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Several updates to implement a sequenced/verified/check summed serial

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command uplink on the same port we are receiving the telemetry data.
This commit is contained in:
curt 2008-03-30 05:34:40 +00:00
parent 817ba71a2e
commit 78e6655002
6 changed files with 243 additions and 62 deletions
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4
utils/GPSsmooth/Makefile.am
View file

@ -19,7 +19,9 @@ MIDGsmooth_LDADD = \
UGsmooth_SOURCES = \
UGear.cxx UGear.hxx \
UGear_main.cxx
UGear_command.cxx UGear_command.hxx \
UGear_main.cxx \
UGear_opengc.hxx
UGsmooth_LDADD = \
-lsgio -lsgserial -lsgtiming -lsgmath -lsgbucket -lsgmisc -lsgdebug \

26
utils/GPSsmooth/UGear.cxx
View file

@ -22,12 +22,12 @@ SG_USING_STD(endl);
#define START_OF_MSG1 224
UGEARTrack::UGEARTrack():
UGTrack::UGTrack():
sg_swap(false)
{
};
UGEARTrack::~UGEARTrack() {};
UGTrack::~UGTrack() {};
// swap the 1st 4 bytes with the last 4 bytes of a stargate double so
@ -91,7 +91,7 @@ static bool validate_cksum( uint8_t id, uint8_t size, char *buf,
}
void UGEARTrack::parse_msg( const int id, char *buf,
void UGTrack::parse_msg( const int id, char *buf,
struct gps *gpspacket, imu *imupacket,
nav *navpacket, servo *servopacket,
health *healthpacket )
@ -157,7 +157,7 @@ void UGEARTrack::parse_msg( const int id, char *buf,
// load the named stream log file into internal buffers
bool UGEARTrack::load_stream( const string &file, bool ignore_checksum ) {
bool UGTrack::load_stream( const string &file, bool ignore_checksum ) {
int count = 0;
gps gpspacket;
@ -236,7 +236,7 @@ bool UGEARTrack::load_stream( const string &file, bool ignore_checksum ) {
// load the named stream log file into internal buffers
bool UGEARTrack::load_flight( const string &path ) {
bool UGTrack::load_flight( const string &path ) {
gps gpspacket;
imu imupacket;
nav navpacket;
@ -261,7 +261,7 @@ bool UGEARTrack::load_flight( const string &path ) {
// open the gps file
file = path; file.append( "gps.dat.gz" );
if ( (fgps = gzopen( file.c_str(), "r" )) == NULL ) {
printf("Cannont open %s\n", file.c_str());
printf("Cannot open %s\n", file.c_str());
return false;
}
@ -373,7 +373,7 @@ int serial_read( SGSerialPort *serial, SGIOChannel *log,
// load the next message of a real time data stream
int UGEARTrack::next_message( SGIOChannel *ch, SGIOChannel *log,
int UGTrack::next_message( SGIOChannel *ch, SGIOChannel *log,
gps *gpspacket, imu *imupacket, nav *navpacket,
servo *servopacket, health *healthpacket,
bool ignore_checksum )
@ -443,10 +443,10 @@ int UGEARTrack::next_message( SGIOChannel *ch, SGIOChannel *log,
// load the next message of a real time data stream
int UGEARTrack::next_message( SGSerialPort *serial, SGIOChannel *log,
gps *gpspacket, imu *imupacket, nav *navpacket,
servo *servopacket, health *healthpacket,
bool ignore_checksum )
int UGTrack::next_message( SGSerialPort *serial, SGIOChannel *log,
gps *gpspacket, imu *imupacket, nav *navpacket,
servo *servopacket, health *healthpacket,
bool ignore_checksum )
{
char tmpbuf[256];
char savebuf[256];
@ -592,9 +592,7 @@ servo UGEARInterpSERVO( const servo A, const servo B, const double percent )
health UGEARInterpHEALTH( const health A, const health B, const double percent )
{
health p;
p.volts_raw = interp(A.volts_raw, B.volts_raw, percent);
p.volts = interp(A.volts, B.volts, percent);
p.est_seconds = (uint16_t)interp(A.est_seconds, B.est_seconds, percent);
p.command_sequence = B.command_sequence;
p.time = interp(A.time, B.time, percent);
return p;

16
utils/GPSsmooth/UGear.hxx
View file

@ -65,16 +65,14 @@ struct servo {
struct health {
double time;
float volts_raw; /* raw volt reading */
float volts; /* filtered volts */
uint32_t est_seconds; /* estimated useful seconds remaining */
uint32_t loadavg; /* system "1 minute" load average */
uint32_t ahrs_hz; /* actual ahrs loop hz */
uint32_t nav_hz; /* actual nav loop hz */
uint64_t command_sequence; /* highest received command sequence num */
uint64_t loadavg; /* system "1 minute" load average */
uint64_t ahrs_hz; /* actual ahrs loop hz */
uint64_t nav_hz; /* actual nav loop hz */
};
// Manage a saved ugear log (track file)
class UGEARTrack {
class UGTrack {
private:
@ -96,8 +94,8 @@ private:
public:
UGEARTrack();
~UGEARTrack();
UGTrack();
~UGTrack();
// read/parse the next message from the specified data stream,
// returns id # if a valid message found.

98
utils/GPSsmooth/UGear_command.cxx Normal file
View file

@ -0,0 +1,98 @@
#include "UGear_command.hxx"
UGCommand::UGCommand():
cmd_send_index(0),
cmd_recv_index(0),
prime_state(true)
{}
UGCommand::~UGCommand() {}
// calculate the nmea check sum
static char calc_nmea_cksum(const char *sentence) {
unsigned char sum = 0;
int i, len;
// cout << sentence << endl;
len = strlen(sentence);
sum = sentence[0];
for ( i = 1; i < len; i++ ) {
// cout << sentence[i];
sum ^= sentence[i];
}
// cout << endl;
// printf("sum = %02x\n", sum);
return sum;
}
// package and send the serial command
static int serial_send( SGSerialPort *serial, int sequence,
const string command )
{
char sequence_str[10];
snprintf( sequence_str, 9, "%d", sequence );
string package = sequence_str;
package += ",";
package += command;
char pkg_sum[10];
snprintf( pkg_sum, 3, "%02X", calc_nmea_cksum(package.c_str()) );
package += "*";
package += pkg_sum;
package += "\n";
unsigned int result = serial->write_port( package.c_str(),
package.length() );
if ( result != package.length() ) {
printf("ERROR: wrote %d of %d bytes to serial port!\n",
result, package.length() );
return 0;
}
return 1;
}
// send current command until acknowledged
int UGCommand::update( SGSerialPort *serial )
{
// if current command has been received, advance to next command
printf("sent = %d recv = %d\n", cmd_send_index, cmd_recv_index);
if ( cmd_recv_index >= cmd_send_index ) {
if ( ! cmd_queue.empty() ) {
if ( ! prime_state ) {
cmd_queue.pop();
cmd_send_index++;
} else {
prime_state = false;
}
}
}
// nothing to do if command queue empty
if ( cmd_queue.empty() ) {
prime_state = true;
return 0;
}
// send the command
string command = cmd_queue.front();
int result = serial_send( serial, cmd_send_index, command );
return cmd_send_index;
}
void UGCommand::add( const string command )
{
printf("command queue: %s\n", command.c_str());
cmd_queue.push( command );
}

53
utils/GPSsmooth/UGear_command.hxx Normal file
View file

@ -0,0 +1,53 @@
#ifndef _FG_UGEAR_COMMAND_HXX
#define _FG_UGEAR_COMMAND_HXX
#ifdef HAVE_CONFIG_H
# include <config.h>
#endif
#include <simgear/compiler.h>
#include <iostream>
#include <string>
#include <queue>
#include <simgear/misc/stdint.hxx>
#include <simgear/io/iochannel.hxx>
#include <simgear/serial/serial.hxx>
SG_USING_STD(cout);
SG_USING_STD(endl);
SG_USING_STD(string);
SG_USING_STD(queue);
// Manage UGear Command Channel
class UGCommand {
private:
int cmd_send_index;
int cmd_recv_index;
bool prime_state;
queue <string> cmd_queue;
public:
UGCommand();
~UGCommand();
// send current command until acknowledged
int update( SGSerialPort *serial );
void add( const string command );
inline int cmd_queue_size() {
return cmd_queue.size();
}
inline void update_cmd_sequence( int sequence ) {
cmd_recv_index = sequence;
}
};
#endif // _FG_UGEAR_COMMAND_HXX

108
utils/GPSsmooth/UGear_main.cxx
View file

@ -24,6 +24,7 @@
#include <Network/net_fdm.hxx>
#include "UGear.hxx"
#include "UGear_command.hxx"
#include "UGear_opengc.hxx"
@ -36,7 +37,7 @@ SG_USING_STD(string);
static netSocket fdm_sock, ctrls_sock, opengc_sock;
// ugear data
UGEARTrack track;
UGTrack track;
// Default ports
static int fdm_port = 5505;
@ -193,10 +194,10 @@ static void ugear2fg( gps *gpspacket, imu *imupacket, nav *navpacket,
Ps_error = (Ps_count/span) * Ps_error + ((span-Ps_count)/span) * error;
fdm->altitude = Ps + Ps_error;
printf("%.3f, %.3f, %.3f, %.3f, %.8f, %.8f, %.3f, %.3f, %.3f, %.3f, %.3f\n",
/* printf("%.3f, %.3f, %.3f, %.3f, %.8f, %.8f, %.3f, %.3f, %.3f, %.3f, %.3f\n",
imupacket->time, imupacket->the, -navpacket->vd, climbf,
navpacket->lat, navpacket->lon, gpspacket->alt, navpacket->alt,
imupacket->Ps, Ps, Ps + Ps_error);
imupacket->Ps, Ps, Ps + Ps_error); */
// cout << "climb rate = " << aero->hdota << endl;
fdm->v_north = 0.0;
@ -364,15 +365,12 @@ static void ugear2opengc( gps *gpspacket, imu *imupacket, nav *navpacket,
servo *servopacket, health *healthpacket,
ogcFGData *ogc )
{
unsigned int i;
// Version sanity checking
ogc->version_id = OGC_VERSION;
// Aero parameters
ogc->longitude = navpacket->lon * SG_DEGREES_TO_RADIANS;
ogc->latitude = navpacket->lat * SG_DEGREES_TO_RADIANS;
ogc->altitude = ogc->elevation = navpacket->alt + alt_offset;
ogc->longitude = navpacket->lon;
ogc->latitude = navpacket->lat;
ogc->heading = imupacket->psi * SG_RADIANS_TO_DEGREES; // heading
ogc->bank = imupacket->phi * SG_RADIANS_TO_DEGREES; // roll
ogc->pitch = imupacket->the * SG_RADIANS_TO_DEGREES; // pitch;
@ -437,18 +435,26 @@ static void ugear2opengc( gps *gpspacket, imu *imupacket, nav *navpacket,
climbf = 0.994 * climbf + 0.006 * climb;
ogc->vvi = climbf; // fps
// uncomment one of the following schemes for setting elevation:
// use the navigation (inertially augmented gps estimate)
// ogc->altitude = ogc->elevation
// = (navpacket->alt + alt_offset * SG_METER_TO_FEET);
// use estimate error between pressure sensor and gps altitude over time
// use pressure sensor + error average for altitude estimate.
static double Ps_error = 0.0;
static double Ps_count = 0;
const double span = 10000.0;
Ps_count += 1.0; if (Ps_count > (span-1.0)) { Ps_count = (span-1.0); }
double error = navpacket->alt - Ps;
Ps_error = (Ps_count/span) * Ps_error + ((span-Ps_count)/span) * error;
ogc->elevation = Ps + Ps_error;
ogc->elevation = (Ps + Ps_error) * SG_METER_TO_FEET;
printf("%.3f, %.3f, %.3f, %.3f, %.8f, %.8f, %.3f, %.3f, %.3f, %.3f, %.3f\n",
/* printf("%.3f, %.3f, %.3f, %.3f, %.8f, %.8f, %.3f, %.3f, %.3f, %.3f, %.3f\n",
imupacket->time, imupacket->the, -navpacket->vd, climbf,
navpacket->lat, navpacket->lon, gpspacket->alt, navpacket->alt,
imupacket->Ps, Ps, Ps + Ps_error);
imupacket->Ps, Ps, Ps + Ps_error); */
if ( est_controls ) {
static float est_elev = 0.0;
@ -472,21 +478,22 @@ static void ugear2opengc( gps *gpspacket, imu *imupacket, nav *navpacket,
double fd_bank = 0.0;
double fd_pitch = 0.0;
ogc->egt[0] = ogc->bank + fd_bank; // flight director target roll
ogc->egt[1] = -ogc->pitch * 2 + fd_pitch; // flight director target pitch
ogc->egt[1] = -ogc->pitch + fd_pitch; // flight director target pitch
ogc->egt[2] = ogc->heading + 15; // target heading bug
ogc->egt[3] = -ogc->vvi; // target VVI bug
ogc->epr[0] = ogc->altitude + 100; // target altitude bug
ogc->epr[0] = 1400 /*ogc->elevation - 50*/ ; // target altitude bug
ogc->epr[1] = ogc->v_kcas + 5; // target speed bug
ogc->epr[2] = gps_status; // gps status box
}
static void send_data( gps *gpspacket, imu *imupacket, nav *navpacket,
servo *servopacket, health *healthpacket ) {
static void send_data_udp( gps *gpspacket, imu *imupacket, nav *navpacket,
servo *servopacket, health *healthpacket )
{
int len;
int ogcsize = sizeof( ogcFGData );
int fdmsize = sizeof( FGNetFDM );
int ctrlsize = sizeof( FGNetCtrls );
// int ctrlsize = sizeof( FGNetCtrls );
// cout << "Running main loop" << endl;
@ -727,11 +734,11 @@ int main( int argc, char **argv ) {
if ( track.gps_size() > 0 ) {
double tmp = track.get_gpspt(track.gps_size()-1).ITOW;
int days = tmp / (24 * 60 * 60);
int days = (int)(tmp / (24 * 60 * 60));
tmp -= days * 24 * 60 * 60;
int hours = tmp / (60 * 60);
int hours = (int)(tmp / (60 * 60));
tmp -= hours * 60 * 60;
int min = tmp / 60;
int min = (int)(tmp / 60);
tmp -= min * 60;
double sec = tmp;
printf("[GPS ]:ITOW= %.3f[sec] %dd %02d:%02d:%06.3f\n",
@ -930,8 +937,8 @@ int main( int argc, char **argv ) {
gps_status = 1.0;
}
send_data( &gpspacket, &imupacket, &navpacket, &servopacket,
&healthpacket );
send_data_udp( &gpspacket, &imupacket, &navpacket, &servopacket,
&healthpacket );
if ( run_real_time ) {
// Update the elapsed time.
@ -987,15 +994,17 @@ int main( int argc, char **argv ) {
servo servopacket; bzero( &servopacket, sizeof(servopacket) );
health healthpacket; bzero( &healthpacket, sizeof(healthpacket) );
double gps_time = 0;
double imu_time = 0;
double nav_time = 0;
double servo_time = 0;
double health_time = 0;
double gps_time = 0.0;
double imu_time = 0.0;
double nav_time = 0.0;
double servo_time = 0.0;
double health_time = 0.0;
double command_time = 0.0;
double command_heartbeat = 0.0;
// open the serial port device
SGSerialPort input( serialdev, 115200 );
if ( !input.is_enabled() ) {
SGSerialPort uavcom( serialdev, 115200 );
if ( !uavcom.is_enabled() ) {
cout << "Cannot open: " << serialdev << endl;
return false;
}
@ -1006,15 +1015,23 @@ int main( int argc, char **argv ) {
<< endl;
return false;
}
SGFile output( outfile );
if ( !output.open( SG_IO_OUT ) ) {
SGFile log( outfile );
if ( !log.open( SG_IO_OUT ) ) {
cout << "Cannot open: " << outfile << endl;
return false;
}
while ( input.is_enabled() ) {
// create the command channel manager
UGCommand command;
// add some test commands
command.add("apalt,1000");
command.add("home,158.0,32.5");
command.add("gohome");
while ( uavcom.is_enabled() ) {
// cout << "looking for next message ..." << endl;
int id = track.next_message( &input, &output, &gpspacket,
int id = track.next_message( &uavcom, &log, &gpspacket,
&imupacket, &navpacket, &servopacket,
&healthpacket, ignore_checksum );
// cout << "message id = " << id << endl;
@ -1052,9 +1069,13 @@ int main( int argc, char **argv ) {
if ( healthpacket.time > health_time ) {
health_time = healthpacket.time;
current_time = health_time;
printf("Received a health packet, sequence: %d\n",
healthpacket.command_sequence);
command.update_cmd_sequence(healthpacket.command_sequence);
} else {
cout << "oops health back in time: " << healthpacket.time << " " << health_time << endl;
}
}
if ( (current_time > gps_time + 2) ||
@ -1068,6 +1089,19 @@ int main( int argc, char **argv ) {
gps_status = -1.0;
}
// Generate a ground station heart beat every 5 seconds
if ( current_time >= command_heartbeat + 5 ) {
command.add("hb");
command_heartbeat = current_time;
}
// Command update @ 1hz
if ( current_time >= command_time + 1 ) {
command.update(&uavcom);
command_time = current_time;
}
// Relay data on to FlightGear and LFSTech Glass
if ( current_time >= last_time + (1/hertz) ) {
// if ( gpspacket.lat > -500 ) {
int londeg = (int)navpacket.lon;
@ -1078,20 +1112,18 @@ int main( int argc, char **argv ) {
char latdir = 'N'; if ( latdeg < 0 ) latdir = 'S';
londeg = abs(londeg);
latdeg = abs(latdeg);
printf( "%.2f %c%02d:%.4f %c%03d:%.4f %.1f %.2f %.2f %.2f %.2f %d\n",
/*printf( "%.2f %c%02d:%.4f %c%03d:%.4f %.1f %.2f %.2f %.2f\n",
current_time,
latdir, latdeg, latmin, londir, londeg, lonmin,
navpacket.alt,
imupacket.phi*SGD_RADIANS_TO_DEGREES,
imupacket.the*SGD_RADIANS_TO_DEGREES,
imupacket.psi*SGD_RADIANS_TO_DEGREES,
healthpacket.volts,
healthpacket.est_seconds);
imupacket.psi*SGD_RADIANS_TO_DEGREES ); */
// }
last_time = current_time;
send_data( &gpspacket, &imupacket, &navpacket, &servopacket,
&healthpacket );
send_data_udp( &gpspacket, &imupacket, &navpacket,
&servopacket, &healthpacket );
}
}
}