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/*
* Copyright © 2013 Keith Packard <keithp@keithp.com>
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
#define _GNU_SOURCE
#include <string.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <getopt.h>
#include "cc.h"
static const struct option options[] = {
{ .name = "lat", .has_arg = 1, .val = 'L' },
{ .name = "lon", .has_arg = 1, .val = 'l' },
{ 0, 0, 0, 0},
};
static void usage(char *program)
{
fprintf(stderr, "usage: %s [--lat <pad-lat>] [--lon <pad-lon>]\n"
"\t{flight-log} ...\n", program);
exit(1);
}
#define bool(b) ((b) ? "true" : "false")
struct telem_ent {
struct telem_ent *next;
union ao_telemetry_all telem;
};
static struct telem_ent *pad, **last = &pad;
static void
save_telem(union ao_telemetry_all *telem)
{
struct telem_ent *t = malloc (sizeof *t);
t->telem = *telem;
t->next = NULL;
*last = t;
last = &t->next;
}
static void
dump_telem(union ao_telemetry_all *telem)
{
char s[CC_TELEMETRY_BUFSIZE];
cc_telemetry_unparse(telem, s);
printf("%s\n", s);
}
double pad_lat = 0, pad_lon = 0;
double target_pad_lat = 0, target_pad_lon = 0;
double lat_off = 0, lon_off = 0;
int pending = 1;
static void
dump_saved(void);
void
doit(union ao_telemetry_all *telem)
{
double lat, lon;
switch (telem->generic.type) {
case AO_TELEMETRY_SENSOR_TELEMETRUM:
case AO_TELEMETRY_SENSOR_TELEMINI:
case AO_TELEMETRY_SENSOR_TELENANO:
if (telem->sensor.state > ao_flight_pad && pad) {
pending = 0;
if (target_pad_lat)
lat_off = target_pad_lat - pad_lat;
if (target_pad_lon)
lon_off = target_pad_lon - pad_lon;
dump_saved();
}
break;
case AO_TELEMETRY_LOCATION: {
lat = telem->location.latitude / 1.0e7;
lon = telem->location.longitude / 1.0e7;
if (pending) {
if (telem->location.flags & (1 << 4)) {
if (pad_lat) {
pad_lat = pad_lat - pad_lat / 32 + lat / 32.0;
pad_lon = pad_lon - pad_lon / 32 + lon / 32.0;
} else {
pad_lat = lat;
pad_lon = lon;
}
}
} else {
lat += lat_off;
lon += lon_off;
if (lat > 90)
lat = 90;
if (lat < -90)
lat = -90;
while (lon > 180)
lon -= 360;
while (lon < -180)
lon += 360;
telem->location.latitude = lat * 1.0e7;
telem->location.longitude = lon * 1.0e7;
}
break;
}
}
}
static void
dump_saved(void)
{
struct telem_ent *t, *n;
for (t = pad; t; t = n) {
n = t->next;
doit(&t->telem);
dump_telem(&t->telem);
free(t);
}
pad = NULL;
last = &pad;
}
int
main (int argc, char **argv)
{
char line[80];
int c, i, ret;
char *s;
FILE *file;
int serial;
while ((c = getopt_long(argc, argv, "l:L:", options, NULL)) != -1) {
switch (c) {
case 'L':
target_pad_lat = strtod(optarg, NULL);
break;
case 'l':
target_pad_lon = strtod(optarg, NULL);
break;
default:
usage(argv[0]);
break;
}
}
for (i = optind; i < argc; i++) {
file = fopen(argv[i], "r");
if (!file) {
perror(argv[i]);
ret++;
continue;
}
s = strstr(argv[i], "-serial-");
if (s)
serial = atoi(s + 8);
else
serial = 0;
while (fgets(line, sizeof (line), file)) {
union ao_telemetry_all telem;
if (cc_telemetry_parse(line, &telem)) {
if ((telem.generic.status & (1 << 7)) == 0) {
dump_telem(&telem);
continue;
}
doit (&telem);
if (pending)
save_telem(&telem);
else
dump_telem(&telem);
}
}
fclose (file);
}
return ret;
}
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