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