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610 lines
18 KiB
610 lines
18 KiB
#ifdef HAVE_CONFIG_H
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# include <config.h>
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#endif
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#include <iostream>
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#include <cstdio>
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#include <simgear/constants.h>
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#include <simgear/io/sg_file.hxx>
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#include <simgear/math/sg_geodesy.hxx>
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#include <simgear/misc/sg_path.hxx>
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#include <simgear/io/iostreams/sgstream.hxx>
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#include <simgear/misc/strutils.hxx>
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#include <simgear/misc/stdint.hxx>
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#include "UGear.hxx"
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using std::cout;
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using std::endl;
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#define START_OF_MSG0 147
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#define START_OF_MSG1 224
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UGTrack::UGTrack():
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sg_swap(false)
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{
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};
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UGTrack::~UGTrack() {};
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// swap the 1st 4 bytes with the last 4 bytes of a stargate double so
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// it matches the PC representation
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static double sg_swap_double( uint8_t *buf, size_t offset ) {
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double *result;
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uint8_t tmpbuf[10];
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for ( size_t i = 0; i < 4; ++i ) {
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tmpbuf[i] = buf[offset + i + 4];
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}
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for ( size_t i = 0; i < 4; ++i ) {
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tmpbuf[i + 4] = buf[offset + i];
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}
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// for ( size_t i = 0; i < 8; ++i ) {
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// printf("%d ", tmpbuf[i]);
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// }
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// printf("\n");
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result = (double *)tmpbuf;
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return *result;
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}
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static bool validate_cksum( uint8_t id, uint8_t size, char *buf,
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uint8_t cksum0, uint8_t cksum1,
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bool ignore_checksum )
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{
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if ( ignore_checksum ) {
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return true;
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}
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uint8_t c0 = 0;
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uint8_t c1 = 0;
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c0 += id;
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c1 += c0;
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// cout << "c0 = " << (unsigned int)c0 << " c1 = " << (unsigned int)c1 << endl;
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c0 += size;
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c1 += c0;
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// cout << "c0 = " << (unsigned int)c0 << " c1 = " << (unsigned int)c1 << endl;
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for ( uint8_t i = 0; i < size; i++ ) {
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c0 += (uint8_t)buf[i];
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c1 += c0;
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// cout << "c0 = " << (unsigned int)c0 << " c1 = " << (unsigned int)c1
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// << " [" << (unsigned int)(uint8_t)buf[i] << "]" << endl;
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}
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// cout << "c0 = " << (unsigned int)c0 << " (" << (unsigned int)cksum0
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// << ") c1 = " << (unsigned int)c1 << " (" << (unsigned int)cksum1
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// << ")" << endl;
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if ( c0 == cksum0 && c1 == cksum1 ) {
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return true;
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} else {
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return false;
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}
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}
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void UGTrack::parse_msg( const int id, char *buf,
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struct gps *gpspacket, imu *imupacket,
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nav *navpacket, servo *servopacket,
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health *healthpacket )
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{
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if ( id == GPS_PACKET ) {
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*gpspacket = *(struct gps *)buf;
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if ( sg_swap ) {
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gpspacket->time = sg_swap_double( (uint8_t *)buf, 0 );
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gpspacket->lat = sg_swap_double( (uint8_t *)buf, 8 );
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gpspacket->lon = sg_swap_double( (uint8_t *)buf, 16 );
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gpspacket->alt = sg_swap_double( (uint8_t *)buf, 24 );
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gpspacket->vn = sg_swap_double( (uint8_t *)buf, 32 );
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gpspacket->ve = sg_swap_double( (uint8_t *)buf, 40 );
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gpspacket->vd = sg_swap_double( (uint8_t *)buf, 48 );
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gpspacket->ITOW = sg_swap_double( (uint8_t *)buf, 56 );
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}
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} else if ( id == IMU_PACKET ) {
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*imupacket = *(struct imu *)buf;
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if ( sg_swap ) {
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imupacket->time = sg_swap_double( (uint8_t *)buf, 0 );
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imupacket->p = sg_swap_double( (uint8_t *)buf, 8 );
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imupacket->q = sg_swap_double( (uint8_t *)buf, 16 );
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imupacket->r = sg_swap_double( (uint8_t *)buf, 24 );
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imupacket->ax = sg_swap_double( (uint8_t *)buf, 32 );
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imupacket->ay = sg_swap_double( (uint8_t *)buf, 40 );
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imupacket->az = sg_swap_double( (uint8_t *)buf, 48 );
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imupacket->hx = sg_swap_double( (uint8_t *)buf, 56 );
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imupacket->hy = sg_swap_double( (uint8_t *)buf, 64 );
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imupacket->hz = sg_swap_double( (uint8_t *)buf, 72 );
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imupacket->Ps = sg_swap_double( (uint8_t *)buf, 80 );
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imupacket->Pt = sg_swap_double( (uint8_t *)buf, 88 );
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imupacket->phi = sg_swap_double( (uint8_t *)buf, 96 );
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imupacket->the = sg_swap_double( (uint8_t *)buf, 104 );
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imupacket->psi = sg_swap_double( (uint8_t *)buf, 112 );
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}
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// printf("imu.time = %.4f size = %d\n", imupacket->time, sizeof(struct imu));
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} else if ( id == NAV_PACKET ) {
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*navpacket = *(struct nav *)buf;
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if ( sg_swap ) {
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navpacket->time = sg_swap_double( (uint8_t *)buf, 0 );
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navpacket->lat = sg_swap_double( (uint8_t *)buf, 8 );
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navpacket->lon = sg_swap_double( (uint8_t *)buf, 16 );
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navpacket->alt = sg_swap_double( (uint8_t *)buf, 24 );
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navpacket->vn = sg_swap_double( (uint8_t *)buf, 32 );
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navpacket->ve = sg_swap_double( (uint8_t *)buf, 40 );
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navpacket->vd = sg_swap_double( (uint8_t *)buf, 48 );
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}
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} else if ( id == SERVO_PACKET ) {
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*servopacket = *(struct servo *)buf;
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if ( sg_swap ) {
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servopacket->time = sg_swap_double( (uint8_t *)buf, 0 );
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}
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// printf("servo time = %.3f %d %d\n", servopacket->time, servopacket->chn[0], servopacket->chn[1]);
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} else if ( id == HEALTH_PACKET ) {
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*healthpacket = *(struct health *)buf;
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if ( sg_swap ) {
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healthpacket->time = sg_swap_double( (uint8_t *)buf, 0 );
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}
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} else {
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cout << "unknown id = " << id << endl;
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}
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}
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// load the named stream log file into internal buffers
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bool UGTrack::load_stream( const string &file, bool ignore_checksum ) {
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int count = 0;
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gps gpspacket;
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imu imupacket;
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nav navpacket;
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servo servopacket;
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health healthpacket;
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double gps_time = 0;
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double imu_time = 0;
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double nav_time = 0;
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double servo_time = 0;
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double health_time = 0;
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gps_data.clear();
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imu_data.clear();
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nav_data.clear();
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servo_data.clear();
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health_data.clear();
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// open the file
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SGFile input( file );
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if ( !input.open( SG_IO_IN ) ) {
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cout << "Cannot open file: " << file << endl;
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return false;
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}
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while ( ! input.eof() ) {
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// cout << "looking for next message ..." << endl;
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int id = next_message( &input, NULL, &gpspacket, &imupacket,
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&navpacket, &servopacket, &healthpacket,
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ignore_checksum );
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count++;
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if ( id == GPS_PACKET ) {
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if ( gpspacket.time > gps_time ) {
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gps_data.push_back( gpspacket );
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gps_time = gpspacket.time;
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} else {
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cout << "oops gps back in time: " << gpspacket.time << " " << gps_time << endl;
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}
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} else if ( id == IMU_PACKET ) {
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if ( imupacket.time > imu_time ) {
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imu_data.push_back( imupacket );
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imu_time = imupacket.time;
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} else {
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cout << "oops imu back in time" << endl;
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}
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} else if ( id == NAV_PACKET ) {
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if ( navpacket.time > nav_time ) {
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nav_data.push_back( navpacket );
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nav_time = navpacket.time;
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} else {
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cout << "oops nav back in time" << endl;
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}
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} else if ( id == SERVO_PACKET ) {
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if ( servopacket.time > servo_time ) {
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servo_data.push_back( servopacket );
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servo_time = servopacket.time;
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} else {
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cout << "oops servo back in time" << endl;
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}
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} else if ( id == HEALTH_PACKET ) {
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if ( healthpacket.time > health_time ) {
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health_data.push_back( healthpacket );
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health_time = healthpacket.time;
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} else {
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cout << "oops health back in time" << endl;
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}
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}
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}
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cout << "processed " << count << " messages" << endl;
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return true;
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}
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// load the named stream log file into internal buffers
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bool UGTrack::load_flight( const string &path ) {
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gps gpspacket;
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imu imupacket;
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nav navpacket;
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servo servopacket;
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health healthpacket;
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gps_data.clear();
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imu_data.clear();
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nav_data.clear();
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servo_data.clear();
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health_data.clear();
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gzFile fgps = NULL;
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gzFile fimu = NULL;
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gzFile fnav = NULL;
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gzFile fservo = NULL;
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gzFile fhealth = NULL;
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SGPath file;
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int size;
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// open the gps file
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file = path; file.append( "gps.dat.gz" );
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std::string fdata = file.local8BitStr();
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if ( (fgps = gzopen( fdata.c_str(), "r" )) == NULL ) {
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printf("Cannot open %s\n", fdata.c_str());
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return false;
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}
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size = sizeof( struct gps );
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printf("gps size = %d\n", size);
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while ( gzread( fgps, &gpspacket, size ) == size ) {
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gps_data.push_back( gpspacket );
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}
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// open the imu file
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file = path; file.append( "imu.dat.gz" );
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fdata = file.local8BitStr();
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if ( (fimu = gzopen( fdata.c_str(), "r" )) == NULL ) {
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printf("Cannot open %s\n", fdata.c_str());
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return false;
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}
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size = sizeof( struct imu );
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printf("imu size = %d\n", size);
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while ( gzread( fimu, &imupacket, size ) == size ) {
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imu_data.push_back( imupacket );
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}
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// open the nav file
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file = path; file.append( "nav.dat.gz" );
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fdata = file.local8BitStr();
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if ( (fnav = gzopen( fdata.c_str(), "r" )) == NULL ) {
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printf("Cannot open %s\n", fdata.c_str());
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return false;
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}
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size = sizeof( struct nav );
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printf("nav size = %d\n", size);
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while ( gzread( fnav, &navpacket, size ) == size ) {
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// printf("%.4f %.4f\n", navpacket.lat, navpacket.lon);
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nav_data.push_back( navpacket );
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}
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// open the servo file
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file = path; file.append( "servo.dat.gz" );
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fdata = file.local8BitStr();
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if ( (fservo = gzopen( fdata.c_str(), "r" )) == NULL ) {
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printf("Cannot open %s\n", fdata.c_str());
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return false;
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}
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size = sizeof( struct servo );
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printf("servo size = %d\n", size);
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while ( gzread( fservo, &servopacket, size ) == size ) {
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servo_data.push_back( servopacket );
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}
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// open the health file
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file = path; file.append( "health.dat.gz" );
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fdata = file.local8BitStr();
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if ( (fhealth = gzopen( fdata.c_str(), "r" )) == NULL ) {
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printf("Cannot open %s\n", fdata.c_str());
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return false;
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}
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size = sizeof( struct health );
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printf("health size = %d\n", size);
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while ( gzread( fhealth, &healthpacket, size ) == size ) {
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health_data.push_back( healthpacket );
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}
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return true;
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}
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// attempt to work around some system dependent issues. Our read can
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// return < data than we want.
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int myread( SGIOChannel *ch, SGIOChannel *log, char *buf, int length ) {
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bool myeof = false;
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int result = 0;
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if ( !myeof ) {
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result = ch->read( buf, length );
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// cout << "wanted " << length << " read " << result << " bytes" << endl;
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if ( ch->get_type() == sgFileType ) {
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myeof = ((SGFile *)ch)->eof();
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}
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}
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if ( result > 0 && log != NULL ) {
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log->write( buf, result );
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}
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return result;
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}
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// attempt to work around some system dependent issues. Our read can
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// return < data than we want.
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int serial_read( SGSerialPort *serial, SGIOChannel *log,
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char *buf, int length )
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{
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int result = 0;
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int bytes_read = 0;
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char *tmp = buf;
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while ( bytes_read < length ) {
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result = serial->read_port( tmp, length - bytes_read );
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bytes_read += result;
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tmp += result;
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// cout << " read " << bytes_read << " of " << length << endl;
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}
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if ( bytes_read > 0 && log != NULL ) {
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log->write( buf, bytes_read );
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}
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return bytes_read;
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}
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// load the next message of a real time data stream
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int UGTrack::next_message( SGIOChannel *ch, SGIOChannel *log,
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gps *gpspacket, imu *imupacket, nav *navpacket,
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servo *servopacket, health *healthpacket,
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bool ignore_checksum )
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{
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char tmpbuf[256];
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char savebuf[256];
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// cout << "in next_message()" << endl;
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bool myeof = false;
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// scan for sync characters
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uint8_t sync0, sync1;
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myread( ch, log, tmpbuf, 2 );
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sync0 = (unsigned char)tmpbuf[0];
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sync1 = (unsigned char)tmpbuf[1];
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while ( (sync0 != START_OF_MSG0 || sync1 != START_OF_MSG1) && !myeof ) {
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sync0 = sync1;
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myread( ch, log, tmpbuf, 1 ); sync1 = (unsigned char)tmpbuf[0];
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cout << "scanning for start of message "
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<< (unsigned int)sync0 << " " << (unsigned int)sync1
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<< ", eof = " << ch->eof() << endl;
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if ( ch->get_type() == sgFileType ) {
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myeof = ((SGFile *)ch)->eof();
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}
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}
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cout << "found start of message ..." << endl;
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// read message id and size
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myread( ch, log, tmpbuf, 2 );
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uint8_t id = (unsigned char)tmpbuf[0];
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uint8_t size = (unsigned char)tmpbuf[1];
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// cout << "message = " << (int)id << " size = " << (int)size << endl;
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// load message
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if ( ch->get_type() == sgFileType ) {
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int count = myread( ch, log, savebuf, size );
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if ( count != size ) {
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cout << "ERROR: didn't read enough bytes!" << endl;
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}
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} else {
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#ifdef READ_ONE_BY_ONE
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for ( int i = 0; i < size; ++i ) {
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myread( ch, log, tmpbuf, 1 ); savebuf[i] = tmpbuf[0];
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}
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#else
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myread( ch, log, savebuf, size );
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#endif
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}
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// read checksum
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myread( ch, log, tmpbuf, 2 );
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uint8_t cksum0 = (unsigned char)tmpbuf[0];
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uint8_t cksum1 = (unsigned char)tmpbuf[1];
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if ( validate_cksum( id, size, savebuf, cksum0, cksum1, ignore_checksum ) )
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{
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parse_msg( id, savebuf, gpspacket, imupacket, navpacket, servopacket,
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healthpacket );
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return id;
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}
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cout << "Check sum failure!" << endl;
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return -1;
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}
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// load the next message of a real time data stream
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int UGTrack::next_message( SGSerialPort *serial, SGIOChannel *log,
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gps *gpspacket, imu *imupacket, nav *navpacket,
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servo *servopacket, health *healthpacket,
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bool ignore_checksum )
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{
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char tmpbuf[256];
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char savebuf[256];
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// cout << "in next_message()" << endl;
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bool myeof = false;
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// scan for sync characters
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int scan_count = 0;
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uint8_t sync0, sync1;
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serial_read( serial, log, tmpbuf, 2 );
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sync0 = (unsigned char)tmpbuf[0];
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sync1 = (unsigned char)tmpbuf[1];
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while ( (sync0 != START_OF_MSG0 || sync1 != START_OF_MSG1) && !myeof ) {
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scan_count++;
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sync0 = sync1;
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serial_read( serial, log, tmpbuf, 1 ); sync1 = (unsigned char)tmpbuf[0];
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// cout << "scanning for start of message "
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// << (unsigned int)sync0 << " " << (unsigned int)sync1
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// << endl;
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}
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if ( scan_count > 0 ) {
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cout << "found start of message after discarding " << scan_count
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<< " bytes" << endl;
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}
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// cout << "found start of message ..." << endl;
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// read message id and size
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serial_read( serial, log, tmpbuf, 2 );
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uint8_t id = (unsigned char)tmpbuf[0];
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uint8_t size = (unsigned char)tmpbuf[1];
|
|
// cout << "message = " << (int)id << " size = " << (int)size << endl;
|
|
|
|
// load message
|
|
serial_read( serial, log, savebuf, size );
|
|
|
|
// read checksum
|
|
serial_read( serial, log, tmpbuf, 2 );
|
|
uint8_t cksum0 = (unsigned char)tmpbuf[0];
|
|
uint8_t cksum1 = (unsigned char)tmpbuf[1];
|
|
// cout << "cksum0 = " << (int)cksum0 << " cksum1 = " << (int)cksum1
|
|
// << endl;
|
|
|
|
if ( validate_cksum( id, size, savebuf, cksum0, cksum1, ignore_checksum ) )
|
|
{
|
|
parse_msg( id, savebuf, gpspacket, imupacket, navpacket, servopacket,
|
|
healthpacket );
|
|
|
|
return id;
|
|
}
|
|
|
|
cout << "Check sum failure!" << endl;
|
|
return -1;
|
|
|
|
|
|
}
|
|
|
|
|
|
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;
|
|
}
|
|
|
|
|
|
gps UGEARInterpGPS( const gps A, const gps B, const double percent )
|
|
{
|
|
gps p;
|
|
p.time = interp(A.time, B.time, percent);
|
|
p.lat = interp(A.lat, B.lat, percent);
|
|
p.lon = interp(A.lon, B.lon, percent);
|
|
p.alt = interp(A.alt, B.alt, percent);
|
|
p.ve = interp(A.ve, B.ve, percent);
|
|
p.vn = interp(A.vn, B.vn, percent);
|
|
p.vd = interp(A.vd, B.vd, percent);
|
|
p.ITOW = (int)interp(A.ITOW, B.ITOW, percent);
|
|
p.err_type = A.err_type;
|
|
|
|
return p;
|
|
}
|
|
|
|
imu UGEARInterpIMU( const imu A, const imu B, const double percent )
|
|
{
|
|
imu p;
|
|
p.time = interp(A.time, B.time, percent);
|
|
p.p = interp(A.p, B.p, percent);
|
|
p.q = interp(A.q, B.q, percent);
|
|
p.r = interp(A.r, B.r, percent);
|
|
p.ax = interp(A.ax, B.ax, percent);
|
|
p.ay = interp(A.ay, B.ay, percent);
|
|
p.az = interp(A.az, B.az, percent);
|
|
p.hx = interp(A.hx, B.hx, percent);
|
|
p.hy = interp(A.hy, B.hy, percent);
|
|
p.hz = interp(A.hz, B.hz, percent);
|
|
p.Ps = interp(A.Ps, B.Ps, percent);
|
|
p.Pt = interp(A.Pt, B.Pt, percent);
|
|
p.phi = interp(A.phi, B.phi, percent, true);
|
|
p.the = interp(A.the, B.the, percent, true);
|
|
p.psi = interp(A.psi, B.psi, percent, true);
|
|
p.err_type = A.err_type;
|
|
|
|
return p;
|
|
}
|
|
|
|
nav UGEARInterpNAV( const nav A, const nav B, const double percent )
|
|
{
|
|
nav p;
|
|
p.time = interp(A.time, B.time, percent);
|
|
p.lat = interp(A.lat, B.lat, percent);
|
|
p.lon = interp(A.lon, B.lon, percent);
|
|
p.alt = interp(A.alt, B.alt, percent);
|
|
p.ve = interp(A.ve, B.ve, percent);
|
|
p.vn = interp(A.vn, B.vn, percent);
|
|
p.vd = interp(A.vd, B.vd, percent);
|
|
p.err_type = A.err_type;
|
|
|
|
return p;
|
|
}
|
|
|
|
|
|
servo UGEARInterpSERVO( const servo A, const servo B, const double percent )
|
|
{
|
|
servo p;
|
|
for ( int i = 0; i < 8; ++i ) {
|
|
p.chn[i] = (uint16_t)interp(A.chn[i], B.chn[i], percent);
|
|
}
|
|
p.status = A.status;
|
|
|
|
return p;
|
|
}
|
|
|
|
|
|
health UGEARInterpHEALTH( const health A, const health B, const double percent )
|
|
{
|
|
health p;
|
|
p.command_sequence = B.command_sequence;
|
|
p.time = interp(A.time, B.time, percent);
|
|
|
|
return p;
|
|
}
|
|
|