mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-10 06:59:54 +08:00
Pascal Brisset
68 lines
1.9 KiB
OCaml
68 lines
1.9 KiB
OCaml
(*
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* $Id$
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*
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* Utilities for the simulators
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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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type pprz_t = int
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let max_pprz = 9600
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let pi = 4. *. atan 1.
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let rec norm_angle = fun x ->
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if x > pi then norm_angle (x-.2.*.pi)
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else if x < -.pi then norm_angle (x+.2.*.pi)
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else x
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let deg_of_rad = fun rad -> rad /. pi *. 180.
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let rad_of_deg = fun x -> x /. 180. *. pi
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let set_float = fun option var name ->
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(option, Arg.Set_float var, Printf.sprintf "%s (%f)" name !var)
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let set_string = fun option var name ->
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(option, Arg.Set_string var, Printf.sprintf "%s (%s)" name !var)
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let ms x = max 0 (truncate (1000.*.x))
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(* Non derivating timer *)
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class type value = object method value : float end
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let timer ?scale p f =
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let scale =
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match scale with
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None -> object method value = 1. end
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| Some s -> (s :> value) in
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let rec loop = fun expected ->
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let next = expected +. p /. scale#value in
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let dt = ms (next -. Unix.gettimeofday()) in
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if dt < 1 then begin (* No timer needed, simply loop *)
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f (); loop next
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end else
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GMain.Timeout.add
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dt
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(fun () ->
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ignore (loop next);
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f ();
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false) in
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ignore (loop (Unix.gettimeofday()))
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