utils/GPSsmooth/UGear_main.cxx

   1 #ifdef HAVE_CONFIG_H
   2 #  include <config.h>
   3 #endif
   4
   5 #ifdef HAVE_WINDOWS_H
   6 #  include <windows.h>
   7 #else
   8 #  include <netinet/in.h>       // htonl() ntohl()
   9 #endif
  10
  11 #ifndef _WIN32
  12 #  include <strings.h>          // for bzero()
  13 #else
  14 #  define bzero(a,b) memset(a,0,b)
  15 #endif
  16 #include <iostream>
  17 #include <string>
  18
  19 #include <plib/sg.h>
  20
  21 #include <simgear/constants.h>
  22 #include <simgear/io/lowlevel.hxx> // endian tests
  23 #include <simgear/io/sg_file.hxx>
  24 #include <simgear/io/raw_socket.hxx>
  25 #include <simgear/serial/serial.hxx>
  26 #include <simgear/math/sg_geodesy.hxx>
  27 #include <simgear/timing/timestamp.hxx>
  28
  29 #include <Network/net_ctrls.hxx>
  30 #include <Network/net_fdm.hxx>
  31
  32 #include "UGear.hxx"
  33 #include "UGear_command.hxx"
  34 #include "UGear_opengc.hxx"
  35 #include "UGear_telnet.hxx"
  36
  37
  38 using std::cout;
  39 using std::endl;
  40 using std::string;
  41
  42
  43 // Network channels
  44 static simgear::Socket fdm_sock, ctrls_sock, opengc_sock;
  45
  46 // ugear data
  47 UGTrack track;
  48
  49 // Default ports
  50 static int fdm_port = 5505;
  51 static int ctrls_port = 5506;
  52 static int opengc_port = 6000;
  53
  54 // Default path
  55 static string infile = "";
  56 static string flight_dir = "";
  57 static string serialdev = "";
  58 static string outfile = "";
  59
  60 // Master time counter
  61 float sim_time = 0.0f;
  62 double frame_us = 0.0f;
  63
  64 // sim control
  65 SGTimeStamp last_time_stamp;
  66 SGTimeStamp current_time_stamp;
  67
  68 // altitude offset
  69 double alt_offset = 0.0;
  70
  71 // skip initial seconds
  72 double skip = 0.0;
  73
  74 // for speed estimate
  75 double last_lat = 0.0, last_lon = 0.0;
  76 double kts_filter = 0.0;
  77
  78 bool inited = false;
  79
  80 bool run_real_time = true;
  81
  82 bool ignore_checksum = false;
  83
  84 bool sg_swap = false;
  85
  86 bool use_ground_track_hdg = false;
  87 bool use_ground_speed = false;
  88
  89 bool est_controls = false;
  90
  91 float gps_status = -1.0;
  92
  93
  94 // The function htond is defined this way due to the way some
  95 // processors and OSes treat floating point values.  Some will raise
  96 // an exception whenever a "bad" floating point value is loaded into a
  97 // floating point register.  Solaris is notorious for this, but then
  98 // so is LynxOS on the PowerPC.  By translating the data in place,
  99 // there is no need to load a FP register with the "corruped" floating
 100 // point value.  By doing the BIG_ENDIAN test, I can optimize the
 101 // routine for big-endian processors so it can be as efficient as
 102 // possible
 103 static void htond (double &x)
 104 {
 105     if ( sgIsLittleEndian() ) {
 106         int    *Double_Overlay;
 107         int     Holding_Buffer;
 108
 109         Double_Overlay = (int *) &x;
 110         Holding_Buffer = Double_Overlay [0];
 111
 112         Double_Overlay [0] = htonl (Double_Overlay [1]);
 113         Double_Overlay [1] = htonl (Holding_Buffer);
 114     } else {
 115         return;
 116     }
 117 }
 118
 119 // Float version
 120 static void htonf (float &x)
 121 {
 122     if ( sgIsLittleEndian() ) {
 123         int    *Float_Overlay;
 124         int     Holding_Buffer;
 125
 126         Float_Overlay = (int *) &x;
 127         Holding_Buffer = Float_Overlay [0];
 128
 129         Float_Overlay [0] = htonl (Holding_Buffer);
 130     } else {
 131         return;
 132     }
 133 }
 134
 135
 136 static void ugear2fg( gps *gpspacket, imu *imupacket, nav *navpacket,
 137                       servo *servopacket, health *healthpacket,
 138                       FGNetFDM *fdm, FGNetCtrls *ctrls )
 139 {
 140     unsigned int i;
 141
 142     // Version sanity checking
 143     fdm->version = FG_NET_FDM_VERSION;
 144
 145     // Aero parameters
 146     fdm->longitude = navpacket->lon * SG_DEGREES_TO_RADIANS;
 147     fdm->latitude = navpacket->lat * SG_DEGREES_TO_RADIANS;
 148     fdm->altitude = navpacket->alt + alt_offset;
 149     fdm->agl = -9999.0;
 150     fdm->psi = imupacket->psi; // heading
 151     fdm->phi = imupacket->phi; // roll
 152     fdm->theta = imupacket->the; // pitch;
 153
 154     fdm->phidot = 0.0;
 155     fdm->thetadot = 0.0;
 156     fdm->psidot = 0.0;
 157
 158     // estimate speed
 159     // double az1, az2, dist;
 160     // geo_inverse_wgs_84( fdm->altitude, last_lat, last_lon,
 161     //                     fdm->latitude, fdm->longitude, &az1, &az2, &dist );
 162     // last_lat = fdm->latitude;
 163     // last_lon = fdm->longitude;
 164     // double v_ms = dist / (frame_us / 1000000);
 165     // double v_kts = v_ms * SG_METER_TO_NM * 3600;
 166     // kts_filter = (0.9 * kts_filter) + (0.1 * v_kts);
 167     // printf("dist = %.5f  kts est = %.2f\n", dist, kts_filter);
 168
 169     double vn = navpacket->vn;
 170     double ve = navpacket->ve;
 171     double vd = navpacket->vd;
 172
 173     if ( use_ground_track_hdg ) {
 174         fdm->psi = SGD_PI * 0.5 - atan2(vn, ve); // heading
 175     }
 176
 177     double mps = 0.0;
 178     if ( use_ground_speed ) {
 179         mps = sqrt( vn*vn + ve*ve + vd*vd );
 180     } else {
 181         mps = imupacket->Pt;
 182     }
 183     // double mph = mps * 3600 / 1609.3440;
 184     double kts = mps * SG_MPS_TO_KT;
 185     fdm->vcas = kts;
 186     // printf("speed = %.2f mph  %.2f kts\n", mph, kts );
 187     static double Ps = 0.0, Ps_last = 0.0, t_last = 0.0;
 188     Ps_last = Ps;
 189     Ps = 0.92 * Ps + 0.08 * imupacket->Ps;
 190     double climb = (Ps - Ps_last) / (imupacket->time - t_last);
 191     t_last = imupacket->time;
 192     static double climbf = 0.0;
 193     climbf = 0.994 * climbf + 0.006 * climb;
 194     fdm->climb_rate = climbf; // fps
 195
 196     static double Ps_error = 0.0;
 197     static double Ps_count = 0;
 198     const double span = 10000.0;
 199     Ps_count += 1.0; if (Ps_count > (span-1.0)) { Ps_count = (span-1.0); }
 200     double error = navpacket->alt - Ps;
 201     Ps_error = (Ps_count/span) * Ps_error + ((span-Ps_count)/span) * error;
 202     fdm->altitude = Ps +  Ps_error;
 203
 204     /* printf("%.3f, %.3f, %.3f, %.3f, %.8f, %.8f, %.3f, %.3f, %.3f, %.3f, %.3f\n",
 205            imupacket->time, imupacket->the, -navpacket->vd, climbf,
 206            navpacket->lat, navpacket->lon, gpspacket->alt, navpacket->alt,
 207            imupacket->Ps, Ps, Ps + Ps_error); */
 208
 209     // cout << "climb rate = " << aero->hdota << endl;
 210     fdm->v_north = 0.0;
 211     fdm->v_east = 0.0;
 212     fdm->v_down = 0.0;
 213     fdm->v_body_u = 0.0;
 214     fdm->v_body_v = 0.0;
 215     fdm->v_body_w = 0.0;
 216     fdm->stall_warning = 0.0;
 217
 218     fdm->A_X_pilot = 0.0;
 219     fdm->A_Y_pilot = 0.0;
 220     fdm->A_Z_pilot = 0.0 /* (should be -G) */;
 221
 222     // Engine parameters
 223     fdm->num_engines = 1;
 224     fdm->eng_state[0] = 2;
 225     // cout << "state = " << fdm->eng_state[0] << endl;
 226     double rpm = 5000.0 - ((double)servopacket->chn[2] / 65536.0)*3500.0;
 227     if ( rpm < 0.0 ) { rpm = 0.0; }
 228     if ( rpm > 5000.0 ) { rpm = 5000.0; }
 229     fdm->rpm[0] = rpm;
 230
 231     fdm->fuel_flow[0] = 0.0;
 232     fdm->egt[0] = 0.0;
 233     // cout << "egt = " << aero->EGT << endl;
 234     fdm->oil_temp[0] = 0.0;
 235     fdm->oil_px[0] = 0.0;
 236
 237     // Consumables
 238     fdm->num_tanks = 2;
 239     fdm->fuel_quantity[0] = 0.0;
 240     fdm->fuel_quantity[1] = 0.0;
 241
 242     // Gear and flaps
 243     fdm->num_wheels = 3;
 244     fdm->wow[0] = 0;
 245     fdm->wow[1] = 0;
 246     fdm->wow[2] = 0;
 247
 248     // the following really aren't used in this context
 249     fdm->cur_time = 0;
 250     fdm->warp = 0;
 251     fdm->visibility = 0;
 252
 253     // cout << "Flap deflection = " << aero->dflap << endl;
 254     fdm->left_flap = 0.0;
 255     fdm->right_flap = 0.0;
 256
 257     if ( est_controls ) {
 258         static float est_elev = 0.0;
 259         static float est_aileron = 0.0;
 260         static float est_rudder = 0.0;
 261         est_elev = 0.99 * est_elev + 0.01 * (imupacket->q * 4);
 262         est_aileron = 0.95 * est_aileron + 0.05 * (imupacket->p * 5);
 263         est_rudder = 0.95 * est_rudder + 0.05 * (imupacket->r * 2);
 264         ctrls->elevator = fdm->elevator = -est_elev;
 265         ctrls->aileron = fdm->left_aileron = est_aileron;
 266         fdm->right_aileron = -est_aileron;
 267         ctrls->rudder = fdm->rudder = est_rudder;
 268     } else {
 269         ctrls->elevator = fdm->elevator = 1.0 - ((double)servopacket->chn[1] / 32768.0);
 270         ctrls->aileron = fdm->left_aileron = 1.0 - ((double)servopacket->chn[0] / 32768.0);
 271         fdm->right_aileron = ((double)servopacket->chn[0] / 32768.0) - 1.0;
 272         ctrls->rudder = fdm->rudder = 1.0 - ((double)servopacket->chn[3] / 32768.0);
 273         ctrls->elevator *= 3.0;
 274         ctrls->aileron *= 3.0;
 275     }
 276     fdm->elevator_trim_tab = 0.0;
 277     fdm->left_flap = 0.0;
 278     fdm->right_flap = 0.0;
 279     fdm->nose_wheel = 0.0;
 280     fdm->speedbrake = 0.0;
 281     fdm->spoilers = 0.0;
 282
 283     // Convert the net buffer to network format
 284     fdm->version = htonl(fdm->version);
 285
 286     htond(fdm->longitude);
 287     htond(fdm->latitude);
 288     htond(fdm->altitude);
 289     htonf(fdm->agl);
 290     htonf(fdm->phi);
 291     htonf(fdm->theta);
 292     htonf(fdm->psi);
 293     htonf(fdm->alpha);
 294     htonf(fdm->beta);
 295
 296     htonf(fdm->phidot);
 297     htonf(fdm->thetadot);
 298     htonf(fdm->psidot);
 299     htonf(fdm->vcas);
 300     htonf(fdm->climb_rate);
 301     htonf(fdm->v_north);
 302     htonf(fdm->v_east);
 303     htonf(fdm->v_down);
 304     htonf(fdm->v_body_u);
 305     htonf(fdm->v_body_v);
 306     htonf(fdm->v_body_w);
 307
 308     htonf(fdm->A_X_pilot);
 309     htonf(fdm->A_Y_pilot);
 310     htonf(fdm->A_Z_pilot);
 311
 312     htonf(fdm->stall_warning);
 313     htonf(fdm->slip_deg);
 314
 315     for ( i = 0; i < fdm->num_engines; ++i ) {
 316         fdm->eng_state[i] = htonl(fdm->eng_state[i]);
 317         htonf(fdm->rpm[i]);
 318         htonf(fdm->fuel_flow[i]);
 319         htonf(fdm->egt[i]);
 320         htonf(fdm->cht[i]);
 321         htonf(fdm->mp_osi[i]);
 322         htonf(fdm->tit[i]);
 323         htonf(fdm->oil_temp[i]);
 324         htonf(fdm->oil_px[i]);
 325     }
 326     fdm->num_engines = htonl(fdm->num_engines);
 327
 328     for ( i = 0; i < fdm->num_tanks; ++i ) {
 329         htonf(fdm->fuel_quantity[i]);
 330     }
 331     fdm->num_tanks = htonl(fdm->num_tanks);
 332
 333     for ( i = 0; i < fdm->num_wheels; ++i ) {
 334         fdm->wow[i] = htonl(fdm->wow[i]);
 335         htonf(fdm->gear_pos[i]);
 336         htonf(fdm->gear_steer[i]);
 337         htonf(fdm->gear_compression[i]);
 338     }
 339     fdm->num_wheels = htonl(fdm->num_wheels);
 340
 341     fdm->cur_time = htonl( fdm->cur_time );
 342     fdm->warp = htonl( fdm->warp );
 343     htonf(fdm->visibility);
 344
 345     htonf(fdm->elevator);
 346     htonf(fdm->elevator_trim_tab);
 347     htonf(fdm->left_flap);
 348     htonf(fdm->right_flap);
 349     htonf(fdm->left_aileron);
 350     htonf(fdm->right_aileron);
 351     htonf(fdm->rudder);
 352     htonf(fdm->nose_wheel);
 353     htonf(fdm->speedbrake);
 354     htonf(fdm->spoilers);
 355
 356 #if 0
 357     ctrls->version = FG_NET_CTRLS_VERSION;
 358     ctrls->elevator_trim = 0.0;
 359     ctrls->flaps = 0.0;
 360
 361     htonl(ctrls->version);
 362     htond(ctrls->aileron);
 363     htond(ctrls->rudder);
 364     htond(ctrls->elevator);
 365     htond(ctrls->elevator_trim);
 366     htond(ctrls->flaps);
 367 #endif
 368 }
 369
 370
 371 static void ugear2opengc( gps *gpspacket, imu *imupacket, nav *navpacket,
 372                           servo *servopacket, health *healthpacket,
 373                           ogcFGData *ogc )
 374 {
 375     // Version sanity checking
 376     ogc->version_id = OGC_VERSION;
 377
 378     // Aero parameters
 379     ogc->longitude = navpacket->lon;
 380     ogc->latitude = navpacket->lat;
 381     ogc->heading = imupacket->psi * SG_RADIANS_TO_DEGREES; // heading
 382     ogc->bank = imupacket->phi * SG_RADIANS_TO_DEGREES; // roll
 383     ogc->pitch = imupacket->the * SG_RADIANS_TO_DEGREES; // pitch;
 384
 385     ogc->phi_dot = 0.0;
 386     ogc->theta_dot = 0.0;
 387     ogc->psi_dot = 0.0;
 388
 389     ogc->alpha = 0.0;
 390     ogc->beta = 0.0;
 391     ogc->alpha_dot = 0.0;
 392     ogc->beta_dot = 0.0;
 393
 394     ogc->left_aileron = 1.0 - ((double)servopacket->chn[0] / 32768.0);
 395     ogc->right_aileron = ((double)servopacket->chn[0] / 32768.0) - 1.0;
 396     ogc->elevator = 1.0 - ((double)servopacket->chn[1] / 32768.0);
 397     ogc->elevator_trim = 0.0;
 398     ogc->rudder = 1.0 - ((double)servopacket->chn[3] / 32768.0);
 399     ogc->flaps = 0.0;
 400     ogc->flaps_cmd = 0.0;
 401
 402     ogc->wind = 0.0;
 403     ogc->wind_dir = 0.0;
 404
 405     // estimate speed
 406     // double az1, az2, dist;
 407     // geo_inverse_wgs_84( fdm->altitude, last_lat, last_lon,
 408     //                     fdm->latitude, fdm->longitude, &az1, &az2, &dist );
 409     // last_lat = fdm->latitude;
 410     // last_lon = fdm->longitude;
 411     // double v_ms = dist / (frame_us / 1000000);
 412     // double v_kts = v_ms * SG_METER_TO_NM * 3600;
 413     // kts_filter = (0.9 * kts_filter) + (0.1 * v_kts);
 414     // printf("dist = %.5f  kts est = %.2f\n", dist, kts_filter);
 415
 416     double vn = navpacket->vn;
 417     double ve = navpacket->ve;
 418     double vd = navpacket->vd;
 419
 420     if ( use_ground_track_hdg ) {
 421         ogc->heading = (SGD_PI * 0.5 - atan2(vn, ve)) * SG_RADIANS_TO_DEGREES;
 422     }
 423
 424     if ( ogc->heading < 0 ) { ogc->heading += 360.0; }
 425
 426     double mps = 0.0;
 427     if ( use_ground_speed ) {
 428         mps = sqrt( vn*vn + ve*ve + vd*vd );
 429     } else {
 430         mps = imupacket->Pt;
 431     }
 432     // double mph = mps * 3600 / 1609.3440;
 433     double kts = mps * SG_MPS_TO_KT;
 434     ogc->v_kcas = kts;
 435     // printf("speed = %.2f mph  %.2f kts\n", mph, kts );
 436     static double Ps = 0.0, Ps_last = 0.0, t_last = 0.0;
 437     Ps_last = Ps;
 438     Ps = 0.92 * Ps + 0.08 * imupacket->Ps;
 439     double climb = (Ps - Ps_last) / (imupacket->time - t_last);
 440     t_last = imupacket->time;
 441     static double climbf = 0.0;
 442     climbf = 0.994 * climbf + 0.006 * climb;
 443     ogc->vvi = climbf; // fps
 444
 445     // uncomment one of the following schemes for setting elevation:
 446
 447     // use the navigation (inertially augmented gps estimate)
 448     // ogc->altitude = ogc->elevation
 449     //     = (navpacket->alt + alt_offset * SG_METER_TO_FEET);
 450
 451     // use estimate error between pressure sensor and gps altitude over time
 452     // use pressure sensor + error average for altitude estimate.
 453     static double Ps_error = 0.0;
 454     static double Ps_count = 0;
 455     const double span = 10000.0;
 456     Ps_count += 1.0; if (Ps_count > (span-1.0)) { Ps_count = (span-1.0); }
 457     double error = navpacket->alt - Ps;
 458     Ps_error = (Ps_count/span) * Ps_error + ((span-Ps_count)/span) * error;
 459     ogc->elevation = (Ps +  Ps_error) * SG_METER_TO_FEET;
 460
 461     /* printf("%.3f, %.3f, %.3f, %.3f, %.8f, %.8f, %.3f, %.3f, %.3f, %.3f, %.3f\n",
 462            imupacket->time, imupacket->the, -navpacket->vd, climbf,
 463            navpacket->lat, navpacket->lon, gpspacket->alt, navpacket->alt,
 464            imupacket->Ps, Ps, Ps + Ps_error); */
 465
 466     if ( est_controls ) {
 467         static float est_elev = 0.0;
 468         static float est_aileron = 0.0;
 469         static float est_rudder = 0.0;
 470         est_elev = 0.99 * est_elev + 0.01 * (imupacket->q * 4);
 471         est_aileron = 0.95 * est_aileron + 0.05 * (imupacket->p * 5);
 472         est_rudder = 0.95 * est_rudder + 0.05 * (imupacket->r * 2);
 473         ogc->elevator = -est_elev;
 474         ogc->left_aileron = est_aileron;
 475         ogc->right_aileron = -est_aileron;
 476         ogc->rudder = est_rudder;
 477     } else {
 478         ogc->elevator = 1.0 - ((double)servopacket->chn[1] / 32768.0);
 479         ogc->left_aileron = 1.0 - ((double)servopacket->chn[0] / 32768.0);
 480         ogc->right_aileron = ((double)servopacket->chn[0] / 32768.0) - 1.0;
 481         ogc->rudder = 1.0 - ((double)servopacket->chn[3] / 32768.0);
 482     }
 483     ogc->elevator *= 4.0;
 484     ogc->left_aileron *= 4.0;
 485     ogc->right_aileron *= 4.0;
 486     ogc->rudder *= 4.0;
 487
 488     // additional "abused" data fields
 489     ogc->egt[0] = ogc->bank - healthpacket->target_roll_deg; // flight director target roll
 490     ogc->egt[1] = -ogc->pitch + healthpacket->target_pitch_deg; // flight director target pitch
 491     ogc->egt[2] = healthpacket->target_heading_deg; // target heading bug
 492     ogc->egt[3] = healthpacket->target_climb_fps;   // target VVI bug
 493     ogc->epr[0] = healthpacket->target_altitude_ft; // target altitude bug
 494     ogc->epr[1] = 30.0;                              // target speed bug
 495     ogc->epr[2] = gps_status;   // gps status box
 496 }
 497
 498
 499 static void send_data_udp( gps *gpspacket, imu *imupacket, nav *navpacket,
 500                            servo *servopacket, health *healthpacket )
 501 {
 502     int ogcsize = sizeof( ogcFGData );
 503     int fdmsize = sizeof( FGNetFDM );
 504     // int ctrlsize = sizeof( FGNetCtrls );
 505
 506     // cout << "Running main loop" << endl;
 507
 508     ogcFGData fgogc;
 509     FGNetFDM fgfdm;
 510     FGNetCtrls fgctrls;
 511
 512     ugear2fg( gpspacket, imupacket, navpacket, servopacket, healthpacket,
 513               &fgfdm, &fgctrls );
 514     ugear2opengc( gpspacket, imupacket, navpacket, servopacket, healthpacket,
 515                   &fgogc );
 516     opengc_sock.send(&fgogc, ogcsize, 0);
 517     fdm_sock.send(&fgfdm, fdmsize, 0);
 518     // len = ctrls_sock.send(&fgctrls, ctrlsize, 0);
 519 }
 520
 521
 522 void usage( const string &argv0 ) {
 523     cout << "Usage: " << argv0 << endl;
 524     cout << "\t[ --help ]" << endl;
 525     cout << "\t[ --infile <infile_name>" << endl;
 526     cout << "\t[ --flight <flight_dir>" << endl;
 527     cout << "\t[ --serial <dev_name>" << endl;
 528     cout << "\t[ --outfile <outfile_name> (capture the data to a file)" << endl;
 529     cout << "\t[ --hertz <hertz> ]" << endl;
 530     cout << "\t[ --host <hostname> ]" << endl;
 531     cout << "\t[ --broadcast ]" << endl;
 532     cout << "\t[ --opengc-port <opengc output port #> ]" << endl;
 533     cout << "\t[ --fdm-port <fdm output port #> ]" << endl;
 534     cout << "\t[ --ctrls-port <ctrls output port #> ]" << endl;
 535     cout << "\t[ --groundtrack-heading ]" << endl;
 536     cout << "\t[ --ground-speed ]" << endl;
 537     cout << "\t[ --estimate-control-deflections ]" << endl;
 538     cout << "\t[ --altitude-offset <meters> ]" << endl;
 539     cout << "\t[ --skip-seconds <seconds> ]" << endl;
 540     cout << "\t[ --no-real-time ]" << endl;
 541     cout << "\t[ --ignore-checksum ]" << endl;
 542     cout << "\t[ --sg-swap ]" << endl;
 543 }
 544
 545
 546 int main( int argc, char **argv ) {
 547     double hertz = 60.0;
 548     string out_host = "localhost";
 549     bool do_broadcast = false;
 550
 551     // process command line arguments
 552     for ( int i = 1; i < argc; ++i ) {
 553         if ( strcmp( argv[i], "--help" ) == 0 ) {
 554             usage( argv[0] );
 555             exit( 0 );
 556         } else if ( strcmp( argv[i], "--hertz" ) == 0 ) {
 557             ++i;
 558             if ( i < argc ) {
 559                 hertz = atof( argv[i] );
 560             } else {
 561                 usage( argv[0] );
 562                 exit( -1 );
 563             }
 564         } else if ( strcmp( argv[i], "--infile" ) == 0 ) {
 565             ++i;
 566             if ( i < argc ) {
 567                 infile = argv[i];
 568             } else {
 569                 usage( argv[0] );
 570                 exit( -1 );
 571             }
 572         } else if ( strcmp( argv[i], "--flight" ) == 0 ) {
 573             ++i;
 574             if ( i < argc ) {
 575                 flight_dir = argv[i];
 576             } else {
 577                 usage( argv[0] );
 578                 exit( -1 );
 579             }
 580         } else if ( strcmp( argv[i], "--outfile" ) == 0 ) {
 581             ++i;
 582             if ( i < argc ) {
 583                 outfile = argv[i];
 584             } else {
 585                 usage( argv[0] );
 586                 exit( -1 );
 587             }
 588         } else if ( strcmp( argv[i], "--serial" ) == 0 ) {
 589             ++i;
 590             if ( i < argc ) {
 591                 serialdev = argv[i];
 592             } else {
 593                 usage( argv[0] );
 594                 exit( -1 );
 595             }
 596         } else if ( strcmp( argv[i], "--host" ) == 0 ) {
 597             ++i;
 598             if ( i < argc ) {
 599                 out_host = argv[i];
 600             } else {
 601                 usage( argv[0] );
 602                 exit( -1 );
 603             }
 604         } else if ( strcmp( argv[i], "--broadcast" ) == 0 ) {
 605           do_broadcast = true;
 606         } else if ( strcmp( argv[i], "--opengc-port" ) == 0 ) {
 607             ++i;
 608             if ( i < argc ) {
 609                 opengc_port = atoi( argv[i] );
 610             } else {
 611                 usage( argv[0] );
 612                 exit( -1 );
 613             }
 614         } else if ( strcmp( argv[i], "--fdm-port" ) == 0 ) {
 615             ++i;
 616             if ( i < argc ) {
 617                 fdm_port = atoi( argv[i] );
 618             } else {
 619                 usage( argv[0] );
 620                 exit( -1 );
 621             }
 622         } else if ( strcmp( argv[i], "--ctrls-port" ) == 0 ) {
 623             ++i;
 624             if ( i < argc ) {
 625                 ctrls_port = atoi( argv[i] );
 626             } else {
 627                 usage( argv[0] );
 628                 exit( -1 );
 629             }
 630         } else if ( strcmp (argv[i], "--groundtrack-heading" ) == 0 ) {
 631             use_ground_track_hdg = true;
 632         } else if ( strcmp (argv[i], "--ground-speed" ) == 0 ) {
 633             use_ground_speed = true;
 634         } else if (strcmp (argv[i], "--estimate-control-deflections" ) == 0) {
 635             est_controls = true;
 636         } else if ( strcmp( argv[i], "--altitude-offset" ) == 0 ) {
 637             ++i;
 638             if ( i < argc ) {
 639                 alt_offset = atof( argv[i] );
 640             } else {
 641                 usage( argv[0] );
 642                 exit( -1 );
 643             }
 644         } else if ( strcmp( argv[i], "--skip-seconds" ) == 0 ) {
 645             ++i;
 646             if ( i < argc ) {
 647                 skip = atof( argv[i] );
 648             } else {
 649                 usage( argv[0] );
 650                 exit( -1 );
 651             }
 652         } else if ( strcmp( argv[i], "--no-real-time" ) == 0 ) {
 653             run_real_time = false;
 654         } else if ( strcmp( argv[i], "--ignore-checksum" ) == 0 ) {
 655             ignore_checksum = true;
 656         } else if ( strcmp( argv[i], "--sg-swap" ) == 0 ) {
 657             sg_swap = true;
 658         } else {
 659             usage( argv[0] );
 660             exit( -1 );
 661         }
 662     }
 663
 664     // Setup up outgoing network connections
 665
 666     simgear::Socket::initSockets(); // We must call this before any other net stuff
 667
 668     if ( ! opengc_sock.open( false ) ) {  // open a UDP socket
 669         cout << "error opening opengc output socket" << endl;
 670         return -1;
 671     }
 672     if ( ! fdm_sock.open( false ) ) {  // open a UDP socket
 673         cout << "error opening fdm output socket" << endl;
 674         return -1;
 675     }
 676     if ( ! ctrls_sock.open( false ) ) {  // open a UDP socket
 677         cout << "error opening ctrls output socket" << endl;
 678         return -1;
 679     }
 680     cout << "open net channels" << endl;
 681
 682     opengc_sock.setBlocking( false );
 683     fdm_sock.setBlocking( false );
 684     ctrls_sock.setBlocking( false );
 685     cout << "blocking false" << endl;
 686
 687     if ( do_broadcast ) {
 688         opengc_sock.setBroadcast( true );
 689         fdm_sock.setBroadcast( true );
 690         ctrls_sock.setBroadcast( true );
 691     }
 692
 693     if ( opengc_sock.connect( out_host.c_str(), opengc_port ) == -1 ) {
 694         perror("connect");
 695         cout << "error connecting to outgoing opengc port: " << out_host
 696              << ":" << opengc_port << endl;
 697         return -1;
 698     }
 699     cout << "connected outgoing opengc socket" << endl;
 700
 701     if ( fdm_sock.connect( out_host.c_str(), fdm_port ) == -1 ) {
 702         perror("connect");
 703         cout << "error connecting to outgoing fdm port: " << out_host
 704              << ":" << fdm_port << endl;
 705         return -1;
 706     }
 707     cout << "connected outgoing fdm socket" << endl;
 708
 709     if ( ctrls_sock.connect( out_host.c_str(), ctrls_port ) == -1 ) {
 710         perror("connect");
 711         cout << "error connecting to outgoing ctrls port: " << out_host
 712              << ":" << ctrls_port << endl;
 713         return -1;
 714     }
 715     cout << "connected outgoing ctrls socket" << endl;
 716
 717     if ( sg_swap ) {
 718         track.set_stargate_swap_mode();
 719     }
 720
 721     UGTelnet telnet( 5402 );
 722     telnet.open();
 723
 724     if ( infile.length() || flight_dir.length() ) {
 725         if ( infile.length() ) {
 726             // Load data from a stream log data file
 727             track.load_stream( infile, ignore_checksum );
 728         } else if ( flight_dir.length() ) {
 729             // Load data from a flight directory
 730             track.load_flight( flight_dir );
 731         }
 732         cout << "Loaded " << track.gps_size() << " gps records." << endl;
 733         cout << "Loaded " << track.imu_size() << " imu records." << endl;
 734         cout << "Loaded " << track.nav_size() << " nav records." << endl;
 735         cout << "Loaded " << track.servo_size() << " servo records." << endl;
 736         cout << "Loaded " << track.health_size() << " health records." << endl;
 737
 738         int size = track.imu_size();
 739
 740         double current_time = track.get_imupt(0).time;
 741         cout << "Track begin time is " << current_time << endl;
 742         double end_time = track.get_imupt(size-1).time;
 743         cout << "Track end time is " << end_time << endl;
 744         cout << "Duration = " << end_time - current_time << endl;
 745
 746         if ( track.gps_size() > 0 ) {
 747             double tmp = track.get_gpspt(track.gps_size()-1).ITOW;
 748             int days = (int)(tmp / (24 * 60 * 60));
 749             tmp -= days * 24 * 60 * 60;
 750             int hours = (int)(tmp / (60 * 60));
 751             tmp -= hours * 60 * 60;
 752             int min = (int)(tmp / 60);
 753             tmp -= min * 60;
 754             double sec = tmp;
 755             printf("[GPS  ]:ITOW= %.3f[sec]  %dd %02d:%02d:%06.3f\n",
 756                    tmp, days, hours, min, sec);
 757         }
 758
 759
 760         // advance skip seconds forward
 761         current_time += skip;
 762
 763         frame_us = 1000000.0 / hertz;
 764         if ( frame_us < 0.0 ) {
 765             frame_us = 0.0;
 766         }
 767
 768         SGTimeStamp start_time;
 769         start_time.stamp();
 770         int gps_count = 0;
 771         int imu_count = 0;
 772         int nav_count = 0;
 773         int servo_count = 0;
 774         int health_count = 0;
 775
 776         gps gps0, gps1;
 777         gps0 = gps1 = track.get_gpspt( 0 );
 778
 779         imu imu0, imu1;
 780         imu0 = imu1 = track.get_imupt( 0 );
 781
 782         nav nav0, nav1;
 783         nav0 = nav1 = track.get_navpt( 0 );
 784
 785         servo servo0, servo1;
 786         servo0 = servo1 = track.get_servopt( 0 );
 787
 788         health health0, health1;
 789         health0 = health1 = track.get_healthpt( 0 );
 790
 791         double last_lat = -999.9, last_lon = -999.9;
 792
 793         printf("<gpx>\n");
 794         printf(" <trk>\n");
 795         printf("  <trkseg>\n");
 796         while ( current_time < end_time ) {
 797             // cout << "current_time = " << current_time << " end_time = "
 798             //      << end_time << endl;
 799
 800             // Advance gps pointer
 801             while ( current_time > gps1.time
 802                     && gps_count < track.gps_size() - 1 )
 803             {
 804                 gps0 = gps1;
 805                 ++gps_count;
 806                 // cout << "count = " << count << endl;
 807                 gps1 = track.get_gpspt( gps_count );
 808             }
 809             // cout << "p0 = " << p0.get_time() << " p1 = " << p1.get_time()
 810             //      << endl;
 811
 812             // Advance imu pointer
 813             while ( current_time > imu1.time
 814                     && imu_count < track.imu_size() - 1 )
 815             {
 816                 imu0 = imu1;
 817                 ++imu_count;
 818                 // cout << "count = " << count << endl;
 819                 imu1 = track.get_imupt( imu_count );
 820             }
 821             //  cout << "pos0 = " << pos0.get_seconds()
 822             // << " pos1 = " << pos1.get_seconds() << endl;
 823
 824             // Advance nav pointer
 825             while ( current_time > nav1.time
 826                     && nav_count < track.nav_size() - 1 )
 827             {
 828                 nav0 = nav1;
 829                 ++nav_count;
 830                 // cout << "nav count = " << nav_count << endl;
 831                 nav1 = track.get_navpt( nav_count );
 832             }
 833             //  cout << "pos0 = " << pos0.get_seconds()
 834             // << " pos1 = " << pos1.get_seconds() << endl;
 835
 836             // Advance servo pointer
 837             while ( current_time > servo1.time
 838                     && servo_count < track.servo_size() - 1 )
 839             {
 840                 servo0 = servo1;
 841                 ++servo_count;
 842                 // cout << "count = " << count << endl;
 843                 servo1 = track.get_servopt( servo_count );
 844             }
 845             //  cout << "pos0 = " << pos0.get_seconds()
 846             // << " pos1 = " << pos1.get_seconds() << endl;
 847
 848             // Advance health pointer
 849             while ( current_time > health1.time
 850                     && health_count < track.health_size() - 1 )
 851             {
 852                 health0 = health1;
 853                 ++health_count;
 854                 // cout << "count = " << count << endl;
 855                 health1 = track.get_healthpt( health_count );
 856             }
 857             //  cout << "pos0 = " << pos0.get_seconds()
 858             // << " pos1 = " << pos1.get_seconds() << endl;
 859
 860             double gps_percent;
 861             if ( fabs(gps1.time - gps0.time) < 0.00001 ) {
 862                 gps_percent = 0.0;
 863             } else {
 864                 gps_percent =
 865                     (current_time - gps0.time) /
 866                     (gps1.time - gps0.time);
 867             }
 868             // cout << "Percent = " << percent << endl;
 869
 870             double imu_percent;
 871             if ( fabs(imu1.time - imu0.time) < 0.00001 ) {
 872                 imu_percent = 0.0;
 873             } else {
 874                 imu_percent =
 875                     (current_time - imu0.time) /
 876                     (imu1.time - imu0.time);
 877             }
 878             // cout << "Percent = " << percent << endl;
 879
 880             double nav_percent;
 881             if ( fabs(nav1.time - nav0.time) < 0.00001 ) {
 882                 nav_percent = 0.0;
 883             } else {
 884                 nav_percent =
 885                     (current_time - nav0.time) /
 886                     (nav1.time - nav0.time);
 887             }
 888             // cout << "Percent = " << percent << endl;
 889
 890             double servo_percent;
 891             if ( fabs(servo1.time - servo0.time) < 0.00001 ) {
 892                 servo_percent = 0.0;
 893             } else {
 894                 servo_percent =
 895                     (current_time - servo0.time) /
 896                     (servo1.time - servo0.time);
 897             }
 898             // cout << "Percent = " << percent << endl;
 899
 900             double health_percent;
 901             if ( fabs(health1.time - health0.time) < 0.00001 ) {
 902                 health_percent = 0.0;
 903             } else {
 904                 health_percent =
 905                     (current_time - health0.time) /
 906                     (health1.time - health0.time);
 907             }
 908             // cout << "Percent = " << percent << endl;
 909
 910             gps gpspacket = UGEARInterpGPS( gps0, gps1, gps_percent );
 911             imu imupacket = UGEARInterpIMU( imu0, imu1, imu_percent );
 912             nav navpacket = UGEARInterpNAV( nav0, nav1, nav_percent );
 913             servo servopacket = UGEARInterpSERVO( servo0, servo1,
 914                                                   servo_percent );
 915             health healthpacket = UGEARInterpHEALTH( health0, health1,
 916                                                   health_percent );
 917
 918             // cout << current_time << " " << p0.lat_deg << ", " << p0.lon_deg
 919             //      << endl;
 920             // cout << current_time << " " << p1.lat_deg << ", " << p1.lon_deg
 921             //      << endl;
 922             // cout << (double)current_time << " " << pos.lat_deg << ", "
 923             //      << pos.lon_deg << " " << att.yaw_deg << endl;
 924             if ( gpspacket.lat > -500 ) {
 925                 // printf( "%.3f  %.4f %.4f %.1f  %.2f %.2f %.2f\n",
 926                 //         current_time,
 927                 //         navpacket.lat, navpacket.lon, navpacket.alt,
 928                 //         imupacket.psi, imupacket.the, imupacket.phi );
 929                 double dlat = last_lat - navpacket.lat;
 930                 double dlon = last_lon - navpacket.lon;
 931                 double dist = sqrt( dlat*dlat + dlon*dlon );
 932                 if ( dist > 0.01 ) {
 933                     printf("   <trkpt lat=\"%.8f\" lon=\"%.8f\"></trkpt>\n",
 934                            navpacket.lat, navpacket.lon );
 935                     // printf(" </wpt>\n");
 936                     last_lat = navpacket.lat;
 937                     last_lon = navpacket.lon;
 938                 }
 939             }
 940
 941             if ( (fabs(gpspacket.lat) < 0.0001 &&
 942                   fabs(gpspacket.lon) < 0.0001 &&
 943                   fabs(gpspacket.alt) < 0.0001) )
 944             {
 945                 printf("WARNING: LOST GPS!!!\n");
 946                 gps_status = -1.0;
 947             } else {
 948                 gps_status = 1.0;
 949             }
 950
 951             send_data_udp( &gpspacket, &imupacket, &navpacket, &servopacket,
 952                            &healthpacket );
 953
 954             if ( run_real_time ) {
 955                 // Update the elapsed time.
 956                 static bool first_time = true;
 957                 if ( first_time ) {
 958                     last_time_stamp.stamp();
 959                     first_time = false;
 960                 }
 961
 962                 current_time_stamp.stamp();
 963                 /* Convert to ms */
 964                 double elapsed_us = (current_time_stamp - last_time_stamp).toUSecs();
 965                 if ( elapsed_us < (frame_us - 2000) ) {
 966                     double requested_us = (frame_us - elapsed_us) - 2000 ;
 967                     ulMilliSecondSleep ( (int)(requested_us / 1000.0) ) ;
 968                 }
 969                 current_time_stamp.stamp();
 970                 while ( (current_time_stamp - last_time_stamp).toUSecs() < frame_us ) {
 971                     current_time_stamp.stamp();
 972                 }
 973             }
 974
 975             current_time += (frame_us / 1000000.0);
 976             last_time_stamp = current_time_stamp;
 977         }
 978
 979         printf("   <trkpt lat=\"%.8f\" lon=\"%.8f\"></trkpt>\n",
 980                nav1.lat, nav1.lon );
 981
 982         printf("  </trkseg>\n");
 983         printf(" </trk>\n");
 984         nav0 = track.get_navpt( 0 );
 985         nav1 = track.get_navpt( track.nav_size() - 1 );
 986         printf(" <wpt lat=\"%.8f\" lon=\"%.8f\"></wpt>\n",
 987                nav0.lat, nav0.lon );
 988         printf(" <wpt lat=\"%.8f\" lon=\"%.8f\"></wpt>\n",
 989                nav1.lat, nav1.lon );
 990         printf("<gpx>\n");
 991
 992         cout << "Processed " << imu_count << " entries in "
 993              << current_time_stamp - start_time << " seconds."
 994              << endl;
 995     } else if ( serialdev.length() ) {
 996         // process incoming data from the serial port
 997
 998         int count = 0;
 999         double current_time = 0.0;
1000         double last_time = 0.0;
1001
1002         gps gpspacket; bzero( &gpspacket, sizeof(gpspacket) );
1003         imu imupacket; bzero( &imupacket, sizeof(imupacket) );
1004         nav navpacket; bzero( &navpacket, sizeof(navpacket) );
1005         servo servopacket; bzero( &servopacket, sizeof(servopacket) );
1006         health healthpacket; bzero( &healthpacket, sizeof(healthpacket) );
1007
1008         double gps_time = 0.0;
1009         double imu_time = 0.0;
1010         double nav_time = 0.0;
1011         double servo_time = 0.0;
1012         double health_time = 0.0;
1013         double command_time = 0.0;
1014         double command_heartbeat = 0.0;
1015
1016         // open the serial port device
1017         SGSerialPort uavcom( serialdev, 115200 );
1018         if ( !uavcom.is_enabled() ) {
1019             cout << "Cannot open: " << serialdev << endl;
1020             return false;
1021         }
1022
1023         // open up the data log file if requested
1024         if ( !outfile.length() ) {
1025             cout << "no --outfile <name> specified, cannot capture data!"
1026                  << endl;
1027             return false;
1028         }
1029         SGFile log( outfile );
1030         if ( !log.open( SG_IO_OUT ) ) {
1031             cout << "Cannot open: " << outfile << endl;
1032             return false;
1033         }
1034
1035         // add some test commands
1036         //command_mgr.add("ap,alt,1000");
1037         //command_mgr.add("home,158.0,32.5");
1038         //command_mgr.add("go,home");
1039         //command_mgr.add("go,route");
1040
1041         while ( uavcom.is_enabled() ) {
1042             // cout << "looking for next message ..." << endl;
1043             int id = track.next_message( &uavcom, &log, &gpspacket,
1044                                          &imupacket, &navpacket, &servopacket,
1045                                          &healthpacket, ignore_checksum );
1046             // cout << "message id = " << id << endl;
1047             count++;
1048
1049             telnet.process();
1050
1051             if ( id == GPS_PACKET ) {
1052                 if ( gpspacket.time > gps_time ) {
1053                     gps_time = gpspacket.time;
1054                     current_time = gps_time;
1055                 } else {
1056                   cout << "oops gps back in time: " << gpspacket.time << " " << gps_time << endl;
1057                 }
1058             } else if ( id == IMU_PACKET ) {
1059                 if ( imupacket.time > imu_time ) {
1060                     imu_time = imupacket.time;
1061                     current_time = imu_time;
1062                 } else {
1063                     cout << "oops imu back in time: " << imupacket.time << " " << imu_time << endl;
1064                 }
1065             } else if ( id == NAV_PACKET ) {
1066                 if ( navpacket.time > nav_time ) {
1067                     nav_time = navpacket.time;
1068                     current_time = nav_time;
1069                 } else {
1070                     cout << "oops nav back in time: " << navpacket.time << " " << nav_time << endl;
1071                 }
1072             } else if ( id == SERVO_PACKET ) {
1073                 if ( servopacket.time > servo_time ) {
1074                     servo_time = servopacket.time;
1075                     current_time = servo_time;
1076                 } else {
1077                     cout << "oops servo back in time: " << servopacket.time << " " << servo_time << endl;
1078                 }
1079             } else if ( id == HEALTH_PACKET ) {
1080                 if ( healthpacket.time > health_time ) {
1081                     health_time = healthpacket.time;
1082                     current_time = health_time;
1083                     printf("Received a health packet, sequence: %d\n",
1084                            (int)healthpacket.command_sequence);
1085                     command_mgr.update_cmd_sequence(healthpacket.command_sequence);
1086                 } else {
1087                     cout << "oops health back in time: " << healthpacket.time << " " << health_time << endl;
1088                 }
1089
1090             }
1091
1092             if ( (current_time > gps_time + 2) ||
1093                  (fabs(gpspacket.lat) < 0.0001 &&
1094                   fabs(gpspacket.lon) < 0.0001 &&
1095                   fabs(gpspacket.alt) < 0.0001) )
1096             {
1097                 printf("WARNING: LOST GPS!!!\n");
1098                 gps_status = -1.0;
1099             } else {
1100                 gps_status = 1.0;
1101             }
1102
1103             // Generate a ground station heart beat every 4 seconds
1104             if ( current_time >= command_heartbeat + 4 ) {
1105                 command_mgr.add("hb");
1106                 command_heartbeat = current_time;
1107             }
1108
1109             // Command update @ 1hz
1110             if ( current_time >= command_time + 1 ) {
1111                 command_mgr.update(&uavcom);
1112                 command_time = current_time;
1113             }
1114
1115             // Relay data on to FlightGear and LFSTech Glass
1116             if ( current_time >= last_time + (1/hertz) ) {
1117                 // if ( gpspacket.lat > -500 ) {
1118                 int londeg = (int)navpacket.lon;
1119                 // double lonmin = fabs(navpacket.lon - londeg);
1120                 int latdeg = (int)navpacket.lat;
1121                 // double latmin = fabs(navpacket.lat - latdeg);
1122                 londeg = abs(londeg);
1123                 latdeg = abs(latdeg);
1124                 /*printf( "%.2f  %c%02d:%.4f %c%03d:%.4f %.1f  %.2f %.2f %.2f\n",
1125                         current_time,
1126                         latdir, latdeg, latmin, londir, londeg, lonmin,
1127                         navpacket.alt,
1128                         imupacket.phi*SGD_RADIANS_TO_DEGREES,
1129                         imupacket.the*SGD_RADIANS_TO_DEGREES,
1130                         imupacket.psi*SGD_RADIANS_TO_DEGREES ); */
1131                 // }
1132
1133                 last_time = current_time;
1134                 send_data_udp( &gpspacket, &imupacket, &navpacket,
1135                                &servopacket, &healthpacket );
1136             }
1137         }
1138     }
1139
1140     return 0;
1141 }