LibrePilot/ground/openpilotgcs/src/plugins/hitlnew/simulator.cpp

/**
 ******************************************************************************
 *
 * @file       simulator.cpp
 * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
 * @addtogroup GCSPlugins GCS Plugins
 * @{
 * @addtogroup HITLPlugin HITL Plugin
 * @{
 * @brief The Hardware In The Loop plugin
 *****************************************************************************/
/*
 * 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, write to the Free Software Foundation, Inc.,
 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 */


#include "simulator.h"
#include "qxtlogger.h"
#include "extensionsystem/pluginmanager.h"
#include "coreplugin/icore.h"
#include "coreplugin/threadmanager.h"

volatile bool Simulator::isStarted = false;

const float Simulator::GEE = 9.81;
const float Simulator::FT2M = 0.3048;
const float Simulator::KT2MPS = 0.514444444;
const float Simulator::INHG2KPA = 3.386;
const float Simulator::FPS2CMPS = 30.48;
const float Simulator::DEG2RAD = (M_PI/180.0);
const float Simulator::RAD2DEG = (180.0/M_PI);


Simulator::Simulator(const SimulatorSettings& params) :
	simProcess(NULL),
	time(NULL),
	inSocket(NULL),
	outSocket(NULL),
	settings(params),
        updatePeriod(50),
        simTimeout(8000),
	autopilotConnectionStatus(false),
	simConnectionStatus(false),
	txTimer(NULL),
	simTimer(NULL),
	name("")
{
	// move to thread
	moveToThread(Core::ICore::instance()->threadManager()->getRealTimeThread());
        connect(this, SIGNAL(myStart()), this, SLOT(onStart()),Qt::QueuedConnection);
	emit myStart();
}

Simulator::~Simulator()
{
	if(inSocket)
	{
		delete inSocket;
		inSocket = NULL;
	}

	if(outSocket)
	{
		delete outSocket;
		outSocket = NULL;
	}

	if(txTimer)
	{
		delete txTimer;
		txTimer = NULL;
	}

	if(simTimer)
	{
		delete simTimer;
		simTimer = NULL;
	}
	// NOTE: Does not currently work, may need to send control+c to through the terminal
	if (simProcess != NULL)
	{
		//connect(simProcess,SIGNAL(finished(int, QProcess::ExitStatus)),this,SLOT(onFinished(int, QProcess::ExitStatus)));

		simProcess->disconnect();
		if(simProcess->state() == QProcess::Running)
			simProcess->kill();
		//if(simProcess->waitForFinished())
			//emit deleteSimProcess();
		delete simProcess;
		simProcess = NULL;
	}
}

void Simulator::onDeleteSimulator(void)
{
	// [1]
	Simulator::setStarted(false);
	// [2]
	Simulator::Instances().removeOne(simulatorId);

	disconnect(this);
	delete this;
}

void Simulator::onStart()
{
    QMutexLocker locker(&lock);

    QThread* mainThread = QThread::currentThread();

    qDebug() << "Simulator Thread: "<< mainThread;

    // Get required UAVObjects
    ExtensionSystem::PluginManager* pm = ExtensionSystem::PluginManager::instance();
    UAVObjectManager* objManager = pm->getObject<UAVObjectManager>();
    actDesired = ActuatorDesired::GetInstance(objManager);
    manCtrlCommand = ManualControlCommand::GetInstance(objManager);
    flightStatus = FlightStatus::GetInstance(objManager);
    posHome = HomeLocation::GetInstance(objManager);
    velActual = VelocityActual::GetInstance(objManager);
    posActual = PositionActual::GetInstance(objManager);
    baroAlt = BaroAltitude::GetInstance(objManager);
    baroAirspeed = BaroAirspeed::GetInstance(objManager);
    attActual = AttitudeActual::GetInstance(objManager);
    attSettings = AttitudeSettings::GetInstance(objManager);
    accels = Accels::GetInstance(objManager);
    gyros = Gyros::GetInstance(objManager);
    gpsPos = GPSPosition::GetInstance(objManager);
    gpsVel = GPSVelocity::GetInstance(objManager);
    telStats = GCSTelemetryStats::GetInstance(objManager);

    // Listen to autopilot connection events
    TelemetryManager* telMngr = pm->getObject<TelemetryManager>();
    connect(telMngr, SIGNAL(connected()), this, SLOT(onAutopilotConnect()));
    connect(telMngr, SIGNAL(disconnected()), this, SLOT(onAutopilotDisconnect()));
    //connect(telStats, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(telStatsUpdated(UAVObject*)));

    // If already connect setup autopilot
    GCSTelemetryStats::DataFields stats = telStats->getData();
    if ( stats.Status == GCSTelemetryStats::STATUS_CONNECTED )
        onAutopilotConnect();

    inSocket = new QUdpSocket();
    outSocket = new QUdpSocket();
    setupUdpPorts(settings.hostAddress,settings.inPort,settings.outPort);

        emit processOutput("\nLocal interface: " + settings.hostAddress + "\n" + \
                           "Remote interface: " + settings.remoteAddress + "\n" + \
                           "inputPort: " + QString::number(settings.inPort) + "\n" + \
                           "outputPort: " + QString::number(settings.outPort) + "\n");

        qxtLog->info("\nLocal interface: " + settings.hostAddress + "\n" + \
                     "Remote interface: " + settings.remoteAddress + "\n" + \
                     "inputPort: " + QString::number(settings.inPort) + "\n" + \
                     "outputPort: " + QString::number(settings.outPort) + "\n");

//        if(!inSocket->waitForConnected(5000))
//                emit processOutput(QString("Can't connect to %1 on %2 port!").arg(settings.hostAddress).arg(settings.inPort));
//        outSocket->connectToHost(settings.hostAddress,settings.outPort); // FG
//        if(!outSocket->waitForConnected(5000))
//                emit processOutput(QString("Can't connect to %1 on %2 port!").arg(settings.hostAddress).arg(settings.outPort));


	connect(inSocket, SIGNAL(readyRead()), this, SLOT(receiveUpdate()),Qt::DirectConnection);

	// Setup transmit timer
	txTimer = new QTimer();
	connect(txTimer, SIGNAL(timeout()), this, SLOT(transmitUpdate()),Qt::DirectConnection);
	txTimer->setInterval(updatePeriod);
	txTimer->start();
	// Setup simulator connection timer
	simTimer = new QTimer();
	connect(simTimer, SIGNAL(timeout()), this, SLOT(onSimulatorConnectionTimeout()),Qt::DirectConnection);
	simTimer->setInterval(simTimeout);
	simTimer->start();

	// setup time
	time = new QTime();
	time->start();
	current.T=0;
	current.i=0;

}

void Simulator::receiveUpdate()
{
	// Update connection timer and status
	simTimer->setInterval(simTimeout);
	simTimer->stop();
	simTimer->start();
	if ( !simConnectionStatus )
	{
		simConnectionStatus = true;
		emit simulatorConnected();
	}

	// Process data
        while(inSocket->hasPendingDatagrams()) {
		// Receive datagram
		QByteArray datagram;
		datagram.resize(inSocket->pendingDatagramSize());
		QHostAddress sender;
		quint16 senderPort;
		inSocket->readDatagram(datagram.data(), datagram.size(),
							   &sender, &senderPort);
		//QString datastr(datagram);
		// Process incomming data
		processUpdate(datagram);
	 }
}

void Simulator::setupObjects()
{
	setupInputObject(actDesired, 100);
	setupOutputObject(altActual, 250);
        setupOutputObject(attActual, 10);
        //setupOutputObject(attActual, 100);
        setupOutputObject(gpsPos, 250);
        setupOutputObject(posActual, 250);
        setupOutputObject(velActual, 250);
        setupOutputObject(posHome, 1000);
        setupOutputObject(accels, 10);
        setupOutputObject(gyros, 10);
        //setupOutputObject(attRaw, 100);



}

void Simulator::setupInputObject(UAVObject* obj, int updatePeriod)
{
	UAVObject::Metadata mdata;
	mdata = obj->getDefaultMetadata();
	UAVObject::SetFlightAccess(mdata, UAVObject::ACCESS_READWRITE);
	UAVObject::SetGcsAccess(mdata, UAVObject::ACCESS_READWRITE);
	UAVObject::SetFlightTelemetryAcked(mdata, false);
	UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC);
	mdata.flightTelemetryUpdatePeriod = updatePeriod;
	UAVObject::SetGcsTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_MANUAL);
	obj->setMetadata(mdata);
}

void Simulator::setupOutputObject(UAVObject* obj, int updatePeriod)
{
	UAVObject::Metadata mdata;
	mdata = obj->getDefaultMetadata();
	UAVObject::SetFlightAccess(mdata, UAVObject::ACCESS_READONLY);
	UAVObject::SetGcsAccess(mdata, UAVObject::ACCESS_READWRITE);
	UAVObject::SetFlightTelemetryUpdateMode(mdata,UAVObject::UPDATEMODE_MANUAL);
	UAVObject::SetGcsTelemetryAcked(mdata, false);
	UAVObject::SetGcsTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC);
	mdata.gcsTelemetryUpdatePeriod = updatePeriod;
	obj->setMetadata(mdata);
}

void Simulator::onAutopilotConnect()
{
	autopilotConnectionStatus = true;
	setupObjects();
	emit autopilotConnected();
}

void Simulator::onAutopilotDisconnect()
{
	autopilotConnectionStatus = false;
	emit autopilotDisconnected();
}

void Simulator::onSimulatorConnectionTimeout()
{
	if ( simConnectionStatus )
	{
		simConnectionStatus = false;
		emit simulatorDisconnected();
	}
}


void Simulator::telStatsUpdated(UAVObject* obj)
{
	GCSTelemetryStats::DataFields stats = telStats->getData();
	if ( !autopilotConnectionStatus && stats.Status == GCSTelemetryStats::STATUS_CONNECTED )
	{
		onAutopilotConnect();
	}
	else if ( autopilotConnectionStatus && stats.Status != GCSTelemetryStats::STATUS_CONNECTED )
	{
		onAutopilotDisconnect();
	}
}


void Simulator::updateUAVOs(Output2OP out){

//    QTime currentTime = QTime::currentTime();


    Noise noise;
    HitlNoiseGeneration noiseSource;
    if(settings.addNoise){
        noise = noiseSource.generateNoise();
    }
    else{
        memset(&noise, 0, sizeof(Noise));
    }

    HomeLocation::DataFields homeData = posHome->getData();
    if(!once)
    {
        // Upon startup, we reset the HomeLocation object to
        // the plane's location:
        memset(&homeData, 0, sizeof(HomeLocation::DataFields));
        // Update homelocation
        homeData.Latitude = out.latitude;   //Already in *10^7 integer format
        homeData.Longitude = out.longitude; //Already in *10^7 integer format
        homeData.Altitude = out.altitude;
        double LLA[3];
        LLA[0]=out.latitude;
        LLA[1]=out.longitude;
        LLA[2]=out.altitude;
        double ECEF[3];
        double RNE[9];
        Utils::CoordinateConversions().RneFromLLA(LLA,(double (*)[3])RNE);
        Utils::CoordinateConversions().LLA2ECEF(LLA,ECEF);
        homeData.Be[0]=0;
        homeData.Be[1]=0;
        homeData.Be[2]=0;
        posHome->setData(homeData);
        posHome->updated();

        // Compute initial distance
        initN = out.dstN;
        initE = out.dstE;
        initD = out.dstD;

        once=true;
    }


    // Update attActual object
    AttitudeActual::DataFields attActualData;
    attActualData = attActual->getData();

    if (settings.attActHW) {
        // do nothing
        /*****************************************/
    } else if (settings.attActSim) {
        // take all data from simulator
        attActualData.Roll = out.roll + noise.attActualData.Roll;   //roll;
        attActualData.Pitch = out.pitch + noise.attActualData.Pitch;  // pitch
        attActualData.Yaw = out.heading + noise.attActualData.Yaw; // Yaw
        float rpy[3];
        float quat[4];
        rpy[0] = attActualData.Roll;
        rpy[1] = attActualData.Pitch;
        rpy[2] = attActualData.Yaw;
        Utils::CoordinateConversions().RPY2Quaternion(rpy,quat);
        attActualData.q1 = quat[0];
        attActualData.q2 = quat[1];
        attActualData.q3 = quat[2];
        attActualData.q4 = quat[3];

        //Set UAVO
        attActual->setData(attActualData);
        /*****************************************/
    } else if (settings.attActCalc) {
        // calculate RPY with code from Attitude module
        AttitudeActual::DataFields attActData;

        static float q[4] = {1, 0, 0, 0};
        static float gyro_correct_int2 = 0;

        float dT = out.delT;

        AttitudeSettings::DataFields attSettData = attSettings->getData();
        float accelKp = attSettData.AccelKp * 0.1666666666666667;
        float accelKi = attSettData.AccelKp * 0.1666666666666667;
        float yawBiasRate = attSettData.YawBiasRate;

        // calibrate sensors on arming
        if (flightStatus->getData().Armed == FlightStatus::ARMED_ARMING) {
            accelKp = 2.0;
            accelKi = 0.9;
        }

        float gyro[3] = {out.rollRate, out.pitchRate, out.yawRate};
        float attRawAcc[3] = {out.accX, out.accY, out.accZ};

        // code from Attitude module begin ///////////////////////////////
        float *accels = attRawAcc;
        float grot[3];
        float accel_err[3];

        // Rotate gravity to body frame and cross with accels
        grot[0] = -(2 * (q[1] * q[3] - q[0] * q[2]));
        grot[1] = -(2 * (q[2] * q[3] + q[0] * q[1]));
        grot[2] = -(q[0] * q[0] - q[1]*q[1] - q[2]*q[2] + q[3]*q[3]);

        // CrossProduct
        {
            accel_err[0] = accels[1]*grot[2] - grot[1]*accels[2];
            accel_err[1] = grot[0]*accels[2] - accels[0]*grot[2];
            accel_err[2] = accels[0]*grot[1] - grot[0]*accels[1];
        }

        // Account for accel magnitude
        float accel_mag = sqrt(accels[0] * accels[0] + accels[1] * accels[1] + accels[2] * accels[2]);
        accel_err[0] /= accel_mag;
        accel_err[1] /= accel_mag;
        accel_err[2] /= accel_mag;

        // Accumulate integral of error.  Scale here so that units are (deg/s) but Ki has units of s
        gyro_correct_int2 += -gyro[2] * yawBiasRate;

        // Correct rates based on error, integral component dealt with in updateSensors
        gyro[0] += accel_err[0] * accelKp / dT;
        gyro[1] += accel_err[1] * accelKp / dT;
        gyro[2] += accel_err[2] * accelKp / dT + gyro_correct_int2;

        // Work out time derivative from INSAlgo writeup
        // Also accounts for the fact that gyros are in deg/s
        float qdot[4];
        qdot[0] = (-q[1] * gyro[0] - q[2] * gyro[1] - q[3] * gyro[2]) * dT * M_PI / 180 / 2;
        qdot[1] = (+q[0] * gyro[0] - q[3] * gyro[1] + q[2] * gyro[2]) * dT * M_PI / 180 / 2;
        qdot[2] = (+q[3] * gyro[0] + q[0] * gyro[1] - q[1] * gyro[2]) * dT * M_PI / 180 / 2;
        qdot[3] = (-q[2] * gyro[0] + q[1] * gyro[1] + q[0] * gyro[2]) * dT * M_PI / 180 / 2;

        // Take a time step
        q[0] += qdot[0];
        q[1] += qdot[1];
        q[2] += qdot[2];
        q[3] += qdot[3];

        if(q[0] < 0) {
            q[0] = -q[0];
            q[1] = -q[1];
            q[2] = -q[2];
            q[3] = -q[3];
        }

        // Renomalize
        float qmag = sqrt((q[0] * q[0]) + (q[1] * q[1]) + (q[2] * q[2]) + (q[3] * q[3]));
        q[0] /= qmag;
        q[1] /= qmag;
        q[2] /= qmag;
        q[3] /= qmag;

        // If quaternion has become inappropriately short or is nan reinit.
        // THIS SHOULD NEVER ACTUALLY HAPPEN
        if((fabs(qmag) < 1e-3) || (qmag != qmag)) {
            q[0] = 1;
            q[1] = 0;
            q[2] = 0;
            q[3] = 0;
        }

        float rpy2[3];
        // Quaternion2RPY
        {
            float q0s, q1s, q2s, q3s;
            q0s = q[0] * q[0];
            q1s = q[1] * q[1];
            q2s = q[2] * q[2];
            q3s = q[3] * q[3];

            float R13, R11, R12, R23, R33;
            R13 = 2 * (q[1] * q[3] - q[0] * q[2]);
            R11 = q0s + q1s - q2s - q3s;
            R12 = 2 * (q[1] * q[2] + q[0] * q[3]);
            R23 = 2 * (q[2] * q[3] + q[0] * q[1]);
            R33 = q0s - q1s - q2s + q3s;

            rpy2[1] = RAD2DEG * asinf(-R13);    // pitch always between -pi/2 to pi/2
            rpy2[2] = RAD2DEG * atan2f(R12, R11);
            rpy2[0] = RAD2DEG * atan2f(R23, R33);
        }

        attActualData.Roll  = rpy2[0];
        attActualData.Pitch = rpy2[1];
        attActualData.Yaw   = rpy2[2];
        attActualData.q1 = q[0];
        attActualData.q2 = q[1];
        attActualData.q3 = q[2];
        attActualData.q4 = q[3];

        //Set UAVO
        attActual->setData(attActualData);
        /*****************************************/
    }


    if (settings.gcsReciever) {
//        static QTime gcsRcvrTime = currentTime;
//        if (!settings.manualOutput || gcsRcvrTime.msecsTo(currentTime) >= settings.outputRate) {
//            GCSReceiver::DataFields gcsRcvrData;
//            gcsRcvrData = gcsReceiver->getData();

//            for (int i = 0; i < 8; ++i)
//                gcsRcvrData.Channel[i] = 1500 + (ch[i] * 500);

//            gcsReceiver->setData(gcsRcvrData);
//            if (settings.manualOutput)
//                gcsRcvrTime = currentTime;
//        }
    } else if (settings.manualControl) {
        // not implemented yet
    }


    if (settings.gpsPosition) {
//        if (gpsPosTime.msecsTo(currentTime) >= settings.gpsPosRate) {
        // Update GPS Position objects
        GPSPosition::DataFields gpsPosData;
        memset(&gpsPosData, 0, sizeof(GPSPosition::DataFields));
        gpsPosData.Altitude = out.altitude + noise.gpsPosData.Altitude;
        gpsPosData.Heading = out.heading + noise.gpsPosData.Heading;
        gpsPosData.Groundspeed = out.groundspeed + noise.gpsPosData.Groundspeed;
        gpsPosData.Latitude = out.latitude + noise.gpsPosData.Latitude;    //Already in *10^7 integer format
        gpsPosData.Longitude = out.longitude + noise.gpsPosData.Longitude; //Already in *10^7 integer format
        gpsPosData.GeoidSeparation = 0.0;
        gpsPosData.PDOP = 3.0;
        gpsPosData.VDOP = gpsPosData.PDOP*1.5;
        gpsPosData.Satellites = 10;
        gpsPosData.Status = GPSPosition::STATUS_FIX3D;

        gpsPos->setData(gpsPosData);

        // Update GPS Velocity.{North,East,Down}
        GPSVelocity::DataFields gpsVelData;
        memset(&gpsVelData, 0, sizeof(GPSVelocity::DataFields));
        gpsVelData.North = out.velNorth + noise.gpsVelData.North;
        gpsVelData.East = out.velEast + noise.gpsVelData.East;
        gpsVelData.Down = out.velDown + noise.gpsVelData.Down;

        gpsVel->setData(gpsVelData);

//        static QTime gpsPosTime = currentTime;
//        gpsPosTime = currentTime;
//        }

    }


    // Update VelocityActual.{North,East,Down}
    if (settings.groundTruth) {
        VelocityActual::DataFields velocityActualData;
        memset(&velocityActualData, 0, sizeof(VelocityActual::DataFields));
        velocityActualData.North = out.velNorth + noise.velocityActualData.North;
        velocityActualData.East = out.velEast + noise.velocityActualData.East;
        velocityActualData.Down = out.velDown + noise.velocityActualData.Down;
        velActual->setData(velocityActualData);

        // Update PositionActual.{Nort,East,Down}
        PositionActual::DataFields positionActualData;
        memset(&positionActualData, 0, sizeof(PositionActual::DataFields));
        positionActualData.North = (out.dstN-initN) + noise.positionActualData.North;
        positionActualData.East = (out.dstE-initE) + noise.positionActualData.East;
        positionActualData.Down = (out.dstD/*-initD*/) + noise.positionActualData.Down;
        posActual->setData(positionActualData);
    }

    if (settings.sonarAltitude) {
//        static QTime sonarAltTime = currentTime;
//        if (sonarAltTime.msecsTo(currentTime) >= settings.sonarAltRate) {
//            SonarAltitude::DataFields sonarAltData;
//            sonarAltData = sonarAlt->getData();

//            float sAlt = settings.sonarMaxAlt;
//            // 0.35 rad ~= 20 degree
//            if ((agl < (sAlt * 2.0)) && (roll < 0.35) && (pitch < 0.35)) {
//                float x = agl * qTan(roll);
//                float y = agl * qTan(pitch);
//                float h = qSqrt(x*x + y*y + agl*agl);
//                sAlt = qMin(h, sAlt);
//            }

//            sonarAltData.Altitude = sAlt;
//            sonarAlt->setData(sonarAltData);
//            sonarAltTime = currentTime;
//        }
    }

    // Update BaroAltitude object
    BaroAltitude::DataFields baroAltData;
    memset(&baroAltData, 0, sizeof(BaroAltitude::DataFields));
    baroAltData.Altitude = out.altitude + noise.baroAltData.Altitude;
    baroAltData.Temperature = out.temperature + noise.baroAltData.Temperature;
    baroAltData.Pressure = out.pressure + noise.baroAltData.Pressure;
    baroAlt->setData(baroAltData);

    // Update BaroAirspeed object
    BaroAirspeed::DataFields baroAirspeedData;
    memset(&baroAirspeedData, 0, sizeof(BaroAirspeed::DataFields));
    baroAirspeedData.CalibratedAirspeed = out.calibratedAirspeed + noise.baroAirspeed.CalibratedAirspeed;
    baroAirspeed->setData(baroAirspeedData);

    if (settings.attRaw) {
        //Update gyroscope sensor data
        Gyros::DataFields gyroData;
        memset(&gyroData, 0, sizeof(Gyros::DataFields));
        gyroData.x = out.rollRate + noise.gyroData.x;
        gyroData.y = out.pitchRate + noise.gyroData.y;
        gyroData.z = out.yawRate + noise.gyroData.z;
        gyros->setData(gyroData);

        //Update accelerometer sensor data
        Accels::DataFields accelData;
        memset(&accelData, 0, sizeof(Accels::DataFields));
        accelData.x = out.accX + noise.accelData.x;
        accelData.y = out.accY + noise.accelData.y;
        accelData.z = out.accZ + noise.accelData.z;
        accels->setData(accelData);
    }
}