kopia lustrzana https://github.com/cyoung/stratux
Clean up obsolete dangerzone includes.
rodzic
92dab38028
commit
2e8ed95506
5
Makefile
5
Makefile
|
@ -11,7 +11,7 @@ $(if $(GOROOT),,$(error GOROOT is not set!))
|
|||
endif
|
||||
|
||||
all:
|
||||
make ahrs_approx xdump978 xdump1090 xgen_gdl90 $(PLATFORMDEPENDENT)
|
||||
make xdump978 xdump1090 xgen_gdl90 $(PLATFORMDEPENDENT)
|
||||
|
||||
xgen_gdl90:
|
||||
go get -t -d -v ./main ./godump978 ./uatparse ./sensors
|
||||
|
@ -29,9 +29,6 @@ xdump978:
|
|||
cd dump978 && make lib
|
||||
sudo cp -f ./libdump978.so /usr/lib/libdump978.so
|
||||
|
||||
ahrs_approx:
|
||||
go build $(BUILDINFO) -p 4 test-data/ahrs/ahrs_approx.go
|
||||
|
||||
.PHONY: test
|
||||
test:
|
||||
make -C test
|
||||
|
|
|
@ -26,8 +26,4 @@ fi
|
|||
|
||||
/usr/bin/stratux-screen.py start
|
||||
|
||||
# Dangerzone.
|
||||
#route add default gw 10.26.36.1
|
||||
#screen -d -m -S ahrs_approx /usr/bin/ahrs_approx
|
||||
|
||||
exit 0
|
||||
|
|
|
@ -1,203 +0,0 @@
|
|||
package main
|
||||
|
||||
import (
|
||||
"bufio"
|
||||
"encoding/hex"
|
||||
"encoding/json"
|
||||
"fmt"
|
||||
"io/ioutil"
|
||||
"net"
|
||||
"net/http"
|
||||
"os"
|
||||
"strconv"
|
||||
"strings"
|
||||
"sync"
|
||||
"time"
|
||||
)
|
||||
|
||||
const (
|
||||
SITUATION_URL = "http://127.0.0.1/getSituation"
|
||||
)
|
||||
|
||||
type MySituation struct {
|
||||
AHRSRoll float64
|
||||
AHRSPitch float64
|
||||
}
|
||||
|
||||
var Location MySituation
|
||||
|
||||
var situationMutex *sync.Mutex
|
||||
|
||||
func chkErr(err error) {
|
||||
if err != nil {
|
||||
fmt.Printf("error: %s\n", err.Error())
|
||||
os.Exit(1)
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
ffMonitor().
|
||||
Watches for "i-want-to-play-ffm-udp", "i-can-play-ffm-udp", and "i-cannot-play-ffm-udp" UDP messages broadcasted on
|
||||
port 50113. Tags the client, issues a warning, and disables AHRS GDL90 output.
|
||||
|
||||
*/
|
||||
|
||||
var ffPlay bool
|
||||
|
||||
func ffMonitor() {
|
||||
addr := net.UDPAddr{Port: 50113, IP: net.ParseIP("0.0.0.0")}
|
||||
conn, err := net.ListenUDP("udp", &addr)
|
||||
if err != nil {
|
||||
fmt.Printf("ffMonitor(): error listening on port 50113: %s\n", err.Error())
|
||||
return
|
||||
}
|
||||
defer conn.Close()
|
||||
for {
|
||||
buf := make([]byte, 1024)
|
||||
n, _, err := conn.ReadFrom(buf)
|
||||
if err != nil {
|
||||
fmt.Printf("err: %s\n", err.Error())
|
||||
return
|
||||
}
|
||||
// Got message, check if it's in the correct format.
|
||||
if n < 3 || buf[0] != 0xFF || buf[1] != 0xFE {
|
||||
continue
|
||||
}
|
||||
s := string(buf[2:n])
|
||||
s = strings.Replace(s, "\x00", "", -1)
|
||||
if strings.HasPrefix(s, "i-want-to-play-ffm-udp") || strings.HasPrefix(s, "i-can-play-ffm-udp") {
|
||||
// Enable AHRS emulation.
|
||||
ffPlay = true
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
func situationUpdater() {
|
||||
situationUpdateTicker := time.NewTicker(100 * time.Millisecond)
|
||||
for {
|
||||
<-situationUpdateTicker.C
|
||||
situationMutex.Lock()
|
||||
|
||||
resp, err := http.Get(SITUATION_URL)
|
||||
if err != nil {
|
||||
fmt.Printf("HTTP GET error: %s\n", err.Error())
|
||||
situationMutex.Unlock()
|
||||
continue
|
||||
}
|
||||
|
||||
body, err := ioutil.ReadAll(resp.Body)
|
||||
if err != nil {
|
||||
fmt.Printf("HTTP GET body error: %s\n", err.Error())
|
||||
resp.Body.Close()
|
||||
situationMutex.Unlock()
|
||||
continue
|
||||
}
|
||||
|
||||
// fmt.Printf("body: %s\n", string(body))
|
||||
err = json.Unmarshal(body, &Location)
|
||||
|
||||
if err != nil {
|
||||
fmt.Printf("HTTP JSON unmarshal error: %s\n", err.Error())
|
||||
}
|
||||
resp.Body.Close()
|
||||
situationMutex.Unlock()
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
type AHRSData struct {
|
||||
Roll float64
|
||||
Pitch float64
|
||||
Trigger []byte
|
||||
}
|
||||
|
||||
func main() {
|
||||
situationMutex = &sync.Mutex{}
|
||||
|
||||
BROADCAST_IPv4 := net.IPv4(255, 255, 255, 255)
|
||||
conn, err := net.DialUDP("udp", nil, &net.UDPAddr{
|
||||
IP: BROADCAST_IPv4,
|
||||
Port: 41504,
|
||||
})
|
||||
|
||||
if err != nil {
|
||||
fmt.Printf("err conn: %s\n", err.Error())
|
||||
return
|
||||
}
|
||||
|
||||
ahrsTable := make([]AHRSData, 0)
|
||||
|
||||
f, err := os.Open("/root/ahrs_table.log")
|
||||
if err != nil {
|
||||
fmt.Printf("error: %s\n", err.Error())
|
||||
return
|
||||
}
|
||||
defer f.Close()
|
||||
|
||||
scanner := bufio.NewScanner(f)
|
||||
for scanner.Scan() {
|
||||
s := scanner.Text()
|
||||
x := strings.Split(s, ",")
|
||||
if len(x) < 3 {
|
||||
continue
|
||||
}
|
||||
|
||||
buf := make([]byte, 1024)
|
||||
n, err := hex.Decode(buf, []byte(x[2]))
|
||||
if err != nil || n == 0 {
|
||||
fmt.Printf("error parsing '%s'.\n", x[2])
|
||||
continue
|
||||
}
|
||||
|
||||
roll, err := strconv.ParseFloat(x[0], 64)
|
||||
if err != nil {
|
||||
fmt.Printf("error parsing '%s'.\n", x[0])
|
||||
continue
|
||||
}
|
||||
pitch, err := strconv.ParseFloat(x[1], 64)
|
||||
if err != nil {
|
||||
fmt.Printf("error parsing '%s'.\n", x[1])
|
||||
continue
|
||||
}
|
||||
|
||||
newEntry := AHRSData{
|
||||
Roll: roll,
|
||||
Pitch: pitch,
|
||||
Trigger: buf[:n],
|
||||
}
|
||||
|
||||
ahrsTable = append(ahrsTable, newEntry)
|
||||
|
||||
}
|
||||
|
||||
fmt.Printf("loaded %d size ahrs table.\n", len(ahrsTable))
|
||||
|
||||
go situationUpdater()
|
||||
go ffMonitor()
|
||||
|
||||
tm := time.NewTicker(125 * time.Millisecond)
|
||||
for {
|
||||
<-tm.C
|
||||
situationMutex.Lock()
|
||||
myPitch := Location.AHRSPitch
|
||||
myRoll := Location.AHRSRoll
|
||||
situationMutex.Unlock()
|
||||
|
||||
mB := make([]byte, 0)
|
||||
var mV float64
|
||||
for _, v := range ahrsTable {
|
||||
roll := v.Roll
|
||||
pitch := v.Pitch
|
||||
trigger := v.Trigger
|
||||
z := ((roll - myRoll) * (roll - myRoll)) + ((pitch - myPitch) * (pitch - myPitch))
|
||||
if (z < mV) || ((mV - 0.000) < 0.00001) {
|
||||
mV = z
|
||||
mB = trigger
|
||||
}
|
||||
}
|
||||
if len(mB) > 0 && ffPlay { // Only send if we have both an AHRS approximation to send and FF was detected.
|
||||
conn.Write(mB)
|
||||
}
|
||||
}
|
||||
|
||||
}
|
Plik diff jest za duży
Load Diff
Ładowanie…
Reference in New Issue