Autopilot-CVS: downlink/ground/src Makefile,1.7,1.7.2.1 gui.fl,1.19,1.19.2.1 main.cpp,1.20,1.20.2.1
Status: Alpha
Brought to you by:
tramm
Menu
▾
▴
Autopilot-CVS: downlink/ground/src Makefile,1.7,1.7.2.1 gui.fl,1.19,1.19.2.1 main.cpp,1.20,1.20.2.1
|
From: Trammell H. <tr...@us...> - 2003-03-19 14:46:59
|
Update of /cvsroot/autopilot/downlink/ground/src
In directory sc8-pr-cvs1:/tmp/cvs-serv8740/src
Modified Files:
Tag: nvision
Makefile gui.fl main.cpp
Log Message:
Version flashed onto nvision hardware
Index: Makefile
===================================================================
RCS file: /cvsroot/autopilot/downlink/ground/src/Makefile,v
retrieving revision 1.7
retrieving revision 1.7.2.1
diff -u -d -r1.7 -r1.7.2.1
--- Makefile 8 Mar 2003 05:38:19 -0000 1.7
+++ Makefile 19 Mar 2003 14:46:54 -0000 1.7.2.1
@@ -55,6 +55,7 @@
-L$(sim.root)/lib \
-lstate \
-ljoystick \
+ -lgetoptions \
$(gl.ldflags) \
Index: gui.fl
===================================================================
RCS file: /cvsroot/autopilot/downlink/ground/src/gui.fl,v
retrieving revision 1.19
retrieving revision 1.19.2.1
diff -u -d -r1.19 -r1.19.2.1
--- gui.fl 8 Mar 2003 05:39:00 -0000 1.19
+++ gui.fl 19 Mar 2003 14:46:55 -0000 1.19.2.1
@@ -1,5 +1,5 @@
# data file for the Fltk User Interface Designer (fluid)
-version 1.0102
+version 1.0100
header_name {.h}
code_name {.cpp}
class UserInterface {open
@@ -8,13 +8,13 @@
} {
Fl_Window {} {
label {Ground station} open
- xywh {531 142 400 338} visible
+ xywh {404 147 400 370} visible
} {
Fl_Tabs {} {open
- xywh {10 10 375 290}
+ xywh {10 10 380 290}
} {
Fl_Group {} {
- label Attitude open selected
+ label Attitude open
xywh {10 35 375 265}
} {
Fl_Box horizon {
@@ -374,22 +374,59 @@
xywh {330 185 25 25}
}
}
+ Fl_Group {} {
+ label GPS open
+ xywh {10 35 375 265} hide
+ } {
+ Fl_Value_Output gps_time {
+ label Time
+ xywh {90 80 110 25}
+ }
+ Fl_Value_Output gps_long {
+ label Longitude
+ xywh {90 105 110 25} minimum -180 maximum 180 step 0.0001
+ }
+ Fl_Value_Output gps_lat {
+ label Latitude
+ xywh {90 130 110 25} minimum -90 maximum 90 step 0.0001
+ }
+ Fl_Value_Output gps_heading {
+ label Heading
+ xywh {90 155 110 25} maximum 360 step 0.01
+ }
+ Fl_Value_Output gps_speed {
+ label Speed
+ xywh {90 180 110 25} maximum 1000 step 0.01
+ }
+ Fl_Value_Output gps_alt {
+ label Altitude
+ xywh {90 205 110 25} minimum -100 maximum 10000 step 0.01
+ }
+ }
}
Fl_Button {} {
label Exit
callback {std::exit( 0 );}
- xywh {265 305 120 25}
+ xywh {265 335 120 25}
code0 {\#include <cstdlib>}
}
Fl_Light_Button connected {
label Reconnect
- callback { reconnect_server(); }
+ callback {reconnect_server();}
xywh {155 305 100 25}
code0 {\#include "Ground.h"}
}
Fl_Value_Output packets {
label Packets
xywh {60 305 80 25}
+ }
+ Fl_Value_Input trigger_freq {
+ label Trigger selected
+ xywh {60 335 80 25} minimum 0.5 maximum 60 step 0.25 value 4
+ }
+ Fl_Light_Button trigger {
+ label Trigger
+ xywh {155 335 100 25} when 0
}
}
}
Index: main.cpp
===================================================================
RCS file: /cvsroot/autopilot/downlink/ground/src/main.cpp,v
retrieving revision 1.20
retrieving revision 1.20.2.1
diff -u -d -r1.20 -r1.20.2.1
--- main.cpp 8 Mar 2003 05:40:21 -0000 1.20
+++ main.cpp 19 Mar 2003 14:46:55 -0000 1.20.2.1
@@ -37,7 +37,7 @@
#include "Ground.h"
#include "Joystick.h"
-#include "state/commands.h"
+#include <getoptions/getoptions.h>
#include "state/Server.h"
#include "mat/Conversions.h"
#include "mat/Constants.h"
@@ -49,7 +49,7 @@
UserInterface * gui = 0;
-const char * server_hostname = "127.0.0.1";
+const char * server_host = "127.0.0.1";
int server_port = 2002;
int udp_fd = -1;
static Server * server;
@@ -172,6 +172,48 @@
}
#endif
+/*
+ * Handler called when there is GPS state data available
+ */
+static void
+gps_state(
+ void * UNUSED( priv ),
+ const host_t * UNUSED( src ),
+ int UNUSED( type ),
+ const struct timeval * UNUSED( when ),
+ const void * data,
+ size_t len
+)
+{
+ char * buf = (char*) data;
+ buf[len+1] = '\0';
+
+ cout << "GPS state: " << buf << endl;
+
+ int time;
+ double lat;
+ double longitude;
+ double alt;
+ double heading;
+ double speed;
+
+ sscanf( buf, "%d %lf %lf %lf %lf %lf",
+ &time,
+ &lat,
+ &longitude,
+ &alt,
+ &heading,
+ &speed
+ );
+
+ gui->gps_time->value( time );
+ gui->gps_lat->value( lat );
+ gui->gps_long->value( longitude );
+ gui->gps_alt->value( alt );
+ gui->gps_heading->value( heading );
+ gui->gps_speed->value( speed );
+}
+
/*
* Handler called when there is AHRS state data available
@@ -179,13 +221,14 @@
static void
ahrs_state(
void * UNUSED( priv ),
- const host_t * src,
+ const host_t * UNUSED( src ),
int UNUSED( type ),
const struct timeval * UNUSED( when ),
const void * data,
size_t len
)
{
+#ifdef BINARY_AHRS
const state_t * state = (state_t*) data;
if( len != sizeof( *state ) )
@@ -199,6 +242,20 @@
<< endl;
return;
}
+#else
+ state_t state_buf;
+ state_t * state = &state_buf;
+
+ ((char*)data)[len+1] = 0;
+
+ memset( (void*) state, 0, sizeof(state_t) );
+ state->z = -5;
+ sscanf( (char*) data, "%lf %lf %lf",
+ &state->phi,
+ &state->theta,
+ &state->psi
+ );
+#endif
double a = 6378137.0;
double lat;
@@ -263,6 +320,26 @@
}
+/*
+ * Trigger timer
+ */
+void
+trigger(
+ void * priv
+)
+{
+ Server * server = (Server*) priv;
+
+ if( gui->trigger->value() )
+ {
+ cout << "Trigger: gps time: " << gui->gps_time->value() << endl;
+ server->send_command( CAMERA_TRIGGER );
+ }
+
+ Fl::add_timeout( gui->trigger_freq->value(), trigger, priv );
+}
+
+
/**
* Called by main at startup and by the reconnect button
*/
@@ -270,12 +347,12 @@
reconnect_server()
{
cout << "Contacting "
- << server_hostname
+ << server_host
<< ":"
<< server_port
<< endl;
- server->connect( server_hostname, server_port );
+ server->connect( server_host, server_port );
}
@@ -306,15 +383,45 @@
gui->yawAxes->value(3);
}
+
+static int
+help( void )
+{
+ cerr <<
+"Usage: ground [options]\n"
+"\n"
+" -h | --help This help\n"
+" -s | --server server Server hostname\n"
+" -p | --port port Server port number\n"
+"\n"
+ << endl;
+
+ return -10;
+}
+
+
int
main(
int argc,
char ** argv
)
{
- server = new Server;
+ int rc = getoptions( &argc, &argv,
+ "h|?|help&", help,
+ "s|server=s", &server_host,
+ "p|port=i", &server_port,
+ 0
+ );
+
+ if( rc == -10 )
+ return EXIT_FAILURE;
+ if( rc < 0 )
+ return help();
+
+ server = new Server( server_host, server_port );
server->handle( AHRS_STATE, ahrs_state, (void*) server );
+ server->handle( GPS_STATE, gps_state, (void*) server );
server->handle( COMMAND_ACK, set_connected_led, 0 );
Fl::add_fd(
@@ -325,14 +432,19 @@
);
+
Fl::gl_visual( FL_RGB );
gui = new UserInterface();
- gui->make_window()->show( argc, argv );
+ gui->make_window()->show();
+
init_gui();
reconnect_server();
reconnect_joy();
+
+ trigger( (void*) server );
+ //Fl::add_timeout( gui->trigger_freq->value(), trigger, (void*) &server );
return Fl::run();
}
|