mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
[clean] removing old tools, some of them where using pcre lib
This commit is contained in:
Gautier Hattenberger
@@ -37,7 +37,7 @@ XLINKPKG = $(XPKG) -linkpkg -dllpath-pkg pprz.xlib,pprzlink,$(USE_LABELGTK)
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SERVERCMO = server_globals.cmo aircraft_server.cmo wind.cmo airprox.cmo kml.cmo parse_messages_v1.ml intruder.cmo server.cmo
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SERVERCMX = $(SERVERCMO:.cmo=.cmx)
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all: link server ivy_tcp_aircraft ivy_tcp_controller ivy2udp ivy2serial app_server ivy2nmea gpsd2ivy gtk_tools
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all: link server ivy_tcp_aircraft ivy_tcp_controller ivy2udp ivy2serial ivy2nmea gpsd2ivy gtk_tools
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ifeq ($(USE_LABELGTK),lablgtk2)
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gtk_tools: messages
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@@ -46,7 +46,7 @@ endif
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opt: server.opt
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clean:
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$(Q)rm -f link server messages *.bak *~ core *.o .depend *.opt *.out *.cm* ivy_tcp_aircraft ivy_tcp_controller ivy2udp ivy2serial ivy_serial_bridge app_server gpsd2ivy c_ivy_client_example_1 c_ivy_client_example_2 ivy2nmea
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$(Q)rm -f link server messages *.bak *~ core *.o .depend *.opt *.out *.cm* ivy_tcp_aircraft ivy_tcp_controller ivy2udp ivy2serial ivy_serial_bridge gpsd2ivy c_ivy_client_example_1 c_ivy_client_example_2 ivy2nmea
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messages : messages.cmo $(LIBPPRZCMA) $(LIBPPRZLINKCMA)
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@echo OL $@
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@@ -115,10 +115,6 @@ ifeq ("$(UNAME)","Darwin")
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endif
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app_server: app_server.c Makefile
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@echo OL $@
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$(Q)$(CC) $(shell pkg-config libxml-2.0 gio-2.0 ivy-glib --cflags) -o $@ $< -lm -lz $(shell pkg-config libxml-2.0 gio-2.0 ivy-glib --libs) $(PCRE_LDFLAGS)
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gpsd2ivy: gpsd2ivy.c Makefile
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ifeq (, $(shell which gpsd))
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$(info GPSD not installed)
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File diff suppressed because it is too large
Load Diff
+4
-41
@@ -35,14 +35,14 @@ ifeq ($(USE_LABELGTK),lablgtk2)
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ifeq ($(LABLGTK2GLADE),)
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XPKG = -package lablgtk2,pprz.xlib
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XLINKPKG = $(XPKG) -linkpkg -dllpath-pkg pprz.xlib,pprzlink,$(USE_LABELGTK)
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all : play plotter sd2log plotprofile openlog2tlm sdlogger_download
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all : play plotter sd2log openlog2tlm sdlogger_download
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else
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XPKG = -package lablgtk2,pprz.xlib,lablgtk2.glade
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XLINKPKG = $(XPKG) -linkpkg -dllpath-pkg pprz.xlib,pprzlink,$(USE_LABELGTK)
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all : play plotter logplotter sd2log plotprofile openlog2tlm sdlogger_download
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all : play plotter logplotter sd2log openlog2tlm sdlogger_download
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endif
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else # no gtk2
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all: sd2log plotprofile openlog2tlm sdlogger_download
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all: sd2log openlog2tlm sdlogger_download
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endif
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@@ -107,50 +107,13 @@ gtk_export.ml : export.glade
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CC = gcc
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CFLAGS=-g -O2 -Wall
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PCRE_LDFLAGS= $(shell pcre2-config --libs8)
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openlog2tlm: openlog2tlm.c
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@echo CC $@
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$(Q)$(CC) $(CFLAGS) -o $@ $^
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DISP3D_CFLAGS = $(shell pkg-config --cflags ivy-glib gtk+-2.0 gtkgl-2.0)
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DISP3D_LDFLAGS = $(shell pkg-config --libs ivy-glib gtk+-2.0 gtkgl-2.0) $(PCRE_LDFLAGS)
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disp3d: disp3d.c
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@echo CC $@
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$(Q)$(CC) $(CFLAGS) $(DISP3D_CFLAGS) -o $@ $^ $(DISP3D_LDFLAGS)
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IVY_C_LIBS = $(shell pkg-config --libs ivy-glib) $(PCRE_LDFLAGS)
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GLIBIVY_CFLAGS = $(shell pkg-config --cflags ivy-glib)
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#
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# try to find include locations on OSX
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#
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UNAME = $(shell uname -s)
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ifeq ("$(UNAME)","Darwin")
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IVY_C_LIB_INC = $(shell if test -d /opt/paparazzi/lib; then echo "-L/opt/paparazzi/lib"; elif test -d /opt/local/lib; then echo "-L/opt/local/lib"; fi)
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IVY_C_INCLUDES = $(shell if test -d /opt/paparazzi/include; then echo "-I/opt/paparazzi/include"; elif test -d /opt/local/include; then echo "-I/opt/local/include"; fi)
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GLIBIVY_CFLAGS += $(IVY_C_LIB_INC) $(IVY_C_INCLUDES)
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endif
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plotprofile: plotprofile.c
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@echo CC $@
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$(Q)$(CC) $(CFLAGS) $(GLIBIVY_CFLAGS) -o $@ $^ $(IVY_C_LIBS)
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ahrs2fg: ahrs2fg.c network.c flight_gear.c utils.c
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$(CC) $(CFLAGS) $(GLIBIVY_CFLAGS) -o $@ $^ $(IVY_C_LIBS) -lm
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tmclient: tmclient.c
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$(CC) -g -O1 -Wall $(GLIBIVY_CFLAGS) -o $@ $^ $(IVY_C_LIBS)
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ffjoystick: ffjoystick.c
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$(CC) -g -O2 -Wall $(GLIBIVY_CFLAGS) -o $@ $^ $(IVY_C_LIBS) -lm
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clean:
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$(Q)rm -f *.opt *.out *~ core *.o *.bak .depend *.cm* play ahrs2fg logplotter plotter gtk_export.ml openlog2tlm disp3d plotprofile tmclient ffjoystick sd2log sdlogger_download
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$(Q)rm -f *.opt *.out *~ core *.o *.bak .depend *.cm* play logplotter plotter gtk_export.ml openlog2tlm sd2log sdlogger_download
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.PHONY: all clean
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@@ -1,193 +0,0 @@
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#include <glib.h>
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#include <stdio.h>
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#include <math.h>
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#include <stdlib.h>
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#include <string.h>
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#include "flight_gear.h"
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#include "network.h"
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#include <Ivy/ivy.h>
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#include <Ivy/ivyglibloop.h>
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// Default Host
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char default_fg_host[] = "127.0.0.1";
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char* fg_host;
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// Default TCP port
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int fg_port = 5501;
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#ifdef __APPLE__
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char defaultIvyBus[] = "224.255.255.255:2010";
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#else
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char defaultIvyBus[] = "127.255.255.255:2010";
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#endif
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char* IvyBus;
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int verbose = FALSE;
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// quat int res
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const float quat_int_res = (float)(1<<15);
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// euler int res
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const float euler_int_res = (float)(1<<12);
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gfloat quat[4];
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gfloat eulers[3];
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gboolean timeout_callback(gpointer data) {
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static double x = 0.;
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static double y = 0.;
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static double z = 10.;
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const double earth_radius = 6372795.;
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double lat = 0.656480 + asin(x/earth_radius);
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double lon = -2.135537 + asin(y/earth_radius);
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struct FGNetGUI gui;
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net_gui_init(&gui);
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gui.latitude = lat;
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gui.longitude = lon;
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gui.altitude = z;
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if (verbose) {
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printf("phi:%f, theta:%f, psi:%f\n", eulers[0], eulers[1], eulers[2]);
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fflush(stdout);
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}
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gui.phi = eulers[0];
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gui.theta = eulers[1];
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gui.psi = eulers[2];
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// net_gui_hton(&gui);
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send_buf((struct FgNetChannel*)data, (char*)&gui, sizeof(gui));
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return TRUE;
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}
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void quat_to_euler( gfloat* quat, gfloat* euler) {
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// float q02 = quat[0] * quat[0];
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float q12 = quat[1] * quat[1];
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float q22 = quat[2] * quat[2];
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float q32 = quat[3] * quat[3];
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euler[0] = atan2( 2*(quat[2]*quat[3] + quat[0]*quat[1]),(1-2*(q12 + q22)) );
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euler[1] = -asin(2*(quat[1]*quat[3] - quat[0]*quat[2]));
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euler[2] = atan2( 2*(quat[1]*quat[2] + quat[0]*quat[3]),(1-2*(q22 + q32)) );
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}
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void on_ATTITUDE(IvyClientPtr app, void *user_data, int argc, char *argv[]){
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float phi = atof(argv[0]);
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float psi = atof(argv[1]);
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float theta = atof(argv[2]);
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eulers[0] = phi;
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eulers[1] = theta;
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eulers[2] = psi;
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}
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void on_AHRS_EULER_INT(IvyClientPtr app, void *user_data, int argc, char *argv[]){
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float phi = atof(argv[3]);
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float theta = atof(argv[4]);
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float psi = atof(argv[5]);
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eulers[0] = phi / euler_int_res;
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eulers[1] = theta / euler_int_res;
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eulers[2] = psi / euler_int_res;
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}
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void on_AHRS_QUAT_INT(IvyClientPtr app, void *user_data, int argc, char *argv[]){
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float q0 = atof(argv[5]);
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float q1 = atof(argv[6]);
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float q2 = atof(argv[7]);
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float q3 = atof(argv[8]);
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quat[0] = q0 / quat_int_res;
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quat[1] = q1 / quat_int_res;
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quat[2] = q2 / quat_int_res;
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quat[3] = q3 / quat_int_res;
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quat_to_euler(quat, eulers);
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}
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void on_ROTORCRAFT_FP(IvyClientPtr app, void *user_data, int argc, char *argv[]){
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float phi = atof(argv[6]);
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float theta = atof(argv[7]);
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float psi = atof(argv[8]);
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eulers[0] = phi / euler_int_res;
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eulers[1] = theta / euler_int_res;
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eulers[2] = psi / euler_int_res;
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}
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// Print help message
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void print_help() {
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printf("Usage: ahrs2fg [options] <AC_ID>\n");
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printf(" Options :\n");
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printf(" -fg_host <host>\tFlight Gear host address (default: %s)\n", fg_host);
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printf(" -fg_port <port>\tFlight Gear port (default: %d)\n", fg_port);
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printf(" -b <Ivy bus>\tdefault is %s\n", defaultIvyBus);
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printf(" -v\tverbose\n");
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printf(" -h --help show this help\n");
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}
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int main ( int argc, char** argv) {
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int ac_id = -1;
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IvyBus = getenv("IVYBUS");
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if (IvyBus == NULL) IvyBus = defaultIvyBus;
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fg_host = default_fg_host;
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if (argc < 1) {
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print_help();
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exit(0);
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}
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// Parse options
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int i;
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for (i = 1; i < argc; ++i) {
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if (strcmp(argv[i], "--help") == 0 || strcmp(argv[i], "-h") == 0) {
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print_help();
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exit(0);
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}
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else if (strcmp(argv[i], "-fg_host") == 0) {
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fg_host = argv[++i];
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}
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else if (strcmp(argv[i], "-fg_port") == 0) {
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fg_port = atoi(argv[++i]);
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}
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else if (strcmp(argv[i], "-b") == 0) {
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IvyBus = argv[++i];
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}
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else if (strcmp(argv[i], "-v") == 0) {
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verbose = TRUE;
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}
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else {
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ac_id = atoi(argv[i]);
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}
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}
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if (ac_id == -1) {
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print_help();
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exit(0);
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}
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if (verbose) {
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printf("FG options: %s:%d\n", fg_host, fg_port);
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fflush(stdout);
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}
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struct FgNetChannel* chan = open_out_channel(fg_host, fg_port);
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g_timeout_add(50, timeout_callback, chan);
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GMainLoop *ml = g_main_loop_new(NULL, FALSE);
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||||
IvyInit ("ahrs2fg", "ahrs2fg READY", NULL, NULL, NULL, NULL);
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IvyBindMsg(on_ATTITUDE, chan, "^%d ATTITUDE (\\S*) (\\S*) (\\S*)", ac_id);
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IvyBindMsg(on_AHRS_EULER_INT, chan, "^%d AHRS_EULER_INT (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*)", ac_id);
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IvyBindMsg(on_AHRS_QUAT_INT, chan, "^%d AHRS_QUAT_INT (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*)", ac_id);
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IvyBindMsg(on_ROTORCRAFT_FP, chan, "^%d ROTORCRAFT_FP (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*)", ac_id);
|
||||
if (verbose) {
|
||||
printf("Ivy options: %s\n", IvyBus);
|
||||
fflush(stdout);
|
||||
}
|
||||
IvyStart(IvyBus);
|
||||
|
||||
g_main_loop_run(ml);
|
||||
return 0;
|
||||
}
|
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File diff suppressed because it is too large
Load Diff
@@ -1,167 +0,0 @@
|
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/*
|
||||
* based on ffmvforce.c
|
||||
*
|
||||
*/
|
||||
|
||||
/*
|
||||
* 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 of the License, 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 this program; if not, write to the Free Software
|
||||
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*
|
||||
* You can contact the author by email at this address:
|
||||
* Johann Deneux <deneux@ifrance.com>
|
||||
*/
|
||||
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include <sys/stat.h>
|
||||
#include <sys/ioctl.h>
|
||||
#include <fcntl.h>
|
||||
#include <unistd.h>
|
||||
#include <math.h>
|
||||
#include <linux/input.h>
|
||||
#include <glib.h>
|
||||
#include <Ivy/ivy.h>
|
||||
#include <Ivy/ivyglibloop.h>
|
||||
|
||||
#define BIT(x) (1<<(x))
|
||||
#define STR_LEN 64
|
||||
#define PPRZ_MAX 9600
|
||||
#define PPRZ_MIN (-PPRZ_MAX)
|
||||
#define max(a,b) ((a)>(b)?(a):(b))
|
||||
|
||||
/* File descriptor of the force feedback /dev entry */
|
||||
static int ff_fd;
|
||||
static struct ff_effect effect;
|
||||
|
||||
static void welcome()
|
||||
{
|
||||
const char* txt[] = {
|
||||
"ffjoystick: generate force feedback reaction from Paparazzi autopilot",
|
||||
"Set COMMANDS message repeat rate low in telemetry and"
|
||||
"use aircraft with rudder on channel 1 and elevator on 2",
|
||||
"USE WITH CARE !!! HOLD STRONGLY YOUR WHEEL OR JOYSTICK TO PREVENT DAMAGES",
|
||||
"To run this program, run it with at least one argument.",
|
||||
"",
|
||||
NULL };
|
||||
|
||||
const char** p = txt;
|
||||
|
||||
while (*p) {
|
||||
printf("%s\n", *p);
|
||||
p++;
|
||||
}
|
||||
}
|
||||
|
||||
static void generate_force(double nx, double ny)
|
||||
{
|
||||
static int first = 1;
|
||||
double angle;
|
||||
|
||||
angle = atan2(nx, -ny);
|
||||
//printf("n: %4.2f %4.2f angle: %4.2f\n", nx, ny, angle);
|
||||
effect.type = FF_CONSTANT;
|
||||
effect.u.constant.level = 0x7fff * max(fabs(nx), fabs(ny));
|
||||
effect.direction = 0x8000 * (angle + M_PI)/M_PI;
|
||||
//printf("level: %04x direction: %04x\n", (unsigned int)effect.u.constant.level, (unsigned int)effect.direction);
|
||||
effect.u.constant.envelope.attack_length = 0;
|
||||
effect.u.constant.envelope.attack_level = 0;
|
||||
effect.u.constant.envelope.fade_length = 0;
|
||||
effect.u.constant.envelope.fade_level = 0;
|
||||
effect.trigger.button = 0;
|
||||
effect.trigger.interval = 0;
|
||||
effect.replay.length = 0xffff;
|
||||
effect.replay.delay = 0;
|
||||
|
||||
if (first) {
|
||||
effect.id = -1;
|
||||
}
|
||||
|
||||
if (ioctl(ff_fd, EVIOCSFF, &effect) < 0) {
|
||||
/* If updates are sent to frequently, they can be refused */
|
||||
}
|
||||
|
||||
/* If first time, start to play the effect */
|
||||
if (first) {
|
||||
struct input_event play;
|
||||
play.type = EV_FF;
|
||||
play.code = effect.id;
|
||||
play.value = 1;
|
||||
|
||||
if (write(ff_fd, (const void*) &play, sizeof(play)) == -1) {
|
||||
perror("Play effect");
|
||||
exit(1);
|
||||
}
|
||||
}
|
||||
|
||||
first = 0;
|
||||
}
|
||||
|
||||
void on_commands(IvyClientPtr app, void *user_data, int argc, char *argv[]){
|
||||
|
||||
char* start = argv[0];
|
||||
char* stop;
|
||||
int x, y;
|
||||
|
||||
strtol(start, &stop, 10);
|
||||
start=stop+1;
|
||||
x = -strtol(start, &stop, 10);
|
||||
start=stop+1;
|
||||
y = strtol(start, &stop, 10);
|
||||
|
||||
if (x>PPRZ_MAX) x=PPRZ_MAX;
|
||||
if (x<PPRZ_MIN) x=PPRZ_MIN;
|
||||
if (y>PPRZ_MAX) y=PPRZ_MAX;
|
||||
if (y<PPRZ_MIN) y=PPRZ_MIN;
|
||||
|
||||
generate_force((double)x/PPRZ_MAX, (double)y/PPRZ_MAX);
|
||||
}
|
||||
|
||||
int main(int argc, char** argv)
|
||||
{
|
||||
char dev_name[STR_LEN];
|
||||
int i;
|
||||
GMainLoop *ml = g_main_loop_new(NULL, FALSE);
|
||||
|
||||
welcome();
|
||||
if (argc <= 1) return 0;
|
||||
|
||||
/* Parse parameters */
|
||||
strcpy(dev_name, "/dev/input/event0");
|
||||
for (i=1; i<argc; ++i) {
|
||||
if (strcmp(argv[i], "--help") == 0) {
|
||||
printf("Usage: %s /dev/input/eventXX\n", argv[0]);
|
||||
exit(1);
|
||||
}
|
||||
else {
|
||||
strncpy(dev_name, argv[i], STR_LEN);
|
||||
}
|
||||
}
|
||||
|
||||
/* Open force feedback device */
|
||||
ff_fd = open(dev_name, O_RDWR);
|
||||
if (ff_fd == -1) {
|
||||
perror("Open device file");
|
||||
exit(1);
|
||||
}
|
||||
|
||||
IvyInit ("IvyExample", "IvyExample READY", NULL, NULL, NULL, NULL);
|
||||
IvyBindMsg(on_commands, NULL, "^\\S* COMMANDS (\\S*)");
|
||||
IvyStart("127.255.255.255");
|
||||
|
||||
g_main_loop_run(ml);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
@@ -1,416 +0,0 @@
|
||||
#include "flight_gear.h"
|
||||
|
||||
#include <stdio.h>
|
||||
#include <netinet/in.h>
|
||||
#include <string.h>
|
||||
|
||||
#include "utils.h"
|
||||
|
||||
void net_fdm_ntoh (struct FGNetFDM* fdm) {
|
||||
fdm->version = ntohl(fdm->version);
|
||||
htond(&fdm->latitude);
|
||||
htond(&fdm->longitude);
|
||||
htond(&fdm->altitude);
|
||||
htonf(&fdm->agl);
|
||||
|
||||
htonf(&fdm->phi);
|
||||
htonf(&fdm->theta);
|
||||
htonf(&fdm->psi);
|
||||
htonf(&fdm->alpha);
|
||||
htonf(&fdm->beta);
|
||||
|
||||
htonf(&fdm->phidot);
|
||||
htonf(&fdm->thetadot);
|
||||
htonf(&fdm->psidot);
|
||||
htonf(&fdm->vcas);
|
||||
htonf(&fdm->climb_rate);
|
||||
|
||||
htonf(&fdm->v_north);
|
||||
htonf(&fdm->v_east);
|
||||
htonf(&fdm->v_down);
|
||||
htonf(&fdm->v_wind_body_north);
|
||||
htonf(&fdm->v_wind_body_east);
|
||||
htonf(&fdm->v_wind_body_down);
|
||||
|
||||
htonf(&fdm->A_X_pilot);
|
||||
htonf(&fdm->A_Y_pilot);
|
||||
htonf(&fdm->A_Z_pilot);
|
||||
htonf(&fdm->stall_warning);
|
||||
htonf(&fdm->slip_deg);
|
||||
|
||||
fdm->num_engines = ntohl(fdm->num_engines);
|
||||
int i;
|
||||
for (i=0; i<FG_NET_FDM_MAX_ENGINES; i++) {
|
||||
fdm->eng_state[i] = ntohl(fdm->eng_state[i]);
|
||||
htonf(&fdm->rpm[i]);
|
||||
htonf(&fdm->fuel_flow[i]);
|
||||
htonf(&fdm->egt[i]);
|
||||
htonf(&fdm->cht[i]);
|
||||
htonf(&fdm->mp_osi[i]);
|
||||
htonf(&fdm->tit[i]);
|
||||
htonf(&fdm->oil_temp[i]);
|
||||
htonf(&fdm->oil_px[i]);
|
||||
}
|
||||
|
||||
fdm->num_tanks = ntohl(fdm->num_tanks);
|
||||
for (i=0; i<FG_NET_FDM_MAX_TANKS; i++) {
|
||||
htonf(&fdm->fuel_quantity[i]);
|
||||
}
|
||||
|
||||
fdm->num_wheels = ntohl(fdm->num_wheels);
|
||||
for (i=0; i<FG_NET_FDM_MAX_WHEELS; i++) {
|
||||
fdm->wow[i] = ntohl(fdm->wow[i]);
|
||||
htonf(&fdm->gear_pos[i]);
|
||||
htonf(&fdm->gear_steer[i]);
|
||||
htonf(&fdm->gear_compression[i]);
|
||||
}
|
||||
|
||||
fdm->cur_time = ntohl(fdm->cur_time);
|
||||
fdm->warp = ntohl(fdm->warp);
|
||||
|
||||
htonf(&fdm->visibility);
|
||||
|
||||
htonf(&fdm->elevator);
|
||||
htonf(&fdm->elevator_trim_tab);
|
||||
htonf(&fdm->left_flap);
|
||||
htonf(&fdm->right_flap);
|
||||
htonf(&fdm->left_aileron);
|
||||
htonf(&fdm->right_aileron);
|
||||
htonf(&fdm->rudder);
|
||||
htonf(&fdm->nose_wheel);
|
||||
htonf(&fdm->speedbrake);
|
||||
htonf(&fdm->spoilers);
|
||||
|
||||
}
|
||||
|
||||
void net_fdm_dump (struct FGNetFDM* fdm) {
|
||||
printf("net_fdm (version %d size %d)\n",fdm->version, sizeof( *fdm));
|
||||
printf(" lat, lon, alt, agl\n [%f %f %f %f]\n",
|
||||
fdm->latitude, fdm->longitude, fdm->altitude, fdm->agl);
|
||||
printf(" phi, theta, psi, alpha, beta\n [%f %f %f %f %f]\n",
|
||||
fdm->phi, fdm->theta, fdm->psi, fdm->alpha, fdm->beta);
|
||||
printf(" phidot, thetadot, psidot, vcas, climb_rate\n [%f %f %f %f %f]\n",
|
||||
fdm->phidot, fdm->thetadot, fdm->psidot, fdm->vcas, fdm->climb_rate);
|
||||
printf(" v_north, v_east, v_down\n [%f %f %f]\n",
|
||||
fdm->v_north, fdm->v_east, fdm->v_down);
|
||||
printf(" v_wind_body_north, v_wind_body_east, v_wind_body_down\n [%f %f %f]\n",
|
||||
fdm->v_wind_body_north, fdm->v_wind_body_east, fdm->v_wind_body_down);
|
||||
|
||||
/* [......] */
|
||||
|
||||
printf(" cur_time, warp\n [%u %u]\n", fdm->cur_time, fdm->warp);
|
||||
printf(" visibility [%f]\n", fdm->visibility);
|
||||
printf(" elevator, elevator_trim_tab\n [%f %f]\n",
|
||||
fdm->elevator, fdm->elevator_trim_tab);
|
||||
printf(" left_flap, right_flap\n [%f %f]\n",
|
||||
fdm->left_flap, fdm->right_flap);
|
||||
printf(" left_aileron, right_aileron\n [%f %f]\n",
|
||||
fdm->left_aileron, fdm->right_aileron);
|
||||
printf(" rudder, nose_wheel\n [%f %f]\n",
|
||||
fdm->rudder, fdm->nose_wheel);
|
||||
printf(" speedbrake, spoilers\n [%f %f]\n",
|
||||
fdm->speedbrake, fdm->spoilers);
|
||||
|
||||
}
|
||||
|
||||
void net_fdm_init ( struct FGNetFDM* fdm ) {
|
||||
|
||||
fdm->version = FG_NET_FDM_VERSION;
|
||||
|
||||
fdm->latitude = 0.656480;
|
||||
fdm->longitude = -2.135537;
|
||||
fdm->altitude = 2.;
|
||||
fdm->agl = 1.111652;
|
||||
|
||||
fdm->phi = 0.;
|
||||
fdm->theta = 0.;
|
||||
fdm->psi = 5.20;
|
||||
fdm->alpha = 0.;
|
||||
fdm->beta = 0.;
|
||||
|
||||
fdm->phidot = 0.;
|
||||
fdm->thetadot = 0.;
|
||||
fdm->psidot = 0.;
|
||||
fdm->vcas = 0.;
|
||||
fdm->climb_rate = 0.;
|
||||
fdm->v_north = 0.;
|
||||
fdm->v_east = 0.;
|
||||
fdm->v_down = 0.;
|
||||
|
||||
fdm->v_wind_body_north = 0.;
|
||||
fdm->v_wind_body_east = 0.;
|
||||
fdm->v_wind_body_down = 0.;
|
||||
|
||||
fdm->A_X_pilot = 0.;
|
||||
fdm->A_Y_pilot = 0.;
|
||||
fdm->A_Z_pilot = 0.;
|
||||
|
||||
fdm->stall_warning = 0.;
|
||||
fdm->slip_deg = 0.;
|
||||
|
||||
fdm->num_engines = 2;
|
||||
fdm->eng_state[0] = 0;
|
||||
fdm->eng_state[1] = 0;
|
||||
fdm->rpm[0] = 0.;
|
||||
fdm->rpm[1] = 0.;
|
||||
fdm->fuel_flow[0] = 0.;
|
||||
fdm->fuel_flow[1] = 0.;
|
||||
fdm->egt[0] = 0.;
|
||||
fdm->egt[1] = 0.;
|
||||
fdm->egt[0] = 0.;
|
||||
fdm->egt[1] = 0.;
|
||||
fdm->cht[0] = 0.;
|
||||
fdm->cht[1] = 0.;
|
||||
fdm->mp_osi[0] = 0.;
|
||||
fdm->mp_osi[1] = 0.;
|
||||
fdm->tit[0] = 0.;
|
||||
fdm->tit[1] = 0.;
|
||||
fdm->oil_temp[0] = 0.;
|
||||
fdm->oil_temp[1] = 0.;
|
||||
fdm->oil_px[0] = 0.;
|
||||
fdm->oil_px[1] = 0.;
|
||||
|
||||
fdm->num_tanks = 4;
|
||||
fdm->fuel_quantity[0] = 0.;
|
||||
fdm->fuel_quantity[1] = 0.;
|
||||
fdm->fuel_quantity[2] = 0.;
|
||||
fdm->fuel_quantity[3] = 0.;
|
||||
|
||||
fdm->num_wheels = 1;
|
||||
fdm->wow[0] = 1;
|
||||
fdm->gear_pos[0] = 0.;
|
||||
fdm->gear_steer[0] = 0.;
|
||||
fdm->gear_compression[0] = 0.;
|
||||
|
||||
fdm->cur_time = 3213082700ul;
|
||||
fdm->warp = 0;
|
||||
fdm->visibility = 1000.;
|
||||
|
||||
fdm->elevator = 0.;
|
||||
fdm->elevator_trim_tab = 0.;
|
||||
fdm->left_flap = 0.;
|
||||
fdm->right_flap = 0.;
|
||||
fdm->left_aileron = 0.;
|
||||
fdm->right_aileron = 0.;
|
||||
fdm->rudder = 0.;
|
||||
fdm->nose_wheel = 0.;
|
||||
fdm->speedbrake = 0.;
|
||||
fdm->spoilers = 0.;
|
||||
|
||||
}
|
||||
|
||||
void net_gui_init (struct FGNetGUI* gui) {
|
||||
gui->version = FG_NET_GUI_VERSION;
|
||||
gui->latitude = 0.656480;
|
||||
gui->longitude = -2.135537;
|
||||
gui->altitude = 0.807609;
|
||||
gui->agl = 1.111652;
|
||||
|
||||
gui->phi = 0.;
|
||||
gui->theta = 0.;
|
||||
gui->psi = 5.20;
|
||||
|
||||
gui->vcas = 0.;
|
||||
gui->climb_rate = 0.;
|
||||
|
||||
gui->num_tanks = 1;
|
||||
gui->fuel_quantity[0] = 0.;
|
||||
|
||||
gui->cur_time = 3198060679ul;
|
||||
gui->warp = 1122474394ul;
|
||||
|
||||
gui->ground_elev = 0.;
|
||||
|
||||
gui->tuned_freq = 125.65;
|
||||
gui->nav_radial = 90.;
|
||||
gui->in_range = 1;
|
||||
gui->dist_nm = 10.;
|
||||
gui->course_deviation_deg = 0.;
|
||||
gui->gs_deviation_deg = 0.;
|
||||
}
|
||||
|
||||
void net_gui_hton (struct FGNetGUI* gui) {
|
||||
gui->version = ntohl(gui->version);
|
||||
htond(&gui->latitude);
|
||||
htond(&gui->longitude);
|
||||
htonf(&gui->altitude);
|
||||
htonf(&gui->agl);
|
||||
|
||||
htonf(&gui->phi);
|
||||
htonf(&gui->theta);
|
||||
htonf(&gui->psi);
|
||||
|
||||
}
|
||||
|
||||
void net_gui_dump (struct FGNetGUI* gui) {
|
||||
printf("net_gui (version %d size %d)\n",gui->version, sizeof( *gui));
|
||||
printf(" lat, lon, alt, agl\n [%f %f %f %f]\n",
|
||||
gui->latitude, gui->longitude, gui->altitude, gui->agl);
|
||||
printf(" phi, theta, psi\n [%f %f %f]\n",
|
||||
gui->phi, gui->theta, gui->psi);
|
||||
printf(" vcas, climb_rate\n [%f %f]\n",
|
||||
gui->vcas, gui->climb_rate);
|
||||
printf(" num_tanks, fuel[0], fuel[1], fuel[2], fuel[3]\n [%u %f %f %f %f]\n",
|
||||
gui->num_tanks, gui->fuel_quantity[0], gui->fuel_quantity[1],
|
||||
gui->fuel_quantity[2], gui->fuel_quantity[3]);
|
||||
printf(" cur_time, warp\n [%u %u]\n", gui->cur_time, gui->warp);
|
||||
printf(" ground_elev\n [%f]\n",
|
||||
gui->ground_elev);
|
||||
printf(" tuned_freq, nav_radial, in_range\n [%f %f %u]\n",
|
||||
gui->tuned_freq, gui->nav_radial, gui->in_range);
|
||||
printf(" dist_nm, course_deviation_deg, gs_deviation_deg\n [%f %f %f]\n",
|
||||
gui->dist_nm, gui->course_deviation_deg, gui->gs_deviation_deg);
|
||||
}
|
||||
|
||||
void net_ctrls_init(struct FGNetCtrls* ctrls) {
|
||||
ctrls->version = FG_NET_CTRLS_VERSION;
|
||||
ctrls->aileron = 0.;
|
||||
ctrls->elevator = 0.;
|
||||
ctrls->rudder = 0.;
|
||||
ctrls->aileron_trim = 0.;
|
||||
ctrls->elevator_trim = 0.;
|
||||
ctrls->rudder_trim = 0.;
|
||||
ctrls->flaps = 0.;
|
||||
ctrls->spoilers = 0.;
|
||||
ctrls->speedbrake = 0.;
|
||||
|
||||
ctrls->flaps_power = 1;
|
||||
ctrls->flap_motor_ok = 1;
|
||||
|
||||
ctrls->num_engines = 2;
|
||||
int i;
|
||||
for (i=0; i< 2; i++) {
|
||||
ctrls->master_bat[i] = 1;
|
||||
ctrls->master_alt[i] = 1;
|
||||
ctrls->magnetos[i] = 1;
|
||||
ctrls->starter_power[i] = 0;
|
||||
ctrls->throttle[i] = 0.;
|
||||
ctrls->mixture[i] = 0.;
|
||||
ctrls->condition[i] = 0.;
|
||||
ctrls->fuel_pump_power[i] = 1;
|
||||
ctrls->prop_advance[i] = 1.;
|
||||
ctrls->feed_tank_to[i] = 1;
|
||||
ctrls->reverse[i] = 0;
|
||||
ctrls->engine_ok[i] = 1;
|
||||
ctrls->mag_left_ok[i] = 1;
|
||||
ctrls->mag_right_ok[i] = 1;
|
||||
ctrls->spark_plugs_ok[i] = 1;
|
||||
ctrls->oil_press_status[i] = 0;
|
||||
ctrls->fuel_pump_ok[i] = 1;
|
||||
}
|
||||
ctrls->num_tanks = 1;
|
||||
ctrls->fuel_selector[0] = 1;
|
||||
|
||||
ctrls->xfer_pump[0] = 1;
|
||||
ctrls->cross_feed = 0;
|
||||
|
||||
ctrls->brake_left = 0.;
|
||||
ctrls->brake_right = 0.;
|
||||
ctrls->copilot_brake_left = 0.;
|
||||
ctrls->copilot_brake_right = 0.;
|
||||
ctrls->brake_parking = 0.;
|
||||
|
||||
ctrls->gear_handle = 1;
|
||||
ctrls->master_avionics = 0;
|
||||
|
||||
ctrls->comm_1 = 123.4;
|
||||
ctrls->comm_2 = 123.4;
|
||||
ctrls->nav_1 = 123.4;
|
||||
ctrls->nav_2 = 123.4;
|
||||
|
||||
ctrls->wind_speed_kt = 0.;
|
||||
ctrls->wind_dir_deg = 0.;
|
||||
ctrls->turbulence_norm = 0.;
|
||||
|
||||
ctrls->temp_c = 25.;
|
||||
ctrls->press_inhg = 25.;
|
||||
|
||||
ctrls->hground = 25.;
|
||||
ctrls->magvar = 0.;
|
||||
|
||||
ctrls->speedup = 1;
|
||||
|
||||
}
|
||||
|
||||
void net_ctrls_ntoh(struct FGNetCtrls* ctrls) {
|
||||
ctrls->version = ntohl(ctrls->version);
|
||||
htond(&ctrls->aileron);
|
||||
htond(&ctrls->elevator);
|
||||
htond(&ctrls->rudder);
|
||||
htond(&ctrls->aileron_trim);
|
||||
htond(&ctrls->elevator_trim);
|
||||
htond(&ctrls->rudder_trim);
|
||||
htond(&ctrls->flaps);
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
void net_ctrls_dump(struct FGNetCtrls* ctrls) {
|
||||
printf("net_ctrls (version %d size %d)\n",ctrls->version, sizeof( *ctrls));
|
||||
printf(" aileron elevator rudder\n [%f %f %f]\n",
|
||||
ctrls->aileron, ctrls->elevator, ctrls->rudder);
|
||||
printf(" throttle\n [%f %f %f]\n",
|
||||
ctrls->throttle[0], ctrls->throttle[1], ctrls->throttle[2]);
|
||||
|
||||
}
|
||||
|
||||
void mplay_msg_dump ( struct FGMplayMsg *msg ) {
|
||||
printf("mplay_msg (size %d id %d)\n",msg->header.len, msg->header.id);
|
||||
printf(" reply_addr %d\n", msg->header.reply_addr);
|
||||
printf(" reply_port %d\n", msg->header.reply_port);
|
||||
printf(" callsign ");
|
||||
int i;
|
||||
for (i=0; i < MP_MAX_CALLSIGN_LEN; i++) {
|
||||
printf("%c", msg->header.callsign[i]);
|
||||
}
|
||||
printf("\n");
|
||||
printf(" model %-96s (%d)\n", msg->pos.model, strlen(msg->pos.model));
|
||||
printf(" time %f lag %f\n", msg->pos.time, msg->pos.lag);
|
||||
printf(" position %f %f %f\n", msg->pos.position[0], msg->pos.position[1], msg->pos.position[2]);
|
||||
printf(" orientation %f %f %f %f\n", msg->pos.orientation[0], msg->pos.orientation[1], msg->pos.orientation[2], msg->pos.orientation[3]);
|
||||
printf(" linear_vel %f %f %f\n", msg->pos.linear_vel[0], msg->pos.linear_vel[1], msg->pos.linear_vel[2]);
|
||||
printf(" angular_vel %f %f %f\n", msg->pos.angular_vel[0], msg->pos.angular_vel[1], msg->pos.angular_vel[2]);
|
||||
printf(" linear_accel %f %f %f\n", msg->pos.linear_accel[0], msg->pos.linear_accel[1], msg->pos.linear_accel[2]);
|
||||
printf(" angular_accel %f %f %f\n", msg->pos.angular_accel[0], msg->pos.angular_accel[1], msg->pos.angular_accel[2]);
|
||||
printf("sizeof %d\n", sizeof(struct FGMplayMsg));
|
||||
|
||||
}
|
||||
|
||||
void mplay_msg_ntoh ( struct FGMplayMsg* msg) {
|
||||
msg->header.magic = ntohl(msg->header.magic);
|
||||
msg->header.version = ntohl(msg->header.version);
|
||||
msg->header.id = ntohl(msg->header.id);
|
||||
msg->header.len = ntohl(msg->header.len);
|
||||
msg->header.reply_addr = ntohl(msg->header.reply_addr);
|
||||
msg->header.reply_port = ntohl(msg->header.reply_port);
|
||||
htond(&msg->pos.time);
|
||||
htond(&msg->pos.lag);
|
||||
htond(&msg->pos.position[0]);
|
||||
htond(&msg->pos.position[1]);
|
||||
htond(&msg->pos.position[2]);
|
||||
htonf(&msg->pos.orientation[0]);
|
||||
htonf(&msg->pos.orientation[1]);
|
||||
htonf(&msg->pos.orientation[2]);
|
||||
htonf(&msg->pos.orientation[3]);
|
||||
htonf(&msg->pos.linear_vel[0]);
|
||||
htonf(&msg->pos.linear_vel[1]);
|
||||
htonf(&msg->pos.linear_vel[2]);
|
||||
htonf(&msg->pos.angular_vel[0]);
|
||||
htonf(&msg->pos.angular_vel[1]);
|
||||
htonf(&msg->pos.angular_vel[2]);
|
||||
htonf(&msg->pos.linear_accel[0]);
|
||||
htonf(&msg->pos.linear_accel[1]);
|
||||
htonf(&msg->pos.linear_accel[2]);
|
||||
htonf(&msg->pos.angular_accel[0]);
|
||||
htonf(&msg->pos.angular_accel[1]);
|
||||
htonf(&msg->pos.angular_accel[2]);
|
||||
}
|
||||
|
||||
void mplay_msg_init ( struct FGMplayMsg* msg) {
|
||||
msg->header.magic = MP_MSG_MAGIC;
|
||||
msg->header.version = MP_PROTO_VER;
|
||||
msg->header.id = 7;
|
||||
msg->header.len = 232;
|
||||
|
||||
}
|
||||
@@ -1,43 +0,0 @@
|
||||
#ifndef FLIGHT_GEAR_H
|
||||
#define FLIGHT_GEAR_H
|
||||
|
||||
#include <stdint.h>
|
||||
#include "../simulator/flight_gear.h"
|
||||
|
||||
|
||||
#define MP_MAX_CALLSIGN_LEN 8
|
||||
#define MP_MAX_MODEL_NAME_LEN 96
|
||||
#define MP_MSG_MAGIC 0x46474653
|
||||
#define MP_PROTO_VER 0x00010001
|
||||
|
||||
struct FGMplayHdr {
|
||||
uint32_t magic;
|
||||
uint32_t version;
|
||||
uint32_t id;
|
||||
uint32_t len;
|
||||
uint32_t reply_addr;
|
||||
uint32_t reply_port;
|
||||
char callsign[MP_MAX_CALLSIGN_LEN];
|
||||
};
|
||||
|
||||
struct FGMplayPosMsg {
|
||||
char model[MP_MAX_MODEL_NAME_LEN];
|
||||
double time;
|
||||
double lag;
|
||||
double position[3];
|
||||
float orientation[4];
|
||||
float linear_vel[3];
|
||||
float angular_vel[3];
|
||||
float linear_accel[3];
|
||||
float angular_accel[3];
|
||||
};
|
||||
|
||||
struct FGMplayMsg {
|
||||
struct FGMplayHdr header;
|
||||
struct FGMplayPosMsg pos;
|
||||
};
|
||||
|
||||
extern void mplay_msg_dump ( struct FGMplayMsg *msg );
|
||||
extern void mplay_msg_ntoh ( struct FGMplayMsg* msg );
|
||||
extern void mplay_msg_init ( struct FGMplayMsg* msg );
|
||||
#endif /* FLIGHT_GEAR_H */
|
||||
@@ -1,38 +0,0 @@
|
||||
#include "network.h"
|
||||
|
||||
#include <netdb.h>
|
||||
#include <netinet/in.h>
|
||||
|
||||
#include <stdlib.h>
|
||||
#include <stdio.h>
|
||||
|
||||
|
||||
struct FgNetChannel* open_out_channel( char* host, uint16_t port) {
|
||||
struct FgNetChannel* chan = malloc(sizeof (struct FgNetChannel));
|
||||
int so_reuseaddr = 1;
|
||||
struct protoent * pte = getprotobyname("UDP");
|
||||
chan->socket = socket( PF_INET, SOCK_DGRAM, pte->p_proto);
|
||||
setsockopt(chan->socket, SOL_SOCKET, SO_REUSEADDR,
|
||||
&so_reuseaddr, sizeof(so_reuseaddr));
|
||||
|
||||
chan->addr.sin_family = PF_INET;
|
||||
chan->addr.sin_port = htons(port);
|
||||
chan->addr.sin_addr.s_addr = inet_addr(host);
|
||||
|
||||
return chan;
|
||||
}
|
||||
|
||||
struct FgNetChannel* open_in_channel( char* host, uint16_t port) {
|
||||
struct FgNetChannel* chan = open_out_channel(host, port);
|
||||
int ret = bind(chan->socket, (struct sockaddr*)&chan->addr, sizeof(chan->addr));
|
||||
if (ret)
|
||||
perror("binding\n");
|
||||
return chan;
|
||||
}
|
||||
|
||||
|
||||
void send_buf(struct FgNetChannel* chan, char* buf, int len) {
|
||||
if (sendto(chan->socket, buf, len, 0,
|
||||
(struct sockaddr*)&chan->addr, sizeof(chan->addr)) == -1)
|
||||
printf("error sending\n");
|
||||
}
|
||||
@@ -1,18 +0,0 @@
|
||||
#ifndef NETWORK_H
|
||||
#define NETWORK_H
|
||||
|
||||
#include <inttypes.h>
|
||||
#include <sys/socket.h>
|
||||
#include <arpa/inet.h>
|
||||
|
||||
struct FgNetChannel {
|
||||
int socket;
|
||||
struct sockaddr_in addr;
|
||||
};
|
||||
|
||||
extern struct FgNetChannel* open_out_channel( char* host, uint16_t port );
|
||||
extern struct FgNetChannel* open_in_channel( char* host, uint16_t port );
|
||||
extern void send_buf(struct FgNetChannel* chan, char* buf, int len);
|
||||
|
||||
|
||||
#endif /* NETWORK_H */
|
||||
@@ -1,200 +0,0 @@
|
||||
|
||||
/*
|
||||
|
||||
This is a quick hack - just to show how it might work. It gives a 3D view of
|
||||
the GPS positions with an additional value (here: attitude phi) as colour.
|
||||
|
||||
Start this with your favorite .data telemetry file as argument and pipe it
|
||||
to output.dat, then run gnuplot with:
|
||||
|
||||
#set terminal png nocrop enhanced size 800,600
|
||||
#set output 'output.png'
|
||||
set view 64, 8, 1, 1
|
||||
set isosamples 50, 10
|
||||
set hidden3d offset 1 trianglepattern 3 undefined 1 altdiagonal bentover
|
||||
set palette
|
||||
set xlabel "m"
|
||||
set ylabel "m"
|
||||
set zlabel "m"
|
||||
splot "output.dat" using 1:2:3:4 title "roll" with linespoints palette
|
||||
pause -1
|
||||
|
||||
*/
|
||||
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <fcntl.h>
|
||||
#include <stdarg.h>
|
||||
#include <string.h>
|
||||
#include <unistd.h>
|
||||
#include <math.h>
|
||||
#include <sys/time.h>
|
||||
|
||||
int main( int argc, char* argv[] )
|
||||
{
|
||||
/*
|
||||
<message name="GPS" ID="8">
|
||||
<field name="mode" type="uint8" unit="byte_mask"></field>
|
||||
<field name="utm_east" type="int32" unit="cm"></field>
|
||||
<field name="utm_north" type="int32" unit="cm"></field>
|
||||
<field name="course" type="int16" unit="decideg"></field>
|
||||
<field name="alt" type="int32" unit="cm"></field>
|
||||
<field name="speed" type="uint16" unit="cm/s"></field>
|
||||
<field name="climb" type="int16" unit="cm/s"></field>
|
||||
<field name="itow" type="uint32" unit="ms"></field>
|
||||
<field name="utm_zone" type="uint8"></field>
|
||||
<field name="gps_nb_err" type="uint8"></field>
|
||||
</message>
|
||||
|
||||
7.73 11 GPS 0 55577549 665183336 0 -4310 0 0 345957748 31 0
|
||||
|
||||
|
||||
<message name="ATTITUDE" ID="6">
|
||||
<field name="phi" type="int16" unit="deg"></field>
|
||||
<field name="psi" type="int16" unit="deg"></field>
|
||||
<field name="theta" type="int16" unit="deg"></field>
|
||||
</message>
|
||||
|
||||
230.41 23 ATTITUDE -22 0 -4
|
||||
|
||||
<message name="NAVIGATION_REF" ID="0x09">
|
||||
<field name="utm_east" type="int32" unit="m"></field>
|
||||
<field name="utm_north" type="int32" unit="m"></field>
|
||||
<field name="utm_zone" type="uint8"></field>
|
||||
</message>
|
||||
|
||||
7.77 23 NAVIGATION_REF 567835 5790977 32
|
||||
|
||||
*/
|
||||
|
||||
char line_in[256];
|
||||
|
||||
float rtime;
|
||||
char id_name[255];
|
||||
unsigned int ac_id;
|
||||
|
||||
unsigned int byte_mask;
|
||||
int utm_east;
|
||||
int utm_north;
|
||||
int course;
|
||||
int alt;
|
||||
int speed;
|
||||
int climb;
|
||||
unsigned int itow;
|
||||
unsigned int utm_zone;
|
||||
unsigned int gps_nb_err;
|
||||
|
||||
unsigned int phi;
|
||||
unsigned int psi;
|
||||
unsigned int theta;
|
||||
|
||||
unsigned int nr_utm_east;
|
||||
unsigned int nr_utm_north;
|
||||
unsigned int nr_utm_zone;
|
||||
|
||||
unsigned int humid;
|
||||
unsigned int temp;
|
||||
|
||||
char got_navref = 0;
|
||||
|
||||
FILE *fd;
|
||||
|
||||
if (argc != 2)
|
||||
{
|
||||
printf("plot3dparse 'flight_file.data' > output.dat\n");
|
||||
exit(0);
|
||||
}
|
||||
|
||||
fd = fopen( argv[1], "r" );
|
||||
|
||||
if (!fd) exit(0);
|
||||
|
||||
while (!feof(fd))
|
||||
{
|
||||
|
||||
fgets( line_in, 256, fd );
|
||||
|
||||
if (sscanf( line_in, "%e %i %s", &rtime, &ac_id, id_name ))
|
||||
{
|
||||
if (!strcmp( "NAVIGATION_REF", id_name))
|
||||
{
|
||||
sscanf( line_in, "%e %i %s %i %i %i\n",
|
||||
&rtime,
|
||||
&ac_id,
|
||||
id_name,
|
||||
&nr_utm_east,
|
||||
&nr_utm_north,
|
||||
&nr_utm_zone );
|
||||
|
||||
got_navref = 1;
|
||||
}
|
||||
|
||||
#if 0
|
||||
if (!strcmp( "DPICCO_STATUS", id_name))
|
||||
{
|
||||
#define DPICCO_HUMID_MAX 0x7FFF
|
||||
#define DPICCO_HUMID_RANGE 100.0
|
||||
|
||||
#define DPICCO_TEMP_MAX 0x7FFF
|
||||
#define DPICCO_TEMP_RANGE 165.0
|
||||
#define DPICCO_TEMP_OFFS -40.0
|
||||
|
||||
float fhumid, ftemp;
|
||||
|
||||
sscanf( line_in, "%e %i %s %i %i %e %e\n",
|
||||
&rtime,
|
||||
&ac_id,
|
||||
id_name,
|
||||
&humid,
|
||||
&temp );
|
||||
|
||||
fhumid = (dpicco_val[0] * DPICCO_HUMID_RANGE) / DPICCO_HUMID_MAX;
|
||||
ftemp = ((dpicco_val[1] * DPICCO_TEMP_RANGE) / DPICCO_TEMP_MAX) + DPICCO_TEMP_OFFS;
|
||||
|
||||
if (temp != 0) printf("%f %f %f\n", rtime, fhumid, ftemp);
|
||||
}
|
||||
#endif
|
||||
|
||||
if (!strcmp( "GPS", id_name))
|
||||
{
|
||||
sscanf( line_in, "%e %i %s %i %i %i %i %i %i %i %i %i %i\n",
|
||||
&rtime,
|
||||
&ac_id,
|
||||
id_name,
|
||||
&byte_mask,
|
||||
&utm_east,
|
||||
&utm_north,
|
||||
&course,
|
||||
&alt,
|
||||
&speed,
|
||||
&climb,
|
||||
&itow,
|
||||
&utm_zone,
|
||||
&gps_nb_err );
|
||||
|
||||
}
|
||||
|
||||
if (!strcmp( "ATTITUDE", id_name))
|
||||
{
|
||||
sscanf( line_in, "%e %i %s %i %i %i\n",
|
||||
&rtime,
|
||||
&ac_id,
|
||||
id_name,
|
||||
&phi,
|
||||
&psi,
|
||||
&theta );
|
||||
|
||||
if (got_navref) printf("%i %i %i %i\n\n",
|
||||
utm_east/100 - nr_utm_east,
|
||||
utm_north/100 - nr_utm_north,
|
||||
alt / 100,
|
||||
phi );
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
fclose( fd );
|
||||
|
||||
return(0);
|
||||
}
|
||||
@@ -1,138 +0,0 @@
|
||||
|
||||
/*
|
||||
|
||||
http://users.softlab.ntua.gr/~ttsiod/gnuplotStreaming.html
|
||||
|
||||
*/
|
||||
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <fcntl.h>
|
||||
#include <stdarg.h>
|
||||
#include <string.h>
|
||||
#include <unistd.h>
|
||||
#include <math.h>
|
||||
#include <inttypes.h>
|
||||
#include <sys/time.h>
|
||||
#include <glib.h>
|
||||
#include <Ivy/ivy.h>
|
||||
#include <Ivy/ivyglibloop.h>
|
||||
|
||||
#define HEIGHT_SPAN 20000
|
||||
|
||||
FILE *Gplt, *Gplh;
|
||||
int32_t alt = 0;
|
||||
int32_t temp[HEIGHT_SPAN] = {0};
|
||||
int32_t humid[HEIGHT_SPAN] = {0};
|
||||
|
||||
void on_GPS(IvyClientPtr app, void *user_data, int argc, char *argv[]){
|
||||
/*
|
||||
<message name="GPS" id="8">
|
||||
<field name="mode" type="uint8" unit="byte_mask"/>
|
||||
<field name="utm_east" type="int32" unit="cm" alt_unit="m"/>
|
||||
<field name="utm_north" type="int32" unit="cm" alt_unit="m"/>
|
||||
<field name="course" type="int16" unit="decideg" alt_unit="deg"/>
|
||||
<field name="alt" type="int32" unit="cm" alt_unit="m"/>
|
||||
<field name="speed" type="uint16" unit="cm/s" alt_unit="m/s"/>
|
||||
<field name="climb" type="int16" unit="cm/s" alt_unit="m/s"/>
|
||||
<field name="week" type="uint16" unit="weeks"></field>
|
||||
<field name="itow" type="uint32" unit="ms"/>
|
||||
<field name="utm_zone" type="uint8"/>
|
||||
<field name="gps_nb_err" type="uint8"/>
|
||||
</message>
|
||||
|
||||
7.73 11 GPS 0 55577549 665183336 0 -4310 0 0 1642 345957748 31 0
|
||||
*/
|
||||
|
||||
int32_t _alt;
|
||||
|
||||
_alt = atoi(argv[5]);
|
||||
alt = _alt / 100;
|
||||
// if ((_alt/100) < HEIGHT_SPAN) alt = _alt;
|
||||
|
||||
// printf("alt %f\n", (float) _alt/100.);
|
||||
}
|
||||
|
||||
void on_TMP_STATUS(IvyClientPtr app, void *user_data, int argc, char *argv[]){
|
||||
/*
|
||||
<message name="TMP_STATUS" id="86">
|
||||
<field name="itemp" type="uint16"/>
|
||||
<field name="temp" type="float" unit="deg_celsius" format="%.2f"/>
|
||||
</message>
|
||||
*/
|
||||
|
||||
float _temp;
|
||||
int i;
|
||||
|
||||
_temp = atof(argv[2]);
|
||||
if (alt < HEIGHT_SPAN) temp[alt] = _temp * 100;
|
||||
|
||||
// printf("temp %f\n", _temp);
|
||||
fprintf(Gplt, "plot '-' w points pt 0 title \"Temp\"\n");
|
||||
for (i = 0; i < HEIGHT_SPAN; i++){
|
||||
if (temp[i] != 0) fprintf(Gplt, "%f %d\n", temp[i]/100., i);
|
||||
}
|
||||
fprintf(Gplt,"e\n");
|
||||
}
|
||||
|
||||
void on_SHT_STATUS(IvyClientPtr app, void *user_data, int argc, char *argv[]){
|
||||
/*
|
||||
<message name="SHT_STATUS" id="89">
|
||||
<field name="ihumid" type="uint16"/>
|
||||
<field name="itemp" type="uint16"/>
|
||||
<field name="humid" type="float" unit="rel_hum" format="%.2f"/>
|
||||
<field name="temp" type="float" unit="deg_celsius" format="%.2f"/>
|
||||
</message>
|
||||
*/
|
||||
|
||||
float _humid;
|
||||
int i;
|
||||
|
||||
_humid = atof(argv[3]);
|
||||
if (alt < HEIGHT_SPAN) humid[alt] = _humid * 100;
|
||||
|
||||
// printf("humid %f\n", _humid);
|
||||
fprintf(Gplh, "plot '-' w points pt 0 title \"Humid\"\n");
|
||||
for (i = 0; i < HEIGHT_SPAN; i++){
|
||||
if (humid[i] != 0) fprintf(Gplh, "%f %d\n", humid[i]/100., i);
|
||||
}
|
||||
fprintf(Gplh,"e\n");
|
||||
}
|
||||
|
||||
int main( int argc, char* argv[] )
|
||||
{
|
||||
double xmint, xmaxt, xminh, xmaxh, ymin, ymax;
|
||||
GMainLoop *ml;
|
||||
|
||||
ml = g_main_loop_new(NULL, FALSE);
|
||||
|
||||
IvyInit ("IvyPlotProfile", "IvyPlotProfile READY", NULL, NULL, NULL, NULL);
|
||||
IvyBindMsg(on_GPS, NULL, "^(\\S*) GPS (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*)");
|
||||
IvyBindMsg(on_TMP_STATUS, NULL, "^(\\S*) TMP_STATUS (\\S*) (\\S*)");
|
||||
IvyBindMsg(on_SHT_STATUS, NULL, "^(\\S*) SHT_STATUS (\\S*) (\\S*) (\\S*) (\\S*)");
|
||||
// IvyBindMsg(on_SHT_STATUS, NULL, "^(\\S*) DPICCO_STATUS (\\S*) (\\S*) (\\S*) (\\S*)");
|
||||
IvyStart("127.255.255.255");
|
||||
|
||||
xmint = 5;
|
||||
xmaxt = 35;
|
||||
xminh = 0;
|
||||
xmaxh = 100;
|
||||
ymin = 500;
|
||||
ymax = 2300;
|
||||
|
||||
Gplt = popen("gnuplot -geometry 300x300 -noraise","w");
|
||||
setlinebuf(Gplt);
|
||||
fprintf(Gplt, "set xrange[%f:%f]\n", xmint, xmaxt);
|
||||
fprintf(Gplt, "set yrange[%f:%f]\n", ymin, ymax);
|
||||
|
||||
Gplh = popen("gnuplot -geometry 300x300 -noraise","w");
|
||||
setlinebuf(Gplh);
|
||||
fprintf(Gplh, "set xrange[%f:%f]\n", xminh, xmaxh);
|
||||
fprintf(Gplh, "set yrange[%f:%f]\n", ymin, ymax);
|
||||
|
||||
g_main_loop_run(ml);
|
||||
|
||||
fclose(Gplt);
|
||||
fclose(Gplh);
|
||||
return 0;
|
||||
}
|
||||
@@ -1,83 +0,0 @@
|
||||
#include <gtkdatabox.h>
|
||||
#include <gtkdatabox_points.h>
|
||||
#include <gtkdatabox_lines.h>
|
||||
#include <gtkdatabox_bars.h>
|
||||
#include <gtkdatabox_grid.h>
|
||||
#include <gtkdatabox_cross_simple.h>
|
||||
#include <gtkdatabox_markers.h>
|
||||
|
||||
#include <string.h>
|
||||
|
||||
#define NB_POINTS 2000
|
||||
#define NB_POINTS_BY_STEP 1
|
||||
//500
|
||||
|
||||
const GdkColor colors[] = {{65535, 0, 0}, {0, 65535, 0}, {0, 0, 65535}, {0, 0, 0}};
|
||||
#define NB_COLORS 4
|
||||
|
||||
#define REFRESH_RATE 166 /* ms */
|
||||
static gboolean timeout_callback(gpointer data);
|
||||
|
||||
GtkWidget* sliding_plot_new(guint nb_plot) {
|
||||
GtkWidget* databox = gtk_databox_new ();
|
||||
g_object_set_data(G_OBJECT(databox), "nb_plot", (gpointer)nb_plot);
|
||||
gfloat *X = g_new0 (gfloat, NB_POINTS);
|
||||
g_object_set_data(G_OBJECT(databox), "X", X);
|
||||
gpointer *Y = g_new0 (gpointer, nb_plot);
|
||||
g_object_set_data(G_OBJECT(databox), "Y", Y);
|
||||
guint nb_data = 0;
|
||||
g_object_set_data(G_OBJECT(databox), "nb_data", (gpointer)nb_data);
|
||||
guint _time = 0;
|
||||
g_object_set_data(G_OBJECT(databox), "time", (gpointer)_time);
|
||||
guint i;
|
||||
for (i=0; i< nb_plot; i++) {
|
||||
Y[i] = g_new0 (gfloat, NB_POINTS);
|
||||
GtkDataboxGraph *graph = gtk_databox_lines_new (NB_POINTS, X, Y[i], (GdkColor*)&(colors[i%NB_COLORS]), 1);
|
||||
gtk_databox_graph_add (GTK_DATABOX (databox), graph);
|
||||
}
|
||||
|
||||
// GtkDataboxGraph *grid = gtk_databox_grid_new (10, 10, (GdkColor*)&(colors[3]), 2);
|
||||
// gtk_databox_graph_add (GTK_DATABOX (databox), grid);
|
||||
g_timeout_add(REFRESH_RATE, timeout_callback, databox);
|
||||
|
||||
return databox;
|
||||
}
|
||||
|
||||
void sliding_plot_update(GtkWidget* plot, float* values) {
|
||||
guint i, j;
|
||||
gfloat *X = g_object_get_data(G_OBJECT(plot), "X");
|
||||
gpointer *Y = g_object_get_data(G_OBJECT(plot), "Y");
|
||||
guint nb_data = (guint)g_object_get_data(G_OBJECT(plot), "nb_data");
|
||||
guint _time = (guint)g_object_get_data(G_OBJECT(plot), "time");
|
||||
guint nb_plot = (guint)g_object_get_data(G_OBJECT(plot), "nb_plot");
|
||||
|
||||
if (nb_data >= NB_POINTS) {
|
||||
nb_data -= NB_POINTS_BY_STEP;
|
||||
guint mem_to_move = (NB_POINTS - NB_POINTS_BY_STEP)*sizeof(gfloat);
|
||||
memmove(X, &(X[NB_POINTS_BY_STEP]), mem_to_move);
|
||||
for (i=0; i< nb_plot; i++) {
|
||||
gfloat* y = Y[i];
|
||||
memmove(y, &(y[NB_POINTS_BY_STEP]), mem_to_move);
|
||||
}
|
||||
}
|
||||
|
||||
for (j=nb_data; j< NB_POINTS; j++) {
|
||||
X[j] = _time;
|
||||
for (i=0; i< nb_plot; i++) {
|
||||
gfloat* y = Y[i];
|
||||
y[j] = values[i];
|
||||
}
|
||||
}
|
||||
_time++;
|
||||
g_object_set_data(G_OBJECT(plot), "time", (gpointer)_time);
|
||||
nb_data++;
|
||||
g_object_set_data(G_OBJECT(plot), "nb_data", (gpointer)nb_data);
|
||||
// gtk_databox_auto_rescale (GTK_DATABOX (plot), 0.);
|
||||
}
|
||||
|
||||
|
||||
static gboolean timeout_callback(gpointer user_data) {
|
||||
GtkDatabox* databox = GTK_DATABOX (user_data);
|
||||
gtk_databox_auto_rescale (databox, 0.);
|
||||
return TRUE;
|
||||
}
|
||||
@@ -1,9 +0,0 @@
|
||||
#ifndef SLIDING_PLOT_H
|
||||
#define SLIDING_PLOT_H
|
||||
|
||||
#include <gtk/gtk.h>
|
||||
|
||||
extern GtkWidget* sliding_plot_new(guint nb_plot);
|
||||
extern void sliding_plot_update(GtkWidget* plot, float* values);
|
||||
|
||||
#endif /* SLIDING_PLOT_H */
|
||||
@@ -1,131 +0,0 @@
|
||||
/* $Id$
|
||||
*
|
||||
* 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 "localhost"
|
||||
|
||||
#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] = 42;//atoi(argv[0]);
|
||||
cvalue[0] = uvalue[0] & 0xFF;
|
||||
cvalue[1] = 0;
|
||||
cvalue[2] = 'P';
|
||||
cvalue[3] = 'Z';
|
||||
|
||||
for (count=1; 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;
|
||||
}
|
||||
@@ -1,139 +0,0 @@
|
||||
/* $Id$
|
||||
*
|
||||
* tmdata, 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 <sys/time.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>
|
||||
|
||||
#define PORT_OUT 7124
|
||||
#define HOSTADDR "localhost"
|
||||
#define BUFSIZE 0x10000
|
||||
|
||||
int sock, length, fromlen;
|
||||
struct sockaddr_in server;
|
||||
char hostaddr[4096] = {HOSTADDR};
|
||||
|
||||
static const char usage_str[] =
|
||||
"tmdata [options] [parameter]\n"
|
||||
"options:\n"
|
||||
" -s HOST server address\n";
|
||||
|
||||
int main ( int argc, char** argv) {
|
||||
|
||||
struct hostent *hent;
|
||||
char buf[BUFSIZE];
|
||||
int c, count;
|
||||
fd_set fds;
|
||||
struct timeval tvt;
|
||||
char noparam = 0;
|
||||
char *param = &noparam;
|
||||
|
||||
while ((c = getopt(argc, argv, "hs:")) != EOF)
|
||||
{
|
||||
switch (c)
|
||||
{
|
||||
case 'h':
|
||||
printf(usage_str);
|
||||
break;
|
||||
|
||||
case 's':
|
||||
strncpy(hostaddr, optarg, strlen(optarg)+1);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
if (argv[optind])
|
||||
{
|
||||
param = argv[optind];
|
||||
}
|
||||
|
||||
sock = socket(PF_INET, SOCK_STREAM, 0);
|
||||
if (sock < 0)
|
||||
{
|
||||
perror("socket");
|
||||
exit(1);
|
||||
}
|
||||
|
||||
server.sin_family = AF_INET;
|
||||
hent = gethostbyname(hostaddr);
|
||||
if (hent == 0)
|
||||
{
|
||||
perror("unknown host");
|
||||
exit(1);
|
||||
}
|
||||
|
||||
memcpy((char *)hent->h_addr,
|
||||
(char *)&server.sin_addr,
|
||||
hent->h_length);
|
||||
|
||||
server.sin_port = htons(PORT_OUT);
|
||||
length=sizeof(struct sockaddr_in);
|
||||
|
||||
if (connect(sock, &server, length))
|
||||
{
|
||||
perror("connect");
|
||||
exit(1);
|
||||
}
|
||||
|
||||
/* send some data to trigger output */
|
||||
count = send(sock, param, strlen(param), 0);
|
||||
|
||||
/* we will wait for data 500ms */
|
||||
tvt.tv_sec = 0;
|
||||
tvt.tv_usec = 500000;
|
||||
|
||||
FD_CLEAR(&fds);
|
||||
FD_SET(sock, &fds);
|
||||
|
||||
count = select(sock+1, &fds, NULL, NULL, &tvt);
|
||||
|
||||
if (count > 0)
|
||||
{
|
||||
/* receive data packet containing formatted data */
|
||||
count = recv(sock, buf, sizeof(buf), 0);
|
||||
|
||||
if (count < 0)
|
||||
{
|
||||
perror("recv");
|
||||
exit(1);
|
||||
}
|
||||
|
||||
write(1, buf, count);
|
||||
}
|
||||
else
|
||||
{
|
||||
perror("select");
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
@@ -1,378 +0,0 @@
|
||||
/* $Id$
|
||||
*
|
||||
* tmserver, an telemetry server 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 <unistd.h>
|
||||
#include <error.h>
|
||||
#include <sys/time.h>
|
||||
#include <sys/types.h>
|
||||
#include <sys/socket.h>
|
||||
#include <netinet/in.h>
|
||||
#include <netdb.h>
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include <stdlib.h>
|
||||
|
||||
#define MAX(a, b) ((a > b) ? a : b)
|
||||
|
||||
#define PORT_IN 7123
|
||||
#define PORT_OUT 7124
|
||||
#define BUFSIZE 0x10000
|
||||
|
||||
#define PACKET_SIZE 9
|
||||
|
||||
#define AC_NUM 10
|
||||
#define AC_TIMEOUT 5
|
||||
|
||||
typedef struct
|
||||
{
|
||||
long addr;
|
||||
struct timeval tvvalid;
|
||||
unsigned char ac_id;
|
||||
float fval[PACKET_SIZE];
|
||||
} ac_dat_t;
|
||||
|
||||
static char ppfg[] = {"ppfg"};
|
||||
static char ppua[] = {"ppua"};
|
||||
static char ppac[] = {"ppac"};
|
||||
|
||||
int getac(ac_dat_t * ac_dati, unsigned char ac_id, long addr)
|
||||
{
|
||||
int count;
|
||||
|
||||
for(count=0; count < AC_NUM; count++)
|
||||
{
|
||||
if ((ac_dati[count].ac_id == ac_id) &&
|
||||
(ac_dati[count].addr == addr))
|
||||
{
|
||||
return count;
|
||||
}
|
||||
}
|
||||
for(count=0; count < AC_NUM; count++)
|
||||
{
|
||||
if (ac_dati[count].ac_id == 0) return count;
|
||||
}
|
||||
return -1;
|
||||
}
|
||||
|
||||
int getnumac(ac_dat_t * ac_dati)
|
||||
{
|
||||
int count, num=0;
|
||||
|
||||
for(count=0; count < AC_NUM; count++)
|
||||
{
|
||||
if (ac_dati[count].ac_id != 0) num++;
|
||||
}
|
||||
return num;
|
||||
}
|
||||
|
||||
int cleanupac(ac_dat_t * ac_dati)
|
||||
{
|
||||
int count, num=0;
|
||||
struct timeval tvcur;
|
||||
|
||||
gettimeofday(&tvcur, NULL);
|
||||
|
||||
for(count=0; count < AC_NUM; count++)
|
||||
{
|
||||
if (ac_dati[count].tvvalid.tv_sec + AC_TIMEOUT < tvcur.tv_sec)
|
||||
{
|
||||
ac_dati[count].ac_id = 0;
|
||||
}
|
||||
}
|
||||
return num;
|
||||
}
|
||||
|
||||
int main(int argc, char *argv[])
|
||||
{
|
||||
int length, fromlen, tolen, n, count, cnt, fdmax, ac;
|
||||
int sourcesock, sinksock, consock;
|
||||
struct sockaddr_in sourceaddr, sinkaddr, from;
|
||||
char buf[BUFSIZE];
|
||||
char *pbuf;
|
||||
unsigned int itemp;
|
||||
fd_set fds;
|
||||
struct timeval tvt, tvcur;
|
||||
ac_dat_t ac_dat[AC_NUM];
|
||||
int on = 1;
|
||||
|
||||
memset(ac_dat, 0, sizeof(ac_dat));
|
||||
|
||||
/* open sockets */
|
||||
sourcesock = socket(AF_INET, SOCK_DGRAM, 0);
|
||||
sinksock = socket(PF_INET, SOCK_STREAM, 0);
|
||||
consock = 0;
|
||||
if ((sourcesock < 0) || (sinksock < 0))
|
||||
{
|
||||
perror("socket");
|
||||
exit(1);
|
||||
}
|
||||
|
||||
tolen = sizeof(struct sockaddr_in);
|
||||
length = sizeof(sourceaddr);
|
||||
memset(&sourceaddr, 0, sizeof(sourceaddr));
|
||||
memset(&sinkaddr, 0, sizeof(sinkaddr));
|
||||
|
||||
sourceaddr.sin_family = AF_INET;
|
||||
sourceaddr.sin_addr.s_addr = INADDR_ANY;
|
||||
sourceaddr.sin_port = htons(PORT_IN);
|
||||
sinkaddr.sin_family = AF_INET;
|
||||
sinkaddr.sin_addr.s_addr = INADDR_ANY;
|
||||
sinkaddr.sin_port = htons(PORT_OUT);
|
||||
|
||||
setsockopt(sinksock, SOL_SOCKET, SO_REUSEADDR, (void *)&on, sizeof(on)) ;
|
||||
|
||||
if ((bind(sourcesock, (struct sockaddr *)&sourceaddr, length) < 0) ||
|
||||
(bind(sinksock, (struct sockaddr *)&sinkaddr, length) < 0))
|
||||
{
|
||||
perror("bind");
|
||||
exit(1);
|
||||
}
|
||||
|
||||
if (listen(sinksock, 3))
|
||||
{
|
||||
perror("listen");
|
||||
exit(1);
|
||||
}
|
||||
|
||||
fdmax = MAX(sourcesock, sinksock);
|
||||
FD_ZERO(&fds);
|
||||
|
||||
while (1)
|
||||
{
|
||||
FD_SET(sourcesock, &fds);
|
||||
FD_SET(sinksock, &fds);
|
||||
|
||||
/* loop every second */
|
||||
tvt.tv_sec = 1;
|
||||
tvt.tv_usec = 0;
|
||||
|
||||
count = select(fdmax+1, &fds, NULL, NULL, &tvt);
|
||||
|
||||
if (FD_ISSET(sourcesock, &fds))
|
||||
{
|
||||
gettimeofday(&tvcur, NULL);
|
||||
n = recvfrom(sourcesock, buf, sizeof(buf), 0, (struct sockaddr *)&sourceaddr, &fromlen);
|
||||
if (n < 0) perror("recvfrom");
|
||||
|
||||
if (n == PACKET_SIZE*4)
|
||||
{
|
||||
ac = getac(ac_dat, *(unsigned char*)(buf), ntohl(sourceaddr.sin_addr.s_addr));
|
||||
if (ac >= 0)
|
||||
{
|
||||
ac_dat[ac].ac_id = *(unsigned char*)(buf);
|
||||
ac_dat[ac].addr = ntohl(sourceaddr.sin_addr.s_addr);
|
||||
ac_dat[ac].tvvalid.tv_sec = tvcur.tv_sec;
|
||||
|
||||
for (count=1; count<PACKET_SIZE; count++)
|
||||
{
|
||||
itemp = 0;
|
||||
for (cnt=0; cnt<4; cnt++)
|
||||
{
|
||||
itemp |= (*(unsigned char*)(buf+count*4+cnt) << (cnt*8));
|
||||
}
|
||||
itemp = ntohl(itemp);
|
||||
ac_dat[ac].fval[count] = *(float*) &itemp;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (FD_ISSET(sinksock, &fds))
|
||||
{
|
||||
consock = accept(sinksock, (struct sockaddr *) &sinkaddr, &fromlen);
|
||||
if (consock < 0)
|
||||
{
|
||||
perror("socket");
|
||||
exit(1);
|
||||
}
|
||||
FD_SET(consock, &fds);
|
||||
fdmax=MAX(fdmax, consock);
|
||||
}
|
||||
|
||||
if (FD_ISSET(consock, &fds))
|
||||
{
|
||||
n = recv(consock, buf, sizeof(buf), 0);
|
||||
if (n < 0) perror("recv");
|
||||
|
||||
if (strncmp(ppua, buf, 4) == 0)
|
||||
{
|
||||
pbuf = buf;
|
||||
ac = getnumac(ac_dat);
|
||||
pbuf += sprintf(pbuf,"Cache-Control: no-cache\n");
|
||||
pbuf += sprintf(pbuf,"Pragma: no-cache\n");
|
||||
pbuf += sprintf(pbuf,"Content-type: text/xml\n\n");
|
||||
pbuf += sprintf(pbuf,"<?xml version=\"1.0\" encoding=\"UTF-8\" ?>\n");
|
||||
pbuf += sprintf(pbuf,"<kml xmlns=\"http://earth.google.com/kml/2.1\">\n");
|
||||
pbuf += sprintf(pbuf,"<NetworkLinkControl>\n");
|
||||
pbuf += sprintf(pbuf," <Update>\n");
|
||||
pbuf += sprintf(pbuf," <targetHref>http://localhost/maps/fg_server_xml.cgi?ppac</targetHref>\n");
|
||||
|
||||
for (count = 0; count < ac; count++)
|
||||
{
|
||||
if (ac_dat[count].ac_id > 0)
|
||||
{
|
||||
pbuf += sprintf(pbuf, " <Change>\n");
|
||||
pbuf += sprintf(pbuf, " <Placemark targetId=\"%i\">\n", count);
|
||||
#if 0
|
||||
pbuf += sprintf(pbuf, " <LookAt>\n");
|
||||
pbuf += sprintf(pbuf, " <longitude>%f</longitude>\n", ac_dat[count].fval[4]);
|
||||
pbuf += sprintf(pbuf, " <latitude>%f</latitude>\n", ac_dat[count].fval[3]);
|
||||
pbuf += sprintf(pbuf, " <altitude>%f</altitude>\n", ac_dat[count].fval[7]);
|
||||
pbuf += sprintf(pbuf, " <range>100</range>\n");
|
||||
pbuf += sprintf(pbuf, " <tilt>55</tilt>\n");
|
||||
pbuf += sprintf(pbuf, " <heading>%f</heading>\n", ac_dat[count].fval[6]);
|
||||
pbuf += sprintf(pbuf, " <altitudeMode>absolute</altitudeMode>\n");
|
||||
pbuf += sprintf(pbuf, " </LookAt>\n");
|
||||
#endif
|
||||
pbuf += sprintf(pbuf, " <Model>\n");
|
||||
pbuf += sprintf(pbuf, " <Location>\n");
|
||||
pbuf += sprintf(pbuf, " <latitude>%f</latitude>\n", ac_dat[count].fval[3]);
|
||||
pbuf += sprintf(pbuf, " <longitude>%f</longitude>\n", ac_dat[count].fval[4]);
|
||||
pbuf += sprintf(pbuf, " <altitude>%f</altitude>\n", ac_dat[count].fval[7]);
|
||||
pbuf += sprintf(pbuf, " </Location>\n");
|
||||
pbuf += sprintf(pbuf, " <Orientation>\n");
|
||||
pbuf += sprintf(pbuf, " <heading>%f</heading>\n", ac_dat[count].fval[6]);
|
||||
pbuf += sprintf(pbuf, " <tilt>%f</tilt>\n", -ac_dat[count].fval[2]);
|
||||
pbuf += sprintf(pbuf, " <roll>%f</roll>\n", -ac_dat[count].fval[1]);
|
||||
pbuf += sprintf(pbuf, " </Orientation>\n");
|
||||
pbuf += sprintf(pbuf, " </Model>\n");
|
||||
pbuf += sprintf(pbuf, " </Placemark>\n");
|
||||
pbuf += sprintf(pbuf, " </Change>\n");
|
||||
}
|
||||
}
|
||||
pbuf += sprintf(pbuf, " </Update>\n");
|
||||
pbuf += sprintf(pbuf, "</NetworkLinkControl>\n");
|
||||
pbuf += sprintf(pbuf, "</kml>\n");
|
||||
}
|
||||
else if (strncmp(ppac, buf, 4) == 0)
|
||||
{
|
||||
pbuf = buf;
|
||||
ac = getnumac(ac_dat);
|
||||
pbuf += sprintf(pbuf,"Cache-Control: no-cache\n");
|
||||
pbuf += sprintf(pbuf,"Pragma: no-cache\n");
|
||||
pbuf += sprintf(pbuf,"Content-type: text/xml\n\n");
|
||||
pbuf += sprintf(pbuf,"<?xml version=\"1.0\" encoding=\"UTF-8\" ?>\n");
|
||||
pbuf += sprintf(pbuf,"<kml xmlns=\"http://earth.google.com/kml/2.1\">\n");
|
||||
pbuf += sprintf(pbuf," <Document id=\"mpmap\">\n");
|
||||
pbuf += sprintf(pbuf," <name>Paparazzi live aircrafts</name>\n");
|
||||
pbuf += sprintf(pbuf," <visibility>1</visibility>\n");
|
||||
|
||||
for (count = 0; count < ac; count++)
|
||||
{
|
||||
if (ac_dat[count].ac_id > 0)
|
||||
{
|
||||
pbuf += sprintf(pbuf, " <Placemark id=\"%i\">\n", count);
|
||||
pbuf += sprintf(pbuf, " <name>%i</name>\n", ac_dat[count].ac_id);
|
||||
#if 0
|
||||
pbuf += sprintf(pbuf, " <LookAt>\n");
|
||||
pbuf += sprintf(pbuf, " <longitude>%f</longitude>\n", ac_dat[count].fval[4]);
|
||||
pbuf += sprintf(pbuf, " <latitude>%f</latitude>\n", ac_dat[count].fval[3]);
|
||||
pbuf += sprintf(pbuf, " <altitude>%f</altitude>\n", ac_dat[count].fval[7]);
|
||||
pbuf += sprintf(pbuf, " <range>500</range>\n");
|
||||
pbuf += sprintf(pbuf, " <tilt>55</tilt>\n");
|
||||
pbuf += sprintf(pbuf, " <heading>%f</heading>\n", ac_dat[count].fval[7]);
|
||||
pbuf += sprintf(pbuf, " <altitudeMode>absolute</altitudeMode>\n");
|
||||
pbuf += sprintf(pbuf, " </LookAt>\n");
|
||||
#endif
|
||||
pbuf += sprintf(pbuf, " <description>Paparazzi</description>\n");
|
||||
pbuf += sprintf(pbuf, " <Model>\n");
|
||||
pbuf += sprintf(pbuf, " <altitudeMode>absolute</altitudeMode>\n");
|
||||
pbuf += sprintf(pbuf, " <Location>\n");
|
||||
pbuf += sprintf(pbuf, " <latitude>%f</latitude>\n", ac_dat[count].fval[3]);
|
||||
pbuf += sprintf(pbuf, " <longitude>%f</longitude>\n", ac_dat[count].fval[4]);
|
||||
pbuf += sprintf(pbuf, " <altitude>%f</altitude>\n", ac_dat[count].fval[7]);
|
||||
pbuf += sprintf(pbuf, " </Location>\n");
|
||||
pbuf += sprintf(pbuf, " <Orientation>\n");
|
||||
pbuf += sprintf(pbuf, " <heading>%f</heading>\n", ac_dat[count].fval[6]);
|
||||
pbuf += sprintf(pbuf, " <tilt>%f</tilt>\n", -ac_dat[count].fval[2]);
|
||||
pbuf += sprintf(pbuf, " <roll>%f</roll>\n", -ac_dat[count].fval[1]);
|
||||
pbuf += sprintf(pbuf, " </Orientation>\n");
|
||||
pbuf += sprintf(pbuf, " <Scale>\n");
|
||||
pbuf += sprintf(pbuf, " <x>150.0</x>\n");
|
||||
pbuf += sprintf(pbuf, " <y>150.0</y>\n");
|
||||
pbuf += sprintf(pbuf, " <z>150.0</z>\n");
|
||||
pbuf += sprintf(pbuf, " </Scale>\n");
|
||||
pbuf += sprintf(pbuf, " <Link>\n");
|
||||
pbuf += sprintf(pbuf, " <href>http://localhost/maps/c172p.dae</href>\n");
|
||||
pbuf += sprintf(pbuf, " <refreshMode>onChange</refreshMode>\n");
|
||||
pbuf += sprintf(pbuf, " </Link>\n");
|
||||
pbuf += sprintf(pbuf, " </Model>\n");
|
||||
pbuf += sprintf(pbuf, " </Placemark>\n\n");
|
||||
}
|
||||
}
|
||||
pbuf += sprintf(pbuf, " <NetworkLink id=\"fgmap_update\">\n");
|
||||
pbuf += sprintf(pbuf, " <name>Update</name>\n");
|
||||
pbuf += sprintf(pbuf, " <Link>\n");
|
||||
pbuf += sprintf(pbuf, " <href>http://localhost/maps/fg_server_xml.cgi?ppua</href>\n");
|
||||
pbuf += sprintf(pbuf, " <refreshMode>onInterval</refreshMode>\n");
|
||||
pbuf += sprintf(pbuf, " <refreshInterval>1</refreshInterval>\n");
|
||||
pbuf += sprintf(pbuf, " </Link>\n");
|
||||
pbuf += sprintf(pbuf, " </NetworkLink>\n</Document>\n");
|
||||
pbuf += sprintf(pbuf, "</kml>\n");
|
||||
}
|
||||
else //if strncmp(ppfg, buf, 4) == 0)
|
||||
{
|
||||
pbuf=buf;
|
||||
ac = getnumac(ac_dat);
|
||||
|
||||
pbuf += sprintf(pbuf,"Cache-Control: no-cache\n");
|
||||
pbuf += sprintf(pbuf,"Pragma: no-cache\n");
|
||||
pbuf += sprintf(pbuf, "Content-type: text/xml\n\n<fg_server pilot_cnt=\"%d\">\n", ac);
|
||||
|
||||
for (count = 0; count < ac; count++)
|
||||
{
|
||||
if (ac_dat[count].ac_id > 0)
|
||||
{
|
||||
pbuf += sprintf(pbuf, "<marker callsign=\"%i\" server_ip=\"%u.%u.%u.%u\" model=\"c172p\" lat=\"%f\" lng=\"%f\" alt=\"%f\" heading=\"%f\" pitch=\"%f\" roll=\"%f\"/>\n",
|
||||
ac_dat[count].ac_id,
|
||||
(unsigned char)(ac_dat[count].addr >> 24),
|
||||
(unsigned char)(ac_dat[count].addr >> 16),
|
||||
(unsigned char)(ac_dat[count].addr >> 8),
|
||||
(unsigned char)(ac_dat[count].addr & 0xff),
|
||||
ac_dat[count].fval[3],
|
||||
ac_dat[count].fval[4],
|
||||
ac_dat[count].fval[7],
|
||||
ac_dat[count].fval[6],
|
||||
ac_dat[count].fval[2],
|
||||
ac_dat[count].fval[1]);
|
||||
}
|
||||
}
|
||||
pbuf += sprintf(pbuf, "</fg_server>\n");
|
||||
}
|
||||
// else buf[0]=0;
|
||||
|
||||
if (ntohl(sinkaddr.sin_addr.s_addr) == INADDR_LOOPBACK)
|
||||
{
|
||||
count = send(consock, buf, strlen(buf), 0);
|
||||
}
|
||||
close(consock);
|
||||
FD_CLR(consock, &fds);
|
||||
fdmax = MAX(sourcesock, sinksock);
|
||||
}
|
||||
|
||||
cleanupac(ac_dat);
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
@@ -1,36 +0,0 @@
|
||||
#include "utils.h"
|
||||
|
||||
#include <netinet/in.h>
|
||||
|
||||
//#include <simgear/io/lowlevel.hxx> // endian tests
|
||||
void htond (double *x)
|
||||
{
|
||||
// if ( sgIsLittleEndian() ) {
|
||||
int *Double_Overlay;
|
||||
int Holding_Buffer;
|
||||
|
||||
Double_Overlay = (int *) x;
|
||||
Holding_Buffer = Double_Overlay [0];
|
||||
|
||||
Double_Overlay [0] = htonl (Double_Overlay [1]);
|
||||
Double_Overlay [1] = htonl (Holding_Buffer);
|
||||
// } else {
|
||||
// return;
|
||||
// }
|
||||
}
|
||||
|
||||
// Float version
|
||||
void htonf (float *x)
|
||||
{
|
||||
// if ( sgIsLittleEndian() ) {
|
||||
int *Float_Overlay;
|
||||
int Holding_Buffer;
|
||||
|
||||
Float_Overlay = (int *) x;
|
||||
Holding_Buffer = Float_Overlay [0];
|
||||
|
||||
Float_Overlay [0] = htonl (Holding_Buffer);
|
||||
// } else {
|
||||
// return;
|
||||
// }
|
||||
}
|
||||
@@ -1,25 +0,0 @@
|
||||
#ifndef UTILS_H
|
||||
#define UTILS_H
|
||||
|
||||
#include <math.h>
|
||||
|
||||
extern void htond (double *x);
|
||||
extern void htonf (float *x);
|
||||
|
||||
#define RAD_OF_DEG(d) (d*M_PI/180.)
|
||||
#define NORM_ANGLE_RAD(r) { \
|
||||
while (r>2*M_PI) \
|
||||
r -= 2*M_PI; \
|
||||
while (r<0) \
|
||||
r += 2*M_PI; \
|
||||
}
|
||||
|
||||
#define NORM_ANGLE_DEG(d) { \
|
||||
while (d>180) \
|
||||
d -= 360; \
|
||||
while (d<=-180) \
|
||||
d += 360; \
|
||||
}
|
||||
|
||||
|
||||
#endif /* UTILS_H */
|
||||
Reference in New Issue
Block a user