1 #ifdef HAVE_CONFIG_H
2 # include <config.h>
3 #endif
4
5 #ifdef HAVE_WINDOWS_H
6 # include <windows.h>
7 #else
8 # include <netinet/in.h> // htonl() ntohl()
9 #endif
10
11 #include <iostream>
12 #include <string>
13
14 #include <plib/sg.h>
15
16 #include <simgear/constants.h>
17 #include <simgear/io/lowlevel.hxx> // endian tests
18 #include <simgear/io/sg_file.hxx>
19 #include <simgear/io/raw_socket.hxx>
20 #include <simgear/serial/serial.hxx>
21 #include <simgear/math/sg_geodesy.hxx>
22 #include <simgear/timing/timestamp.hxx>
23
24 #include <Network/net_ctrls.hxx>
25 #include <Network/net_fdm.hxx>
26
27 #include "UGear.hxx"
28 #include "UGear_command.hxx"
29 #include "UGear_opengc.hxx"
30 #include "UGear_telnet.hxx"
31
32
33 using std::cout;
34 using std::endl;
35 using std::string;
36
37
38 // Network channels
39 static simgear::Socket fdm_sock, ctrls_sock, opengc_sock;
40
41 // ugear data
42 UGTrack track;
43
44 // Default ports
45 static int fdm_port = 5505;
46 static int ctrls_port = 5506;
47 static int opengc_port = 6000;
48
49 // Default path
50 static string infile = "";
51 static string flight_dir = "";
52 static string serialdev = "";
53 static string outfile = "";
54
55 // Master time counter
56 float sim_time = 0.0f;
57 double frame_us = 0.0f;
58
59 // sim control
60 SGTimeStamp last_time_stamp;
61 SGTimeStamp current_time_stamp;
62
63 // altitude offset
64 double alt_offset = 0.0;
65
66 // skip initial seconds
67 double skip = 0.0;
68
69 // for speed estimate
70 double last_lat = 0.0, last_lon = 0.0;
71 double kts_filter = 0.0;
72
73 bool inited = false;
74
75 bool run_real_time = true;
76
77 bool ignore_checksum = false;
78
79 bool sg_swap = false;
80
81 bool use_ground_track_hdg = false;
82 bool use_ground_speed = false;
83
84 bool est_controls = false;
85
86 float gps_status = -1.0;
87
88
89 // The function htond is defined this way due to the way some
90 // processors and OSes treat floating point values. Some will raise
91 // an exception whenever a "bad" floating point value is loaded into a
92 // floating point register. Solaris is notorious for this, but then
93 // so is LynxOS on the PowerPC. By translating the data in place,
94 // there is no need to load a FP register with the "corruped" floating
95 // point value. By doing the BIG_ENDIAN test, I can optimize the
96 // routine for big-endian processors so it can be as efficient as
97 // possible
htond(double & x)98 static void htond (double &x)
99 {
100 if ( sgIsLittleEndian() ) {
101 int *Double_Overlay;
102 int Holding_Buffer;
103
104 Double_Overlay = (int *) &x;
105 Holding_Buffer = Double_Overlay [0];
106
107 Double_Overlay [0] = htonl (Double_Overlay [1]);
108 Double_Overlay [1] = htonl (Holding_Buffer);
109 } else {
110 return;
111 }
112 }
113
114 // Float version
htonf(float & x)115 static void htonf (float &x)
116 {
117 if ( sgIsLittleEndian() ) {
118 int *Float_Overlay;
119 int Holding_Buffer;
120
121 Float_Overlay = (int *) &x;
122 Holding_Buffer = Float_Overlay [0];
123
124 Float_Overlay [0] = htonl (Holding_Buffer);
125 } else {
126 return;
127 }
128 }
129
130
ugear2fg(gps * gpspacket,imu * imupacket,nav * navpacket,servo * servopacket,health * healthpacket,FGNetFDM * fdm,FGNetCtrls * ctrls)131 static void ugear2fg( gps *gpspacket, imu *imupacket, nav *navpacket,
132 servo *servopacket, health *healthpacket,
133 FGNetFDM *fdm, FGNetCtrls *ctrls )
134 {
135 unsigned int i;
136
137 // Version sanity checking
138 fdm->version = FG_NET_FDM_VERSION;
139
140 // Aero parameters
141 fdm->longitude = navpacket->lon * SG_DEGREES_TO_RADIANS;
142 fdm->latitude = navpacket->lat * SG_DEGREES_TO_RADIANS;
143 fdm->altitude = navpacket->alt + alt_offset;
144 fdm->agl = -9999.0;
145 fdm->psi = imupacket->psi; // heading
146 fdm->phi = imupacket->phi; // roll
147 fdm->theta = imupacket->the; // pitch;
148
149 fdm->phidot = 0.0;
150 fdm->thetadot = 0.0;
151 fdm->psidot = 0.0;
152
153 // estimate speed
154 // double az1, az2, dist;
155 // geo_inverse_wgs_84( fdm->altitude, last_lat, last_lon,
156 // fdm->latitude, fdm->longitude, &az1, &az2, &dist );
157 // last_lat = fdm->latitude;
158 // last_lon = fdm->longitude;
159 // double v_ms = dist / (frame_us / 1000000);
160 // double v_kts = v_ms * SG_METER_TO_NM * 3600;
161 // kts_filter = (0.9 * kts_filter) + (0.1 * v_kts);
162 // printf("dist = %.5f kts est = %.2f\n", dist, kts_filter);
163
164 double vn = navpacket->vn;
165 double ve = navpacket->ve;
166 double vd = navpacket->vd;
167
168 if ( use_ground_track_hdg ) {
169 fdm->psi = SGD_PI * 0.5 - atan2(vn, ve); // heading
170 }
171
172 double mps = 0.0;
173 if ( use_ground_speed ) {
174 mps = sqrt( vn*vn + ve*ve + vd*vd );
175 } else {
176 mps = imupacket->Pt;
177 }
178 // double mph = mps * 3600 / 1609.3440;
179 double kts = mps * SG_MPS_TO_KT;
180 fdm->vcas = kts;
181 // printf("speed = %.2f mph %.2f kts\n", mph, kts );
182 static double Ps = 0.0, Ps_last = 0.0, t_last = 0.0;
183 Ps_last = Ps;
184 Ps = 0.92 * Ps + 0.08 * imupacket->Ps;
185 double climb = (Ps - Ps_last) / (imupacket->time - t_last);
186 t_last = imupacket->time;
187 static double climbf = 0.0;
188 climbf = 0.994 * climbf + 0.006 * climb;
189 fdm->climb_rate = climbf; // fps
190
191 static double Ps_error = 0.0;
192 static double Ps_count = 0;
193 const double span = 10000.0;
194 Ps_count += 1.0; if (Ps_count > (span-1.0)) { Ps_count = (span-1.0); }
195 double error = navpacket->alt - Ps;
196 Ps_error = (Ps_count/span) * Ps_error + ((span-Ps_count)/span) * error;
197 fdm->altitude = Ps + Ps_error;
198
199 /* printf("%.3f, %.3f, %.3f, %.3f, %.8f, %.8f, %.3f, %.3f, %.3f, %.3f, %.3f\n",
200 imupacket->time, imupacket->the, -navpacket->vd, climbf,
201 navpacket->lat, navpacket->lon, gpspacket->alt, navpacket->alt,
202 imupacket->Ps, Ps, Ps + Ps_error); */
203
204 // cout << "climb rate = " << aero->hdota << endl;
205 fdm->v_north = 0.0;
206 fdm->v_east = 0.0;
207 fdm->v_down = 0.0;
208 fdm->v_body_u = 0.0;
209 fdm->v_body_v = 0.0;
210 fdm->v_body_w = 0.0;
211 fdm->stall_warning = 0.0;
212
213 fdm->A_X_pilot = 0.0;
214 fdm->A_Y_pilot = 0.0;
215 fdm->A_Z_pilot = 0.0 /* (should be -G) */;
216
217 // Engine parameters
218 fdm->num_engines = 1;
219 fdm->eng_state[0] = 2;
220 // cout << "state = " << fdm->eng_state[0] << endl;
221 double rpm = 5000.0 - ((double)servopacket->chn[2] / 65536.0)*3500.0;
222 if ( rpm < 0.0 ) { rpm = 0.0; }
223 if ( rpm > 5000.0 ) { rpm = 5000.0; }
224 fdm->rpm[0] = rpm;
225
226 fdm->fuel_flow[0] = 0.0;
227 fdm->egt[0] = 0.0;
228 // cout << "egt = " << aero->EGT << endl;
229 fdm->oil_temp[0] = 0.0;
230 fdm->oil_px[0] = 0.0;
231
232 // Consumables
233 fdm->num_tanks = 2;
234 fdm->fuel_quantity[0] = 0.0;
235 fdm->fuel_quantity[1] = 0.0;
236
237 // Gear and flaps
238 fdm->num_wheels = 3;
239 fdm->wow[0] = 0;
240 fdm->wow[1] = 0;
241 fdm->wow[2] = 0;
242
243 // the following really aren't used in this context
244 fdm->cur_time = 0;
245 fdm->warp = 0;
246 fdm->visibility = 0;
247
248 // cout << "Flap deflection = " << aero->dflap << endl;
249 fdm->left_flap = 0.0;
250 fdm->right_flap = 0.0;
251
252 if ( est_controls ) {
253 static float est_elev = 0.0;
254 static float est_aileron = 0.0;
255 static float est_rudder = 0.0;
256 est_elev = 0.99 * est_elev + 0.01 * (imupacket->q * 4);
257 est_aileron = 0.95 * est_aileron + 0.05 * (imupacket->p * 5);
258 est_rudder = 0.95 * est_rudder + 0.05 * (imupacket->r * 2);
259 ctrls->elevator = fdm->elevator = -est_elev;
260 ctrls->aileron = fdm->left_aileron = est_aileron;
261 fdm->right_aileron = -est_aileron;
262 ctrls->rudder = fdm->rudder = est_rudder;
263 } else {
264 ctrls->elevator = fdm->elevator = 1.0 - ((double)servopacket->chn[1] / 32768.0);
265 ctrls->aileron = fdm->left_aileron = 1.0 - ((double)servopacket->chn[0] / 32768.0);
266 fdm->right_aileron = ((double)servopacket->chn[0] / 32768.0) - 1.0;
267 ctrls->rudder = fdm->rudder = 1.0 - ((double)servopacket->chn[3] / 32768.0);
268 ctrls->elevator *= 3.0;
269 ctrls->aileron *= 3.0;
270 }
271 fdm->elevator_trim_tab = 0.0;
272 fdm->left_flap = 0.0;
273 fdm->right_flap = 0.0;
274 fdm->nose_wheel = 0.0;
275 fdm->speedbrake = 0.0;
276 fdm->spoilers = 0.0;
277
278 // Convert the net buffer to network format
279 fdm->version = htonl(fdm->version);
280
281 htond(fdm->longitude);
282 htond(fdm->latitude);
283 htond(fdm->altitude);
284 htonf(fdm->agl);
285 htonf(fdm->phi);
286 htonf(fdm->theta);
287 htonf(fdm->psi);
288 htonf(fdm->alpha);
289 htonf(fdm->beta);
290
291 htonf(fdm->phidot);
292 htonf(fdm->thetadot);
293 htonf(fdm->psidot);
294 htonf(fdm->vcas);
295 htonf(fdm->climb_rate);
296 htonf(fdm->v_north);
297 htonf(fdm->v_east);
298 htonf(fdm->v_down);
299 htonf(fdm->v_body_u);
300 htonf(fdm->v_body_v);
301 htonf(fdm->v_body_w);
302
303 htonf(fdm->A_X_pilot);
304 htonf(fdm->A_Y_pilot);
305 htonf(fdm->A_Z_pilot);
306
307 htonf(fdm->stall_warning);
308 htonf(fdm->slip_deg);
309
310 for ( i = 0; i < fdm->num_engines; ++i ) {
311 fdm->eng_state[i] = htonl(fdm->eng_state[i]);
312 htonf(fdm->rpm[i]);
313 htonf(fdm->fuel_flow[i]);
314 htonf(fdm->egt[i]);
315 htonf(fdm->cht[i]);
316 htonf(fdm->mp_osi[i]);
317 htonf(fdm->tit[i]);
318 htonf(fdm->oil_temp[i]);
319 htonf(fdm->oil_px[i]);
320 }
321 fdm->num_engines = htonl(fdm->num_engines);
322
323 for ( i = 0; i < fdm->num_tanks; ++i ) {
324 htonf(fdm->fuel_quantity[i]);
325 }
326 fdm->num_tanks = htonl(fdm->num_tanks);
327
328 for ( i = 0; i < fdm->num_wheels; ++i ) {
329 fdm->wow[i] = htonl(fdm->wow[i]);
330 htonf(fdm->gear_pos[i]);
331 htonf(fdm->gear_steer[i]);
332 htonf(fdm->gear_compression[i]);
333 }
334 fdm->num_wheels = htonl(fdm->num_wheels);
335
336 fdm->cur_time = htonl( fdm->cur_time );
337 fdm->warp = htonl( fdm->warp );
338 htonf(fdm->visibility);
339
340 htonf(fdm->elevator);
341 htonf(fdm->elevator_trim_tab);
342 htonf(fdm->left_flap);
343 htonf(fdm->right_flap);
344 htonf(fdm->left_aileron);
345 htonf(fdm->right_aileron);
346 htonf(fdm->rudder);
347 htonf(fdm->nose_wheel);
348 htonf(fdm->speedbrake);
349 htonf(fdm->spoilers);
350
351 #if 0
352 ctrls->version = FG_NET_CTRLS_VERSION;
353 ctrls->elevator_trim = 0.0;
354 ctrls->flaps = 0.0;
355
356 htonl(ctrls->version);
357 htond(ctrls->aileron);
358 htond(ctrls->rudder);
359 htond(ctrls->elevator);
360 htond(ctrls->elevator_trim);
361 htond(ctrls->flaps);
362 #endif
363 }
364
365
ugear2opengc(gps * gpspacket,imu * imupacket,nav * navpacket,servo * servopacket,health * healthpacket,ogcFGData * ogc)366 static void ugear2opengc( gps *gpspacket, imu *imupacket, nav *navpacket,
367 servo *servopacket, health *healthpacket,
368 ogcFGData *ogc )
369 {
370 // Version sanity checking
371 ogc->version_id = OGC_VERSION;
372
373 // Aero parameters
374 ogc->longitude = navpacket->lon;
375 ogc->latitude = navpacket->lat;
376 ogc->heading = imupacket->psi * SG_RADIANS_TO_DEGREES; // heading
377 ogc->bank = imupacket->phi * SG_RADIANS_TO_DEGREES; // roll
378 ogc->pitch = imupacket->the * SG_RADIANS_TO_DEGREES; // pitch;
379
380 ogc->phi_dot = 0.0;
381 ogc->theta_dot = 0.0;
382 ogc->psi_dot = 0.0;
383
384 ogc->alpha = 0.0;
385 ogc->beta = 0.0;
386 ogc->alpha_dot = 0.0;
387 ogc->beta_dot = 0.0;
388
389 ogc->left_aileron = 1.0 - ((double)servopacket->chn[0] / 32768.0);
390 ogc->right_aileron = ((double)servopacket->chn[0] / 32768.0) - 1.0;
391 ogc->elevator = 1.0 - ((double)servopacket->chn[1] / 32768.0);
392 ogc->elevator_trim = 0.0;
393 ogc->rudder = 1.0 - ((double)servopacket->chn[3] / 32768.0);
394 ogc->flaps = 0.0;
395 ogc->flaps_cmd = 0.0;
396
397 ogc->wind = 0.0;
398 ogc->wind_dir = 0.0;
399
400 // estimate speed
401 // double az1, az2, dist;
402 // geo_inverse_wgs_84( fdm->altitude, last_lat, last_lon,
403 // fdm->latitude, fdm->longitude, &az1, &az2, &dist );
404 // last_lat = fdm->latitude;
405 // last_lon = fdm->longitude;
406 // double v_ms = dist / (frame_us / 1000000);
407 // double v_kts = v_ms * SG_METER_TO_NM * 3600;
408 // kts_filter = (0.9 * kts_filter) + (0.1 * v_kts);
409 // printf("dist = %.5f kts est = %.2f\n", dist, kts_filter);
410
411 double vn = navpacket->vn;
412 double ve = navpacket->ve;
413 double vd = navpacket->vd;
414
415 if ( use_ground_track_hdg ) {
416 ogc->heading = (SGD_PI * 0.5 - atan2(vn, ve)) * SG_RADIANS_TO_DEGREES;
417 }
418
419 if ( ogc->heading < 0 ) { ogc->heading += 360.0; }
420
421 double mps = 0.0;
422 if ( use_ground_speed ) {
423 mps = sqrt( vn*vn + ve*ve + vd*vd );
424 } else {
425 mps = imupacket->Pt;
426 }
427 // double mph = mps * 3600 / 1609.3440;
428 double kts = mps * SG_MPS_TO_KT;
429 ogc->v_kcas = kts;
430 // printf("speed = %.2f mph %.2f kts\n", mph, kts );
431 static double Ps = 0.0, Ps_last = 0.0, t_last = 0.0;
432 Ps_last = Ps;
433 Ps = 0.92 * Ps + 0.08 * imupacket->Ps;
434 double climb = (Ps - Ps_last) / (imupacket->time - t_last);
435 t_last = imupacket->time;
436 static double climbf = 0.0;
437 climbf = 0.994 * climbf + 0.006 * climb;
438 ogc->vvi = climbf; // fps
439
440 // uncomment one of the following schemes for setting elevation:
441
442 // use the navigation (inertially augmented gps estimate)
443 // ogc->altitude = ogc->elevation
444 // = (navpacket->alt + alt_offset * SG_METER_TO_FEET);
445
446 // use estimate error between pressure sensor and gps altitude over time
447 // use pressure sensor + error average for altitude estimate.
448 static double Ps_error = 0.0;
449 static double Ps_count = 0;
450 const double span = 10000.0;
451 Ps_count += 1.0; if (Ps_count > (span-1.0)) { Ps_count = (span-1.0); }
452 double error = navpacket->alt - Ps;
453 Ps_error = (Ps_count/span) * Ps_error + ((span-Ps_count)/span) * error;
454 ogc->elevation = (Ps + Ps_error) * SG_METER_TO_FEET;
455
456 /* printf("%.3f, %.3f, %.3f, %.3f, %.8f, %.8f, %.3f, %.3f, %.3f, %.3f, %.3f\n",
457 imupacket->time, imupacket->the, -navpacket->vd, climbf,
458 navpacket->lat, navpacket->lon, gpspacket->alt, navpacket->alt,
459 imupacket->Ps, Ps, Ps + Ps_error); */
460
461 if ( est_controls ) {
462 static float est_elev = 0.0;
463 static float est_aileron = 0.0;
464 static float est_rudder = 0.0;
465 est_elev = 0.99 * est_elev + 0.01 * (imupacket->q * 4);
466 est_aileron = 0.95 * est_aileron + 0.05 * (imupacket->p * 5);
467 est_rudder = 0.95 * est_rudder + 0.05 * (imupacket->r * 2);
468 ogc->elevator = -est_elev;
469 ogc->left_aileron = est_aileron;
470 ogc->right_aileron = -est_aileron;
471 ogc->rudder = est_rudder;
472 } else {
473 ogc->elevator = 1.0 - ((double)servopacket->chn[1] / 32768.0);
474 ogc->left_aileron = 1.0 - ((double)servopacket->chn[0] / 32768.0);
475 ogc->right_aileron = ((double)servopacket->chn[0] / 32768.0) - 1.0;
476 ogc->rudder = 1.0 - ((double)servopacket->chn[3] / 32768.0);
477 }
478 ogc->elevator *= 4.0;
479 ogc->left_aileron *= 4.0;
480 ogc->right_aileron *= 4.0;
481 ogc->rudder *= 4.0;
482
483 // additional "abused" data fields
484 ogc->egt[0] = ogc->bank - healthpacket->target_roll_deg; // flight director target roll
485 ogc->egt[1] = -ogc->pitch + healthpacket->target_pitch_deg; // flight director target pitch
486 ogc->egt[2] = healthpacket->target_heading_deg; // target heading bug
487 ogc->egt[3] = healthpacket->target_climb_fps; // target VVI bug
488 ogc->epr[0] = healthpacket->target_altitude_ft; // target altitude bug
489 ogc->epr[1] = 30.0; // target speed bug
490 ogc->epr[2] = gps_status; // gps status box
491 }
492
493
send_data_udp(gps * gpspacket,imu * imupacket,nav * navpacket,servo * servopacket,health * healthpacket)494 static void send_data_udp( gps *gpspacket, imu *imupacket, nav *navpacket,
495 servo *servopacket, health *healthpacket )
496 {
497 int ogcsize = sizeof( ogcFGData );
498 int fdmsize = sizeof( FGNetFDM );
499 // int ctrlsize = sizeof( FGNetCtrls );
500
501 // cout << "Running main loop" << endl;
502
503 ogcFGData fgogc;
504 FGNetFDM fgfdm;
505 FGNetCtrls fgctrls;
506
507 ugear2fg( gpspacket, imupacket, navpacket, servopacket, healthpacket,
508 &fgfdm, &fgctrls );
509 ugear2opengc( gpspacket, imupacket, navpacket, servopacket, healthpacket,
510 &fgogc );
511 opengc_sock.send(&fgogc, ogcsize, 0);
512 fdm_sock.send(&fgfdm, fdmsize, 0);
513 // len = ctrls_sock.send(&fgctrls, ctrlsize, 0);
514 }
515
516
usage(const string & argv0)517 void usage( const string &argv0 ) {
518 cout << "Usage: " << argv0 << endl;
519 cout << "\t[ --help ]" << endl;
520 cout << "\t[ --infile <infile_name>" << endl;
521 cout << "\t[ --flight <flight_dir>" << endl;
522 cout << "\t[ --serial <dev_name>" << endl;
523 cout << "\t[ --outfile <outfile_name> (capture the data to a file)" << endl;
524 cout << "\t[ --hertz <hertz> ]" << endl;
525 cout << "\t[ --host <hostname> ]" << endl;
526 cout << "\t[ --broadcast ]" << endl;
527 cout << "\t[ --opengc-port <opengc output port #> ]" << endl;
528 cout << "\t[ --fdm-port <fdm output port #> ]" << endl;
529 cout << "\t[ --ctrls-port <ctrls output port #> ]" << endl;
530 cout << "\t[ --groundtrack-heading ]" << endl;
531 cout << "\t[ --ground-speed ]" << endl;
532 cout << "\t[ --estimate-control-deflections ]" << endl;
533 cout << "\t[ --altitude-offset <meters> ]" << endl;
534 cout << "\t[ --skip-seconds <seconds> ]" << endl;
535 cout << "\t[ --no-real-time ]" << endl;
536 cout << "\t[ --ignore-checksum ]" << endl;
537 cout << "\t[ --sg-swap ]" << endl;
538 }
539
540
main(int argc,char ** argv)541 int main( int argc, char **argv ) {
542 double hertz = 60.0;
543 string out_host = "localhost";
544 bool do_broadcast = false;
545
546 // process command line arguments
547 for ( int i = 1; i < argc; ++i ) {
548 if ( strcmp( argv[i], "--help" ) == 0 ) {
549 usage( argv[0] );
550 exit( 0 );
551 } else if ( strcmp( argv[i], "--hertz" ) == 0 ) {
552 ++i;
553 if ( i < argc ) {
554 hertz = atof( argv[i] );
555 } else {
556 usage( argv[0] );
557 exit( -1 );
558 }
559 } else if ( strcmp( argv[i], "--infile" ) == 0 ) {
560 ++i;
561 if ( i < argc ) {
562 infile = argv[i];
563 } else {
564 usage( argv[0] );
565 exit( -1 );
566 }
567 } else if ( strcmp( argv[i], "--flight" ) == 0 ) {
568 ++i;
569 if ( i < argc ) {
570 flight_dir = argv[i];
571 } else {
572 usage( argv[0] );
573 exit( -1 );
574 }
575 } else if ( strcmp( argv[i], "--outfile" ) == 0 ) {
576 ++i;
577 if ( i < argc ) {
578 outfile = argv[i];
579 } else {
580 usage( argv[0] );
581 exit( -1 );
582 }
583 } else if ( strcmp( argv[i], "--serial" ) == 0 ) {
584 ++i;
585 if ( i < argc ) {
586 serialdev = argv[i];
587 } else {
588 usage( argv[0] );
589 exit( -1 );
590 }
591 } else if ( strcmp( argv[i], "--host" ) == 0 ) {
592 ++i;
593 if ( i < argc ) {
594 out_host = argv[i];
595 } else {
596 usage( argv[0] );
597 exit( -1 );
598 }
599 } else if ( strcmp( argv[i], "--broadcast" ) == 0 ) {
600 do_broadcast = true;
601 } else if ( strcmp( argv[i], "--opengc-port" ) == 0 ) {
602 ++i;
603 if ( i < argc ) {
604 opengc_port = atoi( argv[i] );
605 } else {
606 usage( argv[0] );
607 exit( -1 );
608 }
609 } else if ( strcmp( argv[i], "--fdm-port" ) == 0 ) {
610 ++i;
611 if ( i < argc ) {
612 fdm_port = atoi( argv[i] );
613 } else {
614 usage( argv[0] );
615 exit( -1 );
616 }
617 } else if ( strcmp( argv[i], "--ctrls-port" ) == 0 ) {
618 ++i;
619 if ( i < argc ) {
620 ctrls_port = atoi( argv[i] );
621 } else {
622 usage( argv[0] );
623 exit( -1 );
624 }
625 } else if ( strcmp (argv[i], "--groundtrack-heading" ) == 0 ) {
626 use_ground_track_hdg = true;
627 } else if ( strcmp (argv[i], "--ground-speed" ) == 0 ) {
628 use_ground_speed = true;
629 } else if (strcmp (argv[i], "--estimate-control-deflections" ) == 0) {
630 est_controls = true;
631 } else if ( strcmp( argv[i], "--altitude-offset" ) == 0 ) {
632 ++i;
633 if ( i < argc ) {
634 alt_offset = atof( argv[i] );
635 } else {
636 usage( argv[0] );
637 exit( -1 );
638 }
639 } else if ( strcmp( argv[i], "--skip-seconds" ) == 0 ) {
640 ++i;
641 if ( i < argc ) {
642 skip = atof( argv[i] );
643 } else {
644 usage( argv[0] );
645 exit( -1 );
646 }
647 } else if ( strcmp( argv[i], "--no-real-time" ) == 0 ) {
648 run_real_time = false;
649 } else if ( strcmp( argv[i], "--ignore-checksum" ) == 0 ) {
650 ignore_checksum = true;
651 } else if ( strcmp( argv[i], "--sg-swap" ) == 0 ) {
652 sg_swap = true;
653 } else {
654 usage( argv[0] );
655 exit( -1 );
656 }
657 }
658
659 // Setup up outgoing network connections
660
661 simgear::Socket::initSockets(); // We must call this before any other net stuff
662
663 if ( ! opengc_sock.open( false ) ) { // open a UDP socket
664 cout << "error opening opengc output socket" << endl;
665 return -1;
666 }
667 if ( ! fdm_sock.open( false ) ) { // open a UDP socket
668 cout << "error opening fdm output socket" << endl;
669 return -1;
670 }
671 if ( ! ctrls_sock.open( false ) ) { // open a UDP socket
672 cout << "error opening ctrls output socket" << endl;
673 return -1;
674 }
675 cout << "open net channels" << endl;
676
677 opengc_sock.setBlocking( false );
678 fdm_sock.setBlocking( false );
679 ctrls_sock.setBlocking( false );
680 cout << "blocking false" << endl;
681
682 if ( do_broadcast ) {
683 opengc_sock.setBroadcast( true );
684 fdm_sock.setBroadcast( true );
685 ctrls_sock.setBroadcast( true );
686 }
687
688 if ( opengc_sock.connect( out_host.c_str(), opengc_port ) == -1 ) {
689 perror("connect");
690 cout << "error connecting to outgoing opengc port: " << out_host
691 << ":" << opengc_port << endl;
692 return -1;
693 }
694 cout << "connected outgoing opengc socket" << endl;
695
696 if ( fdm_sock.connect( out_host.c_str(), fdm_port ) == -1 ) {
697 perror("connect");
698 cout << "error connecting to outgoing fdm port: " << out_host
699 << ":" << fdm_port << endl;
700 return -1;
701 }
702 cout << "connected outgoing fdm socket" << endl;
703
704 if ( ctrls_sock.connect( out_host.c_str(), ctrls_port ) == -1 ) {
705 perror("connect");
706 cout << "error connecting to outgoing ctrls port: " << out_host
707 << ":" << ctrls_port << endl;
708 return -1;
709 }
710 cout << "connected outgoing ctrls socket" << endl;
711
712 if ( sg_swap ) {
713 track.set_stargate_swap_mode();
714 }
715
716 UGTelnet telnet( 5402 );
717 telnet.open();
718
719 if ( infile.length() || flight_dir.length() ) {
720 if ( infile.length() ) {
721 // Load data from a stream log data file
722 track.load_stream( infile, ignore_checksum );
723 } else if ( flight_dir.length() ) {
724 // Load data from a flight directory
725 track.load_flight( flight_dir );
726 }
727 cout << "Loaded " << track.gps_size() << " gps records." << endl;
728 cout << "Loaded " << track.imu_size() << " imu records." << endl;
729 cout << "Loaded " << track.nav_size() << " nav records." << endl;
730 cout << "Loaded " << track.servo_size() << " servo records." << endl;
731 cout << "Loaded " << track.health_size() << " health records." << endl;
732
733 int size = track.imu_size();
734
735 double current_time = track.get_imupt(0).time;
736 cout << "Track begin time is " << current_time << endl;
737 double end_time = track.get_imupt(size-1).time;
738 cout << "Track end time is " << end_time << endl;
739 cout << "Duration = " << end_time - current_time << endl;
740
741 if ( track.gps_size() > 0 ) {
742 double tmp = track.get_gpspt(track.gps_size()-1).ITOW;
743 int days = (int)(tmp / (24 * 60 * 60));
744 tmp -= days * 24 * 60 * 60;
745 int hours = (int)(tmp / (60 * 60));
746 tmp -= hours * 60 * 60;
747 int min = (int)(tmp / 60);
748 tmp -= min * 60;
749 double sec = tmp;
750 printf("[GPS ]:ITOW= %.3f[sec] %dd %02d:%02d:%06.3f\n",
751 tmp, days, hours, min, sec);
752 }
753
754
755 // advance skip seconds forward
756 current_time += skip;
757
758 frame_us = 1000000.0 / hertz;
759 if ( frame_us < 0.0 ) {
760 frame_us = 0.0;
761 }
762
763 SGTimeStamp start_time;
764 start_time.stamp();
765 int gps_count = 0;
766 int imu_count = 0;
767 int nav_count = 0;
768 int servo_count = 0;
769 int health_count = 0;
770
771 gps gps0, gps1;
772 gps0 = gps1 = track.get_gpspt( 0 );
773
774 imu imu0, imu1;
775 imu0 = imu1 = track.get_imupt( 0 );
776
777 nav nav0, nav1;
778 nav0 = nav1 = track.get_navpt( 0 );
779
780 servo servo0, servo1;
781 servo0 = servo1 = track.get_servopt( 0 );
782
783 health health0, health1;
784 health0 = health1 = track.get_healthpt( 0 );
785
786 double last_lat = -999.9, last_lon = -999.9;
787
788 printf("<gpx>\n");
789 printf(" <trk>\n");
790 printf(" <trkseg>\n");
791 while ( current_time < end_time ) {
792 // cout << "current_time = " << current_time << " end_time = "
793 // << end_time << endl;
794
795 // Advance gps pointer
796 while ( current_time > gps1.time
797 && gps_count < track.gps_size() - 1 )
798 {
799 gps0 = gps1;
800 ++gps_count;
801 // cout << "count = " << count << endl;
802 gps1 = track.get_gpspt( gps_count );
803 }
804 // cout << "p0 = " << p0.get_time() << " p1 = " << p1.get_time()
805 // << endl;
806
807 // Advance imu pointer
808 while ( current_time > imu1.time
809 && imu_count < track.imu_size() - 1 )
810 {
811 imu0 = imu1;
812 ++imu_count;
813 // cout << "count = " << count << endl;
814 imu1 = track.get_imupt( imu_count );
815 }
816 // cout << "pos0 = " << pos0.get_seconds()
817 // << " pos1 = " << pos1.get_seconds() << endl;
818
819 // Advance nav pointer
820 while ( current_time > nav1.time
821 && nav_count < track.nav_size() - 1 )
822 {
823 nav0 = nav1;
824 ++nav_count;
825 // cout << "nav count = " << nav_count << endl;
826 nav1 = track.get_navpt( nav_count );
827 }
828 // cout << "pos0 = " << pos0.get_seconds()
829 // << " pos1 = " << pos1.get_seconds() << endl;
830
831 // Advance servo pointer
832 while ( current_time > servo1.time
833 && servo_count < track.servo_size() - 1 )
834 {
835 servo0 = servo1;
836 ++servo_count;
837 // cout << "count = " << count << endl;
838 servo1 = track.get_servopt( servo_count );
839 }
840 // cout << "pos0 = " << pos0.get_seconds()
841 // << " pos1 = " << pos1.get_seconds() << endl;
842
843 // Advance health pointer
844 while ( current_time > health1.time
845 && health_count < track.health_size() - 1 )
846 {
847 health0 = health1;
848 ++health_count;
849 // cout << "count = " << count << endl;
850 health1 = track.get_healthpt( health_count );
851 }
852 // cout << "pos0 = " << pos0.get_seconds()
853 // << " pos1 = " << pos1.get_seconds() << endl;
854
855 double gps_percent;
856 if ( fabs(gps1.time - gps0.time) < 0.00001 ) {
857 gps_percent = 0.0;
858 } else {
859 gps_percent =
860 (current_time - gps0.time) /
861 (gps1.time - gps0.time);
862 }
863 // cout << "Percent = " << percent << endl;
864
865 double imu_percent;
866 if ( fabs(imu1.time - imu0.time) < 0.00001 ) {
867 imu_percent = 0.0;
868 } else {
869 imu_percent =
870 (current_time - imu0.time) /
871 (imu1.time - imu0.time);
872 }
873 // cout << "Percent = " << percent << endl;
874
875 double nav_percent;
876 if ( fabs(nav1.time - nav0.time) < 0.00001 ) {
877 nav_percent = 0.0;
878 } else {
879 nav_percent =
880 (current_time - nav0.time) /
881 (nav1.time - nav0.time);
882 }
883 // cout << "Percent = " << percent << endl;
884
885 double servo_percent;
886 if ( fabs(servo1.time - servo0.time) < 0.00001 ) {
887 servo_percent = 0.0;
888 } else {
889 servo_percent =
890 (current_time - servo0.time) /
891 (servo1.time - servo0.time);
892 }
893 // cout << "Percent = " << percent << endl;
894
895 double health_percent;
896 if ( fabs(health1.time - health0.time) < 0.00001 ) {
897 health_percent = 0.0;
898 } else {
899 health_percent =
900 (current_time - health0.time) /
901 (health1.time - health0.time);
902 }
903 // cout << "Percent = " << percent << endl;
904
905 gps gpspacket = UGEARInterpGPS( gps0, gps1, gps_percent );
906 imu imupacket = UGEARInterpIMU( imu0, imu1, imu_percent );
907 nav navpacket = UGEARInterpNAV( nav0, nav1, nav_percent );
908 servo servopacket = UGEARInterpSERVO( servo0, servo1,
909 servo_percent );
910 health healthpacket = UGEARInterpHEALTH( health0, health1,
911 health_percent );
912
913 // cout << current_time << " " << p0.lat_deg << ", " << p0.lon_deg
914 // << endl;
915 // cout << current_time << " " << p1.lat_deg << ", " << p1.lon_deg
916 // << endl;
917 // cout << (double)current_time << " " << pos.lat_deg << ", "
918 // << pos.lon_deg << " " << att.yaw_deg << endl;
919 if ( gpspacket.lat > -500 ) {
920 // printf( "%.3f %.4f %.4f %.1f %.2f %.2f %.2f\n",
921 // current_time,
922 // navpacket.lat, navpacket.lon, navpacket.alt,
923 // imupacket.psi, imupacket.the, imupacket.phi );
924 double dlat = last_lat - navpacket.lat;
925 double dlon = last_lon - navpacket.lon;
926 double dist = sqrt( dlat*dlat + dlon*dlon );
927 if ( dist > 0.01 ) {
928 printf(" <trkpt lat=\"%.8f\" lon=\"%.8f\"></trkpt>\n",
929 navpacket.lat, navpacket.lon );
930 // printf(" </wpt>\n");
931 last_lat = navpacket.lat;
932 last_lon = navpacket.lon;
933 }
934 }
935
936 if ( (fabs(gpspacket.lat) < 0.0001 &&
937 fabs(gpspacket.lon) < 0.0001 &&
938 fabs(gpspacket.alt) < 0.0001) )
939 {
940 printf("WARNING: LOST GPS!!!\n");
941 gps_status = -1.0;
942 } else {
943 gps_status = 1.0;
944 }
945
946 send_data_udp( &gpspacket, &imupacket, &navpacket, &servopacket,
947 &healthpacket );
948
949 if ( run_real_time ) {
950 // Update the elapsed time.
951 static bool first_time = true;
952 if ( first_time ) {
953 last_time_stamp.stamp();
954 first_time = false;
955 }
956
957 current_time_stamp.stamp();
958 /* Convert to ms */
959 double elapsed_us = (current_time_stamp - last_time_stamp).toUSecs();
960 if ( elapsed_us < (frame_us - 2000) ) {
961 double requested_us = (frame_us - elapsed_us) - 2000 ;
962 ulMilliSecondSleep ( (int)(requested_us / 1000.0) ) ;
963 }
964 current_time_stamp.stamp();
965 while ( (current_time_stamp - last_time_stamp).toUSecs() < frame_us ) {
966 current_time_stamp.stamp();
967 }
968 }
969
970 current_time += (frame_us / 1000000.0);
971 last_time_stamp = current_time_stamp;
972 }
973
974 printf(" <trkpt lat=\"%.8f\" lon=\"%.8f\"></trkpt>\n",
975 nav1.lat, nav1.lon );
976
977 printf(" </trkseg>\n");
978 printf(" </trk>\n");
979 nav0 = track.get_navpt( 0 );
980 nav1 = track.get_navpt( track.nav_size() - 1 );
981 printf(" <wpt lat=\"%.8f\" lon=\"%.8f\"></wpt>\n",
982 nav0.lat, nav0.lon );
983 printf(" <wpt lat=\"%.8f\" lon=\"%.8f\"></wpt>\n",
984 nav1.lat, nav1.lon );
985 printf("<gpx>\n");
986
987 cout << "Processed " << imu_count << " entries in "
988 << current_time_stamp - start_time << " seconds."
989 << endl;
990 } else if ( serialdev.length() ) {
991 // process incoming data from the serial port
992
993 int count = 0;
994 double current_time = 0.0;
995 double last_time = 0.0;
996
997 gps gpspacket; memset( &gpspacket, 0, sizeof gpspacket );
998 imu imupacket; memset( &imupacket, 0, sizeof imupacket );
999 nav navpacket; memset( &navpacket, 0, sizeof navpacket );
1000 servo servopacket; memset( &servopacket, 0, sizeof servopacket );
1001 health healthpacket; memset( &healthpacket, 0, sizeof healthpacket );
1002
1003 double gps_time = 0.0;
1004 double imu_time = 0.0;
1005 double nav_time = 0.0;
1006 double servo_time = 0.0;
1007 double health_time = 0.0;
1008 double command_time = 0.0;
1009 double command_heartbeat = 0.0;
1010
1011 // open the serial port device
1012 SGSerialPort uavcom( serialdev, 115200 );
1013 if ( !uavcom.is_enabled() ) {
1014 cout << "Cannot open: " << serialdev << endl;
1015 return false;
1016 }
1017
1018 // open up the data log file if requested
1019 if ( !outfile.length() ) {
1020 cout << "no --outfile <name> specified, cannot capture data!"
1021 << endl;
1022 return false;
1023 }
1024 SGFile log( outfile );
1025 if ( !log.open( SG_IO_OUT ) ) {
1026 cout << "Cannot open: " << outfile << endl;
1027 return false;
1028 }
1029
1030 // add some test commands
1031 //command_mgr.add("ap,alt,1000");
1032 //command_mgr.add("home,158.0,32.5");
1033 //command_mgr.add("go,home");
1034 //command_mgr.add("go,route");
1035
1036 while ( uavcom.is_enabled() ) {
1037 // cout << "looking for next message ..." << endl;
1038 int id = track.next_message( &uavcom, &log, &gpspacket,
1039 &imupacket, &navpacket, &servopacket,
1040 &healthpacket, ignore_checksum );
1041 // cout << "message id = " << id << endl;
1042 count++;
1043
1044 telnet.process();
1045
1046 if ( id == GPS_PACKET ) {
1047 if ( gpspacket.time > gps_time ) {
1048 gps_time = gpspacket.time;
1049 current_time = gps_time;
1050 } else {
1051 cout << "oops gps back in time: " << gpspacket.time << " " << gps_time << endl;
1052 }
1053 } else if ( id == IMU_PACKET ) {
1054 if ( imupacket.time > imu_time ) {
1055 imu_time = imupacket.time;
1056 current_time = imu_time;
1057 } else {
1058 cout << "oops imu back in time: " << imupacket.time << " " << imu_time << endl;
1059 }
1060 } else if ( id == NAV_PACKET ) {
1061 if ( navpacket.time > nav_time ) {
1062 nav_time = navpacket.time;
1063 current_time = nav_time;
1064 } else {
1065 cout << "oops nav back in time: " << navpacket.time << " " << nav_time << endl;
1066 }
1067 } else if ( id == SERVO_PACKET ) {
1068 if ( servopacket.time > servo_time ) {
1069 servo_time = servopacket.time;
1070 current_time = servo_time;
1071 } else {
1072 cout << "oops servo back in time: " << servopacket.time << " " << servo_time << endl;
1073 }
1074 } else if ( id == HEALTH_PACKET ) {
1075 if ( healthpacket.time > health_time ) {
1076 health_time = healthpacket.time;
1077 current_time = health_time;
1078 printf("Received a health packet, sequence: %d\n",
1079 (int)healthpacket.command_sequence);
1080 command_mgr.update_cmd_sequence(healthpacket.command_sequence);
1081 } else {
1082 cout << "oops health back in time: " << healthpacket.time << " " << health_time << endl;
1083 }
1084
1085 }
1086
1087 if ( (current_time > gps_time + 2) ||
1088 (fabs(gpspacket.lat) < 0.0001 &&
1089 fabs(gpspacket.lon) < 0.0001 &&
1090 fabs(gpspacket.alt) < 0.0001) )
1091 {
1092 printf("WARNING: LOST GPS!!!\n");
1093 gps_status = -1.0;
1094 } else {
1095 gps_status = 1.0;
1096 }
1097
1098 // Generate a ground station heart beat every 4 seconds
1099 if ( current_time >= command_heartbeat + 4 ) {
1100 command_mgr.add("hb");
1101 command_heartbeat = current_time;
1102 }
1103
1104 // Command update @ 1hz
1105 if ( current_time >= command_time + 1 ) {
1106 command_mgr.update(&uavcom);
1107 command_time = current_time;
1108 }
1109
1110 // Relay data on to FlightGear and LFSTech Glass
1111 if ( current_time >= last_time + (1/hertz) ) {
1112 // if ( gpspacket.lat > -500 ) {
1113 int londeg = (int)navpacket.lon;
1114 // double lonmin = fabs(navpacket.lon - londeg);
1115 int latdeg = (int)navpacket.lat;
1116 // double latmin = fabs(navpacket.lat - latdeg);
1117 londeg = abs(londeg);
1118 latdeg = abs(latdeg);
1119 /*printf( "%.2f %c%02d:%.4f %c%03d:%.4f %.1f %.2f %.2f %.2f\n",
1120 current_time,
1121 latdir, latdeg, latmin, londir, londeg, lonmin,
1122 navpacket.alt,
1123 imupacket.phi*SGD_RADIANS_TO_DEGREES,
1124 imupacket.the*SGD_RADIANS_TO_DEGREES,
1125 imupacket.psi*SGD_RADIANS_TO_DEGREES ); */
1126 // }
1127
1128 last_time = current_time;
1129 send_data_udp( &gpspacket, &imupacket, &navpacket,
1130 &servopacket, &healthpacket );
1131 }
1132 }
1133 }
1134
1135 return 0;
1136 }
1137