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zengxiaobin
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src/pEmulator/Emulator.cpp
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416
src/pEmulator/Emulator.cpp
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/*
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* @Author: zjk 1553836110@qq.com
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* @Date: 2023-10-12 09:52:27
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* @LastEditors: zjk 1553836110@qq.com
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* @LastEditTime: 2023-11-21 15:28:32
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* @FilePath: /moos-ivp-pi/src/pEmulator/Emulator.cpp
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* @Description:
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*
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* Copyright (c) 2023 by ${git_name_email}, All Rights Reserved.
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*/
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// #define DEBUG
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#include"Emulator.hpp"
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#include <exception>
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#include"ACTable.h"
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bool _ListenCB(void * pParam)
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{
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Emulator* pMe = (Emulator* )pParam;
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return pMe->receiveUdpDate();
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}
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bool _ListenBSC(void* pParam)
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{
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_150server* pMe = (_150server*)pParam;
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return pMe->listenInfo();
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}
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bool _Connect(void* pParam)
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{
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Emulator* pMe = (Emulator* )pParam;
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return pMe->_150Connect();
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}
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bool Emulator::OnNewMail(MOOSMSG_LIST &NewMail)
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{
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AppCastingMOOSApp::OnNewMail(NewMail);
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MOOSMSG_LIST::iterator p;
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for(p=NewMail.begin(); p!=NewMail.end(); p++)
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{
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CMOOSMsg &msg = *p;
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string key = msg.m_sKey;
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string sval = msg.m_sVal;
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double dval = msg.m_dfVal;
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double dfT;
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msg.IsSkewed(m_curr_time, &dfT);
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// if(key == "DESIRED_RUDDER")
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// {
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// sendBuf[0] = dval;
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// remus100.rudder = dval;
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// }
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// else if(key == "DESIRED_ELEVATOR")
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// {
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// sendBuf[1] = dval;
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// remus100.elevator = dval;
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// }
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// else if(key == "DESIRED_THRUST")
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// {
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// sendBuf[2] = dval;
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// remus100.thrust = dval;
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// }
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// else
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if(key == "DESIRED_DEPTH")
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sendBuf[3] = dval;
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else if(key == "DESIRED_HEADING")
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sendBuf[4] = dval;
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else if(key == "DESIRED_SPEED")
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sendBuf[5] = dval;
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// reportRunWarning("UnKown var:" + key);
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}
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return true;
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}
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bool Emulator::Iterate()
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{
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AppCastingMOOSApp::Iterate();
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if(_150ServerThread.IsThreadRunning())
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{ // 这里需要转换数据
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if(p_150server_1._150cmd.helm_top_angle > 128)
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sendBuf[0] = -(p_150server_1._150cmd.helm_top_angle - 128);
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else
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sendBuf[0] = p_150server_1._150cmd.helm_top_angle;
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if(p_150server_1._150cmd.helm_right_angle > 128)
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sendBuf[1] = -(p_150server_1._150cmd.helm_right_angle - 128);
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else
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sendBuf[1] = p_150server_1._150cmd.helm_right_angle;
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sendBuf[2] = (uint8_t)p_150server_1._150cmd.thrust * 1525 / 100;
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set150Info();
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p_150server_1.postInfo();
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isConnect = " 150 Server...";
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}
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else
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isConnect = "No 150 Connect...";
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udp->iSendMessageTo((void*)sendBuf, sendBufSize, matalb_port, matlab_host);
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//postNodeRecordUpdate(prefix, record);
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AppCastingMOOSApp::PostReport();
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return true;
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}
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bool Emulator::OnConnectToServer()
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{
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registerVariables();
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return true;
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}
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bool Emulator::OnStartUp()
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{
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AppCastingMOOSApp::OnStartUp();
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//TODO: 添加初始状态设置
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STRING_LIST sParams;
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m_MissionReader.GetConfiguration(GetAppName(), sParams);
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STRING_LIST::iterator p;
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for(p=sParams.begin(); p!=sParams.end(); p++)
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{
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bool unhandled = false;
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string orig = *p;
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string line = *p;
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string param = toupper(biteStringX(line, '='));
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string value = line;
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double dval = atof(value.c_str());
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cout << param << endl;
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if(param == "MATLAB_HOST")
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{
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matlab_host = value;
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}
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else if(param == "MATLAB_PORT")
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{
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matalb_port = (long int)dval;
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}
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else if(param == "LOCAL_PORT")
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{
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local_port = (long int)dval;
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}
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else if(param == "PREFIX")
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{
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setNonWhiteVarOnString(prefix, value);
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}
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else if(param == "START_X")
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{
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start_x = dval;
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}
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else if(param == "START_Y")
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{
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start_y = dval;
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}
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else if(param == "START_Z")
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{
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start_z = dval;
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}
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else if(param == "START_HEADING")
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{
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start_heading = dval;
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}
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else
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unhandled = true;
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if(unhandled)
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reportUnhandledConfigWarning(orig);
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}
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//添加UDP 设置
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//TODO：添加try
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try
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{
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udp = new XPCUdpSocket(local_port);
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udp->vSetBroadcast(true);
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udp->vBindSocket();
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}
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catch(const std::exception& e)
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{
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std::cerr << e.what() << '\n';
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reportRunWarning("Local port Open Field");
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}
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//初始化数据
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receiveBufSize = receiveDateSize*sizeof(double);
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receiveBuf = new char[receiveBufSize];
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sendBufSize = sendDataSize*sizeof(double);
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sendBuf = new double[sendDataSize];
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for(int i=0; i<sendDataSize; i++)
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sendBuf[i] = 0;
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for(int i=0; i<receiveBufSize; i++)
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receiveBuf[i] = 0;
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// sendBuf[0] = 0.1;
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// sendBuf[1] = 0.1;
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// sendBuf[2] = 1525;
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record.setX(start_x);
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record.setY(start_y);
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record.setDepth(start_z);
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record.setHeading(start_heading);
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receiveThread.Initialise(_ListenCB,this);
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receiveThread.Start();
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_150ConnectThread.Initialise(_Connect, this);
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_150ConnectThread.Start();
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//启动150 server
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//
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//
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return true;
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}
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bool Emulator::_150Connect()
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{
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cout << "Connect ... " << endl;
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isConnect = "Connect...";
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p_150server_1._150_startServer();
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_150ServerThread.Initialise(_ListenBSC,&(this->p_150server_1));
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_150ServerThread.Start();
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_150ConnectThread.RequestQuit();
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isConnect = "Connected and start server";
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}
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void Emulator::registerVariables()
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{
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AppCastingMOOSApp::RegisterVariables();
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Register("DESIRED_RUDDER",0);
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Register("DESIRED_THRUST",0);
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Register("DESIRED_ELEVATOR",0);
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Register("DESIRED_DEPTH");
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Register("DESIRED_HEADING");
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Register("DESIRED_SPEED");
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}
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bool Emulator::buildReport()
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{
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// for(int i=0; i<sendDataSize; i++)
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// {
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// m_msgs << sendBuf[i] << "!#";
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// }
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m_msgs << "MATLAB : " << matlab_host << " : " << matalb_port << endl;
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m_msgs << "LOCAL : " << local_port << endl;
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m_msgs << "_150 Connect: " << isConnect << endl;
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m_msgs << "_150 Cmd Recive: " << p_150server_1._150_recive << endl;
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m_msgs << "=============================================" << endl;
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double *s = (double*)receiveBuf;
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m_msgs << "DESIRED_RUDDER : " << sendBuf[0] << " (deg)" << endl;
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m_msgs << "DESIRED_ELEVATOR : " << sendBuf[1] << " (deg)" << endl;
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m_msgs << "DESIRED_THRUST : " << sendBuf[2] << " (rpm)" << endl;
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m_msgs << "Pose : " << "[ " << doubleToStringX(s[6],1) << " , " << doubleToStringX(s[7],1) << " ]" << endl;
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m_msgs << "Depth : " << doubleToStringX(s[8],1) << " (m)" << endl;
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m_msgs << "u : " << doubleToStringX(s[0],2) << " (m/s)" << endl;
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m_msgs << "v : " << doubleToStringX(s[1],2) << " (m/s)" << endl;
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m_msgs << "w : " << doubleToStringX(s[2],2) << " (m/s)" << endl;
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m_msgs << "p : " << doubleToStringX(s[3],1) << " (deg/s)" << endl;
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m_msgs << "q : " << doubleToStringX(s[4],1) << " (deg/s)" << endl;
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m_msgs << "r : " << doubleToStringX(s[5],1) << " (deg/s)" << endl;
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m_msgs << "roll : " << doubleToStringX(s[9],1) << " (deg)" << endl;
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m_msgs << "pitch : " << doubleToStringX(s[10],1) << " (deg)" << endl;
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m_msgs << "yaw : " << doubleToStringX(s[11],1) << " (deg)" << endl;
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m_msgs << "Lat : " << doubleToStringX(s[12],5) << " (du)" << endl;
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m_msgs << "Lon : " << doubleToStringX(s[13],5) << " (du)" << endl;
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m_msgs << "Alt : " << doubleToStringX(s[14],5) << " (m)" << endl;
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return(true);
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}
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void Emulator::postNodeRecordUpdate(std::string, const NodeRecord& record)
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{
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double nav_x = record.getX();
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double nav_y = record.getY();
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Notify(prefix+"_X", nav_x, m_curr_time);
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Notify(prefix+"_Y", nav_y, m_curr_time);
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if(geoOk) {
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double nav_lat = record.getLat();
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double nav_lon = record.getLon();
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Notify(prefix+"_LAT", nav_lat, m_curr_time);
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Notify(prefix+"_LONG", nav_lon, m_curr_time);
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}
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double new_speed = record.getSpeed();
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new_speed = snapToStep(new_speed, 0.01);
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Notify(prefix+"_HEADING", record.getHeading(), m_curr_time);
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Notify(prefix+"_SPEED", new_speed, m_curr_time);
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Notify(prefix+"_DEPTH", record.getDepth(), m_curr_time);
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// Added by HS 120124 to make it work ok with iHuxley
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// Notify("SIMULATION_MODE","TRUE", m_curr_time);
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Notify(prefix+"_Z", -record.getDepth(), m_curr_time);
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Notify(prefix+"_PITCH", record.getPitch(), m_curr_time);
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Notify(prefix+"_YAW", record.getYaw(), m_curr_time);
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Notify("TRUE_X", nav_x, m_curr_time);
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Notify("TRUE_Y", nav_y, m_curr_time);
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double hog = angle360(record.getHeadingOG());
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double sog = record.getSpeedOG();
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Notify(prefix+"_HEADING_OVER_GROUND", hog, m_curr_time);
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Notify(prefix+"_SPEED_OVER_GROUND", sog, m_curr_time);
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if(record.isSetAltitude())
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Notify(prefix+"_ALTITUDE", record.getAltitude(), m_curr_time);
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}
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bool Emulator::receiveUdpDate()
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{
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double u,v,w;
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double U;
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while(!receiveThread.IsQuitRequested())
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{
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int iRx = udp->iRecieveMessage(receiveBuf,receiveBufSize);
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if(iRx)
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{
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for(int i=0; i<receiveDateSize; i++)
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{
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// MOOSTrace(doubleToString(*((double*)receiveBuf+i))+"\n");
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double data = *((double*)receiveBuf+i);
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switch (i)
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{
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case 0: //u
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u = data;
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remus100.u = u*100;
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break;
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case 1: //v
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// record.set
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v = data;
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remus100.v = v*100;
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break;
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case 2: //w
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// record
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w = data;
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remus100.w = w*100;
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U = sqrt(u*u + v*v + w*w);
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record.setSpeed(U);
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break;
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case 3: //p
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remus100.p = data*100;
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break;
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case 4: //q
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remus100.q = data*100;
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break;
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case 5: //r
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remus100.r = data*100;
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break;
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case 6: //x
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remus100.x = data*100;
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record.setY(data);
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break;
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case 7: //y
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remus100.y = data*100;
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record.setX(data);
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break;
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case 8: //z
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remus100.z = data*100;
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record.setDepth(data);
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break;
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case 9: //phi
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remus100.roll = data*100;
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break;
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case 10: //theta
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remus100.pitch = data*100;
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record.setPitch(data);
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break;
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case 11: //psi
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remus100.yaw = data*100;
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record.setHeading(data);
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break;
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case 12:
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remus100.lat = data;
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record.setLat(data);
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break;
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case 13:
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remus100.lon = data;
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record.setLon(data);
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break;
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case 14:
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remus100.alt = data;
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break;
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default:
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break;
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}
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}
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}
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}
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}
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void Emulator::set150Info()
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{
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p_150server_1.embeddedInfoSrc.header = 0xEBA1; //0:[0,1]
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p_150server_1.embeddedInfoSrc.count = (uint16_t)m_iteration; //2:[2,3]
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p_150server_1.embeddedInfoSrc.size = (uint8_t)51; //3:[4]
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p_150server_1.embeddedInfoSrc.drive_mode = (uint8_t)0xFF; //4:[5]
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p_150server_1.embeddedInfoSrc.height = (uint16_t)(150-remus100.z); //5:[6,7]
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p_150server_1.embeddedInfoSrc.depth = (uint16_t)remus100.z; //6:[8,9]
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p_150server_1.embeddedInfoSrc.yaw = (uint16_t)remus100.yaw; //7:[10,11]
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p_150server_1.embeddedInfoSrc.pitch = (int16_t)remus100.pitch; //8:[12,13]
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p_150server_1.embeddedInfoSrc.roll = (int16_t)remus100.roll; //9:[14,15]
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p_150server_1.embeddedInfoSrc.ins_vx = (int16_t)remus100.u; //10:[16,17]
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p_150server_1.embeddedInfoSrc.ins_vy = (int16_t)remus100.v; //11:[18,19]
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p_150server_1.embeddedInfoSrc.ins_vz = (int16_t)remus100.w; //12:[20,21]
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p_150server_1.embeddedInfoSrc.lon = (int32_t)(remus100.lon * 1000000); //13:[22,23,24,25]
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p_150server_1.embeddedInfoSrc.lat = (int32_t)(remus100.lat * 1000000) ; //14:[26,27,28,29]
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p_150server_1.embeddedInfoSrc.alt = (int16_t)(remus100.alt * 100);//15:[30,31]
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p_150server_1.embeddedInfoSrc.dvl_vx = (int16_t)remus100.u; //16:[32,33]
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p_150server_1.embeddedInfoSrc.dvl_vy = (int16_t)remus100.v; //17:[34,35]
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p_150server_1.embeddedInfoSrc.dvl_vz = (int16_t)remus100.w; //18:[36,37]
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p_150server_1.embeddedInfoSrc.rpm = (int16_t)remus100.thrust; //19:[38,39]
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p_150server_1.embeddedInfoSrc.lightEnable = (uint8_t)0x01; //20:[40]
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p_150server_1.embeddedInfoSrc.battery_voltage = (uint16_t)1024; //21:[41,42]
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p_150server_1.embeddedInfoSrc.battery_level = 60; //22:[43]
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p_150server_1.embeddedInfoSrc.battery_temp = 21.3 / 0.1; //23:[44,45]
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p_150server_1.embeddedInfoSrc.fault_leakSensor = 0x80; //24:[46,47,48,49]
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p_150server_1.embeddedInfoSrc.fault_battery = 0x2E; //25:[50]
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p_150server_1.embeddedInfoSrc.fault_emergencyBattery = 0xAA; //26:[51]
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p_150server_1.embeddedInfoSrc.fault_thrust = 0x76; //27:[52]
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p_150server_1.embeddedInfoSrc.iridium = 0xFF; //28:[53]
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p_150server_1.embeddedInfoSrc.throwing_load = 0xFF; //29:[54]
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p_150server_1.embeddedInfoSrc.dvl_status = 0x00; //30:[55]
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p_150server_1.embeddedInfoSrc.crc = 0XFF; //31:[56]
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p_150server_1.embeddedInfoSrc.footer = 0XEE1A; //32:[57,58]
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}
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