SITL: add simulated SF45B

libraries/SITL/SIM_PS_LightWare.h

@@ -0,0 +1,37 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+/*
+  Base class for LightWare Proximity Sensor serial devices.
+
+*/
+
+#pragma once
+
+#include "SIM_SerialProximitySensor.h"
+
+#include <stdio.h>
+
+namespace SITL {
+
+class PS_LightWare : public SerialProximitySensor {
+public:
+
+    PS_LightWare() { }
+
+private:
+
+};
+
+};

libraries/SITL/SIM_PS_LightWare_SF45B.cpp

@@ -0,0 +1,222 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+/*
+  Simulator for the RPLidarA2 proximity sensor
+*/
+
+#include "SIM_PS_LightWare_SF45B.h"
+
+#include <GCS_MAVLink/GCS.h>
+#include <stdio.h>
+#include <errno.h>
+
+using namespace SITL;
+
+uint32_t PS_LightWare_SF45B::packet_for_location(const Location &location,
+                                           uint8_t *data,
+                                           uint8_t buflen)
+{
+    return 0;
+}
+
+void PS_LightWare_SF45B::move_preamble_in_buffer(uint8_t search_start_pos)
+{
+    uint8_t i;
+    for (i=search_start_pos; i<_buflen; i++) {
+        if ((uint8_t)_msg.buffer[i] == PREAMBLE) {
+            break;
+        }
+    }
+    if (i == 0) {
+        return;
+    }
+    memmove(_msg.buffer, &_msg.buffer[i], _buflen-i);
+    _buflen = _buflen - i;
+}
+
+// handle a valid message in _msg.buffer
+void PS_LightWare_SF45B::send(const char *data, uint32_t len)
+{
+    const ssize_t ret = write_to_autopilot(data, len);
+    if (ret < 0 || (uint32_t)ret != len) {
+        abort();
+    }
+}
+
+void PS_LightWare_SF45B::handle_message()
+{
+    // GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Got message %u", (unsigned)_msg.packed_msgstream.msg.msgid);
+    switch (MessageID(_msg.packed_msgstream.msg.msgid)) {
+    case MessageID::STREAM: {
+        stream = _msg.packed_msgstream.msg.stream;
+        send_response.stream = true;
+        return;
+    }
+    case MessageID::DISTANCE_OUTPUT: {
+        desired_fields = _msg.packed_distance_output.msg.desired_fields;
+        send_response.desired_fields = true;
+        return;
+    }
+    case MessageID::UPDATE_RATE: {
+        update_rate = _msg.packed_update_rate.msg.rate;
+        send_response.update_rate = true;
+        return;
+    }
+    case MessageID::DISTANCE_DATA_CM: {
+        ::fprintf(stderr, "Got a distance data.  Weird.\n");
+        return;
+    }
+    }
+//    AP_HAL::panic("Unrecognised message (%u)", _msg.common.msgid);
+    ::fprintf(stderr, "Unrecognised message (%u)\n", _msg.packed_msgstream.msg.msgid);
+}
+
+void PS_LightWare_SF45B::update_input()
+{
+    const ssize_t n = read_from_autopilot(&_msg.buffer[_buflen], ARRAY_SIZE(_msg.buffer) - _buflen - 1);
+    if (n < 0) {
+        // TODO: do better here
+        if (errno != EAGAIN && errno != EWOULDBLOCK && errno != 0) {
+            AP_HAL::panic("Failed to read from autopilot");
+        }
+    } else {
+        _buflen += n;
+    }
+
+    switch (_inputstate) {
+    case InputState::WANT_PREAMBLE:
+        move_preamble_in_buffer();
+        if (_buflen == 0) {
+            return;
+        }
+        set_inputstate(InputState::WANT_FLAGS);
+        FALLTHROUGH;
+    case InputState::WANT_FLAGS:
+        if (_buflen < 4) {  // 1 preamble, 2 flags, 1 msg
+            return;
+        }
+        set_inputstate(InputState::WANT_PAYLOAD);
+        FALLTHROUGH;
+    case InputState::WANT_PAYLOAD: {
+        // 1 preamble, 2 flags, 1 msg + payload
+        const uint8_t want_len = 4 + payload_length();
+        if (_buflen < want_len) {
+            return;
+        }
+        set_inputstate(InputState::WANT_CRC);
+        FALLTHROUGH;
+    }
+    case InputState::WANT_CRC: {
+        // 1 preamble, 2 flags, 1 msg + payload + 2 crc
+        const uint8_t want_len = 4 + payload_length() + 2;
+        if (_buflen < want_len) {
+            return;
+        }
+        const uint16_t got_checksum = UINT16_VALUE(uint8_t(_msg.buffer[want_len-1]), uint8_t(_msg.buffer[want_len-2]));
+        const uint16_t calc_checksum = msg_checksum();
+        if (calc_checksum == got_checksum) {
+            // GCS_SEND_TEXT(MAV_SEVERITY_INFO, "sim-SF45B: Got one (%u)!", _msg.common.msgid);
+            // see if this was a read or a write request..
+            handle_message();
+        } else {
+            GCS_SEND_TEXT(MAV_SEVERITY_INFO, "sim-SF45B: Bad checksum");
+        }
+        // consume these bytes
+        move_preamble_in_buffer(want_len-1);
+        set_inputstate(InputState::WANT_PREAMBLE);
+        return;
+    }
+    }
+}
+
+void PS_LightWare_SF45B::update(const Location &location)
+{
+    update_input();
+    update_output(location);
+}
+
+void PS_LightWare_SF45B::update_output(const Location &location)
+{
+    switch (_state) {
+    case State::SCANNING:
+        update_output_responses();
+        update_output_scan(location);
+        return;
+    }
+}
+
+void PS_LightWare_SF45B::update_output_responses()
+{
+    if (send_response.stream) {
+        send_response.stream = false;
+        PackedMessage<MsgStream> packed { MsgStream(stream), 0x1 };
+        packed.update_checksum();
+        send((char*)&packed, sizeof(packed));
+    }
+    if (send_response.update_rate) {
+        send_response.update_rate = false;
+        PackedMessage<UpdateRate> packed { UpdateRate(update_rate), 0x1 };
+        packed.update_checksum();
+        send((char*)&packed, sizeof(packed));
+    }
+    if (send_response.desired_fields) {
+        send_response.desired_fields = false;
+        PackedMessage<DistanceOutput> packed { DistanceOutput(desired_fields), 0x1 };
+        packed.update_checksum();
+        send((char*)&packed, sizeof(packed));
+    }
+}
+
+void PS_LightWare_SF45B::update_output_scan(const Location &location)
+{
+    const uint32_t now = AP_HAL::millis();
+    if (last_scan_output_time_ms == 0) {
+        last_scan_output_time_ms = now;
+        return;
+    }
+    const uint32_t time_delta = (now - last_scan_output_time_ms);
+
+    const uint32_t samples_per_second = 1000;
+    const float samples_per_ms = samples_per_second / 1000.0f;
+    const uint32_t sample_count = time_delta / samples_per_ms;
+    const float degrees_per_ms = 3600 / 1000.0f;
+    const float degrees_per_sample = degrees_per_ms / samples_per_ms;
+
+//    ::fprintf(stderr, "Packing %u samples in for %ums interval (%f degrees/sample)\n", sample_count, time_delta, degrees_per_sample);
+
+    last_scan_output_time_ms += sample_count/samples_per_ms;
+
+    for (uint32_t i=0; i<sample_count; i++) {
+        const float current_degrees_bf = fmod((last_degrees_bf + degrees_per_sample), 360.0f);
+        last_degrees_bf = current_degrees_bf;
+
+
+        const float MAX_RANGE = 16.0f;
+        float distance = measure_distance_at_angle_bf(location, current_degrees_bf);
+        // ::fprintf(stderr, "SIM: %f=%fm\n", current_degrees_bf, distance);
+        if (distance > MAX_RANGE) {
+            // sensor returns zero for out-of-range
+            distance = 0.0f;
+        }
+
+        PackedMessage<DistanceDataCM> packed_distance_data {
+            DistanceDataCM(
+                uint16_t(distance*100.0),
+                uint16_t(current_degrees_bf * 100)
+                ), 0x1 };
+        packed_distance_data.update_checksum();
+        send((char*)&packed_distance_data, sizeof(packed_distance_data));
+    }
+}

libraries/SITL/SIM_PS_LightWare_SF45B.h

@@ -0,0 +1,259 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+/*
+  Simulator for the LightWare S45B proximity sensor
+
+./Tools/autotest/sim_vehicle.py --gdb --debug -v ArduCopter -A --uartF=sim:sf45b --speedup=1 -l 51.8752066,14.6487840,0,0
+
+param set SERIAL5_PROTOCOL 11  # proximity
+param set PRX_TYPE 8  # s45b
+reboot
+
+arm throttle
+rc 3 1600
+
+# for avoidance:
+param set DISARM_DELAY 0
+param set AVOID_ENABLE 2 # use proximity sensor
+param set AVOID_MARGIN 2.00  # 2m
+param set AVOID_BEHAVE 0 # slide
+reboot
+mode loiter
+script /tmp/post-locations.scr
+arm throttle
+rc 3 1600
+rc 3 1500
+rc 2 1450
+
+*/
+
+#pragma once
+
+#include "SIM_PS_LightWare.h"
+
+#include <AP_Math/crc.h>
+
+namespace SITL {
+
+class PS_LightWare_SF45B : public PS_LightWare {
+public:
+
+    uint32_t packet_for_location(const Location &location,
+                                 uint8_t *data,
+                                 uint8_t buflen) override;
+
+    void update(const Location &location) override;
+
+    PS_LightWare_SF45B() : PS_LightWare() { }
+
+private:
+
+    template <typename T>
+    class PACKED PackedMessage {
+    public:
+        PackedMessage(T _msg, uint16_t _flags) :
+            msg(_msg),
+            flags(_flags)
+        {
+            flags |= (sizeof(T)) << 6;
+        }
+        uint8_t preamble { PREAMBLE };
+        uint16_t flags;
+        T msg;
+        uint16_t checksum;
+
+        uint16_t calculate_checksum(uint16_t len) const WARN_IF_UNUSED {
+            uint16_t ret = 0;
+            for (uint8_t i=0; i<len; i++) {
+                ret = crc_xmodem_update(ret, ((const char*)this)[i]);
+            }
+            return ret;
+        }
+        uint16_t calculate_checksum() const WARN_IF_UNUSED {
+            return calculate_checksum(3+sizeof(T));
+        }
+
+        void update_checksum() {
+            checksum = calculate_checksum();
+        }
+    };
+
+    class PACKED MsgStream {
+    public:
+        MsgStream(uint32_t _stream) :
+            stream(_stream)
+        { }
+        uint8_t msgid { (uint8_t)MessageID::STREAM };
+        uint32_t stream;
+    };
+
+    class PACKED DistanceOutput {
+    public:
+        DistanceOutput(uint32_t _desired_fields) :
+            desired_fields(_desired_fields)
+        { }
+        uint8_t msgid { (uint8_t)MessageID::DISTANCE_OUTPUT };
+        uint32_t desired_fields;
+    };
+
+    class PACKED UpdateRate {
+    public:
+        UpdateRate(uint8_t _rate) :
+            rate(_rate)
+        { }
+        uint8_t msgid { (uint8_t)MessageID::UPDATE_RATE };
+        uint8_t rate;
+    };
+
+    class PACKED DistanceDataCM {
+    public:
+        DistanceDataCM(uint16_t _distance_cm, uint16_t _angle_cd) :
+            distance_cm(_distance_cm),
+            angle_cd(_angle_cd)
+        { }
+        uint8_t msgid { (uint8_t)MessageID::DISTANCE_DATA_CM };
+        uint16_t distance_cm;
+        uint16_t angle_cd;
+    };
+
+    // message ids
+    enum class MessageID : uint8_t {
+        // PRODUCT_NAME = 0,
+        // HARDWARE_VERSION = 1,
+        // FIRMWARE_VERSION = 2,
+        // SERIAL_NUMBER = 3,
+        // TEXT_MESSAGE = 7,
+        // USER_DATA = 9,
+        // TOKEN = 10,
+        // SAVE_PARAMETERS = 12,
+        // RESET = 14,
+        // STAGE_FIRMWARE = 16,
+        // COMMIT_FIRMWARE = 17,
+        DISTANCE_OUTPUT = 27,
+        STREAM = 30,
+        DISTANCE_DATA_CM = 44,
+        // DISTANCE_DATA_MM = 45,
+        // LASER_FIRING = 50,
+        // TEMPERATURE = 57,
+        UPDATE_RATE = 66,
+        // NOISE = 74,
+        // ZERO_OFFSET = 75,
+        // LOST_SIGNAL_COUNTER = 76,
+        // BAUD_RATE = 79,
+        // I2C_ADDRESS = 80,
+        // STEPPER_STATUS = 93,
+        // SCAN_ON_STARTUP = 94,
+        // SCAN_ENABLE = 96,
+        // SCAN_POSITION = 97,
+        // SCAN_LOW_ANGLE = 98,
+        // SCAN_HIGH_ANGLE = 99
+    };
+
+
+    /*
+     *  Input Handling
+     */
+    void update_input();
+
+    // make the message in the buffer a read message and return to sender
+    void boomerang_buffer_message(uint8_t len);
+
+    // handle a complete checksummed message
+    void handle_message();
+
+    void send(const char *data, uint32_t len);
+
+    union u {
+        u() {}
+        char buffer[256]; // from-autopilot
+        PackedMessage<MsgStream> packed_msgstream;
+        PackedMessage<DistanceOutput> packed_distance_output;
+        PackedMessage<UpdateRate> packed_update_rate;
+    } _msg;
+    uint8_t _buflen;
+
+    static uint16_t checksum_bytes(const char *buffer, uint8_t len) {
+        uint16_t crc = 0;
+        for (uint8_t i=0; i<len; i++) {
+            crc = crc_xmodem_update(crc, buffer[i]);
+        }
+        return crc;
+    }
+
+    uint16_t msg_checksum() const {
+        // 4 is 1 preamble, 2 flags, 1 msgid
+        return checksum_bytes(_msg.buffer, payload_length() + 4);
+    }
+
+    uint8_t payload_length() const {
+        if (_buflen < 3) {
+            INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
+        }
+        return (_msg.packed_msgstream.flags >> 6) - 1;
+    }
+
+    static const uint8_t PREAMBLE = 0xAA;
+
+    void move_preamble_in_buffer(uint8_t search_start_pos=0);
+
+    enum class InputState {
+        WANT_PREAMBLE = 45,
+        WANT_FLAGS = 46,
+        WANT_PAYLOAD = 47,
+        WANT_CRC = 48,
+    };
+    InputState _inputstate = InputState::WANT_PREAMBLE;
+    void set_inputstate(InputState newstate) {
+        // ::fprintf(stderr, "Moving from inputstate (%u) to (%u)\n", (uint8_t)_inputstate, (uint8_t)newstate);
+        _inputstate = newstate;
+    }
+
+    /*
+     * SETTINGS
+     */
+    uint32_t stream;
+    uint32_t desired_fields;
+    uint8_t update_rate;
+
+    /*
+     * OUTPUT HANDLING
+     */
+
+    struct {
+        bool stream;
+        bool desired_fields;
+        bool update_rate;
+    } send_response;
+
+    enum class State {
+        SCANNING = 21,
+    };
+    State _state = State::SCANNING;
+    void set_state(State newstate) {
+        // ::fprintf(stderr, "Moving from state (%u) to (%u)\n", (uint8_t)_state, (uint8_t)newstate);
+        _state = newstate;
+    }
+
+    void update_output(const Location &location);
+    void update_output_responses();
+    void update_output_scan(const Location &location);
+
+    uint32_t last_scan_output_time_ms;
+
+    float last_degrees_bf;
+
+};
+
+};