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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
  21 #include <stdint.h>
  22 #include <stdio.h>
  23 #include <stdlib.h>
  24 #include <string.h>
  25 #include <getopt.h>
  26 #include <math.h>
  27
  28 FILE *emulator_in;
  29 char *emulator_app;
  30 char *emulator_name;
  31 char *emulator_info;
  32 uint8_t ao_flight_debug;
  33
  34 #define AO_FLIGHT_TEST
  35
  36 typedef int32_t alt_t;
  37 typedef int32_t pres_t;
  38
  39 #define AO_MS_TO_TICKS(ms)      ((ms) / 10)
  40
  41 #define AO_LED_REPORT 0
  42
  43 static void ao_led_on(uint8_t led) {
  44 }
  45
  46 static void ao_led_off(uint8_t led) {
  47 }
  48
  49 static void ao_delay_until(uint16_t target) {
  50 }
  51
  52 static uint16_t ao_time(void) {
  53         return 0;
  54 }
  55
  56 #include "ao_microflight.c"
  57 #include "ao_microkalman.c"
  58 #include "ao_convert_pa.c"
  59
  60 uint16_t        now;
  61 uint8_t         running;
  62
  63 void ao_log_micro_data() {
  64         running = 1;
  65 }
  66
  67 void
  68 ao_micro_report(void)
  69 {
  70         if (running) {
  71                 alt_t   ground = ao_pa_to_altitude(pa_ground);
  72                 printf ("%6.3f %10d %10d %10d %10d %10d\n", now / 100.0,
  73                         ao_pa_to_altitude(pa) - ground,
  74                         ao_pa_to_altitude(ao_pa) - ground,
  75                         ao_pa_to_altitude(pa_min) - ground,
  76                         ao_pa_speed, ao_pa_accel);
  77         }
  78 }
  79
  80 void
  81 ao_micro_finish(void)
  82 {
  83         ao_micro_report();
  84 }
  85
  86 void
  87 ao_pa_get(void)
  88 {
  89         char    line[4096];
  90         char    *toks[128];
  91         char    *saveptr;
  92         int     t, ntok;
  93         static int      time_id;
  94         static int      pa_id;
  95         double          time;
  96         double          pressure;
  97         static double   last_time;
  98         static double   last_pressure;
  99         static int      been_here;
 100         static int      start_samples;
 101         static int      is_mp;
 102         static int      use_saved;
 103
 104         if (been_here && start_samples < 100) {
 105                 start_samples++;
 106                 return;
 107         }
 108         ao_micro_report();
 109         if (use_saved) {
 110                 pa = last_pressure;
 111                 now = last_time;
 112                 use_saved = 0;
 113 //              printf ("use saved %d %d\n", now, pa);
 114                 return;
 115         }
 116         for (;;) {
 117                 if (!fgets(line, sizeof (line), emulator_in))
 118                         exit(0);
 119                 for (t = 0; t < 128; t++) {
 120                         toks[t] = strtok_r(t ? NULL : line, ", ", &saveptr);
 121                         if (!toks[t])
 122                                 break;
 123                 }
 124                 ntok = t;
 125                 if (toks[0][0] == '#') {
 126                         if (strcmp(toks[0],"#version") == 0) {
 127                                 for (t = 1; t < ntok; t++) {
 128                                         if (!strcmp(toks[t], "time"))
 129                                                 time_id = t;
 130                                         if (!strcmp(toks[t],"pressure"))
 131                                                 pa_id = t;
 132                                 }
 133                         }
 134                         continue;
 135                 } else if (!strcmp(toks[0], "Time")) {
 136                         time_id = 0;
 137                         pa_id = 1;
 138                         is_mp = 1;
 139                         continue;
 140                 }
 141                 time = strtod(toks[time_id],NULL);
 142                 pressure = strtod(toks[pa_id],NULL);
 143                 time *= 100;
 144                 if (been_here && time - last_time < 0.096 * 100)
 145                         continue;
 146                 if (is_mp && been_here) {
 147                         double  avg_pressure = (pressure + last_pressure) / 2.0;
 148                         double  avg_time = (time + last_time) / 2.0;
 149
 150                         now = avg_time;
 151                         pa = avg_pressure;
 152 //                      printf ("new %d %d\n", now, pa);
 153                         use_saved = 1;
 154                 } else {
 155                         now = floor (time + 0.5);
 156                         pa = pressure;
 157                 }
 158                 last_pressure = pressure;
 159                 last_time = time;
 160                 been_here = 1;
 161                 break;
 162         }
 163 }
 164
 165 void
 166 ao_dump_state(void)
 167 {
 168 }
 169
 170 static const struct option options[] = {
 171         { .name = "summary", .has_arg = 0, .val = 's' },
 172         { .name = "debug", .has_arg = 0, .val = 'd' },
 173         { .name = "info", .has_arg = 1, .val = 'i' },
 174         { 0, 0, 0, 0},
 175 };
 176
 177 void run_flight_fixed(char *name, FILE *f, int summary, char *info)
 178 {
 179         emulator_name = name;
 180         emulator_in = f;
 181         emulator_info = info;
 182         ao_microflight();
 183         ao_micro_finish();
 184 }
 185
 186 int
 187 main (int argc, char **argv)
 188 {
 189         int     summary = 0;
 190         int     c;
 191         int     i;
 192         char    *info = NULL;
 193
 194         emulator_app="baro";
 195         while ((c = getopt_long(argc, argv, "sdi:", options, NULL)) != -1) {
 196                 switch (c) {
 197                 case 's':
 198                         summary = 1;
 199                         break;
 200                 case 'd':
 201                         ao_flight_debug = 1;
 202                         break;
 203                 case 'i':
 204                         info = optarg;
 205                         break;
 206                 }
 207         }
 208
 209         if (optind == argc)
 210                 run_flight_fixed("<stdin>", stdin, summary, info);
 211         else
 212                 for (i = optind; i < argc; i++) {
 213                         FILE    *f = fopen(argv[i], "r");
 214                         if (!f) {
 215                                 perror(argv[i]);
 216                                 continue;
 217                         }
 218                         run_flight_fixed(argv[i], f, summary, info);
 219                         fclose(f);
 220                 }
 221         exit(0);
 222 }