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 #endif
   8
   9 #ifndef _WIN32
  10 #  include <strings.h>          // for bzero()
  11 #else
  12 #  define bzero(a,b) memset(a,0,b)
  13 #endif
  14 #include <iostream>
  15 #include <string>
  16
  17 #include <plib/sg.h>
  18
  19 #include <simgear/constants.h>
  20 #include <simgear/io/lowlevel.hxx> // endian tests
  21 #include <simgear/io/sg_file.hxx>
  22 #include <simgear/io/raw_socket.hxx>
  23 #include <simgear/serial/serial.hxx>
  24 #include <simgear/math/sg_geodesy.hxx>
  25 #include <simgear/timing/timestamp.hxx>
  26
  27 #include <Network/net_ctrls.hxx>
  28 #include <Network/net_fdm.hxx>
  29
  30 #include "UGear.hxx"
  31 #include "UGear_command.hxx"
  32 #include "UGear_opengc.hxx"
  33 #include "UGear_telnet.hxx"
  34
  35
  36 using std::cout;
  37 using std::endl;
  38 using std::string;
  39
  40
  41 // Network channels
  42 static simgear::Socket fdm_sock, ctrls_sock, opengc_sock;
  43
  44 // ugear data
  45 UGTrack track;
  46
  47 // Default ports
  48 static int fdm_port = 5505;
  49 static int ctrls_port = 5506;
  50 static int opengc_port = 6000;
  51
  52 // Default path
  53 static string infile = "";
  54 static string flight_dir = "";
  55 static string serialdev = "";
  56 static string outfile = "";
  57
  58 // Master time counter
  59 float sim_time = 0.0f;
  60 double frame_us = 0.0f;
  61
  62 // sim control
  63 SGTimeStamp last_time_stamp;
  64 SGTimeStamp current_time_stamp;
  65
  66 // altitude offset
  67 double alt_offset = 0.0;
  68
  69 // skip initial seconds
  70 double skip = 0.0;
  71
  72 // for speed estimate
  73 double last_lat = 0.0, last_lon = 0.0;
  74 double kts_filter = 0.0;
  75
  76 bool inited = false;
  77
  78 bool run_real_time = true;
  79
  80 bool ignore_checksum = false;
  81
  82 bool sg_swap = false;
  83
  84 bool use_ground_track_hdg = false;
  85 bool use_ground_speed = false;
  86
  87 bool est_controls = false;
  88
  89 float gps_status = -1.0;
  90
  91
  92 // The function htond is defined this way due to the way some
  93 // processors and OSes treat floating point values.  Some will raise
  94 // an exception whenever a "bad" floating point value is loaded into a
  95 // floating point register.  Solaris is notorious for this, but then
  96 // so is LynxOS on the PowerPC.  By translating the data in place,
  97 // there is no need to load a FP register with the "corruped" floating
  98 // point value.  By doing the BIG_ENDIAN test, I can optimize the
  99 // routine for big-endian processors so it can be as efficient as
 100 // possible
 101 static void htond (double &x)
 102 {
 103     if ( sgIsLittleEndian() ) {
 104         int    *Double_Overlay;
 105         int     Holding_Buffer;
 106
 107         Double_Overlay = (int *) &x;
 108         Holding_Buffer = Double_Overlay [0];
 109
 110         Double_Overlay [0] = htonl (Double_Overlay [1]);
 111         Double_Overlay [1] = htonl (Holding_Buffer);
 112     } else {
 113         return;
 114     }
 115 }
 116
 117 // Float version
 118 static void htonf (float &x)
 119 {
 120     if ( sgIsLittleEndian() ) {
 121         int    *Float_Overlay;
 122         int     Holding_Buffer;
 123
 124         Float_Overlay = (int *) &x;
 125         Holding_Buffer = Float_Overlay [0];
 126
 127         Float_Overlay [0] = htonl (Holding_Buffer);
 128     } else {
 129         return;
 130     }
 131 }
 132
 133
 134 static void ugear2fg( gps *gpspacket, imu *imupacket, nav *navpacket,
 135                       servo *servopacket, health *healthpacket,
 136                       FGNetFDM *fdm, FGNetCtrls *ctrls )
 137 {
 138     unsigned int i;
 139
 140     // Version sanity checking
 141     fdm->version = FG_NET_FDM_VERSION;
 142
 143     // Aero parameters
 144     fdm->longitude = navpacket->lon * SG_DEGREES_TO_RADIANS;
 145     fdm->latitude = navpacket->lat * SG_DEGREES_TO_RADIANS;
 146     fdm->altitude = navpacket->alt + alt_offset;
 147     fdm->agl = -9999.0;
 148     fdm->psi = imupacket->psi; // heading
 149     fdm->phi = imupacket->phi; // roll
 150     fdm->theta = imupacket->the; // pitch;
 151
 152     fdm->phidot = 0.0;
 153     fdm->thetadot = 0.0;
 154     fdm->psidot = 0.0;
 155
 156     // estimate speed
 157     // double az1, az2, dist;
 158     // geo_inverse_wgs_84( fdm->altitude, last_lat, last_lon,
 159     //                     fdm->latitude, fdm->longitude, &az1, &az2, &dist );
 160     // last_lat = fdm->latitude;
 161     // last_lon = fdm->longitude;
 162     // double v_ms = dist / (frame_us / 1000000);
 163     // double v_kts = v_ms * SG_METER_TO_NM * 3600;
 164     // kts_filter = (0.9 * kts_filter) + (0.1 * v_kts);
 165     // printf("dist = %.5f  kts est = %.2f\n", dist, kts_filter);
 166
 167     double vn = navpacket->vn;
 168     double ve = navpacket->ve;
 169     double vd = navpacket->vd;
 170
 171     if ( use_ground_track_hdg ) {
 172         fdm->psi = SGD_PI * 0.5 - atan2(vn, ve); // heading
 173     }
 174
 175     double mps = 0.0;
 176     if ( use_ground_speed ) {
 177         mps = sqrt( vn*vn + ve*ve + vd*vd );
 178     } else {
 179         mps = imupacket->Pt;
 180     }
 181     // double mph = mps * 3600 / 1609.3440;
 182     double kts = mps * SG_MPS_TO_KT;
 183     fdm->vcas = kts;
 184     // printf("speed = %.2f mph  %.2f kts\n", mph, kts );
 185     static double Ps = 0.0, Ps_last = 0.0, t_last = 0.0;
 186     Ps_last = Ps;
 187     Ps = 0.92 * Ps + 0.08 * imupacket->Ps;
 188     double climb = (Ps - Ps_last) / (imupacket->time - t_last);
 189     t_last = imupacket->time;
 190     static double climbf = 0.0;
 191     climbf = 0.994 * climbf + 0.006 * climb;
 192     fdm->climb_rate = climbf; // fps
 193
 194     static double Ps_error = 0.0;
 195     static double Ps_count = 0;
 196     const double span = 10000.0;
 197     Ps_count += 1.0; if (Ps_count > (span-1.0)) { Ps_count = (span-1.0); }
 198     double error = navpacket->alt - Ps;
 199     Ps_error = (Ps_count/span) * Ps_error + ((span-Ps_count)/span) * error;
 200     fdm->altitude = Ps +  Ps_error;
 201
 202     /* printf("%.3f, %.3f, %.3f, %.3f, %.8f, %.8f, %.3f, %.3f, %.3f, %.3f, %.3f\n",
 203            imupacket->time, imupacket->the, -navpacket->vd, climbf,
 204            navpacket->lat, navpacket->lon, gpspacket->alt, navpacket->alt,
 205            imupacket->Ps, Ps, Ps + Ps_error); */
 206
 207     // cout << "climb rate = " << aero->hdota << endl;
 208     fdm->v_north = 0.0;
 209     fdm->v_east = 0.0;
 210     fdm->v_down = 0.0;
 211     fdm->v_wind_body_north = 0.0;
 212     fdm->v_wind_body_east = 0.0;
 213     fdm->v_wind_body_down = 0.0;
 214     fdm->stall_warning = 0.0;
 215
 216     fdm->A_X_pilot = 0.0;
 217     fdm->A_Y_pilot = 0.0;
 218     fdm->A_Z_pilot = 0.0 /* (should be -G) */;
 219
 220     // Engine parameters
 221     fdm->num_engines = 1;
 222     fdm->eng_state[0] = 2;
 223     // cout << "state = " << fdm->eng_state[0] << endl;
 224     double rpm = 5000.0 - ((double)servopacket->chn[2] / 65536.0)*3500.0;
 225     if ( rpm < 0.0 ) { rpm = 0.0; }
 226     if ( rpm > 5000.0 ) { rpm = 5000.0; }
 227     fdm->rpm[0] = rpm;
 228
 229     fdm->fuel_flow[0] = 0.0;
 230     fdm->egt[0] = 0.0;
 231     // cout << "egt = " << aero->EGT << endl;
 232     fdm->oil_temp[0] = 0.0;
 233     fdm->oil_px[0] = 0.0;
 234
 235     // Consumables
 236     fdm->num_tanks = 2;
 237     fdm->fuel_quantity[0] = 0.0;
 238     fdm->fuel_quantity[1] = 0.0;
 239
 240     // Gear and flaps
 241     fdm->num_wheels = 3;
 242     fdm->wow[0] = 0;
 243     fdm->wow[1] = 0;
 244     fdm->wow[2] = 0;
 245
 246     // the following really aren't used in this context
 247     fdm->cur_time = 0;
 248     fdm->warp = 0;
 249     fdm->visibility = 0;
 250
 251     // cout << "Flap deflection = " << aero->dflap << endl;
 252     fdm->left_flap = 0.0;
 253     fdm->right_flap = 0.0;
 254
 255     if ( est_controls ) {
 256         static float est_elev = 0.0;
 257         static float est_aileron = 0.0;
 258         static float est_rudder = 0.0;
 259         est_elev = 0.99 * est_elev + 0.01 * (imupacket->q * 4);
 260         est_aileron = 0.95 * est_aileron + 0.05 * (imupacket->p * 5);
 261         est_rudder = 0.95 * est_rudder + 0.05 * (imupacket->r * 2);
 262         ctrls->elevator = fdm->elevator = -est_elev;
 263         ctrls->aileron = fdm->left_aileron = est_aileron;
 264         fdm->right_aileron = -est_aileron;
 265         ctrls->rudder = fdm->rudder = est_rudder;
 266     } else {
 267         ctrls->elevator = fdm->elevator = 1.0 - ((double)servopacket->chn[1] / 32768.0);
 268         ctrls->aileron = fdm->left_aileron = 1.0 - ((double)servopacket->chn[0] / 32768.0);
 269         fdm->right_aileron = ((double)servopacket->chn[0] / 32768.0) - 1.0;
 270         ctrls->rudder = fdm->rudder = 1.0 - ((double)servopacket->chn[3] / 32768.0);
 271         ctrls->elevator *= 3.0;
 272         ctrls->aileron *= 3.0;
 273     }
 274     fdm->elevator_trim_tab = 0.0;
 275     fdm->left_flap = 0.0;
 276     fdm->right_flap = 0.0;
 277     fdm->nose_wheel = 0.0;
 278     fdm->speedbrake = 0.0;
 279     fdm->spoilers = 0.0;
 280
 281     // Convert the net buffer to network format
 282     fdm->version = htonl(fdm->version);
 283
 284     htond(fdm->longitude);
 285     htond(fdm->latitude);
 286     htond(fdm->altitude);
 287     htonf(fdm->agl);
 288     htonf(fdm->phi);
 289     htonf(fdm->theta);
 290     htonf(fdm->psi);
 291     htonf(fdm->alpha);
 292     htonf(fdm->beta);
 293
 294     htonf(fdm->phidot);
 295     htonf(fdm->thetadot);
 296     htonf(fdm->psidot);
 297     htonf(fdm->vcas);
 298     htonf(fdm->climb_rate);
 299     htonf(fdm->v_north);
 300     htonf(fdm->v_east);
 301     htonf(fdm->v_down);
 302     htonf(fdm->v_wind_body_north);
 303     htonf(fdm->v_wind_body_east);
 304     htonf(fdm->v_wind_body_down);
 305
 306     htonf(fdm->A_X_pilot);
 307     htonf(fdm->A_Y_pilot);
 308     htonf(fdm->A_Z_pilot);
 309
 310     htonf(fdm->stall_warning);
 311     htonf(fdm->slip_deg);
 312
 313     for ( i = 0; i < fdm->num_engines; ++i ) {
 314         fdm->eng_state[i] = htonl(fdm->eng_state[i]);
 315         htonf(fdm->rpm[i]);
 316         htonf(fdm->fuel_flow[i]);
 317         htonf(fdm->egt[i]);
 318         htonf(fdm->cht[i]);
 319         htonf(fdm->mp_osi[i]);
 320         htonf(fdm->tit[i]);
 321         htonf(fdm->oil_temp[i]);
 322         htonf(fdm->oil_px[i]);
 323     }
 324     fdm->num_engines = htonl(fdm->num_engines);
 325
 326     for ( i = 0; i < fdm->num_tanks; ++i ) {
 327         htonf(fdm->fuel_quantity[i]);
 328     }
 329     fdm->num_tanks = htonl(fdm->num_tanks);
 330
 331     for ( i = 0; i < fdm->num_wheels; ++i ) {
 332         fdm->wow[i] = htonl(fdm->wow[i]);
 333         htonf(fdm->gear_pos[i]);
 334         htonf(fdm->gear_steer[i]);
 335         htonf(fdm->gear_compression[i]);
 336     }
 337     fdm->num_wheels = htonl(fdm->num_wheels);
 338
 339     fdm->cur_time = htonl( fdm->cur_time );
 340     fdm->warp = htonl( fdm->warp );
 341     htonf(fdm->visibility);
 342
 343     htonf(fdm->elevator);
 344     htonf(fdm->elevator_trim_tab);
 345     htonf(fdm->left_flap);
 346     htonf(fdm->right_flap);
 347     htonf(fdm->left_aileron);
 348     htonf(fdm->right_aileron);
 349     htonf(fdm->rudder);
 350     htonf(fdm->nose_wheel);
 351     htonf(fdm->speedbrake);
 352     htonf(fdm->spoilers);
 353
 354 #if 0
 355     ctrls->version = FG_NET_CTRLS_VERSION;
 356     ctrls->elevator_trim = 0.0;
 357     ctrls->flaps = 0.0;
 358
 359     htonl(ctrls->version);
 360     htond(ctrls->aileron);
 361     htond(ctrls->rudder);
 362     htond(ctrls->elevator);
 363     htond(ctrls->elevator_trim);
 364     htond(ctrls->flaps);
 365 #endif
 366 }
 367
 368
 369 static void ugear2opengc( gps *gpspacket, imu *imupacket, nav *navpacket,
 370                           servo *servopacket, health *healthpacket,
 371                           ogcFGData *ogc )
 372 {
 373     // Version sanity checking
 374     ogc->version_id = OGC_VERSION;
 375
 376     // Aero parameters
 377     ogc->longitude = navpacket->lon;
 378     ogc->latitude = navpacket->lat;
 379     ogc->heading = imupacket->psi * SG_RADIANS_TO_DEGREES; // heading
 380     ogc->bank = imupacket->phi * SG_RADIANS_TO_DEGREES; // roll
 381     ogc->pitch = imupacket->the * SG_RADIANS_TO_DEGREES; // pitch;
 382
 383     ogc->phi_dot = 0.0;
 384     ogc->theta_dot = 0.0;
 385     ogc->psi_dot = 0.0;
 386
 387     ogc->alpha = 0.0;
 388     ogc->beta = 0.0;
 389     ogc->alpha_dot = 0.0;
 390     ogc->beta_dot = 0.0;
 391
 392     ogc->left_aileron = 1.0 - ((double)servopacket->chn[0] / 32768.0);
 393     ogc->right_aileron = ((double)servopacket->chn[0] / 32768.0) - 1.0;
 394     ogc->elevator = 1.0 - ((double)servopacket->chn[1] / 32768.0);
 395     ogc->elevator_trim = 0.0;
 396     ogc->rudder = 1.0 - ((double)servopacket->chn[3] / 32768.0);
 397     ogc->flaps = 0.0;
 398     ogc->flaps_cmd = 0.0;
 399
 400     ogc->wind = 0.0;
 401     ogc->wind_dir = 0.0;
 402
 403     // estimate speed
 404     // double az1, az2, dist;
 405     // geo_inverse_wgs_84( fdm->altitude, last_lat, last_lon,
 406     //                     fdm->latitude, fdm->longitude, &az1, &az2, &dist );
 407     // last_lat = fdm->latitude;
 408     // last_lon = fdm->longitude;
 409     // double v_ms = dist / (frame_us / 1000000);
 410     // double v_kts = v_ms * SG_METER_TO_NM * 3600;
 411     // kts_filter = (0.9 * kts_filter) + (0.1 * v_kts);
 412     // printf("dist = %.5f  kts est = %.2f\n", dist, kts_filter);
 413
 414     double vn = navpacket->vn;
 415     double ve = navpacket->ve;
 416     double vd = navpacket->vd;
 417
 418     if ( use_ground_track_hdg ) {
 419         ogc->heading = (SGD_PI * 0.5 - atan2(vn, ve)) * SG_RADIANS_TO_DEGREES;
 420     }
 421
 422     if ( ogc->heading < 0 ) { ogc->heading += 360.0; }
 423
 424     double mps = 0.0;
 425     if ( use_ground_speed ) {
 426         mps = sqrt( vn*vn + ve*ve + vd*vd );
 427     } else {
 428         mps = imupacket->Pt;
 429     }
 430     // double mph = mps * 3600 / 1609.3440;
 431     double kts = mps * SG_MPS_TO_KT;
 432     ogc->v_kcas = kts;
 433     // printf("speed = %.2f mph  %.2f kts\n", mph, kts );
 434     static double Ps = 0.0, Ps_last = 0.0, t_last = 0.0;
 435     Ps_last = Ps;
 436     Ps = 0.92 * Ps + 0.08 * imupacket->Ps;
 437     double climb = (Ps - Ps_last) / (imupacket->time - t_last);
 438     t_last = imupacket->time;
 439     static double climbf = 0.0;
 440     climbf = 0.994 * climbf + 0.006 * climb;
 441     ogc->vvi = climbf; // fps
 442
 443     // uncomment one of the following schemes for setting elevation:
 444
 445     // use the navigation (inertially augmented gps estimate)
 446     // ogc->altitude = ogc->elevation
 447     //     = (navpacket->alt + alt_offset * SG_METER_TO_FEET);
 448
 449     // use estimate error between pressure sensor and gps altitude over time
 450     // use pressure sensor + error average for altitude estimate.
 451     static double Ps_error = 0.0;
 452     static double Ps_count = 0;
 453     const double span = 10000.0;
 454     Ps_count += 1.0; if (Ps_count > (span-1.0)) { Ps_count = (span-1.0); }
 455     double error = navpacket->alt - Ps;
 456     Ps_error = (Ps_count/span) * Ps_error + ((span-Ps_count)/span) * error;
 457     ogc->elevation = (Ps +  Ps_error) * SG_METER_TO_FEET;
 458
 459     /* printf("%.3f, %.3f, %.3f, %.3f, %.8f, %.8f, %.3f, %.3f, %.3f, %.3f, %.3f\n",
 460            imupacket->time, imupacket->the, -navpacket->vd, climbf,
 461            navpacket->lat, navpacket->lon, gpspacket->alt, navpacket->alt,
 462            imupacket->Ps, Ps, Ps + Ps_error); */
 463
 464     if ( est_controls ) {
 465         static float est_elev = 0.0;
 466         static float est_aileron = 0.0;
 467         static float est_rudder = 0.0;
 468         est_elev = 0.99 * est_elev + 0.01 * (imupacket->q * 4);
 469         est_aileron = 0.95 * est_aileron + 0.05 * (imupacket->p * 5);
 470         est_rudder = 0.95 * est_rudder + 0.05 * (imupacket->r * 2);
 471         ogc->elevator = -est_elev;
 472         ogc->left_aileron = est_aileron;
 473         ogc->right_aileron = -est_aileron;
 474         ogc->rudder = est_rudder;
 475     } else {
 476         ogc->elevator = 1.0 - ((double)servopacket->chn[1] / 32768.0);
 477         ogc->left_aileron = 1.0 - ((double)servopacket->chn[0] / 32768.0);
 478         ogc->right_aileron = ((double)servopacket->chn[0] / 32768.0) - 1.0;
 479         ogc->rudder = 1.0 - ((double)servopacket->chn[3] / 32768.0);
 480     }
 481     ogc->elevator *= 4.0;
 482     ogc->left_aileron *= 4.0;
 483     ogc->right_aileron *= 4.0;
 484     ogc->rudder *= 4.0;
 485
 486     // additional "abused" data fields
 487     ogc->egt[0] = ogc->bank - healthpacket->target_roll_deg; // flight director target roll
 488     ogc->egt[1] = -ogc->pitch + healthpacket->target_pitch_deg; // flight director target pitch
 489     ogc->egt[2] = healthpacket->target_heading_deg; // target heading bug
 490     ogc->egt[3] = healthpacket->target_climb_fps;   // target VVI bug
 491     ogc->epr[0] = healthpacket->target_altitude_ft; // target altitude bug
 492     ogc->epr[1] = 30.0;                              // target speed bug
 493     ogc->epr[2] = gps_status;   // gps status box
 494 }
 495
 496
 497 static void send_data_udp( gps *gpspacket, imu *imupacket, nav *navpacket,
 498                            servo *servopacket, health *healthpacket )
 499 {
 500     int len;
 501     int ogcsize = sizeof( ogcFGData );
 502     int fdmsize = sizeof( FGNetFDM );
 503     // int ctrlsize = sizeof( FGNetCtrls );
 504
 505     // cout << "Running main loop" << endl;
 506
 507     ogcFGData fgogc;
 508     FGNetFDM fgfdm;
 509     FGNetCtrls fgctrls;
 510
 511     ugear2fg( gpspacket, imupacket, navpacket, servopacket, healthpacket,
 512               &fgfdm, &fgctrls );
 513     ugear2opengc( gpspacket, imupacket, navpacket, servopacket, healthpacket,
 514                   &fgogc );
 515     len = opengc_sock.send(&fgogc, ogcsize, 0);
 516     len = fdm_sock.send(&fgfdm, fdmsize, 0);
 517     // len = ctrls_sock.send(&fgctrls, ctrlsize, 0);
 518 }
 519
 520
 521 void usage( const string &argv0 ) {
 522     cout << "Usage: " << argv0 << endl;
 523     cout << "\t[ --help ]" << endl;
 524     cout << "\t[ --infile <infile_name>" << endl;
 525     cout << "\t[ --flight <flight_dir>" << endl;
 526     cout << "\t[ --serial <dev_name>" << endl;
 527     cout << "\t[ --outfile <outfile_name> (capture the data to a file)" << endl;
 528     cout << "\t[ --hertz <hertz> ]" << endl;
 529     cout << "\t[ --host <hostname> ]" << endl;
 530     cout << "\t[ --broadcast ]" << endl;
 531     cout << "\t[ --opengc-port <opengc output port #> ]" << endl;
 532     cout << "\t[ --fdm-port <fdm output port #> ]" << endl;
 533     cout << "\t[ --ctrls-port <ctrls output port #> ]" << endl;
 534     cout << "\t[ --groundtrack-heading ]" << endl;
 535     cout << "\t[ --ground-speed ]" << endl;
 536     cout << "\t[ --estimate-control-deflections ]" << endl;
 537     cout << "\t[ --altitude-offset <meters> ]" << endl;
 538     cout << "\t[ --skip-seconds <seconds> ]" << endl;
 539     cout << "\t[ --no-real-time ]" << endl;
 540     cout << "\t[ --ignore-checksum ]" << endl;
 541     cout << "\t[ --sg-swap ]" << endl;
 542 }
 543
 544
 545 int main( int argc, char **argv ) {
 546     double hertz = 60.0;
 547     string out_host = "localhost";
 548     bool do_broadcast = false;
 549
 550     // process command line arguments
 551     for ( int i = 1; i < argc; ++i ) {
 552         if ( strcmp( argv[i], "--help" ) == 0 ) {
 553             usage( argv[0] );
 554             exit( 0 );
 555         } else if ( strcmp( argv[i], "--hertz" ) == 0 ) {
 556             ++i;
 557             if ( i < argc ) {
 558                 hertz = atof( argv[i] );
 559             } else {
 560                 usage( argv[0] );
 561                 exit( -1 );
 562             }
 563         } else if ( strcmp( argv[i], "--infile" ) == 0 ) {
 564             ++i;
 565             if ( i < argc ) {
 566                 infile = argv[i];
 567             } else {
 568                 usage( argv[0] );
 569                 exit( -1 );
 570             }
 571         } else if ( strcmp( argv[i], "--flight" ) == 0 ) {
 572             ++i;
 573             if ( i < argc ) {
 574                 flight_dir = argv[i];
 575             } else {
 576                 usage( argv[0] );
 577                 exit( -1 );
 578             }
 579         } else if ( strcmp( argv[i], "--outfile" ) == 0 ) {
 580             ++i;
 581             if ( i < argc ) {
 582                 outfile = argv[i];
 583             } else {
 584                 usage( argv[0] );
 585                 exit( -1 );
 586             }
 587         } else if ( strcmp( argv[i], "--serial" ) == 0 ) {
 588             ++i;
 589             if ( i < argc ) {
 590                 serialdev = argv[i];
 591             } else {
 592                 usage( argv[0] );
 593                 exit( -1 );
 594             }
 595         } else if ( strcmp( argv[i], "--host" ) == 0 ) {
 596             ++i;
 597             if ( i < argc ) {
 598                 out_host = argv[i];
 599             } else {
 600                 usage( argv[0] );
 601                 exit( -1 );
 602             }
 603         } else if ( strcmp( argv[i], "--broadcast" ) == 0 ) {
 604           do_broadcast = true;
 605         } else if ( strcmp( argv[i], "--opengc-port" ) == 0 ) {
 606             ++i;
 607             if ( i < argc ) {
 608                 opengc_port = atoi( argv[i] );
 609             } else {
 610                 usage( argv[0] );
 611                 exit( -1 );
 612             }
 613         } else if ( strcmp( argv[i], "--fdm-port" ) == 0 ) {
 614             ++i;
 615             if ( i < argc ) {
 616                 fdm_port = atoi( argv[i] );
 617             } else {
 618                 usage( argv[0] );
 619                 exit( -1 );
 620             }
 621         } else if ( strcmp( argv[i], "--ctrls-port" ) == 0 ) {
 622             ++i;
 623             if ( i < argc ) {
 624                 ctrls_port = atoi( argv[i] );
 625             } else {
 626                 usage( argv[0] );
 627                 exit( -1 );
 628             }
 629         } else if ( strcmp (argv[i], "--groundtrack-heading" ) == 0 ) {
 630             use_ground_track_hdg = true;
 631         } else if ( strcmp (argv[i], "--ground-speed" ) == 0 ) {
 632             use_ground_speed = true;
 633         } else if (strcmp (argv[i], "--estimate-control-deflections" ) == 0) {
 634             est_controls = true;
 635         } else if ( strcmp( argv[i], "--altitude-offset" ) == 0 ) {
 636             ++i;
 637             if ( i < argc ) {
 638                 alt_offset = atof( argv[i] );
 639             } else {
 640                 usage( argv[0] );
 641                 exit( -1 );
 642             }
 643         } else if ( strcmp( argv[i], "--skip-seconds" ) == 0 ) {
 644             ++i;
 645             if ( i < argc ) {
 646                 skip = atof( argv[i] );
 647             } else {
 648                 usage( argv[0] );
 649                 exit( -1 );
 650             }
 651         } else if ( strcmp( argv[i], "--no-real-time" ) == 0 ) {
 652             run_real_time = false;
 653         } else if ( strcmp( argv[i], "--ignore-checksum" ) == 0 ) {
 654             ignore_checksum = true;
 655         } else if ( strcmp( argv[i], "--sg-swap" ) == 0 ) {
 656             sg_swap = true;
 657         } else {
 658             usage( argv[0] );
 659             exit( -1 );
 660         }
 661     }
 662
 663     // Setup up outgoing network connections
 664
 665     simgear::Socket::initSockets(); // We must call this before any other net stuff
 666
 667     if ( ! opengc_sock.open( false ) ) {  // open a UDP socket
 668         cout << "error opening opengc output socket" << endl;
 669         return -1;
 670     }
 671     if ( ! fdm_sock.open( false ) ) {  // open a UDP socket
 672         cout << "error opening fdm output socket" << endl;
 673         return -1;
 674     }
 675     if ( ! ctrls_sock.open( false ) ) {  // open a UDP socket
 676         cout << "error opening ctrls output socket" << endl;
 677         return -1;
 678     }
 679     cout << "open net channels" << endl;
 680
 681     opengc_sock.setBlocking( false );
 682     fdm_sock.setBlocking( false );
 683     ctrls_sock.setBlocking( false );
 684     cout << "blocking false" << endl;
 685
 686     if ( do_broadcast ) {
 687         opengc_sock.setBroadcast( true );
 688         fdm_sock.setBroadcast( true );
 689         ctrls_sock.setBroadcast( true );
 690     }
 691
 692     if ( opengc_sock.connect( out_host.c_str(), opengc_port ) == -1 ) {
 693         perror("connect");
 694         cout << "error connecting to outgoing opengc port: " << out_host
 695              << ":" << opengc_port << endl;
 696         return -1;
 697     }
 698     cout << "connected outgoing opengc socket" << endl;
 699
 700     if ( fdm_sock.connect( out_host.c_str(), fdm_port ) == -1 ) {
 701         perror("connect");
 702         cout << "error connecting to outgoing fdm port: " << out_host
 703              << ":" << fdm_port << endl;
 704         return -1;
 705     }
 706     cout << "connected outgoing fdm socket" << endl;
 707
 708     if ( ctrls_sock.connect( out_host.c_str(), ctrls_port ) == -1 ) {
 709         perror("connect");
 710         cout << "error connecting to outgoing ctrls port: " << out_host
 711              << ":" << ctrls_port << endl;
 712         return -1;
 713     }
 714     cout << "connected outgoing ctrls socket" << endl;
 715
 716     if ( sg_swap ) {
 717         track.set_stargate_swap_mode();
 718     }
 719
 720     UGTelnet telnet( 5402 );
 721     telnet.open();
 722
 723     if ( infile.length() || flight_dir.length() ) {
 724         if ( infile.length() ) {
 725             // Load data from a stream log data file
 726             track.load_stream( infile, ignore_checksum );
 727         } else if ( flight_dir.length() ) {
 728             // Load data from a flight directory
 729             track.load_flight( flight_dir );
 730         }
 731         cout << "Loaded " << track.gps_size() << " gps records." << endl;
 732         cout << "Loaded " << track.imu_size() << " imu records." << endl;
 733         cout << "Loaded " << track.nav_size() << " nav records." << endl;
 734         cout << "Loaded " << track.servo_size() << " servo records." << endl;
 735         cout << "Loaded " << track.health_size() << " health records." << endl;
 736
 737         int size = track.imu_size();
 738
 739         double current_time = track.get_imupt(0).time;
 740         cout << "Track begin time is " << current_time << endl;
 741         double end_time = track.get_imupt(size-1).time;
 742         cout << "Track end time is " << end_time << endl;
 743         cout << "Duration = " << end_time - current_time << endl;
 744
 745         if ( track.gps_size() > 0 ) {
 746             double tmp = track.get_gpspt(track.gps_size()-1).ITOW;
 747             int days = (int)(tmp / (24 * 60 * 60));
 748             tmp -= days * 24 * 60 * 60;
 749             int hours = (int)(tmp / (60 * 60));
 750             tmp -= hours * 60 * 60;
 751             int min = (int)(tmp / 60);
 752             tmp -= min * 60;
 753             double sec = tmp;
 754             printf("[GPS  ]:ITOW= %.3f[sec]  %dd %02d:%02d:%06.3f\n",
 755                    tmp, days, hours, min, sec);
 756         }
 757
 758
 759         // advance skip seconds forward
 760         current_time += skip;
 761
 762         frame_us = 1000000.0 / hertz;
 763         if ( frame_us < 0.0 ) {
 764             frame_us = 0.0;
 765         }
 766
 767         SGTimeStamp start_time;
 768         start_time.stamp();
 769         int gps_count = 0;
 770         int imu_count = 0;
 771         int nav_count = 0;
 772         int servo_count = 0;
 773         int health_count = 0;
 774
 775         gps gps0, gps1;
 776         gps0 = gps1 = track.get_gpspt( 0 );
 777
 778         imu imu0, imu1;
 779         imu0 = imu1 = track.get_imupt( 0 );
 780
 781         nav nav0, nav1;
 782         nav0 = nav1 = track.get_navpt( 0 );
 783
 784         servo servo0, servo1;
 785         servo0 = servo1 = track.get_servopt( 0 );
 786
 787         health health0, health1;
 788         health0 = health1 = track.get_healthpt( 0 );
 789
 790         double last_lat = -999.9, last_lon = -999.9;
 791
 792         printf("<gpx>\n");
 793         printf(" <trk>\n");
 794         printf("  <trkseg>\n");
 795         while ( current_time < end_time ) {
 796             // cout << "current_time = " << current_time << " end_time = "
 797             //      << end_time << endl;
 798
 799             // Advance gps pointer
 800             while ( current_time > gps1.time
 801                     && gps_count < track.gps_size() - 1 )
 802             {
 803                 gps0 = gps1;
 804                 ++gps_count;
 805                 // cout << "count = " << count << endl;
 806                 gps1 = track.get_gpspt( gps_count );
 807             }
 808             // cout << "p0 = " << p0.get_time() << " p1 = " << p1.get_time()
 809             //      << endl;
 810
 811             // Advance imu pointer
 812             while ( current_time > imu1.time
 813                     && imu_count < track.imu_size() - 1 )
 814             {
 815                 imu0 = imu1;
 816                 ++imu_count;
 817                 // cout << "count = " << count << endl;
 818                 imu1 = track.get_imupt( imu_count );
 819             }
 820             //  cout << "pos0 = " << pos0.get_seconds()
 821             // << " pos1 = " << pos1.get_seconds() << endl;
 822
 823             // Advance nav pointer
 824             while ( current_time > nav1.time
 825                     && nav_count < track.nav_size() - 1 )
 826             {
 827                 nav0 = nav1;
 828                 ++nav_count;
 829                 // cout << "nav count = " << nav_count << endl;
 830                 nav1 = track.get_navpt( nav_count );
 831             }
 832             //  cout << "pos0 = " << pos0.get_seconds()
 833             // << " pos1 = " << pos1.get_seconds() << endl;
 834
 835             // Advance servo pointer
 836             while ( current_time > servo1.time
 837                     && servo_count < track.servo_size() - 1 )
 838             {
 839                 servo0 = servo1;
 840                 ++servo_count;
 841                 // cout << "count = " << count << endl;
 842                 servo1 = track.get_servopt( servo_count );
 843             }
 844             //  cout << "pos0 = " << pos0.get_seconds()
 845             // << " pos1 = " << pos1.get_seconds() << endl;
 846
 847             // Advance health pointer
 848             while ( current_time > health1.time
 849                     && health_count < track.health_size() - 1 )
 850             {
 851                 health0 = health1;
 852                 ++health_count;
 853                 // cout << "count = " << count << endl;
 854                 health1 = track.get_healthpt( health_count );
 855             }
 856             //  cout << "pos0 = " << pos0.get_seconds()
 857             // << " pos1 = " << pos1.get_seconds() << endl;
 858
 859             double gps_percent;
 860             if ( fabs(gps1.time - gps0.time) < 0.00001 ) {
 861                 gps_percent = 0.0;
 862             } else {
 863                 gps_percent =
 864                     (current_time - gps0.time) /
 865                     (gps1.time - gps0.time);
 866             }
 867             // cout << "Percent = " << percent << endl;
 868
 869             double imu_percent;
 870             if ( fabs(imu1.time - imu0.time) < 0.00001 ) {
 871                 imu_percent = 0.0;
 872             } else {
 873                 imu_percent =
 874                     (current_time - imu0.time) /
 875                     (imu1.time - imu0.time);
 876             }
 877             // cout << "Percent = " << percent << endl;
 878
 879             double nav_percent;
 880             if ( fabs(nav1.time - nav0.time) < 0.00001 ) {
 881                 nav_percent = 0.0;
 882             } else {
 883                 nav_percent =
 884                     (current_time - nav0.time) /
 885                     (nav1.time - nav0.time);
 886             }
 887             // cout << "Percent = " << percent << endl;
 888
 889             double servo_percent;
 890             if ( fabs(servo1.time - servo0.time) < 0.00001 ) {
 891                 servo_percent = 0.0;
 892             } else {
 893                 servo_percent =
 894                     (current_time - servo0.time) /
 895                     (servo1.time - servo0.time);
 896             }
 897             // cout << "Percent = " << percent << endl;
 898
 899             double health_percent;
 900             if ( fabs(health1.time - health0.time) < 0.00001 ) {
 901                 health_percent = 0.0;
 902             } else {
 903                 health_percent =
 904                     (current_time - health0.time) /
 905                     (health1.time - health0.time);
 906             }
 907             // cout << "Percent = " << percent << endl;
 908
 909             gps gpspacket = UGEARInterpGPS( gps0, gps1, gps_percent );
 910             imu imupacket = UGEARInterpIMU( imu0, imu1, imu_percent );
 911             nav navpacket = UGEARInterpNAV( nav0, nav1, nav_percent );
 912             servo servopacket = UGEARInterpSERVO( servo0, servo1,
 913                                                   servo_percent );
 914             health healthpacket = UGEARInterpHEALTH( health0, health1,
 915                                                   health_percent );
 916
 917             // cout << current_time << " " << p0.lat_deg << ", " << p0.lon_deg
 918             //      << endl;
 919             // cout << current_time << " " << p1.lat_deg << ", " << p1.lon_deg
 920             //      << endl;
 921             // cout << (double)current_time << " " << pos.lat_deg << ", "
 922             //      << pos.lon_deg << " " << att.yaw_deg << endl;
 923             if ( gpspacket.lat > -500 ) {
 924                 // printf( "%.3f  %.4f %.4f %.1f  %.2f %.2f %.2f\n",
 925                 //         current_time,
 926                 //         navpacket.lat, navpacket.lon, navpacket.alt,
 927                 //         imupacket.psi, imupacket.the, imupacket.phi );
 928                 double dlat = last_lat - navpacket.lat;
 929                 double dlon = last_lon - navpacket.lon;
 930                 double dist = sqrt( dlat*dlat + dlon*dlon );
 931                 if ( dist > 0.01 ) {
 932                     printf("   <trkpt lat=\"%.8f\" lon=\"%.8f\"></trkpt>\n",
 933                            navpacket.lat, navpacket.lon );
 934                     // printf(" </wpt>\n");
 935                     last_lat = navpacket.lat;
 936                     last_lon = navpacket.lon;
 937                 }
 938             }
 939
 940             if ( (fabs(gpspacket.lat) < 0.0001 &&
 941                   fabs(gpspacket.lon) < 0.0001 &&
 942                   fabs(gpspacket.alt) < 0.0001) )
 943             {
 944                 printf("WARNING: LOST GPS!!!\n");
 945                 gps_status = -1.0;
 946             } else {
 947                 gps_status = 1.0;
 948             }
 949
 950             send_data_udp( &gpspacket, &imupacket, &navpacket, &servopacket,
 951                            &healthpacket );
 952
 953             if ( run_real_time ) {
 954                 // Update the elapsed time.
 955                 static bool first_time = true;
 956                 if ( first_time ) {
 957                     last_time_stamp.stamp();
 958                     first_time = false;
 959                 }
 960
 961                 current_time_stamp.stamp();
 962                 /* Convert to ms */
 963                 double elapsed_us = (current_time_stamp - last_time_stamp).toUSecs();
 964                 if ( elapsed_us < (frame_us - 2000) ) {
 965                     double requested_us = (frame_us - elapsed_us) - 2000 ;
 966                     ulMilliSecondSleep ( (int)(requested_us / 1000.0) ) ;
 967                 }
 968                 current_time_stamp.stamp();
 969                 while ( (current_time_stamp - last_time_stamp).toUSecs() < frame_us ) {
 970                     current_time_stamp.stamp();
 971                 }
 972             }
 973
 974             current_time += (frame_us / 1000000.0);
 975             last_time_stamp = current_time_stamp;
 976         }
 977
 978         printf("   <trkpt lat=\"%.8f\" lon=\"%.8f\"></trkpt>\n",
 979                nav1.lat, nav1.lon );
 980
 981         printf("  </trkseg>\n");
 982         printf(" </trk>\n");
 983         nav0 = track.get_navpt( 0 );
 984         nav1 = track.get_navpt( track.nav_size() - 1 );
 985         printf(" <wpt lat=\"%.8f\" lon=\"%.8f\"></wpt>\n",
 986                nav0.lat, nav0.lon );
 987         printf(" <wpt lat=\"%.8f\" lon=\"%.8f\"></wpt>\n",
 988                nav1.lat, nav1.lon );
 989         printf("<gpx>\n");
 990
 991         cout << "Processed " << imu_count << " entries in "
 992              << current_time_stamp - start_time << " seconds."
 993              << endl;
 994     } else if ( serialdev.length() ) {
 995         // process incoming data from the serial port
 996
 997         int count = 0;
 998         double current_time = 0.0;
 999         double last_time = 0.0;
1000
1001         gps gpspacket; bzero( &gpspacket, sizeof(gpspacket) );
1002         imu imupacket; bzero( &imupacket, sizeof(imupacket) );
1003         nav navpacket; bzero( &navpacket, sizeof(navpacket) );
1004         servo servopacket; bzero( &servopacket, sizeof(servopacket) );
1005         health healthpacket; bzero( &healthpacket, sizeof(healthpacket) );
1006
1007         double gps_time = 0.0;
1008         double imu_time = 0.0;
1009         double nav_time = 0.0;
1010         double servo_time = 0.0;
1011         double health_time = 0.0;
1012         double command_time = 0.0;
1013         double command_heartbeat = 0.0;
1014
1015         // open the serial port device
1016         SGSerialPort uavcom( serialdev, 115200 );
1017         if ( !uavcom.is_enabled() ) {
1018             cout << "Cannot open: " << serialdev << endl;
1019             return false;
1020         }
1021
1022         // open up the data log file if requested
1023         if ( !outfile.length() ) {
1024             cout << "no --outfile <name> specified, cannot capture data!"
1025                  << endl;
1026             return false;
1027         }
1028         SGFile log( outfile );
1029         if ( !log.open( SG_IO_OUT ) ) {
1030             cout << "Cannot open: " << outfile << endl;
1031             return false;
1032         }
1033
1034         // add some test commands
1035         //command_mgr.add("ap,alt,1000");
1036         //command_mgr.add("home,158.0,32.5");
1037         //command_mgr.add("go,home");
1038         //command_mgr.add("go,route");
1039
1040         while ( uavcom.is_enabled() ) {
1041             // cout << "looking for next message ..." << endl;
1042             int id = track.next_message( &uavcom, &log, &gpspacket,
1043                                          &imupacket, &navpacket, &servopacket,
1044                                          &healthpacket, ignore_checksum );
1045             // cout << "message id = " << id << endl;
1046             count++;
1047
1048             telnet.process();
1049
1050             if ( id == GPS_PACKET ) {
1051                 if ( gpspacket.time > gps_time ) {
1052                     gps_time = gpspacket.time;
1053                     current_time = gps_time;
1054                 } else {
1055                   cout << "oops gps back in time: " << gpspacket.time << " " << gps_time << endl;
1056                 }
1057             } else if ( id == IMU_PACKET ) {
1058                 if ( imupacket.time > imu_time ) {
1059                     imu_time = imupacket.time;
1060                     current_time = imu_time;
1061                 } else {
1062                     cout << "oops imu back in time: " << imupacket.time << " " << imu_time << endl;
1063                 }
1064             } else if ( id == NAV_PACKET ) {
1065                 if ( navpacket.time > nav_time ) {
1066                     nav_time = navpacket.time;
1067                     current_time = nav_time;
1068                 } else {
1069                     cout << "oops nav back in time: " << navpacket.time << " " << nav_time << endl;
1070                 }
1071             } else if ( id == SERVO_PACKET ) {
1072                 if ( servopacket.time > servo_time ) {
1073                     servo_time = servopacket.time;
1074                     current_time = servo_time;
1075                 } else {
1076                     cout << "oops servo back in time: " << servopacket.time << " " << servo_time << endl;
1077                 }
1078             } else if ( id == HEALTH_PACKET ) {
1079                 if ( healthpacket.time > health_time ) {
1080                     health_time = healthpacket.time;
1081                     current_time = health_time;
1082                     printf("Received a health packet, sequence: %d\n",
1083                            (int)healthpacket.command_sequence);
1084                     command_mgr.update_cmd_sequence(healthpacket.command_sequence);
1085                 } else {
1086                     cout << "oops health back in time: " << healthpacket.time << " " << health_time << endl;
1087                 }
1088
1089             }
1090
1091             if ( (current_time > gps_time + 2) ||
1092                  (fabs(gpspacket.lat) < 0.0001 &&
1093                   fabs(gpspacket.lon) < 0.0001 &&
1094                   fabs(gpspacket.alt) < 0.0001) )
1095             {
1096                 printf("WARNING: LOST GPS!!!\n");
1097                 gps_status = -1.0;
1098             } else {
1099                 gps_status = 1.0;
1100             }
1101
1102             // Generate a ground station heart beat every 4 seconds
1103             if ( current_time >= command_heartbeat + 4 ) {
1104                 command_mgr.add("hb");
1105                 command_heartbeat = current_time;
1106             }
1107
1108             // Command update @ 1hz
1109             if ( current_time >= command_time + 1 ) {
1110                 command_mgr.update(&uavcom);
1111                 command_time = current_time;
1112             }
1113
1114             // Relay data on to FlightGear and LFSTech Glass
1115             if ( current_time >= last_time + (1/hertz) ) {
1116                 // if ( gpspacket.lat > -500 ) {
1117                 int londeg = (int)navpacket.lon;
1118                 // double lonmin = fabs(navpacket.lon - londeg);
1119                 int latdeg = (int)navpacket.lat;
1120                 // double latmin = fabs(navpacket.lat - latdeg);
1121                 char londir = 'E'; if ( londeg < 0 ) londir = 'W';
1122                 char latdir = 'N'; if ( latdeg < 0 ) latdir = 'S';
1123                 londeg = abs(londeg);
1124                 latdeg = abs(latdeg);
1125                 /*printf( "%.2f  %c%02d:%.4f %c%03d:%.4f %.1f  %.2f %.2f %.2f\n",
1126                         current_time,
1127                         latdir, latdeg, latmin, londir, londeg, lonmin,
1128                         navpacket.alt,
1129                         imupacket.phi*SGD_RADIANS_TO_DEGREES,
1130                         imupacket.the*SGD_RADIANS_TO_DEGREES,
1131                         imupacket.psi*SGD_RADIANS_TO_DEGREES ); */
1132                 // }
1133
1134                 last_time = current_time;
1135                 send_data_udp( &gpspacket, &imupacket, &navpacket,
1136                                &servopacket, &healthpacket );
1137             }
1138         }
1139     }
1140
1141     return 0;
1142 }