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This commit is contained in:
Antoine Drouin
2007-01-24 23:01:05 +00:00
parent 1e107afc01
commit 01976784fb
8 changed files with 232 additions and 5 deletions
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conf/messages.xml
+7
View File
@@ -356,6 +356,13 @@
<field name="mag_cal_status" type="uint8"/>
</message>
<message name="ANTENNA_STATUS" ID="221">
<field name="azim_sp" type="float"/>
<field name="elev_sp" type="float"/>
<field name="id_sp" type="uint8"/>
<field name="mode" type="uint8"/>
</message>
</class>
conf/settings/antenna_settings.xml
+1 -1
View File
@@ -5,7 +5,7 @@
<settings>
<dl_settings>
<dl_settings name="trim">
<dl_setting var="ant_track_mode" min="0" step="1" max="3" module="ant_tracker"/>
<dl_setting var="ant_track_mode" min="0" step="1" max="3" module="ant_tracker" handler="SetMode"/>
<dl_setting var="ant_track_azim" min="0" step="1" max="360" module="ant_tracker"/>
<dl_setting var="ant_track_elev" min="-90" step="1" max="90" module="ant_tracker"/>
<dl_setting var="ant_track_id" min="0" step="1" max="255" module="ant_tracker" handler="SetId"/>
sw/airborne/avr/ant_tracker.c
+9
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@@ -9,3 +9,12 @@ uint8_t ant_track_id;
int32_t nav_utm_east0;
int32_t nav_utm_north0;
uint8_t nav_utm_zone0;
void ant_tracker_update( void ) {
if (ant_track_mode == ANT_TRACK_AUTO) {
ant_track_azim += 0.5;
if (ant_track_azim > 360.)
ant_track_azim = 0.;
}
}
sw/airborne/avr/ant_tracker.h
+13 -1
View File
@@ -11,7 +11,19 @@ extern float ant_track_azim;
extern float ant_track_elev;
extern uint8_t ant_track_id;
#define ant_tracker_SetId(i) { ant_track_id = i; }
#include "led.h"
#define ant_tracker_SetId(i) { ant_track_id = i; }
#define ant_tracker_SetMode(i) \
{ \
ant_track_mode = i; \
if(ant_track_mode) \
LED_ON(1); \
else \
LED_OFF(1); \
}
extern void ant_tracker_update( void );
#endif /* ANT_TRACKER_H */
sw/airborne/datalink.c
+2
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@@ -79,8 +79,10 @@ void dl_parse_msg(void) {
wind_north = DL_WIND_INFO_north(dl_buffer);
} else
#endif /** NAV */
#ifdef AP
if (msg_id == DL_TELEMETRY_MODE) {
telemetry_mode_Ap = DL_TELEMETRY_MODE_mode(dl_buffer);
#endif /** AP */
}
#ifdef HITL
/** Infrared and GPS sensors are replaced by messages on the datalink */
sw/airborne/main_antenna.c
+8 -3
View File
@@ -16,6 +16,8 @@
#include "messages.h"
#include "downlink.h"
#include "ant_tracker.h"
static inline void main_init( void );
static inline void main_periodic_task( void );
static inline void main_event_task( void);
@@ -39,6 +41,7 @@ static inline void main_init( void ) {
sys_time_init();
led_init();
uart1_init_tx();
uart1_init_rx();
adc_init();
int_enable();
}
@@ -56,6 +59,7 @@ static inline void main_event_task( void ) {
}
if (PprzBuffer()) {
LED_TOGGLE(1);
ReadPprzBuffer();
if (pprz_msg_received) {
pprz_parse_payload();
@@ -74,9 +78,10 @@ static inline void main_periodic_task( void ) {
cnt++;
if (!(cnt%16)) {
LED_TOGGLE(2);
// uart1_transmit('#');
// Uart1PrintHex(cnt);
// uart1_transmit('\n');
DOWNLINK_SEND_ANTENNA_STATUS(&ant_track_azim, &ant_track_elev, &ant_track_id, &ant_track_mode);
}
if (!(cnt%4)) {
ant_tracker_update();
}
}
sw/ground_segment/cockpit/Makefile
+11
View File
@@ -64,6 +64,17 @@ clean:
rm -f *~* *.cm* *.o *.out *.opt map2d gcs .depend
CC = gcc
CFLAGS=-g -O2 -Wall `pkg-config gtk+-2.0 --cflags`
LDFLAGS=`pkg-config gtk+-2.0 --libs` -s `pcre-config --libs` -lglibivy
ant_track : ant_track.c
$(CC) $(CFLAGS) -g -o $@ $^ $(LDFLAGS)
#
# Dependencies
#
sw/ground_segment/cockpit/ant_track.c
+181
View File
@@ -0,0 +1,181 @@
#include <gtk/gtk.h>
#include <stdio.h>
#include <math.h>
#include <stdlib.h>
#include <string.h>
#include <Ivy/ivy.h>
#include <Ivy/ivyglibloop.h>
#define MANUAL 0
#define AUTO 1
static float azim_sp;
static float elev_sp;
static guint id_sp;
static guint mode;
GtkWidget *azim_scale;
GtkWidget *elev_scale;
void on_mode_changed (GtkRadioButton *radiobutton, gpointer user_data) {
mode = gtk_toggle_button_get_active(GTK_TOGGLE_BUTTON(radiobutton)) ? MANUAL : AUTO;
IvySendMsg("1ME RAW_DATALINK 80 SETTING;0;0;%d", mode);
g_message("on mode changed %d" , mode);
}
#define GLADE_HOOKUP_OBJECT(component,widget,name) \
g_object_set_data_full (G_OBJECT (component), name, \
gtk_widget_ref (widget), (GDestroyNotify) gtk_widget_unref)
#define GLADE_HOOKUP_OBJECT_NO_REF(component,widget,name) \
g_object_set_data (G_OBJECT (component), name, widget)
GtkWidget* build_gui ( void ) {
GtkWidget *window1;
GtkWidget *vbox1;
GtkWidget *vbox2;
GtkWidget *table1;
GtkWidget *label1;
GtkWidget *label2;
GtkWidget *label3;
GtkWidget *label4;
GtkWidget *radiobutton1;
GSList *radiobutton1_group = NULL;
GtkWidget *radiobutton2;
GtkWidget *entry1;
window1 = gtk_window_new (GTK_WINDOW_TOPLEVEL);
gtk_window_set_title (GTK_WINDOW (window1), "tracking antenna");
vbox1 = gtk_vbox_new (FALSE, 0);
gtk_widget_show (vbox1);
gtk_container_add (GTK_CONTAINER (window1), vbox1);
vbox2 = gtk_vbox_new (FALSE, 0);
gtk_widget_show (vbox2);
gtk_box_pack_start (GTK_BOX (vbox1), vbox2, TRUE, TRUE, 0);
table1 = gtk_table_new (4, 3, FALSE);
gtk_widget_show (table1);
gtk_box_pack_start (GTK_BOX (vbox2), table1, TRUE, TRUE, 0);
gtk_table_set_col_spacings (GTK_TABLE (table1), 5);
label1 = gtk_label_new ("Azimuth");
gtk_widget_show (label1);
gtk_table_attach (GTK_TABLE (table1), label1, 0, 1, 1, 2,
(GtkAttachOptions) (GTK_FILL),
(GtkAttachOptions) (0), 0, 0);
gtk_misc_set_alignment (GTK_MISC (label1), 0, 0.5);
label2 = gtk_label_new ("Elevation");
gtk_widget_show (label2);
gtk_table_attach (GTK_TABLE (table1), label2, 0, 1, 2, 3,
(GtkAttachOptions) (GTK_FILL),
(GtkAttachOptions) (0), 0, 0);
gtk_misc_set_alignment (GTK_MISC (label2), 0, 0.5);
label3 = gtk_label_new ("Id");
gtk_widget_show (label3);
gtk_table_attach (GTK_TABLE (table1), label3, 0, 1, 3, 4,
(GtkAttachOptions) (GTK_FILL),
(GtkAttachOptions) (0), 0, 0);
gtk_misc_set_alignment (GTK_MISC (label3), 0, 0.5);
label4 = gtk_label_new ("mode");
gtk_widget_show (label4);
gtk_table_attach (GTK_TABLE (table1), label4, 0, 1, 0, 1,
(GtkAttachOptions) (GTK_FILL),
(GtkAttachOptions) (0), 0, 0);
gtk_misc_set_alignment (GTK_MISC (label4), 0, 0.5);
radiobutton1 = gtk_radio_button_new_with_mnemonic (NULL, "manual");
gtk_widget_show (radiobutton1);
gtk_table_attach (GTK_TABLE (table1), radiobutton1, 1, 2, 0, 1,
(GtkAttachOptions) (GTK_FILL),
(GtkAttachOptions) (0), 0, 0);
gtk_radio_button_set_group (GTK_RADIO_BUTTON (radiobutton1), radiobutton1_group);
radiobutton1_group = gtk_radio_button_get_group (GTK_RADIO_BUTTON (radiobutton1));
radiobutton2 = gtk_radio_button_new_with_mnemonic (NULL, "tracking");
gtk_widget_show (radiobutton2);
gtk_table_attach (GTK_TABLE (table1), radiobutton2, 2, 3, 0, 1,
(GtkAttachOptions) (GTK_FILL),
(GtkAttachOptions) (0), 0, 0);
gtk_radio_button_set_group (GTK_RADIO_BUTTON (radiobutton2), radiobutton1_group);
radiobutton1_group = gtk_radio_button_get_group (GTK_RADIO_BUTTON (radiobutton2));
azim_scale = gtk_hscale_new (GTK_ADJUSTMENT (gtk_adjustment_new (144.7, 0, 360, 1, 1, 1)));
gtk_widget_show (azim_scale);
gtk_table_attach (GTK_TABLE (table1), azim_scale, 1, 3, 1, 2,
(GtkAttachOptions) (GTK_EXPAND | GTK_FILL),
(GtkAttachOptions) (GTK_FILL), 0, 0);
gtk_range_set_update_policy (GTK_RANGE (azim_scale), GTK_UPDATE_DELAYED);
elev_scale = gtk_hscale_new (GTK_ADJUSTMENT (gtk_adjustment_new (32.3, 0, 90, 1, 1, 1)));
gtk_widget_show (elev_scale);
gtk_table_attach (GTK_TABLE (table1), elev_scale, 1, 3, 2, 3,
(GtkAttachOptions) (GTK_FILL),
(GtkAttachOptions) (GTK_FILL), 0, 0);
entry1 = gtk_entry_new ();
gtk_widget_show (entry1);
gtk_table_attach (GTK_TABLE (table1), entry1, 1, 3, 3, 4,
(GtkAttachOptions) (GTK_EXPAND | GTK_FILL),
(GtkAttachOptions) (0), 0, 0);
g_signal_connect ((gpointer) radiobutton1, "toggled",
G_CALLBACK (on_mode_changed),
NULL);
/* Store pointers to all widgets, for use by lookup_widget(). */
GLADE_HOOKUP_OBJECT_NO_REF (window1, window1, "window1");
GLADE_HOOKUP_OBJECT (window1, vbox1, "vbox1");
GLADE_HOOKUP_OBJECT (window1, vbox2, "vbox2");
GLADE_HOOKUP_OBJECT (window1, table1, "table1");
GLADE_HOOKUP_OBJECT (window1, label1, "label1");
GLADE_HOOKUP_OBJECT (window1, label2, "label2");
GLADE_HOOKUP_OBJECT (window1, label3, "label3");
GLADE_HOOKUP_OBJECT (window1, label4, "label4");
GLADE_HOOKUP_OBJECT (window1, radiobutton1, "radiobutton1");
GLADE_HOOKUP_OBJECT (window1, radiobutton2, "radiobutton2");
GLADE_HOOKUP_OBJECT (window1, entry1, "entry1");
return window1;
}
void on_ANTENNA_STATUS(IvyClientPtr app, void *user_data, int argc, char *argv[]){
// azim_sp = atof(argv[0]);
// elev_sp = atof(argv[1]);
// id_sp = atoi(argv[2]);
// mode = atoi(argv[3]);
if (mode == AUTO) {
azim_sp = atof(argv[0]);
elev_sp = atof(argv[1]);
gtk_range_set_value(azim_scale, azim_sp);
gtk_range_set_value(elev_scale, elev_sp);
}
g_message("on antenna status %d", mode);
}
int main (int argc, char** argv) {
gtk_init(&argc, &argv);
GtkWidget* window = build_gui();
gtk_widget_show_all(window);
IvyInit ("AntennaTracker", "AntennaTracker READY", NULL, NULL, NULL, NULL);
IvyBindMsg(on_ANTENNA_STATUS, NULL, "^\\S* ANTENNA_STATUS (\\S*) (\\S*) (\\S*) (\\S*)");
IvyStart("127.255.255.255");
gtk_main();
return 0;
}