mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-10-02 12:23:17 +08:00
119 lines
4.7 KiB
OCaml
119 lines
4.7 KiB
OCaml
(*
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* World environment (time, wind, ...) for multi-AC simulation
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*
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* Copyright (C) 2004 Pascal Brisset, Antoine Drouin
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*
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* This file is part of paparazzi.
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*
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* paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with paparazzi; see the file COPYING. If not, write to
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* the Free Software Foundation, 59 Temple Place - Suite 330,
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* Boston, MA 02111-1307, USA.
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*
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*)
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open Printf
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open Latlong
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let my_id = "gaia"
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let sending_period = 5000 (* ms *)
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module Ground_Pprz = PprzLink.Messages(struct let name = "ground" end)
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let ivy_bus = ref Defivybus.default_ivy_bus
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let time_scale = ref 1.
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let wind_speed = ref 0.
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let wind_dir = ref 0.
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let wind_up = ref 0.
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let gps_off = ref false
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let parse_args = fun () ->
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let options =
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[ "-b", Arg.String (fun x -> ivy_bus := x), (sprintf "Bus\tDefault is %s" !ivy_bus);
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"-t", Arg.Set_float time_scale, "Set time scale (default: 1.0)";
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"-w", Arg.Set_float wind_speed, "Set wind speed (0-30m/s)";
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"-d", Arg.Set_float wind_dir, "Set wind direction 0-359 deg";
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"-u", Arg.Set_float wind_up, "Set wind updraft (-10 to 10m/s)";
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"-g", Arg.Set gps_off, "Turn off GPS";
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] in
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Arg.parse (options)
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(fun x -> Printf.fprintf stderr "Warning: Don't do anythig with %s\n" x)
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"Usage: "
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let _ =
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parse_args ();
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let icon = GdkPixbuf.from_file Env.icon_file in
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let window = GWindow.window ~icon ~title:"Gaia" () in
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let quit = fun () -> GMain.Main.quit (); exit 0 in
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ignore (window#connect#destroy ~callback:quit);
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let time_scale_adj = GData.adjustment ~page_size:0. ~value:!time_scale ~lower:(0.5) ~upper:10. ~step_incr:0.5 () in
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let wind_dir_adj = GData.adjustment ~page_size:0. ~value:!wind_dir ~lower:(0.) ~upper:359. ~step_incr:1.0 () in
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let wind_speed_adj = GData.adjustment ~page_size:0. ~value:!wind_speed ~lower:(0.) ~upper:30. ~step_incr:0.1 () in
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let wind_up_adj = GData.adjustment ~page_size:0. ~value:!wind_up ~lower:(-10.) ~upper:10. ~step_incr:0.1 () in
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let infrared_contrast_adj = GData.adjustment ~page_size:0. ~value:266. ~lower:(0.) ~upper:1010. ~step_incr:10. () in
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let gps_sa = GButton.toggle_button ~label:"GPS OFF" ~active:!gps_off () in
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let world_values = fun asker_values ->
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let wind_speed = wind_speed_adj#value
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and wind_dir_rad = Latlong.pi /. 2. -. (Deg>>Rad) wind_dir_adj#value in
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let wind_east = -. wind_speed *. cos wind_dir_rad
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and wind_north = -. wind_speed *. sin wind_dir_rad in
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let wind_up = wind_up_adj#value in
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[ "wind_east", PprzLink.Float wind_east;
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"wind_north", PprzLink.Float wind_north;
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"wind_up", PprzLink.Float wind_up;
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"ir_contrast", PprzLink.Float infrared_contrast_adj#value;
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"time_scale", PprzLink.Float time_scale_adj#value;
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"gps_availability", PprzLink.Int (if gps_sa#active then 0 else 1)
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] in
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let world_send = fun () ->
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Ground_Pprz.message_send my_id "WORLD_ENV" (world_values []) in
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List.iter
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(fun (a:GData.adjustment) -> ignore (a#connect#value_changed ~callback:world_send))
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[time_scale_adj; wind_dir_adj; wind_speed_adj; wind_up_adj; infrared_contrast_adj];
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ignore (gps_sa#connect#toggled ~callback:world_send);
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ignore (Glib.Timeout.add ~ms:sending_period ~callback:(fun () -> world_send (); true));
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let vbox = GPack.vbox ~packing:window#add () in
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let hbox = GPack.hbox ~packing:vbox#pack () in
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let _ = GMisc.label ~text:"Time scale:" ~packing:hbox#pack () in
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let _ts = GEdit.spin_button ~digits:1 ~adjustment:time_scale_adj ~packing:hbox#add () in
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let hbox = GPack.hbox ~packing:vbox#pack () in
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ignore (GMisc.label ~text:"Wind dir:" ~packing:hbox#pack ());
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ignore (GRange.scale ~digits:0 `HORIZONTAL ~adjustment:wind_dir_adj ~packing:hbox#add ());
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let hbox = GPack.hbox ~packing:vbox#pack () in
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ignore (GMisc.label ~text:"Wind speed:" ~packing:hbox#pack ());
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ignore (GRange.scale `HORIZONTAL ~adjustment:wind_speed_adj ~packing:hbox#add ());
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let hbox = GPack.hbox ~packing:vbox#pack () in
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ignore (GMisc.label ~text:"Wind up:" ~packing:hbox#pack ());
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ignore (GRange.scale `HORIZONTAL ~adjustment:wind_up_adj ~packing:hbox#add ());
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vbox#pack gps_sa#coerce;
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Ivy.init "Paparazzi gaia" "READY" (fun _ _ -> ());
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Ivy.start !ivy_bus;
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ignore (Ground_Pprz.message_answerer my_id "WORLD_ENV" (fun _ -> world_values));
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window#show ();
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Unix.handle_unix_error GMain.Main.main ()
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