[nps] add norc option to nps simulator

zipray · Dec 19, 2016 · 590c904 · 590c904
1 parent e577814
commit 590c904
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Showing 7 changed files with 26 additions and 9 deletions.
diff --git a/sw/simulator/nps/nps_main.h b/sw/simulator/nps/nps_main.h
@@ -62,6 +62,7 @@ struct NpsMain {
   char *js_dev;
   char *spektrum_dev;
   int rc_script;
+  bool norc;
   char *ivy_bus;
 };
 

diff --git a/sw/simulator/nps/nps_main_common.c b/sw/simulator/nps/nps_main_common.c
@@ -154,6 +154,7 @@ bool nps_main_parse_options(int argc, char **argv)
   nps_main.js_dev = NULL;
   nps_main.spektrum_dev = NULL;
   nps_main.rc_script = 0;
+  nps_main.norc = false;
   nps_main.ivy_bus = NULL;
   nps_main.host_time_factor = 1.0;
   nps_main.fg_fdm = 0;
@@ -169,6 +170,7 @@ bool nps_main_parse_options(int argc, char **argv)
     "   -j --js_dev <optional joystick index>  e.g. 1 (default 0)\n"
     "   --spektrum_dev <spektrum device>       e.g. /dev/ttyUSB0\n"
     "   --rc_script <number>                   e.g. 0\n"
+    "   --norc                                 e.g. disable RC\n"
     "   --ivy_bus <ivy bus>                    e.g. 127.255.255.255\n"
     "   --time_factor <factor>                 e.g. 2.5\n"
     "   --fg_fdm";
@@ -183,6 +185,7 @@ bool nps_main_parse_options(int argc, char **argv)
       {"js_dev", 2, NULL, 0},
       {"spektrum_dev", 1, NULL, 0},
       {"rc_script", 1, NULL, 0},
+      {"norc", 0, NULL, 0},
       {"ivy_bus", 1, NULL, 0},
       {"time_factor", 1, NULL, 0},
       {"fg_fdm", 0, NULL, 0},
@@ -214,12 +217,14 @@ bool nps_main_parse_options(int argc, char **argv)
           case 5:
             nps_main.rc_script = atoi(optarg); break;
           case 6:
-            nps_main.ivy_bus = strdup(optarg); break;
+            nps_main.norc = true; break;
           case 7:
-            nps_main.host_time_factor = atof(optarg); break;
+            nps_main.ivy_bus = strdup(optarg); break;
           case 8:
-            nps_main.fg_fdm = 1; break;
+            nps_main.host_time_factor = atof(optarg); break;
           case 9:
+            nps_main.fg_fdm = 1; break;
+          case 10:
             nps_main.fg_port_in = atoi(optarg); break;
         }
         break;

diff --git a/sw/simulator/nps/nps_main_hitl.c b/sw/simulator/nps/nps_main_hitl.c
@@ -79,7 +79,9 @@ void nps_radio_and_autopilot_init(void)
 {
   enum NpsRadioControlType rc_type;
   char *rc_dev = NULL;
-  if (nps_main.js_dev) {
+  if (nps_main.norc) {
+    rc_type = NORC;
+  } else if (nps_main.js_dev) {
     rc_type = JOYSTICK;
     rc_dev = nps_main.js_dev;
   } else if (nps_main.spektrum_dev) {

diff --git a/sw/simulator/nps/nps_main_sitl.c b/sw/simulator/nps/nps_main_sitl.c
@@ -56,7 +56,9 @@ void nps_radio_and_autopilot_init(void)
 {
   enum NpsRadioControlType rc_type;
   char *rc_dev = NULL;
-  if (nps_main.js_dev) {
+  if (nps_main.norc) {
+    rc_type = NORC;
+  } else if (nps_main.js_dev) {
     rc_type = JOYSTICK;
     rc_dev = nps_main.js_dev;
   } else if (nps_main.spektrum_dev) {

diff --git a/sw/simulator/nps/nps_radio_control.c b/sw/simulator/nps/nps_radio_control.c
@@ -48,6 +48,8 @@ void nps_radio_control_init(enum NpsRadioControlType type, int num_script, char
       break;
     case SCRIPT:
       break;
+    case NORC:
+      break;
     default:
       break;
   }
@@ -78,7 +80,7 @@ static rc_script scripts[] = {
 
 bool nps_radio_control_available(double time)
 {
-  if (time >=  nps_radio_control.next_update) {
+  if (time >=  nps_radio_control.next_update && nps_radio_control.type != NORC) {
     nps_radio_control.next_update += RADIO_CONTROL_DT;
 
     if (nps_radio_control.type == JOYSTICK) {

diff --git a/sw/simulator/nps/nps_radio_control.h b/sw/simulator/nps/nps_radio_control.h
@@ -31,7 +31,8 @@
 enum NpsRadioControlType {
   SCRIPT,
   JOYSTICK,
-  SPEKTRUM
+  SPEKTRUM,
+  NORC
 };
 
 extern void nps_radio_control_init(enum NpsRadioControlType type, int num_script, char *js_dev);

diff --git a/sw/simulator/pprzsim-launch b/sw/simulator/pprzsim-launch
@@ -48,14 +48,16 @@ def main():
                      help="Host for FlightGear visualization (e.g. 127.0.0.1)")
     parser.add_option("-v", "--verbose",
                       action="store_true", dest="verbose")
+    parser.add_option("--norc", dest="norc", action="store_true",
+                              help="Hide the simulated RC")
 
     # special options for the fixedwing OCaml sim
     ocamlsim_opts = OptionGroup(parser, "Simple fixedwing OCaml Simulator Options",
                                 "These are only relevant to the simple fixedwing OCaml sim")
     ocamlsim_opts.add_option("--boot", dest="boot", action="store_true",
                              help="Boot the aircraft on start")
-    ocamlsim_opts.add_option("--norc", dest="norc", action="store_true",
-                              help="Hide the simulated RC")
+    #ocamlsim_opts.add_option("--norc", dest="norc", action="store_true",
+    #                          help="Hide the simulated RC")
     ocamlsim_opts.add_option("--noground", dest="noground", action="store_true",
                              help="Disable ground detection")
     ocamlsim_opts.add_option("--launch", dest="launch", action="store_true",
@@ -152,6 +154,8 @@ def main():
         if options.rc_script:
             simargs.append("--rc_script")
             simargs.append(options.rc_script)
+        if options.norc:
+            simargs.append("--norc")
         if options.ivy_bus:
             simargs.append("--ivy_bus")
             simargs.append(options.ivy_bus)