From 437a9e0260fdf9be6983503b13c8e467444637e8 Mon Sep 17 00:00:00 2001
From: mcsauder <mcsauder@gmail.com>
Date: Wed, 20 Feb 2019 09:40:12 -0700
Subject: [PATCH] Move remaining variable initialization from constructor list
and alphabetize/organize methods and vars ordering.
---
src/modules/simulator/simulator.h | 116 +++++++++++++++---------------
1 file changed, 58 insertions(+), 58 deletions(-)
diff --git a/src/modules/simulator/simulator.h b/src/modules/simulator/simulator.h
index 1bdd9b75b6..a2160e301d 100644
--- a/src/modules/simulator/simulator.h
+++ b/src/modules/simulator/simulator.h
@@ -219,19 +219,19 @@ public:
static int start(int argc, char *argv[]);
- bool getRawAccelReport(uint8_t *buf, int len);
- bool getMagReport(uint8_t *buf, int len);
- bool getMPUReport(uint8_t *buf, int len);
+ bool getAirspeedSample(uint8_t *buf, int len);
bool getBaroSample(uint8_t *buf, int len);
bool getGPSSample(uint8_t *buf, int len);
- bool getAirspeedSample(uint8_t *buf, int len);
+ bool getMagReport(uint8_t *buf, int len);
+ bool getMPUReport(uint8_t *buf, int len);
+ bool getRawAccelReport(uint8_t *buf, int len);
- void write_MPU_data(void *buf);
+ void write_airspeed_data(void *buf);
void write_accel_data(void *buf);
- void write_mag_data(void *buf);
void write_baro_data(void *buf);
void write_gps_data(void *buf);
- void write_airspeed_data(void *buf);
+ void write_mag_data(void *buf);
+ void write_MPU_data(void *buf);
bool isInitialized() { return _initialized; }
@@ -239,19 +239,13 @@ public:
void set_port(unsigned port);
private:
- Simulator() : ModuleParams(nullptr),
- _perf_accel(perf_alloc_once(PC_ELAPSED, "sim_accel_delay")),
- _perf_mpu(perf_alloc_once(PC_ELAPSED, "sim_mpu_delay")),
- _perf_baro(perf_alloc_once(PC_ELAPSED, "sim_baro_delay")),
- _perf_mag(perf_alloc_once(PC_ELAPSED, "sim_mag_delay")),
- _perf_gps(perf_alloc_once(PC_ELAPSED, "sim_gps_delay")),
- _perf_airspeed(perf_alloc_once(PC_ELAPSED, "sim_airspeed_delay")),
- _perf_sim_delay(perf_alloc_once(PC_ELAPSED, "sim_network_delay")),
- _perf_sim_interval(perf_alloc(PC_INTERVAL, "sim_network_interval"))
+ Simulator() :
+ ModuleParams(nullptr)
{
simulator::RawGPSData gps_data{};
gps_data.eph = UINT16_MAX;
gps_data.epv = UINT16_MAX;
+
_gps.writeData(&gps_data);
_param_sub = orb_subscribe(ORB_ID(parameter_update));
@@ -268,73 +262,94 @@ private:
_instance = NULL;
}
+ // class methods
void initializeSensorData();
+ int publish_sensor_topics(mavlink_hil_sensor_t *imu);
+ int publish_flow_topic(mavlink_hil_optical_flow_t *flow);
+ int publish_odometry_topic(mavlink_message_t *odom_mavlink);
+ int publish_distance_topic(mavlink_distance_sensor_t *dist);
+
static Simulator *_instance;
// simulated sensor instances
+ simulator::Report<simulator::RawAirspeedData> _airspeed{1};
simulator::Report<simulator::RawAccelData> _accel{1};
- simulator::Report<simulator::RawMPUData> _mpu{1};
simulator::Report<simulator::RawBaroData> _baro{1};
- simulator::Report<simulator::RawMagData> _mag{1};
simulator::Report<simulator::RawGPSData> _gps{1};
- simulator::Report<simulator::RawAirspeedData> _airspeed{1};
+ simulator::Report<simulator::RawMagData> _mag{1};
+ simulator::Report<simulator::RawMPUData> _mpu{1};
- perf_counter_t _perf_accel;
- perf_counter_t _perf_mpu;
- perf_counter_t _perf_baro;
- perf_counter_t _perf_mag;
- perf_counter_t _perf_gps;
- perf_counter_t _perf_airspeed;
- perf_counter_t _perf_sim_delay;
- perf_counter_t _perf_sim_interval;
+ perf_counter_t _perf_accel{perf_alloc_once(PC_ELAPSED, "sim_accel_delay")};
+ perf_counter_t _perf_airspeed{perf_alloc_once(PC_ELAPSED, "sim_airspeed_delay")};
+ perf_counter_t _perf_baro{perf_alloc_once(PC_ELAPSED, "sim_baro_delay")};
+ perf_counter_t _perf_gps{perf_alloc_once(PC_ELAPSED, "sim_gps_delay")};
+ perf_counter_t _perf_mag{perf_alloc_once(PC_ELAPSED, "sim_mag_delay")};
+ perf_counter_t _perf_mpu{perf_alloc_once(PC_ELAPSED, "sim_mpu_delay")};
+ perf_counter_t _perf_sim_delay{perf_alloc_once(PC_ELAPSED, "sim_network_delay")};
+ perf_counter_t _perf_sim_interval{perf_alloc(PC_INTERVAL, "sim_network_interval")};
// uORB publisher handlers
orb_advert_t _accel_pub{nullptr};
orb_advert_t _baro_pub{nullptr};
+ orb_advert_t _battery_pub{nullptr};
+ orb_advert_t _dist_pub{nullptr};
+ orb_advert_t _flow_pub{nullptr};
orb_advert_t _gyro_pub{nullptr};
+ orb_advert_t _irlock_report_pub{nullptr};
orb_advert_t _mag_pub{nullptr};
- orb_advert_t _flow_pub{nullptr};
orb_advert_t _visual_odometry_pub{nullptr};
- orb_advert_t _dist_pub{nullptr};
- orb_advert_t _battery_pub{nullptr};
- orb_advert_t _irlock_report_pub{nullptr};
- int _param_sub{-1};
+ int _param_sub{-1};
+
+ unsigned int _port{14560};
- unsigned _port = 14560;
- InternetProtocol _ip = InternetProtocol::UDP;
+ InternetProtocol _ip{InternetProtocol::UDP};
bool _initialized{false};
+
double _realtime_factor{1.0}; ///< How fast the simulation runs in comparison to real system time
+
hrt_abstime _last_sim_timestamp{0};
hrt_abstime _last_sitl_timestamp{0};
// Lib used to do the battery calculations.
- Battery _battery;
+ Battery _battery {};
battery_status_s _battery_status{};
- // class methods
- int publish_sensor_topics(mavlink_hil_sensor_t *imu);
- int publish_flow_topic(mavlink_hil_optical_flow_t *flow);
- int publish_odometry_topic(mavlink_message_t *odom_mavlink);
- int publish_distance_topic(mavlink_distance_sensor_t *dist);
-
#ifndef __PX4_QURT
+
+ mavlink_hil_actuator_controls_t actuator_controls_from_outputs(const actuator_outputs_s &actuators);
+
+ void handle_message(mavlink_message_t *msg, bool publish);
+ void parameters_update(bool force);
+ void poll_topics();
+ void pollForMAVLinkMessages(bool publish);
+ void request_hil_state_quaternion();
+ void send();
+ void send_controls();
+ void send_heartbeat();
+ void send_mavlink_message(const mavlink_message_t &aMsg);
+ void update_sensors(mavlink_hil_sensor_t *imu);
+ void update_gps(mavlink_hil_gps_t *gps_sim);
+
+ static void *sending_trampoline(void *);
+
// uORB publisher handlers
- orb_advert_t _rc_channels_pub{nullptr};
orb_advert_t _attitude_pub{nullptr};
orb_advert_t _gpos_pub{nullptr};
orb_advert_t _lpos_pub{nullptr};
+ orb_advert_t _rc_channels_pub{nullptr};
// uORB subscription handlers
int _actuator_outputs_sub{-1};
- int _vehicle_attitude_sub{-1};
int _manual_sub{-1};
+ int _vehicle_attitude_sub{-1};
int _vehicle_status_sub{-1};
// hil map_ref data
struct map_projection_reference_s _hil_local_proj_ref {};
+
bool _hil_local_proj_inited{false};
double _hil_ref_lat{0};
double _hil_ref_lon{0};
@@ -350,22 +365,7 @@ private:
DEFINE_PARAMETERS(
(ParamFloat<px4::params::SIM_BAT_DRAIN>) _battery_drain_interval_s, ///< battery drain interval
(ParamInt<px4::params::MAV_TYPE>) _param_system_type
-
)
- void poll_topics();
- void handle_message(mavlink_message_t *msg, bool publish);
- void send_controls();
- void send_heartbeat();
- void request_hil_state_quaternion();
- void pollForMAVLinkMessages(bool publish);
-
- mavlink_hil_actuator_controls_t actuator_controls_from_outputs(const actuator_outputs_s &actuators);
- void send_mavlink_message(const mavlink_message_t &aMsg);
- void update_sensors(mavlink_hil_sensor_t *imu);
- void update_gps(mavlink_hil_gps_t *gps_sim);
- void parameters_update(bool force);
- static void *sending_trampoline(void *);
- void send();
#endif
};
--
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