/
runhil.py
executable file
·444 lines (363 loc) · 14.9 KB
/
runhil.py
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#!/usr/bin/env python
'''
runs hil simulation
'''
# system import
import sys, struct, time, os, argparse, signal, math, errno
import pexpect, socket, fdpexpect, select
import pymavlink.mavutil as mavutil
if os.getenv('MAVLINK09') or 'MAVLINK09' in os.environ:
import pymavlink.mavlinkv09_pixhawk as mavlink
else:
import pymavlink.mavlinkv10_pixhawk as mavlink
# set path
sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), 'modules'))
import hangar
import gcs
from constants import *
# local imports
import util, atexit
import pymavlink.fgFDM as fgFDM
from math import sin, cos
class SensorHIL(object):
''' This class executes sensor level hil communication '''
@classmethod
def command_line(cls):
''' command line parser '''
parser = argparse.ArgumentParser()
parser.add_argument('--master', help='device', required=True)
parser.add_argument('--baud', help='master port baud rate', default=921600)
parser.add_argument('--script', help='jsbsim script', default='data/easystar_test.xml')
parser.add_argument('--options', help='jsbsim options', default=None)
parser.add_argument('--gcs', help='gcs host', default='localhost:14550')
parser.add_argument('--waypoints', help='waypoints file', default='data/sf_waypoints.txt')
parser.add_argument('--mode', help="hil mode (sensor or state)", default='sensor')
parser.add_argument('--fgout', help="flight gear output", default=None)
args = parser.parse_args()
if args.master is None:
raise IOError('must specify device with --dev')
if args.mode not in ['sensor','state']:
raise IOError('mode must be sensor or state')
inst = cls(master_dev=args.master, baudrate=args.baud, script=args.script, options=args.options, gcs_dev=args.gcs, waypoints=args.waypoints, mode = args.mode, fgout=args.fgout)
inst.run()
def __init__(self, master_dev, baudrate, script, options, gcs_dev, waypoints, mode, fgout):
''' default ctor
@param dev device
@param baud baudrate
'''
self.script = script
self.options = options
self.waypoints = waypoints
self.mode = mode
self.attack = None
self.ac = hangar.BasicAircraft(self.attack)
self.jsb = None
self.jsb_console = None
self.t_hil_state = 0
self.gcs = None
self.master = None
self.counts = {}
self.bytes_sent = 0
self.bytes_recv = 0
self.frame_count = 0
self.last_report = 0
self.jsbsim_bad_packet = 0
#self.init_jsbsim()
self.init_mavlink(master_dev, gcs_dev, baudrate)
self.wpm = gcs.WaypointManager(self.master)
self.fg_out = None
self.fg_enable = False
if fgout is not None:
self.fg_enable = True
self.fg_out = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
self.fg_out.connect(self.interpret_address(fgout))
def __del__(self):
print 'SensorHil shutting down'
# JSBSim really doesn't like to die ...
if self.jsb_console is not None:
self.jsb_console.send('quit\n')
if self.jsb is not None and getattr(self.jsb, 'pid', None) is not None:
os.kill(self.jsb.pid, signal.SIGKILL)
self.jsb.close(force=True)
util.pexpect_close_all()
def init_mavlink(self, master_dev, gcs_dev, baudrate):
# master
master = mavutil.mavserial(master_dev, baud=baudrate, autoreconnect=True)
print 'master connected on device: ', master_dev
# gcs
if gcs_dev is not None:
gcs = mavutil.mavudp(gcs_dev, input=False)
print 'gcs connected on device: ', gcs_dev
# class data
self.master = master
self.gcs = gcs
def init_jsbsim(self):
cmd = "JSBSim --realtime --suspend --nice --simulation-rate=1000 --logdirectivefile=data/flightgear.xml --script=%s" % self.script
if self.options:
cmd += ' %s' % self.options
jsb = pexpect.spawn(cmd, logfile=sys.stdout, timeout=10)
jsb.delaybeforesend = 0
util.pexpect_autoclose(jsb)
i = jsb.expect(["Successfully bound to socket for input on port (\d+)",
"Could not bind to socket for input"])
if i == 1:
print("Failed to start JSBSim - is another copy running?")
sys.exit(1)
jsb_out_address = self.interpret_address("127.0.0.1:%u" % int(jsb.match.group(1)))
jsb.expect("Creating UDP socket on port (\d+)")
jsb_in_address = self.interpret_address("127.0.0.1:%u" % int(jsb.match.group(1)))
jsb.expect("Successfully connected to socket for output")
jsb.expect("JSBSim Execution beginning")
# setup output to jsbsim
print("JSBSim console on %s" % str(jsb_out_address))
jsb_out = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
jsb_out.connect(jsb_out_address)
jsb_console = fdpexpect.fdspawn(jsb_out.fileno(), logfile=sys.stdout)
jsb_console.delaybeforesend = 0
jsb_console.logfile = None
# setup input from jsbsim
print("JSBSim FG FDM input on %s" % str(jsb_in_address))
jsb_in = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
jsb_in.bind(jsb_in_address)
jsb_in.setblocking(0)
# set class data
self.jsb = jsb
self.jsb_in = jsb_in
self.jsb_out = jsb_out
self.jsb_console = jsb_console
self.fdm = fgFDM.fgFDM()
def get_mode_flag(self, flag):
if (self.master.base_mode & flag) == 0:
return False
else:
return True
def set_mode_flag(self, flag, enable):
t_start = time.time()
if self.get_mode_flag(flag) == enable:
return
while not self.get_mode_flag(flag) == enable:
self.master.set_mode_flag(flag, enable)
while self.master.port.inWaiting() > 0:
m = self.master.recv_msg()
time.sleep(0.1)
if time.time() - t_start > 5: raise IOError('Failed to set mode flag, check port')
def wait_for_no_msg(self, msg, period, timeout, callback=None):
done = False
t_start = time.time()
t_last = time.time()
while not done:
if callback is not None: callback()
while self.master.port.inWaiting() > 0:
m = self.master.recv_msg()
if m is None: continue
if m.get_type() == msg:
t_last = time.time()
if time.time() - t_last > period:
done = True
elif time.time() - t_start > timeout:
done = False
break
time.sleep(0.001)
return done
def wait_for_msg(self, msg, timeout, callback=None):
done = False
t_start = time.time()
while not done:
if callback is not None: callback()
while self.master.port.inWaiting() > 0:
m = self.master.recv_msg()
if m is None: continue
if m.get_type() == msg:
done = True
break
if time.time() - t_start > timeout:
done = False
break
time.sleep(0.1)
return done
def reboot_autopilot(self):
reboot_successful = False
while not reboot_successful:
# Request reboot until no heartbeat received
# do while loop that checks the wait for no message timeout
# and resends the reboot if not successfull.
# The callback option cannot be used for this, because it
# runs at the same speed as the message receive which is
# unecessary.
shutdown = False
while not shutdown:
self.set_mode_flag(mavlink.MAV_MODE_FLAG_HIL_ENABLED, True)
print 'Sending reboot to autopilot'
self.master.reboot_autopilot()
# wait for heartbeat timeout, continue looping if not received
shutdown = self.wait_for_no_msg(msg='HEARTBEAT', period=2, timeout=6)
print shutdown
print 'Autopilot heartbeat lost (rebooting)'
# Try to read heartbeat three times before restarting shutdown
for i in range(3):
print 'Attempt %d to read autopilot heartbeat.' % (i+1)
# Reset serial comm
self.master.reset()
reboot_successful = self.wait_for_msg('HEARTBEAT', timeout=10)
if reboot_successful:
# avoid sending data immediately as this causes boot problem on px4
time.sleep(1)
self.set_mode_flag(mavlink.MAV_MODE_FLAG_HIL_ENABLED, True)
break
def jsb_set(self, variable, value):
'''set a JSBSim variable'''
self.jsb_console.send('set %s %s\r\n' % (variable, value))
def reset_sim(self):
if self.jsb is not None:
print 'quitting jsbsim'
self.jsb.close(force=True)
self.jsb_out.close()
self.jsb_in.close()
#self.jsb_console.close()
# reset autopilot state
self.reboot_autopilot()
time.sleep(5)
self.init_jsbsim()
# reset jsbsim state and then pause simulation
self.jsb_console.send('resume\n')
self.jsb_set('simulation/reset',1)
self.update()
self.jsb.expect("\(Trim\) executed")
self.jsb_console.send('hold\n')
print 'load waypoints'
if not self.waypoints is None:
self.wpm.set_waypoints(self.waypoints)
self.wpm.send_waypoints()
while self.wpm.state != 'IDLE':
self.process_master()
self.set_mode_flag(mavlink.MAV_MODE_FLAG_HIL_ENABLED, True)
self.jsb_console.send('resume\n')
self.process_jsb_input()
self.ac.send_state(self.master.mav)
# send initial data
print 'sending sensor data'
time_start = time.time()
while time.time() - time_start < 5:
self.update()
self.set_mode_flag(mavlink.MAV_MODE_FLAG_SAFETY_ARMED, True)
self.set_mode_flag(mavlink.MAV_MODE_FLAG_AUTO_ENABLED, True)
# resume simulation
return time.time()
def process_jsb_input(self):
'''process FG FDM input from JSBSim'''
buf = self.jsb_in.recv(self.fdm.packet_size())
if len(buf) == 408:
self.fdm.parse(buf)
self.ac.update_state(self.fdm)
#self.ac.update_state_test(20, 270*math.pi/180)
if self.fg_enable:
try:
self.fg_out.send(self.fdm.pack())
except socket.error as e:
if e.errno not in [errno.ECONNREFUSED]:
raise
else:
self.jsbsim_bad_packet += 1
print 'jsbsim bad packets: ', self.jsbsim_bad_packet
@staticmethod
def interpret_address(addrstr):
'''interpret a IP:port string'''
a = addrstr.split(':')
a[1] = int(a[1])
return tuple(a)
def process_master(self):
m = self.master.recv_msg()
if m == None: return
# forward to gcs
self.gcs.write(m.get_msgbuf())
# record counts
if m.get_type() not in self.counts:
self.counts[m.get_type()] = 0
self.counts[m.get_type()] += 1
# handle messages
mtype = m.get_type()
if mtype == 'HIL_CONTROLS':
self.ac.update_controls(m)
self.ac.send_controls(self.jsb_console)
elif mtype == 'STATUSTEXT':
print 'sys %d: %s' % (self.master.target_system, m.text)
# handle waypoint messages
self.wpm.process_msg(m)
# send waypoint messages to mav
self.wpm.send_messages()
def process_gcs(self):
'''process packets from MAVLink slaves, forwarding to the master'''
try:
buf = self.gcs.recv()
except socket.error:
return
try:
if self.gcs.first_byte:
self.gcs.auto_mavlink_version(buf)
msgs = self.gcs.mav.parse_buffer(buf)
except mavutil.mavlink.MAVError as e:
print "Bad MAVLink gcs message from %s: %s" % (slave.address, e.message)
return
if msgs is None:
return
for m in msgs:
self.master.write(m.get_msgbuf())
if 'Slave' not in self.counts:
self.counts['Slave'] = 0
self.counts['Slave'] += 1
def update(self):
# watch files
rin = [self.jsb_in.fileno(), self.jsb_console.fileno(), self.jsb.fileno(), self.gcs.fd]
# receive messages on serial port
while self.master.port.inWaiting() > 0:
self.process_master()
try:
(rin, win, xin) = select.select(rin, [], [], 1.0)
except select.error:
util.check_parent()
return
# if new gcs input, process it
if self.gcs.fd in rin:
self.process_gcs()
# if new jsbsim input, process it
if self.jsb_in.fileno() in rin:
if self.mode == 'state':
if (time.time() - self.t_hil_state) > 1.0/50:
self.t_hil_state = time.time()
self.ac.send_state(self.master.mav)
elif self.mode == 'sensor':
self.ac.send_sensors(self.master.mav)
self.process_jsb_input()
# gcs not currently getting HIL_STATE message
#self.x.send_to_mav(self.gcs.mav)
self.frame_count += 1
# show any jsbsim console output
if self.jsb_console.fileno() in rin:
util.pexpect_drain(self.jsb_console)
if self.jsb.fileno() in rin:
util.pexpect_drain(self.jsb)
dt_report = time.time() - self.last_report
if dt_report > 5:
print '\nmode: {0:X}, JSBSim {1:5.0f} Hz, {2:d} sent, {3:d} received, {4:d} errors, bwin={5:.1f} kB/s, bwout={6:.1f} kB/s'.format(
self.master.base_mode,
self.frame_count/dt_report,
self.master.mav.total_packets_sent,
self.master.mav.total_packets_received,
self.master.mav.total_receive_errors,
0.001*(self.master.mav.total_bytes_received-self.bytes_recv)/dt_report,
0.001*(self.master.mav.total_bytes_sent-self.bytes_sent)/dt_report)
print self.counts
self.bytes_sent = self.master.mav.total_bytes_sent
self.bytes_recv = self.master.mav.total_bytes_received
self.frame_count = 0
self.last_report = time.time()
return True
def run(self):
''' main execution loop '''
# start simulation
t_hil_state = 0
self.reset_sim()
# run main loop
while self.update(): pass
if __name__ == "__main__":
SensorHIL.command_line()