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_wind_body_north = 0.0;
 214     fdm->v_wind_body_east = 0.0;
 215     fdm->v_wind_body_down = 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_wind_body_north);
 305     htonf(fdm->v_wind_body_east);
 306     htonf(fdm->v_wind_body_down);
 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 len;
 503     int ogcsize = sizeof( ogcFGData );
 504     int fdmsize = sizeof( FGNetFDM );
 505     // int ctrlsize = sizeof( FGNetCtrls );
 506
 507     // cout << "Running main loop" << endl;
 508
 509     ogcFGData fgogc;
 510     FGNetFDM fgfdm;
 511     FGNetCtrls fgctrls;
 512
 513     ugear2fg( gpspacket, imupacket, navpacket, servopacket, healthpacket,
 514               &fgfdm, &fgctrls );
 515     ugear2opengc( gpspacket, imupacket, navpacket, servopacket, healthpacket,
 516                   &fgogc );
 517     len = opengc_sock.send(&fgogc, ogcsize, 0);
 518     len = fdm_sock.send(&fgfdm, fdmsize, 0);
 519     // len = ctrls_sock.send(&fgctrls, ctrlsize, 0);
 520 }
 521
 522
 523 void usage( const string &argv0 ) {
 524     cout << "Usage: " << argv0 << endl;
 525     cout << "\t[ --help ]" << endl;
 526     cout << "\t[ --infile <infile_name>" << endl;
 527     cout << "\t[ --flight <flight_dir>" << endl;
 528     cout << "\t[ --serial <dev_name>" << endl;
 529     cout << "\t[ --outfile <outfile_name> (capture the data to a file)" << endl;
 530     cout << "\t[ --hertz <hertz> ]" << endl;
 531     cout << "\t[ --host <hostname> ]" << endl;
 532     cout << "\t[ --broadcast ]" << endl;
 533     cout << "\t[ --opengc-port <opengc output port #> ]" << endl;
 534     cout << "\t[ --fdm-port <fdm output port #> ]" << endl;
 535     cout << "\t[ --ctrls-port <ctrls output port #> ]" << endl;
 536     cout << "\t[ --groundtrack-heading ]" << endl;
 537     cout << "\t[ --ground-speed ]" << endl;
 538     cout << "\t[ --estimate-control-deflections ]" << endl;
 539     cout << "\t[ --altitude-offset <meters> ]" << endl;
 540     cout << "\t[ --skip-seconds <seconds> ]" << endl;
 541     cout << "\t[ --no-real-time ]" << endl;
 542     cout << "\t[ --ignore-checksum ]" << endl;
 543     cout << "\t[ --sg-swap ]" << endl;
 544 }
 545
 546
 547 int main( int argc, char **argv ) {
 548     double hertz = 60.0;
 549     string out_host = "localhost";
 550     bool do_broadcast = false;
 551
 552     // process command line arguments
 553     for ( int i = 1; i < argc; ++i ) {
 554         if ( strcmp( argv[i], "--help" ) == 0 ) {
 555             usage( argv[0] );
 556             exit( 0 );
 557         } else if ( strcmp( argv[i], "--hertz" ) == 0 ) {
 558             ++i;
 559             if ( i < argc ) {
 560                 hertz = atof( argv[i] );
 561             } else {
 562                 usage( argv[0] );
 563                 exit( -1 );
 564             }
 565         } else if ( strcmp( argv[i], "--infile" ) == 0 ) {
 566             ++i;
 567             if ( i < argc ) {
 568                 infile = argv[i];
 569             } else {
 570                 usage( argv[0] );
 571                 exit( -1 );
 572             }
 573         } else if ( strcmp( argv[i], "--flight" ) == 0 ) {
 574             ++i;
 575             if ( i < argc ) {
 576                 flight_dir = argv[i];
 577             } else {
 578                 usage( argv[0] );
 579                 exit( -1 );
 580             }
 581         } else if ( strcmp( argv[i], "--outfile" ) == 0 ) {
 582             ++i;
 583             if ( i < argc ) {
 584                 outfile = argv[i];
 585             } else {
 586                 usage( argv[0] );
 587                 exit( -1 );
 588             }
 589         } else if ( strcmp( argv[i], "--serial" ) == 0 ) {
 590             ++i;
 591             if ( i < argc ) {
 592                 serialdev = argv[i];
 593             } else {
 594                 usage( argv[0] );
 595                 exit( -1 );
 596             }
 597         } else if ( strcmp( argv[i], "--host" ) == 0 ) {
 598             ++i;
 599             if ( i < argc ) {
 600                 out_host = argv[i];
 601             } else {
 602                 usage( argv[0] );
 603                 exit( -1 );
 604             }
 605         } else if ( strcmp( argv[i], "--broadcast" ) == 0 ) {
 606           do_broadcast = true;
 607         } else if ( strcmp( argv[i], "--opengc-port" ) == 0 ) {
 608             ++i;
 609             if ( i < argc ) {
 610                 opengc_port = atoi( argv[i] );
 611             } else {
 612                 usage( argv[0] );
 613                 exit( -1 );
 614             }
 615         } else if ( strcmp( argv[i], "--fdm-port" ) == 0 ) {
 616             ++i;
 617             if ( i < argc ) {
 618                 fdm_port = atoi( argv[i] );
 619             } else {
 620                 usage( argv[0] );
 621                 exit( -1 );
 622             }
 623         } else if ( strcmp( argv[i], "--ctrls-port" ) == 0 ) {
 624             ++i;
 625             if ( i < argc ) {
 626                 ctrls_port = atoi( argv[i] );
 627             } else {
 628                 usage( argv[0] );
 629                 exit( -1 );
 630             }
 631         } else if ( strcmp (argv[i], "--groundtrack-heading" ) == 0 ) {
 632             use_ground_track_hdg = true;
 633         } else if ( strcmp (argv[i], "--ground-speed" ) == 0 ) {
 634             use_ground_speed = true;
 635         } else if (strcmp (argv[i], "--estimate-control-deflections" ) == 0) {
 636             est_controls = true;
 637         } else if ( strcmp( argv[i], "--altitude-offset" ) == 0 ) {
 638             ++i;
 639             if ( i < argc ) {
 640                 alt_offset = atof( argv[i] );
 641             } else {
 642                 usage( argv[0] );
 643                 exit( -1 );
 644             }
 645         } else if ( strcmp( argv[i], "--skip-seconds" ) == 0 ) {
 646             ++i;
 647             if ( i < argc ) {
 648                 skip = atof( argv[i] );
 649             } else {
 650                 usage( argv[0] );
 651                 exit( -1 );
 652             }
 653         } else if ( strcmp( argv[i], "--no-real-time" ) == 0 ) {
 654             run_real_time = false;
 655         } else if ( strcmp( argv[i], "--ignore-checksum" ) == 0 ) {
 656             ignore_checksum = true;
 657         } else if ( strcmp( argv[i], "--sg-swap" ) == 0 ) {
 658             sg_swap = true;
 659         } else {
 660             usage( argv[0] );
 661             exit( -1 );
 662         }
 663     }
 664
 665     // Setup up outgoing network connections
 666
 667     simgear::Socket::initSockets(); // We must call this before any other net stuff
 668
 669     if ( ! opengc_sock.open( false ) ) {  // open a UDP socket
 670         cout << "error opening opengc output socket" << endl;
 671         return -1;
 672     }
 673     if ( ! fdm_sock.open( false ) ) {  // open a UDP socket
 674         cout << "error opening fdm output socket" << endl;
 675         return -1;
 676     }
 677     if ( ! ctrls_sock.open( false ) ) {  // open a UDP socket
 678         cout << "error opening ctrls output socket" << endl;
 679         return -1;
 680     }
 681     cout << "open net channels" << endl;
 682
 683     opengc_sock.setBlocking( false );
 684     fdm_sock.setBlocking( false );
 685     ctrls_sock.setBlocking( false );
 686     cout << "blocking false" << endl;
 687
 688     if ( do_broadcast ) {
 689         opengc_sock.setBroadcast( true );
 690         fdm_sock.setBroadcast( true );
 691         ctrls_sock.setBroadcast( true );
 692     }
 693
 694     if ( opengc_sock.connect( out_host.c_str(), opengc_port ) == -1 ) {
 695         perror("connect");
 696         cout << "error connecting to outgoing opengc port: " << out_host
 697              << ":" << opengc_port << endl;
 698         return -1;
 699     }
 700     cout << "connected outgoing opengc socket" << endl;
 701
 702     if ( fdm_sock.connect( out_host.c_str(), fdm_port ) == -1 ) {
 703         perror("connect");
 704         cout << "error connecting to outgoing fdm port: " << out_host
 705              << ":" << fdm_port << endl;
 706         return -1;
 707     }
 708     cout << "connected outgoing fdm socket" << endl;
 709
 710     if ( ctrls_sock.connect( out_host.c_str(), ctrls_port ) == -1 ) {
 711         perror("connect");
 712         cout << "error connecting to outgoing ctrls port: " << out_host
 713              << ":" << ctrls_port << endl;
 714         return -1;
 715     }
 716     cout << "connected outgoing ctrls socket" << endl;
 717
 718     if ( sg_swap ) {
 719         track.set_stargate_swap_mode();
 720     }
 721
 722     UGTelnet telnet( 5402 );
 723     telnet.open();
 724
 725     if ( infile.length() || flight_dir.length() ) {
 726         if ( infile.length() ) {
 727             // Load data from a stream log data file
 728             track.load_stream( infile, ignore_checksum );
 729         } else if ( flight_dir.length() ) {
 730             // Load data from a flight directory
 731             track.load_flight( flight_dir );
 732         }
 733         cout << "Loaded " << track.gps_size() << " gps records." << endl;
 734         cout << "Loaded " << track.imu_size() << " imu records." << endl;
 735         cout << "Loaded " << track.nav_size() << " nav records." << endl;
 736         cout << "Loaded " << track.servo_size() << " servo records." << endl;
 737         cout << "Loaded " << track.health_size() << " health records." << endl;
 738
 739         int size = track.imu_size();
 740
 741         double current_time = track.get_imupt(0).time;
 742         cout << "Track begin time is " << current_time << endl;
 743         double end_time = track.get_imupt(size-1).time;
 744         cout << "Track end time is " << end_time << endl;
 745         cout << "Duration = " << end_time - current_time << endl;
 746
 747         if ( track.gps_size() > 0 ) {
 748             double tmp = track.get_gpspt(track.gps_size()-1).ITOW;
 749             int days = (int)(tmp / (24 * 60 * 60));
 750             tmp -= days * 24 * 60 * 60;
 751             int hours = (int)(tmp / (60 * 60));
 752             tmp -= hours * 60 * 60;
 753             int min = (int)(tmp / 60);
 754             tmp -= min * 60;
 755             double sec = tmp;
 756             printf("[GPS  ]:ITOW= %.3f[sec]  %dd %02d:%02d:%06.3f\n",
 757                    tmp, days, hours, min, sec);
 758         }
 759
 760
 761         // advance skip seconds forward
 762         current_time += skip;
 763
 764         frame_us = 1000000.0 / hertz;
 765         if ( frame_us < 0.0 ) {
 766             frame_us = 0.0;
 767         }
 768
 769         SGTimeStamp start_time;
 770         start_time.stamp();
 771         int gps_count = 0;
 772         int imu_count = 0;
 773         int nav_count = 0;
 774         int servo_count = 0;
 775         int health_count = 0;
 776
 777         gps gps0, gps1;
 778         gps0 = gps1 = track.get_gpspt( 0 );
 779
 780         imu imu0, imu1;
 781         imu0 = imu1 = track.get_imupt( 0 );
 782
 783         nav nav0, nav1;
 784         nav0 = nav1 = track.get_navpt( 0 );
 785
 786         servo servo0, servo1;
 787         servo0 = servo1 = track.get_servopt( 0 );
 788
 789         health health0, health1;
 790         health0 = health1 = track.get_healthpt( 0 );
 791
 792         double last_lat = -999.9, last_lon = -999.9;
 793
 794         printf("<gpx>\n");
 795         printf(" <trk>\n");
 796         printf("  <trkseg>\n");
 797         while ( current_time < end_time ) {
 798             // cout << "current_time = " << current_time << " end_time = "
 799             //      << end_time << endl;
 800
 801             // Advance gps pointer
 802             while ( current_time > gps1.time
 803                     && gps_count < track.gps_size() - 1 )
 804             {
 805                 gps0 = gps1;
 806                 ++gps_count;
 807                 // cout << "count = " << count << endl;
 808                 gps1 = track.get_gpspt( gps_count );
 809             }
 810             // cout << "p0 = " << p0.get_time() << " p1 = " << p1.get_time()
 811             //      << endl;
 812
 813             // Advance imu pointer
 814             while ( current_time > imu1.time
 815                     && imu_count < track.imu_size() - 1 )
 816             {
 817                 imu0 = imu1;
 818                 ++imu_count;
 819                 // cout << "count = " << count << endl;
 820                 imu1 = track.get_imupt( imu_count );
 821             }
 822             //  cout << "pos0 = " << pos0.get_seconds()
 823             // << " pos1 = " << pos1.get_seconds() << endl;
 824
 825             // Advance nav pointer
 826             while ( current_time > nav1.time
 827                     && nav_count < track.nav_size() - 1 )
 828             {
 829                 nav0 = nav1;
 830                 ++nav_count;
 831                 // cout << "nav count = " << nav_count << endl;
 832                 nav1 = track.get_navpt( nav_count );
 833             }
 834             //  cout << "pos0 = " << pos0.get_seconds()
 835             // << " pos1 = " << pos1.get_seconds() << endl;
 836
 837             // Advance servo pointer
 838             while ( current_time > servo1.time
 839                     && servo_count < track.servo_size() - 1 )
 840             {
 841                 servo0 = servo1;
 842                 ++servo_count;
 843                 // cout << "count = " << count << endl;
 844                 servo1 = track.get_servopt( servo_count );
 845             }
 846             //  cout << "pos0 = " << pos0.get_seconds()
 847             // << " pos1 = " << pos1.get_seconds() << endl;
 848
 849             // Advance health pointer
 850             while ( current_time > health1.time
 851                     && health_count < track.health_size() - 1 )
 852             {
 853                 health0 = health1;
 854                 ++health_count;
 855                 // cout << "count = " << count << endl;
 856                 health1 = track.get_healthpt( health_count );
 857             }
 858             //  cout << "pos0 = " << pos0.get_seconds()
 859             // << " pos1 = " << pos1.get_seconds() << endl;
 860
 861             double gps_percent;
 862             if ( fabs(gps1.time - gps0.time) < 0.00001 ) {
 863                 gps_percent = 0.0;
 864             } else {
 865                 gps_percent =
 866                     (current_time - gps0.time) /
 867                     (gps1.time - gps0.time);
 868             }
 869             // cout << "Percent = " << percent << endl;
 870
 871             double imu_percent;
 872             if ( fabs(imu1.time - imu0.time) < 0.00001 ) {
 873                 imu_percent = 0.0;
 874             } else {
 875                 imu_percent =
 876                     (current_time - imu0.time) /
 877                     (imu1.time - imu0.time);
 878             }
 879             // cout << "Percent = " << percent << endl;
 880
 881             double nav_percent;
 882             if ( fabs(nav1.time - nav0.time) < 0.00001 ) {
 883                 nav_percent = 0.0;
 884             } else {
 885                 nav_percent =
 886                     (current_time - nav0.time) /
 887                     (nav1.time - nav0.time);
 888             }
 889             // cout << "Percent = " << percent << endl;
 890
 891             double servo_percent;
 892             if ( fabs(servo1.time - servo0.time) < 0.00001 ) {
 893                 servo_percent = 0.0;
 894             } else {
 895                 servo_percent =
 896                     (current_time - servo0.time) /
 897                     (servo1.time - servo0.time);
 898             }
 899             // cout << "Percent = " << percent << endl;
 900
 901             double health_percent;
 902             if ( fabs(health1.time - health0.time) < 0.00001 ) {
 903                 health_percent = 0.0;
 904             } else {
 905                 health_percent =
 906                     (current_time - health0.time) /
 907                     (health1.time - health0.time);
 908             }
 909             // cout << "Percent = " << percent << endl;
 910
 911             gps gpspacket = UGEARInterpGPS( gps0, gps1, gps_percent );
 912             imu imupacket = UGEARInterpIMU( imu0, imu1, imu_percent );
 913             nav navpacket = UGEARInterpNAV( nav0, nav1, nav_percent );
 914             servo servopacket = UGEARInterpSERVO( servo0, servo1,
 915                                                   servo_percent );
 916             health healthpacket = UGEARInterpHEALTH( health0, health1,
 917                                                   health_percent );
 918
 919             // cout << current_time << " " << p0.lat_deg << ", " << p0.lon_deg
 920             //      << endl;
 921             // cout << current_time << " " << p1.lat_deg << ", " << p1.lon_deg
 922             //      << endl;
 923             // cout << (double)current_time << " " << pos.lat_deg << ", "
 924             //      << pos.lon_deg << " " << att.yaw_deg << endl;
 925             if ( gpspacket.lat > -500 ) {
 926                 // printf( "%.3f  %.4f %.4f %.1f  %.2f %.2f %.2f\n",
 927                 //         current_time,
 928                 //         navpacket.lat, navpacket.lon, navpacket.alt,
 929                 //         imupacket.psi, imupacket.the, imupacket.phi );
 930                 double dlat = last_lat - navpacket.lat;
 931                 double dlon = last_lon - navpacket.lon;
 932                 double dist = sqrt( dlat*dlat + dlon*dlon );
 933                 if ( dist > 0.01 ) {
 934                     printf("   <trkpt lat=\"%.8f\" lon=\"%.8f\"></trkpt>\n",
 935                            navpacket.lat, navpacket.lon );
 936                     // printf(" </wpt>\n");
 937                     last_lat = navpacket.lat;
 938                     last_lon = navpacket.lon;
 939                 }
 940             }
 941
 942             if ( (fabs(gpspacket.lat) < 0.0001 &&
 943                   fabs(gpspacket.lon) < 0.0001 &&
 944                   fabs(gpspacket.alt) < 0.0001) )
 945             {
 946                 printf("WARNING: LOST GPS!!!\n");
 947                 gps_status = -1.0;
 948             } else {
 949                 gps_status = 1.0;
 950             }
 951
 952             send_data_udp( &gpspacket, &imupacket, &navpacket, &servopacket,
 953                            &healthpacket );
 954
 955             if ( run_real_time ) {
 956                 // Update the elapsed time.
 957                 static bool first_time = true;
 958                 if ( first_time ) {
 959                     last_time_stamp.stamp();
 960                     first_time = false;
 961                 }
 962
 963                 current_time_stamp.stamp();
 964                 /* Convert to ms */
 965                 double elapsed_us = (current_time_stamp - last_time_stamp).toUSecs();
 966                 if ( elapsed_us < (frame_us - 2000) ) {
 967                     double requested_us = (frame_us - elapsed_us) - 2000 ;
 968                     ulMilliSecondSleep ( (int)(requested_us / 1000.0) ) ;
 969                 }
 970                 current_time_stamp.stamp();
 971                 while ( (current_time_stamp - last_time_stamp).toUSecs() < frame_us ) {
 972                     current_time_stamp.stamp();
 973                 }
 974             }
 975
 976             current_time += (frame_us / 1000000.0);
 977             last_time_stamp = current_time_stamp;
 978         }
 979
 980         printf("   <trkpt lat=\"%.8f\" lon=\"%.8f\"></trkpt>\n",
 981                nav1.lat, nav1.lon );
 982
 983         printf("  </trkseg>\n");
 984         printf(" </trk>\n");
 985         nav0 = track.get_navpt( 0 );
 986         nav1 = track.get_navpt( track.nav_size() - 1 );
 987         printf(" <wpt lat=\"%.8f\" lon=\"%.8f\"></wpt>\n",
 988                nav0.lat, nav0.lon );
 989         printf(" <wpt lat=\"%.8f\" lon=\"%.8f\"></wpt>\n",
 990                nav1.lat, nav1.lon );
 991         printf("<gpx>\n");
 992
 993         cout << "Processed " << imu_count << " entries in "
 994              << current_time_stamp - start_time << " seconds."
 995              << endl;
 996     } else if ( serialdev.length() ) {
 997         // process incoming data from the serial port
 998
 999         int count = 0;
1000         double current_time = 0.0;
1001         double last_time = 0.0;
1002
1003         gps gpspacket; bzero( &gpspacket, sizeof(gpspacket) );
1004         imu imupacket; bzero( &imupacket, sizeof(imupacket) );
1005         nav navpacket; bzero( &navpacket, sizeof(navpacket) );
1006         servo servopacket; bzero( &servopacket, sizeof(servopacket) );
1007         health healthpacket; bzero( &healthpacket, sizeof(healthpacket) );
1008
1009         double gps_time = 0.0;
1010         double imu_time = 0.0;
1011         double nav_time = 0.0;
1012         double servo_time = 0.0;
1013         double health_time = 0.0;
1014         double command_time = 0.0;
1015         double command_heartbeat = 0.0;
1016
1017         // open the serial port device
1018         SGSerialPort uavcom( serialdev, 115200 );
1019         if ( !uavcom.is_enabled() ) {
1020             cout << "Cannot open: " << serialdev << endl;
1021             return false;
1022         }
1023
1024         // open up the data log file if requested
1025         if ( !outfile.length() ) {
1026             cout << "no --outfile <name> specified, cannot capture data!"
1027                  << endl;
1028             return false;
1029         }
1030         SGFile log( outfile );
1031         if ( !log.open( SG_IO_OUT ) ) {
1032             cout << "Cannot open: " << outfile << endl;
1033             return false;
1034         }
1035
1036         // add some test commands
1037         //command_mgr.add("ap,alt,1000");
1038         //command_mgr.add("home,158.0,32.5");
1039         //command_mgr.add("go,home");
1040         //command_mgr.add("go,route");
1041
1042         while ( uavcom.is_enabled() ) {
1043             // cout << "looking for next message ..." << endl;
1044             int id = track.next_message( &uavcom, &log, &gpspacket,
1045                                          &imupacket, &navpacket, &servopacket,
1046                                          &healthpacket, ignore_checksum );
1047             // cout << "message id = " << id << endl;
1048             count++;
1049
1050             telnet.process();
1051
1052             if ( id == GPS_PACKET ) {
1053                 if ( gpspacket.time > gps_time ) {
1054                     gps_time = gpspacket.time;
1055                     current_time = gps_time;
1056                 } else {
1057                   cout << "oops gps back in time: " << gpspacket.time << " " << gps_time << endl;
1058                 }
1059             } else if ( id == IMU_PACKET ) {
1060                 if ( imupacket.time > imu_time ) {
1061                     imu_time = imupacket.time;
1062                     current_time = imu_time;
1063                 } else {
1064                     cout << "oops imu back in time: " << imupacket.time << " " << imu_time << endl;
1065                 }
1066             } else if ( id == NAV_PACKET ) {
1067                 if ( navpacket.time > nav_time ) {
1068                     nav_time = navpacket.time;
1069                     current_time = nav_time;
1070                 } else {
1071                     cout << "oops nav back in time: " << navpacket.time << " " << nav_time << endl;
1072                 }
1073             } else if ( id == SERVO_PACKET ) {
1074                 if ( servopacket.time > servo_time ) {
1075                     servo_time = servopacket.time;
1076                     current_time = servo_time;
1077                 } else {
1078                     cout << "oops servo back in time: " << servopacket.time << " " << servo_time << endl;
1079                 }
1080             } else if ( id == HEALTH_PACKET ) {
1081                 if ( healthpacket.time > health_time ) {
1082                     health_time = healthpacket.time;
1083                     current_time = health_time;
1084                     printf("Received a health packet, sequence: %d\n",
1085                            (int)healthpacket.command_sequence);
1086                     command_mgr.update_cmd_sequence(healthpacket.command_sequence);
1087                 } else {
1088                     cout << "oops health back in time: " << healthpacket.time << " " << health_time << endl;
1089                 }
1090
1091             }
1092
1093             if ( (current_time > gps_time + 2) ||
1094                  (fabs(gpspacket.lat) < 0.0001 &&
1095                   fabs(gpspacket.lon) < 0.0001 &&
1096                   fabs(gpspacket.alt) < 0.0001) )
1097             {
1098                 printf("WARNING: LOST GPS!!!\n");
1099                 gps_status = -1.0;
1100             } else {
1101                 gps_status = 1.0;
1102             }
1103
1104             // Generate a ground station heart beat every 4 seconds
1105             if ( current_time >= command_heartbeat + 4 ) {
1106                 command_mgr.add("hb");
1107                 command_heartbeat = current_time;
1108             }
1109
1110             // Command update @ 1hz
1111             if ( current_time >= command_time + 1 ) {
1112                 command_mgr.update(&uavcom);
1113                 command_time = current_time;
1114             }
1115
1116             // Relay data on to FlightGear and LFSTech Glass
1117             if ( current_time >= last_time + (1/hertz) ) {
1118                 // if ( gpspacket.lat > -500 ) {
1119                 int londeg = (int)navpacket.lon;
1120                 // double lonmin = fabs(navpacket.lon - londeg);
1121                 int latdeg = (int)navpacket.lat;
1122                 // double latmin = fabs(navpacket.lat - latdeg);
1123                 char londir = 'E'; if ( londeg < 0 ) londir = 'W';
1124                 char latdir = 'N'; if ( latdeg < 0 ) latdir = 'S';
1125                 londeg = abs(londeg);
1126                 latdeg = abs(latdeg);
1127                 /*printf( "%.2f  %c%02d:%.4f %c%03d:%.4f %.1f  %.2f %.2f %.2f\n",
1128                         current_time,
1129                         latdir, latdeg, latmin, londir, londeg, lonmin,
1130                         navpacket.alt,
1131                         imupacket.phi*SGD_RADIANS_TO_DEGREES,
1132                         imupacket.the*SGD_RADIANS_TO_DEGREES,
1133                         imupacket.psi*SGD_RADIANS_TO_DEGREES ); */
1134                 // }
1135
1136                 last_time = current_time;
1137                 send_data_udp( &gpspacket, &imupacket, &navpacket,
1138                                &servopacket, &healthpacket );
1139             }
1140         }
1141     }
1142
1143     return 0;
1144 }