[sim] moving the old ocaml simulator to NPS (#3167)

- the exact same basic model is now a NPS FDM
- sim target still woks, it is just an alias to NPS with the proper FDM
- the old ocaml files are removed
- AHRS and INS are bypassed, since the accelerations are not well calculated by the model

Makefile

@@ -343,14 +343,8 @@ test_all_confs: all opencv_bebop
 test_math:
 	make -C tests/math
 
-# super simple simulator test, needs X
-# always uses conf/conf.xml, so that needs to contain the appropriate aircrafts
-# (only Microjet right now)
-test_sim: all
-	prove tests/sim
-
 .PHONY: all print_build_version _print_building _save_build_version init dox ground_segment ground_segment.opt \
 subdirs $(SUBDIRS) conf ext libpprz libpprzlink.update libpprzlink.install cockpit cockpit.opt tmtc tmtc.opt generators\
 static sim_static opencv_bebop\
 clean cleanspaces ab_clean dist_clean distclean dist_clean_irreversible \
-test test_examples test_math test_sim test_all_confs
+test test_examples test_math test_all_confs

conf/Makefile.sim

@@ -1,158 +1 @@
-# Hey Emacs, this is a -*- makefile -*-
-#
-#   Copyright (C) 2006 Pascal Brisset, Antoine Drouin
-#
-# This file is part of paparazzi.
-#
-# paparazzi 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 2, or (at your option)
-# any later version.
-#
-# paparazzi 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 paparazzi; see the file COPYING.  If not, write to
-# the Free Software Foundation, 59 Temple Place - Suite 330,
-# Boston, MA 02111-1307, USA.
-#
-
-#
-# This is the common Makefile for the sim target.
-#
-
-# this should not be needed
-SRC_ARCH = arch/sim
-
-include $(PAPARAZZI_SRC)/sw/Makefile.ocaml
-
-CC = gcc
-SIMDIR = $(PAPARAZZI_SRC)/sw/simulator
-CAMLINCLUDES = -I $(LIBPPRZDIR) -I $(SIMDIR) -I $(OBJDIR)
-PKG = -package glibivy,pprz
-LINKPKG = $(PKG) -linkpkg -dllpath-pkg pprz,pprzlink
-SIMSITLML = $(OBJDIR)/simsitl.ml
-SITLCMA = $(SIMDIR)/sitl.cma
-OPT ?= 2
-
-# Launch with "make Q=''" to get full command display
-Q=@
-
-#
-# End of configuration part.
-#
-
-INCLUDES += -I $(shell $(OCAMLC) -where)
-
-CFLAGS  = -W -Wall
-CFLAGS += $(INCLUDES)
-CFLAGS += $($(TARGET).CFLAGS)
-CFLAGS += $(USER_CFLAGS) $(BOARD_CFLAGS)
-CFLAGS += -fPIC
-CFLAGS += -O$(OPT)
-CFLAGS += -g
-CFLAGS += -std=gnu99
-CFLAGS += $(shell pkg-config --cflags-only-I ivy-glib)
-CFLAGS += -D_GNU_SOURCE
-CFLAGS += -DPPRZLINK_UNALIGNED_ACCESS=1
-
-LDFLAGS	 =	-lm
-LDFLAGS += $(BOARD_LDFLAGS)
-
-LIBFLAGS = -shared
-
-UNAME = $(shell uname -s)
-ifeq ($(UNAME),Darwin)
-LIBFLAGS = -dynamiclib -undefined suppress -flat_namespace
-endif
-
-# build sim in custom mode for ARM systems for now...
-MNAME = $(shell uname -m)
-ifneq (,$(findstring arm,$(MNAME)))
-SIMSITLCUSTOM=TRUE
-endif
-
-ifdef SIMSITLCUSTOM
-	CAMLINCLUDES += $(shell ocamlfind query -r -i-format lablgtk2) $(shell ocamlfind query -r -i-format xml-light) $(shell ocamlfind query -r -i-format glibivy)
-	CAMLCMAS = unix.cma str.cma xml-light.cma glibivy-ocaml.cma lib-pprz.cma lablgtk.cma
-endif
-
-
-#
-# General rules
-#
-
-$(TARGET).srcsnd = $(notdir $($(TARGET).srcs))
-$(TARGET).objso	= $($(TARGET).srcs:%.c=$(OBJDIR)/%.o)
-$(TARGET).objs	= $($(TARGET).objso:%.S=$(OBJDIR)/%.o)
-
-all compile: $(OBJDIR) $(OBJDIR)/simsitl
-
-$(OBJDIR):
-	@echo CREATING object dir $(OBJDIR)
-	@test -d $(OBJDIR) || mkdir -p $(OBJDIR)
-
-# shared library of the C autopilot part
-# Note: On darwin the file should actually have the .dylib ending but ocamlc
-# only assumes that .so files are shared libraries, even though this is only
-# correct on linux.
-autopilot.so : $($(TARGET).objs)
-	@echo BUILD $@
-	$(Q)$(CC) $(LIBFLAGS) $^ -o $(OBJDIR)/$@
-
-ifdef SIMSITLCUSTOM
-$(OBJDIR)/simsitl : $($(TARGET).objs) $(SITLCMA) $(SIMSITLML)
-	@echo LD $@
-	$(Q)$(OCAMLC) -g -custom $(CAMLINCLUDES) -o $@ $(CAMLCMAS) $^
-else
-$(OBJDIR)/simsitl : autopilot.so $(SITLCMA) $(SIMSITLML)
-	@echo LD $@
-	$(Q)$(OCAMLC) -g $(CAMLINCLUDES) -o $@ $(LINKPKG) $^ -dllpath $(OBJDIR) -dllpath $(SIMDIR)
-endif
-
-
-# The id of the A/C is hardcoded in the code (to be improved with dynlink ?)
-$(SIMSITLML) : $(SIMDIR)/simsitl.ml
-	@echo "Sim.ac_name := \"$(AIRCRAFT)\"" > $@
-	@cat $< >> $@
-
-%.s: %.c
-	$(CC) $(CFLAGS) -S -o $@ $<
-
-%.s: %.cpp
-	$(CC) $(CFLAGS) -S -o $@ $<
-
-$(OBJDIR)/%.s: %.c
-	@echo CC $@
-	$(Q)test -d $(dir $@) || mkdir -p $(dir $@)
-	$(CC) $(CFLAGS) -S -o $@ $<
-
-$(OBJDIR)/%.s: %.cpp
-	@echo CC $@
-	$(Q)test -d $(dir $@) || mkdir -p $(dir $@)
-	$(CC) $(CFLAGS) -S -o $@ $<
-
-$(OBJDIR)/%.o: %.c $(OBJDIR)/../Makefile.ac
-	@echo CC $@
-	$(Q)test -d $(dir $@) || mkdir -p $(dir $@)
-	$(Q)$(CC) -MMD $(CFLAGS) -c -o $@ $<
-
-$(OBJDIR)/%.o: %.cpp $(OBJDIR)/../Makefile.ac
-	@echo CC $@
-	$(Q)test -d $(dir $@) || mkdir -p $(dir $@)
-	$(Q)$(CC) -MMD $(CFLAGS) -c -o $@ $<
-
-.PHONY: all compile
-
-#
-# Dependencies
-#
-
-DEPS = $(addprefix $(OBJDIR)/,$($(TARGET).srcs:.c=.d))
-
-ifneq ($(MAKECMDGOALS),clean)
--include $(DEPS)
-endif
+include $(PAPARAZZI_SRC)/conf/Makefile.nps

conf/modules/actuators_nps.xml

@@ -10,7 +10,7 @@
     <depends>actuators</depends>
     <provides>actuators</provides>
   </dep>
-  <makefile target="nps">
+  <makefile target="sim|nps">
     <file_arch name="actuators_pwm_arch.c"/>
   </makefile>
 </module>

conf/modules/fdm_fixedwing_sim.xml

@@ -0,0 +1,19 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="fdm_fixedwing_sim" dir="fdm">
+  <doc>
+    <description>
+      Basic fixedwing FDM for NPS simulator
+
+      This flight dynamic model is the copy of the legacy simulator that was written in OCaml.
+      Its only purpose is to allow to test the flight plans with a very simple airplane model.
+    </description>
+  </doc>
+  <header/>
+  <makefile target="sim|nps|hitl">
+    <define name="NPS_BYPASS_AHRS" value="TRUE"/>
+    <define name="NPS_BYPASS_INS" value="TRUE"/>
+    <file name="nps_fdm_fixedwing_sim.c" dir="nps"/>
+  </makefile>
+</module>
+

conf/modules/firmwares/fixedwing.xml

@@ -28,7 +28,7 @@
   <makefile target="!fbw">
     <file name="main_ap.c" dir="."/>
   </makefile>
-  <makefile target="nps">
+  <makefile target="sim|nps">
     <define name="AP"/>
     <file name="nps_autopilot_fixedwing.c" dir="nps"/>
   </makefile>

conf/modules/gps_nps.xml

@@ -17,7 +17,7 @@
   </header>
   <init fun="gps_nps_init()"/>
   <periodic fun="gps_nps_periodic_check()" freq="1." autorun="TRUE"/>
-  <makefile target="nps">
+  <makefile target="sim|nps">
     <file name="gps_sim_nps.c"/>
     <define name="GPS_TYPE_H" value="modules/gps/gps_sim_nps.h" type="string"/>
     <test>

conf/modules/imu_common.xml

@@ -40,7 +40,7 @@
   </header>
   <init fun="imu_init()"/>
 
-  <makefile target="!sim|fbw">
+  <makefile target="!fbw">
     <define name="USE_IMU"/>
     <file name="imu.c"/>
     <test/>

conf/modules/imu_nps.xml

@@ -16,7 +16,7 @@
   <init fun="imu_nps_init()"/>
   <event fun="imu_nps_event()"/>
 
-  <makefile target="nps">
+  <makefile target="sim|nps">
     <file name="imu_nps.c"/>
   </makefile>
 </module>

conf/modules/ins_arduimu.xml

@@ -17,8 +17,5 @@
   <makefile target="ap">
     <file name="ins_arduimu.c"/>
   </makefile>
-  <makefile target="sim">
-    <file_arch name="ins_arduimu.c"/>
-  </makefile>
 </module>
 

conf/modules/ins_arduimu_basic.xml

@@ -29,8 +29,5 @@
   <makefile target="ap">
     <file name="ins_arduimu_basic.c"/>
   </makefile>
-  <makefile target="sim">
-    <file_arch name="ins_arduimu_basic.c"/>
-  </makefile>
 </module>
 

conf/modules/ins_nps.xml

@@ -14,7 +14,7 @@
     <file name="ins_gps_passthrough.h"/>
   </header>
   <init fun="ins_gps_passthrough_init()"/>
-  <makefile target="nps">
+  <makefile target="sim|nps">
     <file name="imu.c" dir="modules/imu"/>
     <file name="imu_nps.c" dir="modules/imu"/>
     <define name="USE_IMU"/>
@@ -34,7 +34,7 @@
     <file name="ins.c"/>
     <file name="ins_gps_passthrough.c"/>
   </makefile>
-  <makefile target="nps" firmware="fixedwing">
+  <makefile target="sim|nps" firmware="fixedwing">
     <define name="INS_TYPE_H" value="modules/ins/ins_gps_passthrough.h" type="string"/>
     <file name="ins.c"/>
     <file name="ins_gps_passthrough_utm.c"/>

conf/modules/system_core.xml

@@ -31,7 +31,6 @@
     <define name="USE_COMMANDS"/>
     <file_arch name="sys_time_arch.c" dir="mcu_periph"/>
     <file_arch name="led_hw.c" dir="." cond="ifeq ($(ARCH), stm32)"/>
-    <file_arch name="led_hw.c" dir="." cond="ifeq ($(TARGET), sim)"/>
     <flag name="LDFLAGS" value="lrt" cond="ifeq ($(ARCH), linux)"/>
     <raw>
 VPATH += $(PAPARAZZI_HOME)/var/share

conf/modules/targets/nps.xml

@@ -15,7 +15,7 @@
     <provides>baro,airspeed,sonar,incidence,temperature</provides>
     <suggests>gps_nps,imu_nps,ins_nps,actuators_nps,telemetry_nps</suggests>
   </dep>
-  <makefile target="nps">
+  <makefile target="sim|nps">
     <define name="AP"/>
     <define name="SITL"/>
     <file name="nps_electrical.c" dir="$(NPS_DIR)"/>

conf/modules/targets/nps_common.xml

@@ -12,7 +12,7 @@
   <dep>
     <depends>math</depends>
   </dep>
-  <makefile target="nps|hitl">
+  <makefile target="sim|nps|hitl">
     <configure name="BARO_PERIODIC_FREQUENCY" default="50"/>
     <configure name="NPS_DIR" value="nps"/>
     <raw>

conf/modules/targets/sim.xml

@@ -11,26 +11,9 @@
     </description>
   </doc>
   <dep>
-    <depends>system_core,electrical,settings,actuators_dummy,@gps,@ins,@ahrs</depends>
-    <suggests>gps_sim,imu_sim,ins_sim,ahrs_sim,baro_sim,telemetry_sim</suggests>
+    <depends>targets/nps,fdm_fixedwing_sim</depends>
   </dep>
   <makefile target="sim">
-    <define name="SITL"/>
-    <define name="AP"/>
-    <file name="main_bare.c" dir="."/>
-    <file_arch name="sim_ap.c" dir="."/>
-    <file_arch name="sim_gps.c" dir="."/>
-    <file_arch name="sim_adc_generic.c" dir="."/>
-    <file_arch name="sim_ahrs.c" dir="."/>
-    <file_arch name="sim_airspeed.c" dir="."/>
-    <raw>
-UNAME = $(shell uname -s)
-ifeq ("$(UNAME)","Darwin")
-  sim.CFLAGS += $(shell if test -d /opt/paparazzi/include; then echo "-I/opt/paparazzi/include"; elif test -d /opt/local/include; then echo "-I/opt/local/include"; fi)
-endif
-
-sim.CFLAGS  	+= $(CPPFLAGS)
-    </raw>
   </makefile>
 </module>
 

conf/modules/telemetry_nps.xml

@@ -22,7 +22,7 @@
   </header>
   <init fun="pprz_dl_init()"/>
   <event fun="pprz_dl_event()"/>
-  <makefile target="nps">
+  <makefile target="sim|nps">
     <configure name="MODEM_DEV" default="UDP0" case="upper|lower"/>
     <configure name="MODEM_PORT_OUT" default="4242"/>
     <configure name="MODEM_PORT_IN" default="4243"/>

conf/modules/udp.xml

@@ -19,7 +19,7 @@
     <file_arch name="udp_arch.c" dir="mcu_periph"/>
     <file name="udp_socket.c" dir="arch/linux" cond="ifeq ($(ARCH), linux)"/>
   </makefile>
-  <makefile target="nps">
+  <makefile target="sim|nps">
     <include name="arch/linux"/>
     <file name="udp_socket.c" dir="arch/linux"/>
   </makefile>