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629 lines
18 KiB
629 lines
18 KiB
#ifdef HAVE_CONFIG_H
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# include <config.h>
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#endif
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#ifdef HAVE_WINDOWS_H
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# include <windows.h>
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#else
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# include <netinet/in.h> // htonl() ntohl()
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#endif
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#include <iostream>
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#include <string>
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#include <plib/sg.h>
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#include <simgear/constants.h>
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#include <simgear/io/lowlevel.hxx> // endian tests
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#include <simgear/io/sg_file.hxx>
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#include <simgear/io/sg_serial.hxx>
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#include <simgear/io/raw_socket.hxx>
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#include <simgear/math/sg_geodesy.hxx>
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#include <simgear/timing/timestamp.hxx>
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#include <Network/net_ctrls.hxx>
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#include <Network/net_fdm.hxx>
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#include "MIDG-II.hxx"
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using std::cout;
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using std::endl;
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using std::string;
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// Network channels
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static simgear::Socket fdm_sock, ctrls_sock;
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// midg data
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MIDGTrack track;
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// Default ports
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static int fdm_port = 5505;
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static int ctrls_port = 5506;
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// Default path
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static string infile = "";
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static string serialdev = "";
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static string outfile = "";
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// Master time counter
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float sim_time = 0.0f;
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double frame_us = 0.0f;
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// sim control
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SGTimeStamp last_time_stamp;
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SGTimeStamp current_time_stamp;
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// altitude offset
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double alt_offset = 0.0;
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// skip initial seconds
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double skip = 0.0;
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// for speed estimate
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// double last_lat = 0.0, last_lon = 0.0;
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// double kts_filter = 0.0;
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bool inited = false;
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// The function htond is defined this way due to the way some
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// processors and OSes treat floating point values. Some will raise
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// an exception whenever a "bad" floating point value is loaded into a
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// floating point register. Solaris is notorious for this, but then
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// so is LynxOS on the PowerPC. By translating the data in place,
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// there is no need to load a FP register with the "corruped" floating
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// point value. By doing the BIG_ENDIAN test, I can optimize the
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// routine for big-endian processors so it can be as efficient as
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// possible
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static void htond (double &x)
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{
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if ( sgIsLittleEndian() ) {
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int *Double_Overlay;
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int Holding_Buffer;
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Double_Overlay = (int *) &x;
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Holding_Buffer = Double_Overlay [0];
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Double_Overlay [0] = htonl (Double_Overlay [1]);
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Double_Overlay [1] = htonl (Holding_Buffer);
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} else {
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return;
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}
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}
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// Float version
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static void htonf (float &x)
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{
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if ( sgIsLittleEndian() ) {
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int *Float_Overlay;
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int Holding_Buffer;
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Float_Overlay = (int *) &x;
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Holding_Buffer = Float_Overlay [0];
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Float_Overlay [0] = htonl (Holding_Buffer);
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} else {
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return;
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}
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}
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static void midg2fg( const MIDGpos pos, const MIDGatt att,
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FGNetFDM *fdm, FGNetCtrls *ctrls )
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{
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unsigned int i;
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// Version sanity checking
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fdm->version = FG_NET_FDM_VERSION;
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// Aero parameters
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fdm->longitude = pos.lon_deg * SGD_DEGREES_TO_RADIANS;
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fdm->latitude = pos.lat_deg * SGD_DEGREES_TO_RADIANS;
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fdm->altitude = pos.altitude_msl + alt_offset;
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fdm->agl = -9999.0;
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fdm->psi = att.yaw_rad; // heading
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fdm->phi = att.roll_rad; // roll
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fdm->theta = att.pitch_rad; // pitch;
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fdm->phidot = 0.0;
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fdm->thetadot = 0.0;
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fdm->psidot = 0.0;
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// estimate speed
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// double az1, az2, dist;
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// geo_inverse_wgs_84( pos.altitude_msl, last_lat, last_lon,
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// pos.lat_deg, pos.lon_deg, &az1, &az2, &dist );
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// double v_ms = dist / (frame_us / 1000000);
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// double v_kts = v_ms * SG_METER_TO_NM * 3600;
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// kts_filter = (0.99 * kts_filter) + (0.01 * v_kts);
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fdm->vcas = pos.speed_kts;
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// last_lat = pos.lat_deg;
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// last_lon = pos.lon_deg;
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// cout << "kts_filter = " << kts_filter << " vel = " << pos.speed_kts << endl;
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fdm->climb_rate = 0; // fps
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// cout << "climb rate = " << aero->hdota << endl;
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fdm->v_north = 0.0;
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fdm->v_east = 0.0;
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fdm->v_down = 0.0;
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fdm->v_body_u = 0.0;
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fdm->v_body_v = 0.0;
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fdm->v_body_w = 0.0;
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fdm->stall_warning = 0.0;
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fdm->A_X_pilot = 0.0;
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fdm->A_Y_pilot = 0.0;
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fdm->A_Z_pilot = 0.0 /* (should be -G) */;
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// Engine parameters
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fdm->num_engines = 1;
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fdm->eng_state[0] = 2;
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// cout << "state = " << fdm->eng_state[0] << endl;
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double rpm = ((pos.speed_kts - 15.0) / 65.0) * 2000.0 + 500.0;
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if ( rpm < 0.0 ) { rpm = 0.0; }
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if ( rpm > 3000.0 ) { rpm = 3000.0; }
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fdm->rpm[0] = rpm;
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fdm->fuel_flow[0] = 0.0;
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fdm->egt[0] = 0.0;
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// cout << "egt = " << aero->EGT << endl;
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fdm->oil_temp[0] = 0.0;
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fdm->oil_px[0] = 0.0;
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// Consumables
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fdm->num_tanks = 2;
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fdm->fuel_quantity[0] = 0.0;
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fdm->fuel_quantity[1] = 0.0;
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// Gear and flaps
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fdm->num_wheels = 3;
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fdm->wow[0] = 0;
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fdm->wow[1] = 0;
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fdm->wow[2] = 0;
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// the following really aren't used in this context
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fdm->cur_time = 0;
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fdm->warp = 0;
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fdm->visibility = 0;
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// cout << "Flap deflection = " << aero->dflap << endl;
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fdm->left_flap = 0.0;
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fdm->right_flap = 0.0;
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fdm->elevator = -fdm->theta * 1.0;
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fdm->elevator_trim_tab = 0.0;
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fdm->left_flap = 0.0;
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fdm->right_flap = 0.0;
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fdm->left_aileron = fdm->phi * 1.0;
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fdm->right_aileron = -fdm->phi * 1.0;
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fdm->rudder = 0.0;
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fdm->nose_wheel = 0.0;
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fdm->speedbrake = 0.0;
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fdm->spoilers = 0.0;
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// Convert the net buffer to network format
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fdm->version = htonl(fdm->version);
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htond(fdm->longitude);
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htond(fdm->latitude);
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htond(fdm->altitude);
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htonf(fdm->agl);
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htonf(fdm->phi);
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htonf(fdm->theta);
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htonf(fdm->psi);
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htonf(fdm->alpha);
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htonf(fdm->beta);
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htonf(fdm->phidot);
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htonf(fdm->thetadot);
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htonf(fdm->psidot);
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htonf(fdm->vcas);
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htonf(fdm->climb_rate);
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htonf(fdm->v_north);
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htonf(fdm->v_east);
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htonf(fdm->v_down);
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htonf(fdm->v_body_u);
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htonf(fdm->v_body_v);
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htonf(fdm->v_body_w);
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htonf(fdm->A_X_pilot);
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htonf(fdm->A_Y_pilot);
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htonf(fdm->A_Z_pilot);
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htonf(fdm->stall_warning);
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htonf(fdm->slip_deg);
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for ( i = 0; i < fdm->num_engines; ++i ) {
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fdm->eng_state[i] = htonl(fdm->eng_state[i]);
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htonf(fdm->rpm[i]);
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htonf(fdm->fuel_flow[i]);
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htonf(fdm->egt[i]);
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htonf(fdm->cht[i]);
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htonf(fdm->mp_osi[i]);
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htonf(fdm->tit[i]);
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htonf(fdm->oil_temp[i]);
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htonf(fdm->oil_px[i]);
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}
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fdm->num_engines = htonl(fdm->num_engines);
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for ( i = 0; i < fdm->num_tanks; ++i ) {
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htonf(fdm->fuel_quantity[i]);
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}
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fdm->num_tanks = htonl(fdm->num_tanks);
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for ( i = 0; i < fdm->num_wheels; ++i ) {
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fdm->wow[i] = htonl(fdm->wow[i]);
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htonf(fdm->gear_pos[i]);
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htonf(fdm->gear_steer[i]);
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htonf(fdm->gear_compression[i]);
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}
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fdm->num_wheels = htonl(fdm->num_wheels);
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fdm->cur_time = htonl( fdm->cur_time );
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fdm->warp = htonl( fdm->warp );
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htonf(fdm->visibility);
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htonf(fdm->elevator);
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htonf(fdm->elevator_trim_tab);
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htonf(fdm->left_flap);
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htonf(fdm->right_flap);
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htonf(fdm->left_aileron);
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htonf(fdm->right_aileron);
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htonf(fdm->rudder);
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htonf(fdm->nose_wheel);
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htonf(fdm->speedbrake);
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htonf(fdm->spoilers);
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}
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static void send_data( const MIDGpos pos, const MIDGatt att ) {
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int fdmsize = sizeof( FGNetFDM );
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FGNetFDM fgfdm;
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FGNetCtrls fgctrls;
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midg2fg( pos, att, &fgfdm, &fgctrls );
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fdm_sock.send(&fgfdm, fdmsize, 0);
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}
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void usage( const string &argv0 ) {
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cout << "Usage: " << argv0 << endl;
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cout << "\t[ --help ]" << endl;
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cout << "\t[ --infile <infile_name>" << endl;
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cout << "\t[ --serial <dev_name>" << endl;
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cout << "\t[ --outfile <outfile_name> (capture the data to a file)" << endl;
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cout << "\t[ --hertz <hertz> ]" << endl;
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cout << "\t[ --host <hostname> ]" << endl;
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cout << "\t[ --broadcast ]" << endl;
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cout << "\t[ --fdm-port <fdm output port #> ]" << endl;
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cout << "\t[ --ctrls-port <ctrls output port #> ]" << endl;
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cout << "\t[ --altitude-offset <meters> ]" << endl;
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cout << "\t[ --skip-seconds <seconds> ]" << endl;
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}
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int main( int argc, char **argv ) {
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double hertz = 60.0;
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string out_host = "localhost";
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bool do_broadcast = false;
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// process command line arguments
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for ( int i = 1; i < argc; ++i ) {
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if ( strcmp( argv[i], "--help" ) == 0 ) {
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usage( argv[0] );
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exit( 0 );
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} else if ( strcmp( argv[i], "--hertz" ) == 0 ) {
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++i;
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if ( i < argc ) {
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hertz = atof( argv[i] );
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} else {
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usage( argv[0] );
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exit( -1 );
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}
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} else if ( strcmp( argv[i], "--infile" ) == 0 ) {
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++i;
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if ( i < argc ) {
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infile = argv[i];
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} else {
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usage( argv[0] );
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exit( -1 );
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}
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} else if ( strcmp( argv[i], "--outfile" ) == 0 ) {
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++i;
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if ( i < argc ) {
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outfile = argv[i];
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} else {
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usage( argv[0] );
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exit( -1 );
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}
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} else if ( strcmp( argv[i], "--serial" ) == 0 ) {
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++i;
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if ( i < argc ) {
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serialdev = argv[i];
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} else {
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usage( argv[0] );
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exit( -1 );
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}
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} else if ( strcmp( argv[i], "--host" ) == 0 ) {
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++i;
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if ( i < argc ) {
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out_host = argv[i];
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} else {
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usage( argv[0] );
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exit( -1 );
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}
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} else if ( strcmp( argv[i], "--broadcast" ) == 0 ) {
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do_broadcast = true;
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} else if ( strcmp( argv[i], "--fdm-port" ) == 0 ) {
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++i;
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if ( i < argc ) {
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fdm_port = atoi( argv[i] );
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} else {
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usage( argv[0] );
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exit( -1 );
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}
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} else if ( strcmp( argv[i], "--ctrls-port" ) == 0 ) {
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++i;
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if ( i < argc ) {
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ctrls_port = atoi( argv[i] );
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} else {
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usage( argv[0] );
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exit( -1 );
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}
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} else if ( strcmp( argv[i], "--altitude-offset" ) == 0 ) {
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++i;
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if ( i < argc ) {
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alt_offset = atof( argv[i] );
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} else {
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usage( argv[0] );
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exit( -1 );
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}
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} else if ( strcmp( argv[i], "--skip-seconds" ) == 0 ) {
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++i;
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if ( i < argc ) {
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skip = atof( argv[i] );
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} else {
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usage( argv[0] );
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exit( -1 );
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}
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} else {
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usage( argv[0] );
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exit( -1 );
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}
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}
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// Setup up outgoing network connections
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simgear::Socket::initSockets(); // We must call this before any other net stuff
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if ( ! fdm_sock.open( false ) ) { // open a UDP socket
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cout << "error opening fdm output socket" << endl;
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return -1;
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}
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if ( ! ctrls_sock.open( false ) ) { // open a UDP socket
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cout << "error opening ctrls output socket" << endl;
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return -1;
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}
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cout << "open net channels" << endl;
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fdm_sock.setBlocking( false );
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ctrls_sock.setBlocking( false );
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cout << "blocking false" << endl;
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if ( do_broadcast ) {
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fdm_sock.setBroadcast( true );
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ctrls_sock.setBroadcast( true );
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}
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if ( fdm_sock.connect( out_host.c_str(), fdm_port ) == -1 ) {
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perror("connect");
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cout << "error connecting to outgoing fdm port: " << out_host
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<< ":" << fdm_port << endl;
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return -1;
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}
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cout << "connected outgoing fdm socket" << endl;
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if ( ctrls_sock.connect( out_host.c_str(), ctrls_port ) == -1 ) {
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perror("connect");
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cout << "error connecting to outgoing ctrls port: " << out_host
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<< ":" << ctrls_port << endl;
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return -1;
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}
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cout << "connected outgoing ctrls socket" << endl;
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if ( infile.length() ) {
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// Load data from a track data
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track.load( infile );
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cout << "Loaded " << track.pos_size() << " position records." << endl;
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cout << "Loaded " << track.att_size() << " attitude records." << endl;
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int size = track.pos_size();
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double current_time = track.get_pospt(0).get_seconds();
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cout << "Track begin time is " << current_time << endl;
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double end_time = track.get_pospt(size-1).get_seconds();
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cout << "Track end time is " << end_time << endl;
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cout << "Duration = " << end_time - current_time << endl;
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// advance skip seconds forward
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current_time += skip;
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frame_us = 1000000.0 / hertz;
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if ( frame_us < 0.0 ) {
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frame_us = 0.0;
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}
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SGTimeStamp start_time;
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start_time.stamp();
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int pos_count = 0;
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int att_count = 0;
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MIDGpos pos0, pos1;
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pos0 = pos1 = track.get_pospt( 0 );
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MIDGatt att0, att1;
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att0 = att1 = track.get_attpt( 0 );
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while ( current_time < end_time ) {
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// cout << "current_time = " << current_time << " end_time = "
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// << end_time << endl;
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// Advance position pointer
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while ( current_time > pos1.get_seconds()
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&& pos_count < track.pos_size() )
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{
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pos0 = pos1;
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++pos_count;
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// cout << "count = " << count << endl;
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pos1 = track.get_pospt( pos_count );
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}
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// cout << "p0 = " << p0.get_time() << " p1 = " << p1.get_time()
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// << endl;
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// Advance attitude pointer
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while ( current_time > att1.get_seconds()
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&& att_count < track.att_size() )
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{
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att0 = att1;
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++att_count;
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// cout << "count = " << count << endl;
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att1 = track.get_attpt( att_count );
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}
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// cout << "pos0 = " << pos0.get_seconds()
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// << " pos1 = " << pos1.get_seconds() << endl;
|
|
|
|
double pos_percent;
|
|
if ( fabs(pos1.get_seconds() - pos0.get_seconds()) < 0.00001 ) {
|
|
pos_percent = 0.0;
|
|
} else {
|
|
pos_percent =
|
|
(current_time - pos0.get_seconds()) /
|
|
(pos1.get_seconds() - pos0.get_seconds());
|
|
}
|
|
// cout << "Percent = " << percent << endl;
|
|
double att_percent;
|
|
if ( fabs(att1.get_seconds() - att0.get_seconds()) < 0.00001 ) {
|
|
att_percent = 0.0;
|
|
} else {
|
|
att_percent =
|
|
(current_time - att0.get_seconds()) /
|
|
(att1.get_seconds() - att0.get_seconds());
|
|
}
|
|
// cout << "Percent = " << percent << endl;
|
|
|
|
MIDGpos pos = MIDGInterpPos( pos0, pos1, pos_percent );
|
|
MIDGatt att = MIDGInterpAtt( att0, att1, att_percent );
|
|
// cout << current_time << " " << p0.lat_deg << ", " << p0.lon_deg
|
|
// << endl;
|
|
// cout << current_time << " " << p1.lat_deg << ", " << p1.lon_deg
|
|
// << endl;
|
|
// cout << (double)current_time << " " << pos.lat_deg << ", "
|
|
// << pos.lon_deg << " " << att.yaw_deg << endl;
|
|
if ( pos.lat_deg > -500 ) {
|
|
printf( "%.3f %.4f %.4f %.1f %.2f %.2f %.2f\n",
|
|
current_time,
|
|
pos.lat_deg, pos.lon_deg, pos.altitude_msl,
|
|
att.yaw_rad * 180.0 / SG_PI,
|
|
att.pitch_rad * 180.0 / SG_PI,
|
|
att.roll_rad * 180.0 / SG_PI );
|
|
}
|
|
|
|
send_data( pos, att );
|
|
|
|
// 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).toUSecs();
|
|
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).toUSecs() < frame_us ) {
|
|
current_time_stamp.stamp();
|
|
}
|
|
|
|
current_time += (frame_us / 1000000.0);
|
|
last_time_stamp = current_time_stamp;
|
|
}
|
|
|
|
cout << "Processed " << pos_count << " entries in "
|
|
<< current_time_stamp - start_time << " seconds."
|
|
<< endl;
|
|
} else if ( serialdev.length() ) {
|
|
// process incoming data from the serial port
|
|
|
|
int count = 0;
|
|
|
|
MIDGpos pos;
|
|
MIDGatt att;
|
|
|
|
uint32_t pos_time = 1;
|
|
uint32_t att_time = 1;
|
|
|
|
// open the serial port device
|
|
SGSerialPort input( serialdev, 115200 );
|
|
if ( !input.is_enabled() ) {
|
|
cout << "Cannot open: " << serialdev << endl;
|
|
return false;
|
|
}
|
|
|
|
// open up the data log file if requested
|
|
if ( !outfile.length() ) {
|
|
cout << "no --outfile <name> specified, cannot capture data!"
|
|
<< endl;
|
|
return false;
|
|
}
|
|
SGFile output( outfile );
|
|
if ( !output.open( SG_IO_OUT ) ) {
|
|
cout << "Cannot open: " << outfile << endl;
|
|
return false;
|
|
}
|
|
|
|
while ( input.is_enabled() ) {
|
|
// cout << "looking for next message ..." << endl;
|
|
int id = track.next_message( &input, &output, &pos, &att );
|
|
cout << "message id = " << id << endl;
|
|
count++;
|
|
|
|
if ( id == 10 ) {
|
|
if ( att.get_msec() > att_time ) {
|
|
att_time = att.get_msec();
|
|
//current_time = att_time;
|
|
} else {
|
|
cout << "oops att back in time" << endl;
|
|
}
|
|
} else if ( id == 12 ) {
|
|
if ( pos.get_msec() > pos_time ) {
|
|
pos_time = pos.get_msec();
|
|
//current_time = pos_time;
|
|
} else {
|
|
cout << "oops pos back in time" << endl;
|
|
}
|
|
}
|
|
|
|
if ( pos.lat_deg > -500 ) {
|
|
// printf( "%.3f %.4f %.4f %.1f %.2f %.2f %.2f\n",
|
|
// current_time,
|
|
// pos.lat_deg, pos.lon_deg, pos.altitude_msl,
|
|
// att.yaw_rad * 180.0 / SG_PI,
|
|
// att.pitch_rad * 180.0 / SG_PI,
|
|
// att.roll_rad * 180.0 / SG_PI );
|
|
}
|
|
|
|
send_data( pos, att );
|
|
}
|
|
}
|
|
|
|
return 0;
|
|
}
|