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   1 /*
   2  * Copyright © 2009 Keith Packard <keithp@keithp.com>
   3  *
   4  * This program is free software; you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation; either version 2 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * This program is distributed in the hope that it will be useful, but
  10  * WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  12  * General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License along
  15  * with this program; if not, write to the Free Software Foundation, Inc.,
  16  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  17  */
  18
  19 #define _GNU_SOURCE
  20 #define AO_TICK_TYPE uint32_t
  21
  22 #include <stdint.h>
  23 #include <stdio.h>
  24 #include <stdlib.h>
  25 #include <string.h>
  26 #include <getopt.h>
  27 #include <math.h>
  28
  29 FILE *emulator_in;
  30 char *emulator_app;
  31 char *emulator_name;
  32 char *emulator_info;
  33 uint8_t ao_flight_debug;
  34
  35 #define AO_FLIGHT_TEST
  36
  37 typedef int32_t alt_t;
  38 typedef int32_t pres_t;
  39
  40 #define AO_MS_TO_TICKS(ms)      ((ms) / 10)
  41
  42 #define AO_LED_REPORT 0
  43
  44 static void ao_led_on(uint8_t led) {
  45 }
  46
  47 static void ao_led_off(uint8_t led) {
  48 }
  49
  50 static void ao_delay_until(AO_TICK_TYPE target) {
  51 }
  52
  53 static AO_TICK_TYPE ao_time(void) {
  54         return 0;
  55 }
  56
  57 #include "ao_microflight.c"
  58 #include "ao_microkalman.c"
  59 #include "ao_convert_pa.c"
  60
  61 AO_TICK_TYPE    now;
  62 uint8_t         running;
  63
  64 void ao_log_micro_data() {
  65         running = 1;
  66 }
  67
  68 void
  69 ao_micro_report(void)
  70 {
  71         if (running) {
  72                 alt_t   ground = ao_pa_to_altitude(pa_ground);
  73                 printf ("%6.3f %10d %10d %10d %10d %10d\n", now / 100.0,
  74                         ao_pa_to_altitude(pa) - ground,
  75                         ao_pa_to_altitude(ao_pa) - ground,
  76                         ao_pa_to_altitude(pa_min) - ground,
  77                         ao_pa_speed, ao_pa_accel);
  78         }
  79 }
  80
  81 void
  82 ao_micro_finish(void)
  83 {
  84         ao_micro_report();
  85 }
  86
  87 void
  88 ao_pa_get(void)
  89 {
  90         char    line[4096];
  91         char    *toks[128];
  92         char    *saveptr;
  93         int     t, ntok;
  94         static int      time_id;
  95         static int      pa_id;
  96         double          time;
  97         double          pressure;
  98         static double   last_time;
  99         static double   last_pressure;
 100         static int      been_here;
 101         static int      start_samples;
 102         static int      is_mp;
 103         static int      use_saved;
 104
 105         if (been_here && start_samples < 100) {
 106                 start_samples++;
 107                 return;
 108         }
 109         ao_micro_report();
 110         if (use_saved) {
 111                 pa = last_pressure;
 112                 now = last_time;
 113                 use_saved = 0;
 114 //              printf ("use saved %d %d\n", now, pa);
 115                 return;
 116         }
 117         for (;;) {
 118                 if (!fgets(line, sizeof (line), emulator_in))
 119                         exit(0);
 120                 for (t = 0; t < 128; t++) {
 121                         toks[t] = strtok_r(t ? NULL : line, ", ", &saveptr);
 122                         if (!toks[t])
 123                                 break;
 124                 }
 125                 ntok = t;
 126                 if (toks[0][0] == '#') {
 127                         if (strcmp(toks[0],"#version") == 0) {
 128                                 for (t = 1; t < ntok; t++) {
 129                                         if (!strcmp(toks[t], "time"))
 130                                                 time_id = t;
 131                                         if (!strcmp(toks[t],"pressure"))
 132                                                 pa_id = t;
 133                                 }
 134                         }
 135                         continue;
 136                 } else if (!strcmp(toks[0], "Time")) {
 137                         time_id = 0;
 138                         pa_id = 1;
 139                         is_mp = 1;
 140                         continue;
 141                 }
 142                 time = strtod(toks[time_id],NULL);
 143                 pressure = strtod(toks[pa_id],NULL);
 144                 time *= 100;
 145                 if (been_here && time - last_time < 0.096 * 100)
 146                         continue;
 147                 if (is_mp && been_here) {
 148                         double  avg_pressure = (pressure + last_pressure) / 2.0;
 149                         double  avg_time = (time + last_time) / 2.0;
 150
 151                         now = avg_time;
 152                         pa = avg_pressure;
 153 //                      printf ("new %d %d\n", now, pa);
 154                         use_saved = 1;
 155                 } else {
 156                         now = floor (time + 0.5);
 157                         pa = pressure;
 158                 }
 159                 last_pressure = pressure;
 160                 last_time = time;
 161                 been_here = 1;
 162                 break;
 163         }
 164 }
 165
 166 void
 167 ao_dump_state(void)
 168 {
 169 }
 170
 171 static const struct option options[] = {
 172         { .name = "summary", .has_arg = 0, .val = 's' },
 173         { .name = "debug", .has_arg = 0, .val = 'd' },
 174         { .name = "info", .has_arg = 1, .val = 'i' },
 175         { 0, 0, 0, 0},
 176 };
 177
 178 void run_flight_fixed(char *name, FILE *f, int summary, char *info)
 179 {
 180         emulator_name = name;
 181         emulator_in = f;
 182         emulator_info = info;
 183         ao_microflight();
 184         ao_micro_finish();
 185 }
 186
 187 int
 188 main (int argc, char **argv)
 189 {
 190         int     summary = 0;
 191         int     c;
 192         int     i;
 193         char    *info = NULL;
 194
 195         emulator_app="baro";
 196         while ((c = getopt_long(argc, argv, "sdi:", options, NULL)) != -1) {
 197                 switch (c) {
 198                 case 's':
 199                         summary = 1;
 200                         break;
 201                 case 'd':
 202                         ao_flight_debug = 1;
 203                         break;
 204                 case 'i':
 205                         info = optarg;
 206                         break;
 207                 }
 208         }
 209
 210         if (optind == argc)
 211                 run_flight_fixed("<stdin>", stdin, summary, info);
 212         else
 213                 for (i = optind; i < argc; i++) {
 214                         FILE    *f = fopen(argv[i], "r");
 215                         if (!f) {
 216                                 perror(argv[i]);
 217                                 continue;
 218                         }
 219                         run_flight_fixed(argv[i], f, summary, info);
 220                         fclose(f);
 221                 }
 222         exit(0);
 223 }