Add a small utility that can read a saved GPS track, interpolate data points

at some higher frequency, approximate roll/pitch angles, and blast the result
over to FlightGear using FGNetFDM udp packets.

diff --git a/utils/GPSsmooth/Makefile.am b/utils/GPSsmooth/Makefile.am
new file mode 100644 (file)
index 0000000..8b3c2ec
--- /dev/null
+++ b/utils/GPSsmooth/Makefile.am
@@ -0,0 +1,9 @@
+noinst_PROGRAMS = GPSsmooth
+
+GPSsmooth_SOURCES = \
+       gps.cxx gps.hxx \
+       main.cxx
+
+GPSsmooth_LDADD = -lsgtiming -lsgmisc -lplibnet -lz
+
+INCLUDES = -I$(top_srcdir)/src

diff --git a/utils/GPSsmooth/ShortDemo.txt b/utils/GPSsmooth/ShortDemo.txt
new file mode 100644 (file)
index 0000000..0f5180b
--- /dev/null
+++ b/utils/GPSsmooth/ShortDemo.txt
@@ -0,0 +1,1004 @@
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+$GPGGA,175450,4513.1194,N,09308.7059,W,1,11,1.4,382.7,M,-31.2,M,,*73
+$GPGSA,A,3,01,03,05,09,11,14,15,18,19,21,22,,2.1,1.4,1.0*38
+$GPGSV,3,1,12,01,24,248,39,03,04,251,41,05,12,099,35,09,35,054,46*73
+$GPGSV,3,2,12,11,07,322,44,14,62,261,43,15,42,179,41,18,46,102,44*7C
+$GPGSV,3,3,12,19,14,277,41,21,08,160,39,22,79,060,44,35,25,131,00*7C
+$GPGLL,4513.1194,N,09308.7059,W,175450,A,A*50
+$GPBOD,,T,,M,,*47
+$PGRME,3.1,M,3.4,M,4.8,M*27
+$PGRMZ,1256,f,3*2B
+$GPRTE,1,1,c,*37
+$GPRMC,175452,A,4513.1302,N,09308.6919,W,28.5,27.1,010705,1.3,E,A*05
+$GPRMB,A,,,,,,,,,,,,A,A*0B
+$GPGGA,175452,4513.1302,N,09308.6919,W,1,11,1.0,359.3,M,-31.2,M,,*76
+$GPGSA,A,3,01,03,05,09,11,14,15,18,19,21,22,,1.5,1.0,1.1*3A
+$GPGSV,3,1,12,01,24,248,41,03,04,251,42,05,12,099,39,09,35,054,45*70
+$GPGSV,3,2,12,11,07,322,43,14,62,261,46,15,42,179,42,18,46,102,44*7D
+$GPGSV,3,3,12,19,14,277,44,21,08,160,40,22,79,060,46,35,25,131,42*73
+$GPGLL,4513.1302,N,09308.6919,W,175452,A,A*53
+$GPBOD,,T,,M,,*47
+$PGRME,2.8,M,3.1,M,4.2,M*20
+$PGRMZ,1179,f,3*25
+$GPRTE,1,1,c,*37
+$GPRMC,175454,A,4513.1579,N,09308.6871,W,53.5,4.1,010705,1.3,E,A*3B
+$GPRMB,A,,,,,,,,,,,,A,A*0B
+$GPGGA,175454,4513.1579,N,09308.6871,W,1,11,1.1,347.6,M,-31.2,M,,*7E
+$GPGSA,A,3,01,03,05,09,11,14,15,18,19,21,22,,1.7,1.1,1.2*3A
+$GPGSV,3,1,12,01,24,248,44,03,04,251,43,05,12,099,40,09,35,054,42*7D
+$GPGSV,3,2,12,11,07,322,41,14,62,261,46,15,42,179,46,18,46,102,45*7A
+$GPGSV,3,3,12,19,14,277,44,21,08,160,40,22,79,060,47,35,25,131,42*72
+$GPGLL,4513.1579,N,09308.6871,W,175454,A,A*50
+$GPBOD,,T,,M,,*47
+$PGRME,2.7,M,3.1,M,4.1,M*2C
+$PGRMZ,1140,f,3*2F
+$GPRTE,1,1,c,*37
+$GPRMC,175456,A,4513.1905,N,09308.6860,W,58.6,1.4,010705,1.3,E,A*36
+$GPRMB,A,,,,,,,,,,,,A,A*0B
+$GPGGA,175456,4513.1905,N,09308.6860,W,1,11,1.1,343.6,M,-31.2,M,,*7F
+$GPGSA,A,3,01,03,05,09,11,14,15,18,19,21,22,,1.7,1.1,1.2*3A
+$GPGSV,3,1,12,01,24,248,44,03,04,251,41,05,12,099,40,09,35,054,00*79
+$GPGSV,3,2,12,11,07,322,40,14,62,261,47,15,42,179,47,18,46,102,45*7B
+$GPGSV,3,3,12,19,14,277,45,21,08,160,38,22,79,060,48,35,25,131,41*70
+$GPGLL,4513.1905,N,09308.6860,W,175456,A,A*55
+$GPBOD,,T,,M,,*47
+$PGRME,2.8,M,3.1,M,4.2,M*20
+$PGRMZ,1127,f,3*2E
+$GPRTE,1,1,c,*37
+$GPRMC,175458,A,4513.2232,N,09308.6867,W,58.1,357.9,010705,1.3,E,A*39
+$GPRMB,A,,,,,,,,,,,,A,A*0B
+$GPGGA,175458,4513.2232,N,09308.6867,W,1,11,1.2,344.1,M,-31.2,M,,*79
+$GPGSA,A,3,01,03,05,09,11,14,15,18,19,21,22,,1.8,1.2,1.3*37
+$GPGSV,3,1,12,01,24,248,46,03,04,251,41,05,12,099,39,09,35,054,00*75
+$GPGSV,3,2,12,11,07,322,00,14,62,261,47,15,42,179,48,18,46,102,45*70
+$GPGSV,3,3,12,19,14,277,44,21,08,160,36,22,79,060,48,35,25,131,40*7E
+$GPGLL,4513.2232,N,09308.6867,W,175458,A,A*50
+$GPBOD,,T,,M,,*47
+$PGRME,2.8,M,3.1,M,4.2,M*20
+$PGRMZ,1129,f,3*20
+$GPRTE,1,1,c,*37

diff --git a/utils/GPSsmooth/gps.cxx b/utils/GPSsmooth/gps.cxx
new file mode 100644 (file)
index 0000000..54bdeb4
--- /dev/null
+++ b/utils/GPSsmooth/gps.cxx
@@ -0,0 +1,159 @@
+#include <iostream>
+
+#include <simgear/constants.h>
+#include <simgear/misc/sgstream.hxx>
+#include <simgear/misc/strutils.hxx>
+
+#include "gps.hxx"
+
+SG_USING_STD(cout);
+SG_USING_STD(endl);
+
+
+GPSTrack::GPSTrack() {};
+GPSTrack::~GPSTrack() {};
+
+
+// load the specified file, return the number of records loaded
+int GPSTrack::load( const string &file ) {
+    int count = 0;
+
+    data.clear();
+
+    // openg the file
+    sg_gzifstream in( file );
+    if ( !in.is_open() ) {
+        cout << "Cannot open file: " << file << endl;
+        return 0;
+    }
+
+    vector <string> tokens;
+    GPSPoint p;
+
+    while ( ! in.eof() ) {
+        char tmp[2049];
+
+       in.getline(tmp, 2048);
+
+        tokens.clear();
+        tokens = simgear::strutils::split(tmp, ",");
+
+        int dd;
+        double raw, min;
+
+        if ( tokens[0] == "$GPRMC" && tokens.size() == 13 ) {
+            int raw_time = atoi(tokens[1].c_str());
+            GPSTime gps_time = GPSTime( raw_time );
+            if ( (gps_time.get_time() > p.gps_time.get_time()) &&
+                 (p.gps_time.get_time() > 1.0) )
+            {
+                // new data cycle store last data before continuing
+                data.push_back( p );
+                count++;
+            }
+
+            p.gps_time = gps_time;
+
+            raw = atof( tokens[3].c_str() );
+            dd = (int)(raw / 100.00);
+            min = raw - dd * 100.0;
+            p.lat_deg = dd + min / 60.0;
+            if ( tokens[4] == "S" ) {
+                p.lat_deg = -p.lat_deg;
+            }
+            raw = atof( tokens[5].c_str() );
+            dd = (int)(raw / 100.00);
+            min = raw - dd * 100.0;
+            p.lon_deg = dd + min / 60.0;
+            if ( tokens[6] == "W" ) {
+                p.lon_deg = -p.lon_deg;
+            }
+
+            static double max_speed = 0.0;
+            p.speed_kts = atof( tokens[7].c_str() );
+            if ( p.speed_kts > max_speed ) {
+                max_speed = p.speed_kts;
+                cout << "max speed = " << max_speed << endl;
+            }
+            p.course_true = atof( tokens[8].c_str() ) * SGD_DEGREES_TO_RADIANS;
+
+        } else if ( tokens[0] == "$GPGGA" && tokens.size() == 15 ) {
+            int raw_time = atoi(tokens[1].c_str());
+            GPSTime gps_time = GPSTime( raw_time );
+            if ( (gps_time.get_time() != p.gps_time.get_time()) &&
+                 (p.gps_time.get_time() > 1.0) ) {
+                // new data cycle store last data before continuing
+                data.push_back( p );
+                count++;
+            }
+
+            p.gps_time = gps_time;
+
+            raw = atof( tokens[2].c_str() );
+            dd = (int)(raw / 100.00);
+            min = raw - dd * 100.0;
+            p.lat_deg = dd + min / 60.0;
+            if ( tokens[3] == "S" ) {
+                p.lat_deg = -p.lat_deg;
+            }
+            raw = atof( tokens[4].c_str() );
+            dd = (int)(raw / 100.00);
+            min = raw - dd * 100.0;
+            p.lon_deg = dd + min / 60.0;
+            if ( tokens[5] == "W" ) {
+                p.lon_deg = -p.lon_deg;
+            }
+
+            p.fix_quality = atoi( tokens[6].c_str() );
+            p.num_satellites = atoi( tokens[7].c_str() );
+            p.hdop = atof( tokens[8].c_str() );
+
+            static double max_alt = 0.0;
+            double alt = atof( tokens[9].c_str() );
+            if ( alt > max_alt ) {
+                max_alt = alt;
+                cout << "max alt = " << max_alt << endl;
+            }
+
+            if ( tokens[10] == "F" || tokens[10] == "f" ) {
+                alt *= SG_FEET_TO_METER;
+            }
+            p.altitude_msl = alt;
+        }
+    }
+
+    return count;
+}
+
+
+static double interp( double a, double b, double p, bool rotational = false ) {
+    double diff = b - a;
+    if ( rotational ) {
+        // special handling of rotational data
+        if ( diff > SGD_PI ) {
+            diff -= SGD_2PI;
+        } else if ( diff < -SGD_PI ) {
+            diff += SGD_2PI;
+        }
+    }
+    return a + diff * p;
+}
+
+
+GPSPoint GPSInterpolate( const GPSPoint A, const GPSPoint B,
+                         const double percent ) {
+    GPSPoint p;
+    p.gps_time = GPSTime((int)interp(A.gps_time.get_time(),
+                                     B.gps_time.get_time(),
+                                     percent));
+    p.lat_deg = interp(A.lat_deg, B.lat_deg, percent);
+    p.lon_deg = interp(A.lon_deg, B.lon_deg, percent);
+    p.fix_quality = (int)interp(A.fix_quality, B.fix_quality, percent);
+    p.num_satellites = (int)interp(A.num_satellites, B.num_satellites, percent);
+    p.hdop = interp(A.hdop, B.hdop, percent);
+    p.altitude_msl = interp(A.altitude_msl, B.altitude_msl, percent);
+    p.speed_kts = interp(A.speed_kts, B.speed_kts, percent);
+    p.course_true = interp(A.course_true, B.course_true, percent, true);
+
+    return p;
+}

diff --git a/utils/GPSsmooth/gps.hxx b/utils/GPSsmooth/gps.hxx
new file mode 100644 (file)
index 0000000..6a6137a
--- /dev/null
+++ b/utils/GPSsmooth/gps.hxx
@@ -0,0 +1,109 @@
+#ifdef HAVE_CONFIG_H
+#  include <config.h>
+#endif
+
+#include <simgear/compiler.h>
+
+#include <iostream>
+#include <string>
+#include <vector>
+
+SG_USING_STD(cout);
+SG_USING_STD(endl);
+SG_USING_STD(string);
+SG_USING_STD(vector);
+
+
+// encapsulate a gps integer time (fixme, assumes all times in a track
+// are from the same day, so we don't handle midnight roll over)
+class GPSTime {
+
+public:
+
+    int seconds;
+
+    inline GPSTime( const int hh, const int mm, const int ss ) {
+        seconds = hh*3600 + mm*60 + ss;
+    }
+    inline GPSTime( const int gpstime ) {
+        int tmp = gpstime;
+        int hh = tmp / 10000;
+        tmp -= hh * 10000;
+        int mm = tmp / 100;
+        tmp -= mm * 100;
+        int ss = tmp;
+        seconds = hh*3600 + mm*60 + ss;
+        // cout << gpstime << " = " << seconds << endl;
+    }
+    inline ~GPSTime() {}
+
+    inline int get_time() const { return seconds; }
+    inline int diff_sec( const GPSTime t ) const {
+        return seconds - t.seconds;        
+    }
+};
+
+
+
+// encapsulate the interesting gps data for a moment in time
+class GPSPoint {
+
+public:
+
+    GPSTime gps_time;
+    double lat_deg;
+    double lon_deg;
+    int fix_quality;
+    int num_satellites;
+    double hdop;
+    double altitude_msl;
+    double speed_kts;
+    double course_true;
+
+    GPSPoint() :
+        gps_time(GPSTime(0,0,0)),
+        lat_deg(0.0),
+        lon_deg(0.0),
+        fix_quality(0),
+        num_satellites(0),
+        hdop(0.0),
+        altitude_msl(0.0),
+        speed_kts(0.0),
+        course_true(0.0)
+    { }
+
+    inline int get_time() const { return gps_time.get_time(); }
+};
+
+
+// Manage a saved gps log (track file)
+class GPSTrack {
+
+private:
+
+    vector <GPSPoint> data;
+
+public:
+
+    GPSTrack();
+    ~GPSTrack();
+
+    int load( const string &file );
+
+    inline int size() const { return data.size(); }
+
+    inline GPSPoint get_point( const unsigned int i )
+    {
+        if ( i < data.size() ) {
+            return data[i];
+        } else {
+            return GPSPoint();
+        }
+    }
+        
+
+};
+
+
+GPSPoint GPSInterpolate( const GPSPoint A, const GPSPoint B,
+                         const double percent );

diff --git a/utils/GPSsmooth/main.cxx b/utils/GPSsmooth/main.cxx
new file mode 100644 (file)
index 0000000..df6474b
--- /dev/null
+++ b/utils/GPSsmooth/main.cxx
@@ -0,0 +1,468 @@
+#ifdef HAVE_CONFIG_H
+#  include <config.h>
+#endif
+
+#include <iostream>
+#include <string>
+
+#include <plib/net.h>
+#include <plib/sg.h>
+
+#include <simgear/io/lowlevel.hxx> // endian tests
+#include <simgear/timing/timestamp.hxx>
+
+#include <Network/net_ctrls.hxx>
+#include <Network/net_fdm.hxx>
+
+#include "gps.hxx"
+
+
+SG_USING_STD(cout);
+SG_USING_STD(endl);
+SG_USING_STD(string);
+
+
+// Network channels
+static netSocket fdm_sock, ctrls_sock;
+
+// gps data
+GPSTrack track;
+
+// Default ports
+static int fdm_port = 5505;
+static int ctrls_port = 5506;
+
+// Default path
+static string file = "";
+
+// Master time counter
+float sim_time = 0.0f;
+
+// sim control
+SGTimeStamp last_time_stamp;
+SGTimeStamp current_time_stamp;
+
+bool inited = false;
+
+
+// The function htond is defined this way due to the way some
+// processors and OSes treat floating point values.  Some will raise
+// an exception whenever a "bad" floating point value is loaded into a
+// floating point register.  Solaris is notorious for this, but then
+// so is LynxOS on the PowerPC.  By translating the data in place,
+// there is no need to load a FP register with the "corruped" floating
+// point value.  By doing the BIG_ENDIAN test, I can optimize the
+// routine for big-endian processors so it can be as efficient as
+// possible
+static void htond (double &x)  
+{
+    if ( sgIsLittleEndian() ) {
+        int    *Double_Overlay;
+        int     Holding_Buffer;
+    
+        Double_Overlay = (int *) &x;
+        Holding_Buffer = Double_Overlay [0];
+    
+        Double_Overlay [0] = htonl (Double_Overlay [1]);
+        Double_Overlay [1] = htonl (Holding_Buffer);
+    } else {
+        return;
+    }
+}
+
+// Float version
+static void htonf (float &x)   
+{
+    if ( sgIsLittleEndian() ) {
+        int    *Float_Overlay;
+        int     Holding_Buffer;
+    
+        Float_Overlay = (int *) &x;
+        Holding_Buffer = Float_Overlay [0];
+    
+        Float_Overlay [0] = htonl (Holding_Buffer);
+    } else {
+        return;
+    }
+}
+
+
+static void gps2fg( const GPSPoint p, FGNetFDM *fdm, FGNetCtrls *ctrls )
+{
+    unsigned int i;
+
+    static double last_psi;
+    static double last_alt;
+    static double phi_filter = 0.0;
+    static double theta_filter = 0.0;
+
+    // Nan-be-gone
+    if ( phi_filter != phi_filter ) {
+        phi_filter = 0.0;
+    }
+    if ( theta_filter != theta_filter ) {
+        theta_filter = 0.0;
+    }
+
+    // Version sanity checking
+    fdm->version = FG_NET_FDM_VERSION;
+
+    // Aero parameters
+    fdm->longitude = p.lon_deg * SGD_DEGREES_TO_RADIANS;
+    fdm->latitude = p.lat_deg * SGD_DEGREES_TO_RADIANS;
+    fdm->altitude = p.altitude_msl;
+    fdm->agl = -9999.0;
+    fdm->psi = p.course_true; // heading
+
+    double diff = p.course_true - last_psi;
+    if ( diff < -SGD_PI ) { diff += 2.0*SGD_PI; }
+    if ( diff > SGD_PI ) { diff -= 2.0*SGD_PI; }
+    double phi = diff * 100.0;
+    if ( phi > 0.5*SGD_PI ) { phi = 0.5*SGD_PI; }
+    if ( phi < -0.5*SGD_PI ) { phi = -0.5*SGD_PI; }
+    phi_filter = 0.99*phi_filter + 0.01*phi;
+    fdm->phi = phi_filter;
+    last_psi = p.course_true;
+    // cout << p.course_true << endl;
+
+    diff = p.altitude_msl - last_alt;
+    if ( diff < -SGD_PI ) { diff += 2.0*SGD_PI; }
+    if ( diff > SGD_PI ) { diff -= 2.0*SGD_PI; }
+    double theta = diff;
+    if ( theta > 0.5*SGD_PI ) { theta = 0.5*SGD_PI; }
+    if ( theta < -0.5*SGD_PI ) { theta = -0.5*SGD_PI; }
+    theta_filter = 0.99*theta_filter + 0.01*theta;
+    fdm->theta = theta_filter;
+    last_alt = p.altitude_msl;
+
+    fdm->phidot = 0.0;
+    fdm->thetadot = 0.0;
+    fdm->psidot = 0.0;
+    fdm->vcas = p.speed_kts;
+    fdm->climb_rate = 0; // fps
+    // cout << "climb rate = " << aero->hdota << endl;
+    fdm->v_north = 0.0;
+    fdm->v_east = 0.0;
+    fdm->v_down = 0.0;
+    fdm->v_wind_body_north = 0.0;
+    fdm->v_wind_body_east = 0.0;
+    fdm->v_wind_body_down = 0.0;
+    fdm->stall_warning = 0.0;
+
+    fdm->A_X_pilot = 0.0;
+    fdm->A_Y_pilot = 0.0;
+    fdm->A_Z_pilot = 0.0 /* (should be -G) */;
+
+    // Engine parameters
+    fdm->num_engines = 1;
+    fdm->eng_state[0] = 2;
+    // cout << "state = " << fdm->eng_state[0] << endl;
+    double rpm = ((p.speed_kts - 15.0) / 65.0) * 2000.0 + 500.0;
+    if ( rpm < 0.0 ) { rpm = 0.0; }
+    if ( rpm > 3000.0 ) { rpm = 3000.0; }
+    fdm->rpm[0] = rpm;
+
+    fdm->fuel_flow[0] = 0.0;
+    fdm->egt[0] = 0.0;
+    // cout << "egt = " << aero->EGT << endl;
+    fdm->oil_temp[0] = 0.0;
+    fdm->oil_px[0] = 0.0;
+
+    // Consumables
+    fdm->num_tanks = 2;
+    fdm->fuel_quantity[0] = 0.0;
+    fdm->fuel_quantity[1] = 0.0;
+
+    // Gear and flaps
+    fdm->num_wheels = 3;
+    fdm->wow[0] = 0;
+    fdm->wow[1] = 0;
+    fdm->wow[2] = 0;
+
+    // the following really aren't used in this context
+    fdm->cur_time = 0;
+    fdm->warp = 0;
+    fdm->visibility = 0;
+
+    // cout << "Flap deflection = " << aero->dflap << endl;
+    fdm->left_flap = 0.0;
+    fdm->right_flap = 0.0;
+
+    // Convert the net buffer to network format
+    fdm->version = htonl(fdm->version);
+
+    htond(fdm->longitude);
+    htond(fdm->latitude);
+    htond(fdm->altitude);
+    htonf(fdm->agl);
+    htonf(fdm->phi);
+    htonf(fdm->theta);
+    htonf(fdm->psi);
+    htonf(fdm->alpha);
+    htonf(fdm->beta);
+
+    htonf(fdm->phidot);
+    htonf(fdm->thetadot);
+    htonf(fdm->psidot);
+    htonf(fdm->vcas);
+    htonf(fdm->climb_rate);
+    htonf(fdm->v_north);
+    htonf(fdm->v_east);
+    htonf(fdm->v_down);
+    htonf(fdm->v_wind_body_north);
+    htonf(fdm->v_wind_body_east);
+    htonf(fdm->v_wind_body_down);
+
+    htonf(fdm->A_X_pilot);
+    htonf(fdm->A_Y_pilot);
+    htonf(fdm->A_Z_pilot);
+
+    htonf(fdm->stall_warning);
+    htonf(fdm->slip_deg);
+
+    for ( i = 0; i < fdm->num_engines; ++i ) {
+        fdm->eng_state[i] = htonl(fdm->eng_state[i]);
+        htonf(fdm->rpm[i]);
+        htonf(fdm->fuel_flow[i]);
+        htonf(fdm->egt[i]);
+        htonf(fdm->cht[i]);
+        htonf(fdm->mp_osi[i]);
+        htonf(fdm->tit[i]);
+        htonf(fdm->oil_temp[i]);
+        htonf(fdm->oil_px[i]);
+    }
+    fdm->num_engines = htonl(fdm->num_engines);
+
+    for ( i = 0; i < fdm->num_tanks; ++i ) {
+        htonf(fdm->fuel_quantity[i]);
+    }
+    fdm->num_tanks = htonl(fdm->num_tanks);
+
+    for ( i = 0; i < fdm->num_wheels; ++i ) {
+        fdm->wow[i] = htonl(fdm->wow[i]);
+        htonf(fdm->gear_pos[i]);
+        htonf(fdm->gear_steer[i]);
+        htonf(fdm->gear_compression[i]);
+    }
+    fdm->num_wheels = htonl(fdm->num_wheels);
+
+    fdm->cur_time = htonl( fdm->cur_time );
+    fdm->warp = htonl( fdm->warp );
+    htonf(fdm->visibility);
+
+    htonf(fdm->elevator);
+    htonf(fdm->elevator_trim_tab);
+    htonf(fdm->left_flap);
+    htonf(fdm->right_flap);
+    htonf(fdm->left_aileron);
+    htonf(fdm->right_aileron);
+    htonf(fdm->rudder);
+    htonf(fdm->nose_wheel);
+    htonf(fdm->speedbrake);
+    htonf(fdm->spoilers);
+}
+
+
+static void send_data( const GPSPoint p ) {
+    int len;
+    int ctrlsize = sizeof( FGNetCtrls );
+    int fdmsize = sizeof( FGNetFDM );
+
+    // cout << "Running main loop" << endl;
+
+    FGNetFDM fgfdm;
+    FGNetCtrls fgctrls;
+
+    gps2fg( p, &fgfdm, &fgctrls );
+    len = fdm_sock.send(&fgfdm, fdmsize, 0);
+}
+
+
+void usage( const string &argv0 ) {
+    cout << "Usage: " << argv0 << endl;
+    cout << "\t[ --help ]" << endl;
+    cout << "\t[ --file <file_name>" << endl;
+    cout << "\t[ --hertz <hertz> ]" << endl;
+    cout << "\t[ --host <hostname> ]" << endl;
+    cout << "\t[ --broadcast ]" << endl;
+    cout << "\t[ --fdm-port <fdm output port #> ]" << endl;
+    cout << "\t[ --ctrls-port <ctrls output port #> ]" << endl;
+}
+
+
+int main( int argc, char **argv ) {
+    double hertz = 60.0;
+    string out_host = "localhost";
+    bool do_broadcast = false;
+
+    // process command line arguments
+    for ( int i = 1; i < argc; ++i ) {
+        if ( strcmp( argv[i], "--help" ) == 0 ) {
+            usage( argv[0] );
+            exit( 0 );
+        } else if ( strcmp( argv[i], "--hertz" ) == 0 ) {
+            ++i;
+            if ( i < argc ) {
+                hertz = atof( argv[i] );
+            } else {
+                usage( argv[0] );
+                exit( -1 );
+            }
+        } else if ( strcmp( argv[i], "--file" ) == 0 ) {
+            ++i;
+            if ( i < argc ) {
+                file = argv[i];
+            } else {
+                usage( argv[0] );
+                exit( -1 );
+            }
+        } else if ( strcmp( argv[i], "--host" ) == 0 ) {
+            ++i;
+            if ( i < argc ) {
+                out_host = argv[i];
+            } else {
+                usage( argv[0] );
+                exit( -1 );
+            }
+        } else if ( strcmp( argv[i], "--broadcast" ) == 0 ) {
+         do_broadcast = true;
+        } else if ( strcmp( argv[i], "--fdm-port" ) == 0 ) {
+            ++i;
+            if ( i < argc ) {
+                fdm_port = atoi( argv[i] );
+            } else {
+                usage( argv[0] );
+                exit( -1 );
+            }
+        } else if ( strcmp( argv[i], "--ctrls-port" ) == 0 ) {
+            ++i;
+            if ( i < argc ) {
+                ctrls_port = atoi( argv[i] );
+            } else {
+                usage( argv[0] );
+                exit( -1 );
+            }
+        } else {
+            usage( argv[0] );
+            exit( -1 );
+        }
+    }
+
+    // Load the track data
+    if ( file == "" ) {
+        cout << "No track file specified" << endl;
+        exit(-1);
+    }
+    track.load( file );
+    cout << "Loaded " << track.size() << " records." << endl;
+
+    // Setup up outgoing network connections
+
+    netInit( &argc,argv ); // We must call this before any other net stuff
+
+    if ( ! fdm_sock.open( false ) ) {  // open a UDP socket
+        cout << "error opening fdm output socket" << endl;
+        return -1;
+    }
+    if ( ! ctrls_sock.open( false ) ) {  // open a UDP socket
+        cout << "error opening ctrls output socket" << endl;
+        return -1;
+    }
+    cout << "open net channels" << endl;
+
+    fdm_sock.setBlocking( false );
+    ctrls_sock.setBlocking( false );
+    cout << "blocking false" << endl;
+
+    if ( do_broadcast ) {
+        fdm_sock.setBroadcast( true );
+        ctrls_sock.setBroadcast( true );
+    }
+
+    if ( fdm_sock.connect( out_host.c_str(), fdm_port ) == -1 ) {
+        perror("connect");
+        cout << "error connecting to outgoing fdm port: " << out_host
+            << ":" << fdm_port << endl;
+        return -1;
+    }
+    cout << "connected outgoing fdm socket" << endl;
+
+    if ( ctrls_sock.connect( out_host.c_str(), ctrls_port ) == -1 ) {
+        perror("connect");
+        cout << "error connecting to outgoing ctrls port: " << out_host
+            << ":" << ctrls_port << endl;
+        return -1;
+    }
+    cout << "connected outgoing ctrls socket" << endl;
+
+    int size = track.size();
+
+    double current_time = track.get_point(0).get_time();
+    cout << "Track begin time is " << current_time << endl;
+    double end_time = track.get_point(size-1).get_time();
+    cout << "Track end time is " << end_time << endl;
+    cout << "Duration = " << end_time - current_time << endl;
+
+    double frame_us = 1000000.0 / hertz;
+    if ( frame_us < 0.0 ) {
+        frame_us = 0.0;
+    }
+
+    SGTimeStamp start_time;
+    start_time.stamp();
+    int count = 0;
+
+    GPSPoint p, p0, p1;
+    p0 = p1 = track.get_point( 0 );
+    
+    while ( current_time < end_time ) {
+        // cout << "current_time = " << current_time << " end_time = "
+        //      << end_time << endl;
+
+        if ( current_time > p1.get_time() ) {
+            p0 = p1;
+            ++count;
+            // cout << "count = " << count << endl;
+            p1 = track.get_point( count );
+        }
+        // cout << "p0 = " << p0.get_time() << " p1 = " << p1.get_time()
+        //      << endl;
+
+        double percent =
+            (current_time - p0.get_time()) /
+            (p1.get_time() - p0.get_time());
+        // cout << "Percent = " << percent << endl;
+
+        GPSPoint p = GPSInterpolate( p0, p1, percent );
+        cout << current_time << " " << p.lat_deg << ", " << p.lon_deg << endl;
+
+        send_data( p );
+
+        // Update the elapsed time.
+        static bool first_time = true;
+        if ( first_time ) {
+            last_time_stamp.stamp();
+            first_time = false;
+        }
+
+        current_time_stamp.stamp();
+        /* Convert to ms */
+        double elapsed_us = current_time_stamp - last_time_stamp;
+        if ( elapsed_us < (frame_us - 2000) ) {
+            double requested_us = (frame_us - elapsed_us) - 2000 ;
+            ulMilliSecondSleep ( (int)(requested_us / 1000.0) ) ;
+        }
+        current_time_stamp.stamp();
+        while ( current_time_stamp - last_time_stamp < frame_us ) {
+            current_time_stamp.stamp();
+        }
+
+        current_time += (frame_us / 1000000.0);
+        last_time_stamp = current_time_stamp;
+    }
+
+    cout << "Processed " << count << " entries in "
+         << current_time_stamp - start_time << " seconds." << endl;
+
+    return 0;
+}

diff --git a/utils/Makefile.am b/utils/Makefile.am
index bb771a59dee192365ec3fe5e9e0835088e754bb9..4393a1a97bd75cc9c29c6396a555e3b56a54aafa 100644 (file)
--- a/utils/Makefile.am
+++ b/utils/Makefile.am
@@ -1,4 +1,4 @@
 DIST_SUBDIRS = TerraSync Modeller js_server fgadmin
 
-SUBDIRS = TerraSync Modeller js_server
+SUBDIRS = GPSsmooth TerraSync Modeller js_server
 

diff --git a/utils/js_server/Makefile.am b/utils/js_server/Makefile.am
index b17acf235de8698229e77a04b1d6a2b61a2ee329..d4ca0a49e1eafcb3b4c28a9d1406b5ad28269736 100644 (file)
--- a/utils/js_server/Makefile.am
+++ b/utils/js_server/Makefile.am
@@ -1,4 +1,4 @@
-sbin_PROGRAMS = js_server
+noinst_PROGRAMS = js_server
 
 js_server_SOURCES = js_server.cxx
 js_server_LDADD = -lplibjs -lplibnet -lplibul $(base_LIBS) $(joystick_LIBS) $(network_LIBS)