*** empty log message ***

2026-05-24 05:45:59 +08:00 · 2007-07-24 23:11:11 +00:00
parent 9fce3fae39
commit 57ba2d698e
1 changed files with 131 additions and 0 deletions
@@ -0,0 +1,131 @@
+/*  $Id$
+ *
+ * tmclient, an telemetry client to distribute paparazzi location data
+ * Copyright (C) 2007  Martin Mueller <martinmm@pfump.org>
+ *
+ * This file is part of paparazzi.
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.  
+ *
+ */
+
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <netinet/in.h>
+#include <arpa/inet.h>
+#include <netdb.h>
+#include <stdio.h>
+#include <string.h>
+
+#include <stdlib.h>
+#include <stdio.h>
+#include <unistd.h>
+
+#include <glib.h>
+#include <Ivy/ivy.h>
+#include <Ivy/ivyglibloop.h>
+
+#define PORT 7123
+#define HOSTADDR "uav-flight.de"
+
+#define PACKET_SIZE 9
+
+int sock, length;
+struct sockaddr_in server;
+char hostaddr[4096] = {HOSTADDR};
+
+unsigned int  uvalue[PACKET_SIZE];
+unsigned char cvalue[4*PACKET_SIZE];
+
+static const char usage_str[] = 
+"client [options]\n"
+"options:\n"
+"  -s HOST       server address\n";
+
+void on_FLIGHT_PARAM_STATUS(IvyClientPtr app, void *user_data, int argc, char *argv[])
+{
+  int count, cnt;
+  float ftemp;
+
+  if (argc != 10) return;
+
+  uvalue[0] = atoi(argv[0]);
+  cvalue[0] = uvalue[0] & 0xFF;
+  cvalue[1] = 0;
+  cvalue[2] = 'P';
+  cvalue[3] = 'Z';
+
+  for (count=0; count < PACKET_SIZE; count++) {
+    ftemp = atof(argv[count]);
+    uvalue[count] = *(unsigned int*) &ftemp;
+    uvalue[count] = htonl(uvalue[count]);
+    for (cnt=0; cnt<4; cnt++) {
+      cvalue[count*4 + cnt] = (uvalue[count] >> (cnt*8)) & 0xFF;
+    }
+  }
+
+  /* send data as binary 32bit floats through UDP */
+  count = sendto(sock, cvalue, PACKET_SIZE*4, 0, (struct sockaddr*) &server, length);
+  if (count != PACKET_SIZE*4) perror("sendto");
+}
+
+
+int main ( int argc, char** argv) {
+
+  struct hostent *hent;
+  int c;
+  GMainLoop *ml =  g_main_loop_new(NULL, FALSE);
+
+  while ((c = getopt(argc, argv, "h:s:")) != EOF) {
+    switch (c) {
+
+    case 'h':
+      printf(usage_str);
+      break;
+
+    case 's':
+      strncpy(hostaddr, optarg, strlen(optarg)+1);
+      break;
+    }
+  }
+  
+  IvyInit ("IvyFlightParams", "IvyFlightParams READY", NULL, NULL, NULL, NULL);
+  IvyBindMsg(on_FLIGHT_PARAM_STATUS, NULL, "^\\S* FLIGHT_PARAM (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*)");
+  IvyStart("127.255.255.255");
+
+  printf("Using server: %s\n", hostaddr);
+
+  sock= socket(AF_INET, SOCK_DGRAM, 0);
+  if (sock < 0) perror("socket");
+
+  server.sin_family = AF_INET;
+  hent = gethostbyname(hostaddr);
+  if (hent == 0) {
+    perror("unknown host %s");
+    exit(1);
+  }
+
+  memcpy((char *)&server.sin_addr,
+         (char *)hent->h_addr, 
+         hent->h_length);
+        
+  server.sin_port = htons(PORT);
+  length=sizeof(struct sockaddr_in);
+
+  g_main_loop_run(ml);
+
+  return 0;
+}