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/*
* Copyright © 2009 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 <stdint.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <getopt.h>
#include <math.h>
FILE *emulator_in;
char *emulator_app;
char *emulator_name;
char *emulator_info;
uint8_t ao_flight_debug;
#define AO_FLIGHT_TEST
typedef int32_t alt_t;
typedef int32_t pres_t;
#define AO_MS_TO_TICKS(ms) ((ms) / 10)
#define AO_LED_REPORT 0
static void ao_led_on(uint8_t led) {
}
static void ao_led_off(uint8_t led) {
}
static void ao_delay_until(uint16_t target) {
}
static uint16_t ao_time(void) {
return 0;
}
#include "ao_microflight.c"
#include "ao_microkalman.c"
#include "ao_convert_pa.c"
uint16_t now;
uint8_t running;
void ao_log_micro_data() {
running = 1;
}
void
ao_micro_report(void)
{
if (running) {
alt_t ground = ao_pa_to_altitude(pa_ground);
printf ("%6.3f %10d %10d %10d %10d %10d\n", now / 100.0,
ao_pa_to_altitude(pa) - ground,
ao_pa_to_altitude(ao_pa) - ground,
ao_pa_to_altitude(pa_min) - ground,
ao_pa_speed, ao_pa_accel);
}
}
void
ao_micro_finish(void)
{
ao_micro_report();
}
void
ao_pa_get(void)
{
char line[4096];
char *toks[128];
char *saveptr;
int t, ntok;
static int time_id;
static int pa_id;
double time;
double pressure;
static double last_time;
static double last_pressure;
static int been_here;
static int start_samples;
static int is_mp;
static int use_saved;
if (been_here && start_samples < 100) {
start_samples++;
return;
}
ao_micro_report();
if (use_saved) {
pa = last_pressure;
now = last_time;
use_saved = 0;
// printf ("use saved %d %d\n", now, pa);
return;
}
for (;;) {
if (!fgets(line, sizeof (line), emulator_in))
exit(0);
for (t = 0; t < 128; t++) {
toks[t] = strtok_r(t ? NULL : line, ", ", &saveptr);
if (!toks[t])
break;
}
ntok = t;
if (toks[0][0] == '#') {
if (strcmp(toks[0],"#version") == 0) {
for (t = 1; t < ntok; t++) {
if (!strcmp(toks[t], "time"))
time_id = t;
if (!strcmp(toks[t],"pressure"))
pa_id = t;
}
}
continue;
} else if (!strcmp(toks[0], "Time")) {
time_id = 0;
pa_id = 1;
is_mp = 1;
continue;
}
time = strtod(toks[time_id],NULL);
pressure = strtod(toks[pa_id],NULL);
time *= 100;
if (been_here && time - last_time < 0.096 * 100)
continue;
if (is_mp && been_here) {
double avg_pressure = (pressure + last_pressure) / 2.0;
double avg_time = (time + last_time) / 2.0;
now = avg_time;
pa = avg_pressure;
// printf ("new %d %d\n", now, pa);
use_saved = 1;
} else {
now = floor (time + 0.5);
pa = pressure;
}
last_pressure = pressure;
last_time = time;
been_here = 1;
break;
}
}
void
ao_dump_state(void)
{
}
static const struct option options[] = {
{ .name = "summary", .has_arg = 0, .val = 's' },
{ .name = "debug", .has_arg = 0, .val = 'd' },
{ .name = "info", .has_arg = 1, .val = 'i' },
{ 0, 0, 0, 0},
};
void run_flight_fixed(char *name, FILE *f, int summary, char *info)
{
emulator_name = name;
emulator_in = f;
emulator_info = info;
ao_microflight();
ao_micro_finish();
}
int
main (int argc, char **argv)
{
int summary = 0;
int c;
int i;
char *info = NULL;
emulator_app="baro";
while ((c = getopt_long(argc, argv, "sdi:", options, NULL)) != -1) {
switch (c) {
case 's':
summary = 1;
break;
case 'd':
ao_flight_debug = 1;
break;
case 'i':
info = optarg;
break;
}
}
if (optind == argc)
run_flight_fixed("<stdin>", stdin, summary, info);
else
for (i = optind; i < argc; i++) {
FILE *f = fopen(argv[i], "r");
if (!f) {
perror(argv[i]);
continue;
}
run_flight_fixed(argv[i], f, summary, info);
fclose(f);
}
exit(0);
}
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