct sitl_input &input)
         
         // pass wind into simulators using different wind types via param SIM_WIND_T*.
         switch (_sitl->wind_type) {
-        case SITL::SITL::WIND_TYPE_SQRT:
+        case SITL::SIM::WIND_TYPE_SQRT:
             if (altitude < _sitl->wind_type_alt) {
                 wind_speed *= sqrtf(MAX(altitude / _sitl->wind_type_alt, 0));
             }
             break;
 
-        case SITL::SITL::WIND_TYPE_COEF:
+        case SITL::SIM::WIND_TYPE_COEF:
             wind_speed += (altitude - _sitl->wind_type_alt) * _sitl->wind_type_coef;
             break;
 
-        case SITL::SITL::WIND_TYPE_NO_LIMIT:
+        case SITL::SIM::WIND_TYPE_NO_LIMIT:
         default:
             break;
         }

libraries/AP_HAL_SITL/SITL_State.h

@@ -180,7 +180,7 @@ private:
                      double speedN, double speedE, double speedD,
                      double yaw, bool have_lock);
     void _update_airspeed(float airspeed);
-    void _update_gps_instance(SITL::SITL::GPSType gps_type, const struct gps_data *d, uint8_t instance);
+    void _update_gps_instance(SITL::SIM::GPSType gps_type, const struct gps_data *d, uint8_t instance);
     void _check_rc_input(void);
     bool _read_rc_sitl_input();
     void _fdm_input_local(void);
@@ -204,7 +204,7 @@ private:
     Compass *_compass;
 
     SocketAPM _sitl_rc_in{true};
-    SITL::SITL *_sitl;
+    SITL::SIM *_sitl;
     uint16_t _rcin_port;
     uint16_t _fg_view_port;
     uint16_t _irlock_port;

libraries/AP_HAL_SITL/UARTDriver.cpp

@@ -683,7 +683,7 @@ void UARTDriver::_timer_tick(void)
     ssize_t nwritten;
     uint32_t max_bytes = 10000;
 #if !defined(HAL_BUILD_AP_PERIPH)
-    SITL::SITL *_sitl = AP::sitl();
+    SITL::SIM *_sitl = AP::sitl();
     if (_sitl && _sitl->telem_baudlimit_enable) {
         // limit byte rate to configured baudrate
         uint32_t now = AP_HAL::micros();

libraries/AP_HAL_SITL/Util.cpp

@@ -138,7 +138,7 @@ void *HALSITL::Util::heap_realloc(void *heap_ptr, void *ptr, size_t new_size)
 #if !defined(HAL_BUILD_AP_PERIPH)
 enum AP_HAL::Util::safety_state HALSITL::Util::safety_switch_state(void)
 {
-    const SITL::SITL *sitl = AP::sitl();
+    const SITL::SIM *sitl = AP::sitl();
     if (sitl == nullptr) {
         return AP_HAL::Util::SAFETY_NONE;
     }

libraries/AP_HAL_SITL/sitl_gps.cpp

@@ -421,7 +421,7 @@ void SITL_State::_update_gps_ubx(const struct gps_data *d, uint8_t instance)
     pvt.headVeh = 0;
     memset(pvt.reserved2, '\0', ARRAY_SIZE(pvt.reserved2));
 
-    if (_sitl->gps_hdg_enabled[instance] > SITL::SITL::GPS_HEADING_NONE) {
+    if (_sitl->gps_hdg_enabled[instance] > SITL::SIM::GPS_HEADING_NONE) {
         const Vector3f ant1_pos = _sitl->gps_pos_offset[instance^1].get();
         const Vector3f ant2_pos = _sitl->gps_pos_offset[instance].get();
         Vector3f rel_antenna_pos = ant2_pos - ant1_pos;
@@ -450,7 +450,7 @@ void SITL_State::_update_gps_ubx(const struct gps_data *d, uint8_t instance)
     _gps_send_ubx(MSG_SOL,    (uint8_t*)&sol, sizeof(sol), instance);
     _gps_send_ubx(MSG_DOP,    (uint8_t*)&dop, sizeof(dop), instance);
     _gps_send_ubx(MSG_PVT,    (uint8_t*)&pvt, sizeof(pvt), instance);
-    if (_sitl->gps_hdg_enabled[instance] > SITL::SITL::GPS_HEADING_NONE) {
+    if (_sitl->gps_hdg_enabled[instance] > SITL::SIM::GPS_HEADING_NONE) {
         _gps_send_ubx(MSG_RELPOSNED,    (uint8_t*)&relposned, sizeof(relposned), instance);
     }
 
@@ -744,10 +744,10 @@ void SITL_State::_update_gps_nmea(const struct gps_data *d, uint8_t instance)
                      heading,
                      dstring);
 
-    if (_sitl->gps_hdg_enabled[instance] == SITL::SITL::GPS_HEADING_HDT) {
+    if (_sitl->gps_hdg_enabled[instance] == SITL::SIM::GPS_HEADING_HDT) {
         _gps_nmea_printf(instance, "$GPHDT,%.2f,T", d->yaw);
     }
-    else if (_sitl->gps_hdg_enabled[instance] == SITL::SITL::GPS_HEADING_THS) {
+    else if (_sitl->gps_hdg_enabled[instance] == SITL::SIM::GPS_HEADING_THS) {
         _gps_nmea_printf(instance, "$GPTHS,%.2f,%c,T", d->yaw, d->have_lock ? 'A' : 'V');
     }
 }
@@ -1342,50 +1342,50 @@ void SITL_State::_update_gps(double latitude, double longitude, float altitude,
         d.altitude += glitch_offsets.z;
 
         if (gps_state[idx].gps_fd != 0) {
-            _update_gps_instance((SITL::SITL::GPSType)_sitl->gps_type[idx].get(), &d, idx);
+            _update_gps_instance((SITL::SIM::GPSType)_sitl->gps_type[idx].get(), &d, idx);
         }
     }
 }
 
-void SITL_State::_update_gps_instance(SITL::SITL::GPSType gps_type, const struct gps_data *data, uint8_t instance) {
+void SITL_State::_update_gps_instance(SITL::SIM::GPSType gps_type, const struct gps_data *data, uint8_t instance) {
     switch (gps_type) {
-        case SITL::SITL::GPS_TYPE_NONE:
+        case SITL::SIM::GPS_TYPE_NONE:
             // no GPS attached
             break;
 
-        case SITL::SITL::GPS_TYPE_UBLOX:
+        case SITL::SIM::GPS_TYPE_UBLOX:
             _update_gps_ubx(data, instance);
             break;
 
-        case SITL::SITL::GPS_TYPE_MTK:
+        case SITL::SIM::GPS_TYPE_MTK:
             _update_gps_mtk(data, instance);
             break;
 
-        case SITL::SITL::GPS_TYPE_MTK16:
+        case SITL::SIM::GPS_TYPE_MTK16:
             _update_gps_mtk16(data, instance);
             break;
 
-        case SITL::SITL::GPS_TYPE_MTK19:
+        case SITL::SIM::GPS_TYPE_MTK19:
             _update_gps_mtk19(data, instance);
             break;
 
-        case SITL::SITL::GPS_TYPE_NMEA:
+        case SITL::SIM::GPS_TYPE_NMEA:
             _update_gps_nmea(data, instance);
             break;
 
-        case SITL::SITL::GPS_TYPE_SBP:
+        case SITL::SIM::GPS_TYPE_SBP:
             _update_gps_sbp(data, instance);
             break;
 
-        case SITL::SITL::GPS_TYPE_SBP2:
+        case SITL::SIM::GPS_TYPE_SBP2:
             _update_gps_sbp2(data, instance);
             break;
 
-        case SITL::SITL::GPS_TYPE_NOVA:
+        case SITL::SIM::GPS_TYPE_NOVA:
             _update_gps_nova(data, instance);
             break;
 
-        case SITL::SITL::GPS_TYPE_FILE:
+        case SITL::SIM::GPS_TYPE_FILE:
             _update_gps_file(instance);
             break;
     }