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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; version 2 of the License.
   7  *
   8  * This program is distributed in the hope that it will be useful, but
   9  * WITHOUT ANY WARRANTY; without even the implied warranty of
  10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  11  * General Public License for more details.
  12  *
  13  * You should have received a copy of the GNU General Public License along
  14  * with this program; if not, write to the Free Software Foundation, Inc.,
  15  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  16  */
  17
  18 #define _GNU_SOURCE
  19
  20 #include <stdint.h>
  21 #include <stdio.h>
  22 #include <stdlib.h>
  23 #include <string.h>
  24 #include <getopt.h>
  25 #include <math.h>
  26
  27 FILE *emulator_in;
  28 char *emulator_app;
  29 char *emulator_name;
  30 char *emulator_info;
  31 uint8_t ao_flight_debug;
  32
  33 #define AO_FLIGHT_TEST
  34
  35 typedef int32_t alt_t;
  36
  37 #define AO_MS_TO_TICKS(ms)      ((ms) / 10)
  38
  39 #define AO_LED_REPORT 0
  40
  41 static void ao_led_on(uint8_t led) {
  42 }
  43
  44 static void ao_led_off(uint8_t led) {
  45 }
  46
  47 static void ao_delay_until(uint16_t target) {
  48 }
  49
  50 static uint16_t ao_time(void) {
  51         return 0;
  52 }
  53
  54 #include "ao_microflight.c"
  55 #include "ao_microkalman.c"
  56 #include "ao_convert_pa.c"
  57
  58 uint16_t        now;
  59 uint8_t         running;
  60
  61 void ao_log_micro_data() {
  62         running = 1;
  63 }
  64
  65 void
  66 ao_micro_report(void)
  67 {
  68         if (running) {
  69                 alt_t   ground = ao_pa_to_altitude(pa_ground);
  70                 printf ("%6.3f %10d %10d %10d %10d %10d\n", now / 100.0,
  71                         ao_pa_to_altitude(pa) - ground,
  72                         ao_pa_to_altitude(ao_pa) - ground,
  73                         ao_pa_to_altitude(pa_min) - ground,
  74                         ao_pa_speed, ao_pa_accel);
  75         }
  76 }
  77
  78 void
  79 ao_micro_finish(void)
  80 {
  81         ao_micro_report();
  82 }
  83
  84 void
  85 ao_pa_get(void)
  86 {
  87         char    line[4096];
  88         char    *toks[128];
  89         char    *saveptr;
  90         int     t, ntok;
  91         static int      time_id;
  92         static int      pa_id;
  93         double          time;
  94         double          pressure;
  95         static double   last_time;
  96         static double   last_pressure;
  97         static int      been_here;
  98         static int      start_samples;
  99         static int      is_mp;
 100         static int      use_saved;
 101
 102         if (been_here && start_samples < 100) {
 103                 start_samples++;
 104                 return;
 105         }
 106         ao_micro_report();
 107         if (use_saved) {
 108                 pa = last_pressure;
 109                 now = last_time;
 110                 use_saved = 0;
 111 //              printf ("use saved %d %d\n", now, pa);
 112                 return;
 113         }
 114         for (;;) {
 115                 if (!fgets(line, sizeof (line), emulator_in))
 116                         exit(0);
 117                 for (t = 0; t < 128; t++) {
 118                         toks[t] = strtok_r(t ? NULL : line, ", ", &saveptr);
 119                         if (!toks[t])
 120                                 break;
 121                 }
 122                 ntok = t;
 123                 if (toks[0][0] == '#') {
 124                         if (strcmp(toks[0],"#version") == 0) {
 125                                 for (t = 1; t < ntok; t++) {
 126                                         if (!strcmp(toks[t], "time"))
 127                                                 time_id = t;
 128                                         if (!strcmp(toks[t],"pressure"))
 129                                                 pa_id = t;
 130                                 }
 131                         }
 132                         continue;
 133                 } else if (!strcmp(toks[0], "Time")) {
 134                         time_id = 0;
 135                         pa_id = 1;
 136                         is_mp = 1;
 137                         continue;
 138                 }
 139                 time = strtod(toks[time_id],NULL);
 140                 pressure = strtod(toks[pa_id],NULL);
 141                 time *= 100;
 142                 if (been_here && time - last_time < 0.096 * 100)
 143                         continue;
 144                 if (is_mp && been_here) {
 145                         double  avg_pressure = (pressure + last_pressure) / 2.0;
 146                         double  avg_time = (time + last_time) / 2.0;
 147
 148                         now = avg_time;
 149                         pa = avg_pressure;
 150 //                      printf ("new %d %d\n", now, pa);
 151                         use_saved = 1;
 152                 } else {
 153                         now = floor (time + 0.5);
 154                         pa = pressure;
 155                 }
 156                 last_pressure = pressure;
 157                 last_time = time;
 158                 been_here = 1;
 159                 break;
 160         }
 161 }
 162
 163 void
 164 ao_dump_state(void)
 165 {
 166 }
 167
 168 static const struct option options[] = {
 169         { .name = "summary", .has_arg = 0, .val = 's' },
 170         { .name = "debug", .has_arg = 0, .val = 'd' },
 171         { .name = "info", .has_arg = 1, .val = 'i' },
 172         { 0, 0, 0, 0},
 173 };
 174
 175 void run_flight_fixed(char *name, FILE *f, int summary, char *info)
 176 {
 177         emulator_name = name;
 178         emulator_in = f;
 179         emulator_info = info;
 180         ao_microflight();
 181         ao_micro_finish();
 182 }
 183
 184 int
 185 main (int argc, char **argv)
 186 {
 187         int     summary = 0;
 188         int     c;
 189         int     i;
 190         char    *info = NULL;
 191
 192         emulator_app="baro";
 193         while ((c = getopt_long(argc, argv, "sdi:", options, NULL)) != -1) {
 194                 switch (c) {
 195                 case 's':
 196                         summary = 1;
 197                         break;
 198                 case 'd':
 199                         ao_flight_debug = 1;
 200                         break;
 201                 case 'i':
 202                         info = optarg;
 203                         break;
 204                 }
 205         }
 206
 207         if (optind == argc)
 208                 run_flight_fixed("<stdin>", stdin, summary, info);
 209         else
 210                 for (i = optind; i < argc; i++) {
 211                         FILE    *f = fopen(argv[i], "r");
 212                         if (!f) {
 213                                 perror(argv[i]);
 214                                 continue;
 215                         }
 216                         run_flight_fixed(argv[i], f, summary, info);
 217                         fclose(f);
 218                 }
 219         exit(0);
 220 }