+/*
+ * Copyright © 2009 Keith Packard <keithp@keithp.com>
+ *
+ * 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; version 2 of the License.
+ *
+ * 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.
+ */
+
+#define _GNU_SOURCE
+
+#include <stdint.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <getopt.h>
+#include <math.h>
+
+FILE *emulator_in;
+char *emulator_app;
+char *emulator_name;
+char *emulator_info;
+uint8_t ao_flight_debug;
+
+#define AO_FLIGHT_TEST
+
+typedef int32_t alt_t;
+
+#define AO_MS_TO_TICKS(ms) ((ms) / 10)
+
+#define AO_LED_REPORT 0
+
+static void ao_led_on(uint8_t led) {
+}
+
+static void ao_led_off(uint8_t led) {
+}
+
+static void ao_delay_until(uint16_t target) {
+}
+
+static uint16_t ao_time(void) {
+ return 0;
+}
+
+#include "ao_microflight.c"
+#include "ao_microkalman.c"
+#include "ao_convert_pa.c"
+
+uint16_t now;
+uint8_t running;
+
+void ao_log_micro_data() {
+ running = 1;
+}
+
+void
+ao_micro_report(void)
+{
+ if (running) {
+ alt_t ground = ao_pa_to_altitude(pa_ground);
+ printf ("%6.2f %10d %10d %10d\n", now / 100.0,
+ ao_pa_to_altitude(pa) - ground,
+ ao_pa_to_altitude(ao_pa) - ground,
+ ao_pa_to_altitude(pa_min) - ground);
+ }
+}
+
+void
+ao_micro_finish(void)
+{
+ ao_micro_report();
+}
+
+void
+ao_pa_get(void)
+{
+ char line[4096];
+ char *toks[128];
+ char *saveptr;
+ int t, ntok;
+ static int time_id;
+ static int pa_id;
+ double time;
+ double pressure;
+ static double last_time;
+ static int been_here;
+ static int start_samples;
+
+ if (been_here && start_samples < 100) {
+ start_samples++;
+ return;
+ }
+ ao_micro_report();
+ for (;;) {
+ if (!fgets(line, sizeof (line), emulator_in))
+ exit(0);
+ for (t = 0; t < 128; t++) {
+ toks[t] = strtok_r(t ? NULL : line, ", ", &saveptr);
+ if (!toks[t])
+ break;
+ }
+ ntok = t;
+ if (toks[0][0] == '#') {
+ if (strcmp(toks[0],"#version") == 0) {
+ for (t = 1; t < ntok; t++) {
+ if (!strcmp(toks[t], "time"))
+ time_id = t;
+ if (!strcmp(toks[t],"pressure"))
+ pa_id = t;
+ }
+ }
+ continue;
+ }
+ time = strtod(toks[time_id],NULL);
+ pressure = strtod(toks[pa_id],NULL);
+ if (been_here && time - last_time < 0.1)
+ continue;
+ been_here = 1;
+ last_time = time;
+ now = floor (time * 100 + 0.5);
+ pa = pressure;
+ break;
+ }
+}
+
+void
+ao_dump_state(void)
+{
+}
+
+static const struct option options[] = {
+ { .name = "summary", .has_arg = 0, .val = 's' },
+ { .name = "debug", .has_arg = 0, .val = 'd' },
+ { .name = "info", .has_arg = 1, .val = 'i' },
+ { 0, 0, 0, 0},
+};
+
+void run_flight_fixed(char *name, FILE *f, int summary, char *info)
+{
+ emulator_name = name;
+ emulator_in = f;
+ emulator_info = info;
+ ao_microflight();
+ ao_micro_finish();
+}
+
+int
+main (int argc, char **argv)
+{
+ int summary = 0;
+ int c;
+ int i;
+ char *info = NULL;
+
+ emulator_app="baro";
+ while ((c = getopt_long(argc, argv, "sdi:", options, NULL)) != -1) {
+ switch (c) {
+ case 's':
+ summary = 1;
+ break;
+ case 'd':
+ ao_flight_debug = 1;
+ break;
+ case 'i':
+ info = optarg;
+ break;
+ }
+ }
+
+ if (optind == argc)
+ run_flight_fixed("<stdin>", stdin, summary, info);
+ else
+ for (i = optind; i < argc; i++) {
+ FILE *f = fopen(argv[i], "r");
+ if (!f) {
+ perror(argv[i]);
+ continue;
+ }
+ run_flight_fixed(argv[i], f, summary, info);
+ fclose(f);
+ }
+ exit(0);
+}