From 3f72b1e18b22acbf86f41df8109bf1d8abc404cc Mon Sep 17 00:00:00 2001 From: Christopher Young Date: Tue, 23 May 2017 16:56:18 -0400 Subject: [PATCH 1/6] Remove old AHRS replay tools. Add protocol tools. --- Makefile | 5 +- test-data/ahrs/ahrs.log | 17311 ------------------------------ test-data/ahrs/ahrs_approx.go | 165 + test-data/ahrs/ahrs_replay.go | 444 - test-data/ahrs/ahrs_table.log | 4474 ++++++++ test-data/ahrs/gps.log | 4130 ------- test-data/ahrs/stratux-ahrs.log | Bin 10300888 -> 0 bytes test-data/ahrs/stratux-es.log | 1 - test-data/ahrs/stratux-gps.log | Bin 1980710 -> 0 bytes test-data/ahrs/stratux-uat.log | 9445 ---------------- test-data/ahrs/stratux.log | Bin 19802 -> 0 bytes tools/ahrs_plot.go | 87 + tools/ahrs_table.go | 109 + tools/udp_listen.go | 34 + tools/udp_replay.go | 67 + 15 files changed, 4940 insertions(+), 31332 deletions(-) delete mode 100644 test-data/ahrs/ahrs.log create mode 100644 test-data/ahrs/ahrs_approx.go delete mode 100644 test-data/ahrs/ahrs_replay.go create mode 100644 test-data/ahrs/ahrs_table.log delete mode 100644 test-data/ahrs/gps.log delete mode 100644 test-data/ahrs/stratux-ahrs.log delete mode 100644 test-data/ahrs/stratux-es.log delete mode 100644 test-data/ahrs/stratux-gps.log delete mode 100644 test-data/ahrs/stratux-uat.log delete mode 100644 test-data/ahrs/stratux.log create mode 100644 tools/ahrs_plot.go create mode 100644 tools/ahrs_table.go create mode 100644 tools/udp_listen.go create mode 100644 tools/udp_replay.go diff --git a/Makefile b/Makefile index 2ba09e93..21bf1c7d 100644 --- a/Makefile +++ b/Makefile @@ -11,7 +11,7 @@ $(if $(GOROOT),,$(error GOROOT is not set!)) endif all: - make xdump978 xdump1090 xgen_gdl90 $(PLATFORMDEPENDENT) + make ahrs_approx xdump978 xdump1090 xgen_gdl90 $(PLATFORMDEPENDENT) xgen_gdl90: go get -t -d -v ./main ./test ./godump978 ./uatparse ./sensors @@ -29,6 +29,9 @@ 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 + .PHONY: test test: make -C test diff --git a/test-data/ahrs/ahrs.log b/test-data/ahrs/ahrs.log deleted file mode 100644 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-{"Timestamp":1731105286028,"RawGyro":[0,0,0],"RawAccel":[-9106,1820,14178],"RawQuat":[723349524,258885464,167076341,-731266562],"DmpTimestamp":4233799733,"RawMag":[34,114,324],"MagTimestamp":4233799733,"CalibratedAccel":[16357,3469,20660],"CalibratedMag":[940,-392,3036],"FusedQuat":[0.379015,0.28124,-0.056992,0.879775],"FusedEuler":[0.134355,-0.568131,2.288752],"LastDMPYaw":-1.542401,"LastYaw":2.288752} diff --git a/test-data/ahrs/ahrs_approx.go b/test-data/ahrs/ahrs_approx.go new file mode 100644 index 00000000..5269ba58 --- /dev/null +++ b/test-data/ahrs/ahrs_approx.go @@ -0,0 +1,165 @@ +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) + } +} + +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("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() + + 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 { + conn.Write(mB) + } + } + +} diff --git a/test-data/ahrs/ahrs_replay.go b/test-data/ahrs/ahrs_replay.go deleted file mode 100644 index ea988348..00000000 --- a/test-data/ahrs/ahrs_replay.go +++ /dev/null @@ -1,444 +0,0 @@ -//https://www.youtube.com/watch?v=sQxJkSFmy_M&t=12m14s -//https://www.youtube.com/watch?v=sQxJkSFmy_M&t=14m12s -//815 - -package main - -import ( - "fmt" - "log" - "os" - "bufio" - "strconv" - "encoding/json" - "errors" - "strings" - "net" - "math" - "time" -) - -var Crc16Table [256]uint16 - - -const ( - IPAD_ADDR = "192.168.1.133" - LON_LAT_RESOLUTION = float64(180.0 / 8388608.0) - TRACK_RESOLUTION = float32(360.0 / 256.0) -) - -type GPSData struct { - Timestamp int64 - Lat float64 - Lng float64 - Alt float64 - Speed float64 - Course float64 -} - -type AHRSData struct { - Timestamp int64 - RawGyro []int64 - RawAccel []int64 - RawQuat []int64 - DmpTimestamp int64 - RawMag []int64 - MagTimestamp int64 - CalibratedAccel []int64 - CalibratedMag []int64 - FusedQuat []float64 - FusedEuler []float64 - LastDMPYaw float64 - LastYaw float64 -} - - -// Construct the CRC table. Adapted from FAA ref above. -func crcInit() { - var i uint16 - var bitctr uint16 - var crc uint16 - for i = 0; i < 256; i++ { - crc = (i << 8) - for bitctr = 0; bitctr < 8; bitctr++ { - z := uint16(0) - if (crc & 0x8000) != 0 { - z = 0x1021 - } - crc = (crc << 1) ^ z - } - Crc16Table[i] = crc - } -} - - -func cleanStr(str string) string { - str = strings.Trim(str, "\r\n ") - str = strings.Replace(str, "\x00", "", -1) - return str -} - -func seekTimestampInAHRS(fn string, startnsec, tol int64) (*os.File, int64, error) { - fp, err := os.OpenFile(fn, os.O_RDONLY, 0) - if err != nil { - return nil, 0, err - } - rdr := bufio.NewReader(fp) - for { - buf, err := rdr.ReadString('\n') - if err != nil { - break - } - buf = cleanStr(buf) - if len(buf) == 0 { - continue - } - - var ahrs AHRSData - err = json.Unmarshal([]byte(buf), &ahrs) - if err != nil { - continue - } - - i := ahrs.Timestamp - if ((i > startnsec) && (i - startnsec) <= tol) || ((i < startnsec) && (startnsec - i) <= tol) { // Found it. - return fp, i, nil - } - } - return nil, 0, errors.New("can't find start.") -} - -func getLine(rdr *bufio.Reader) ([]string, int64) { - ret := make([]string, 0) - retIdx := int64(0) - for len(ret) == 0 { - buf, err := rdr.ReadString('\n') - if err != nil { - fmt.Printf("quitting. err: %s\n", err.Error()) - os.Exit(0) - } - buf = cleanStr(buf) - ln := strings.Split(buf, ",") - if len(ln) < 2 { - continue - } - idx, err := strconv.ParseInt(ln[0], 10, 64) - if err != nil { - continue - } - ret = ln - retIdx = idx - } - return ret, retIdx -} - -func getAHRS (rdr *bufio.Reader) (AHRSData, int64) { - var ahrs AHRSData - for ahrs.Timestamp == 0 { - buf, err := rdr.ReadString('\n') - if err != nil { - fmt.Printf("quitting. err: %s\n", err.Error()) - os.Exit(0) - } - buf = cleanStr(buf) - err = json.Unmarshal([]byte(buf), &ahrs) - if err != nil { - continue - } - } - return ahrs, ahrs.Timestamp -} - -func getGPS (rdr *bufio.Reader) (GPSData, int64) { - var gps GPSData - for gps.Timestamp == 0 { - buf, err := rdr.ReadString('\n') - if err != nil { - fmt.Printf("quitting. err: %s\n", err.Error()) - os.Exit(0) - } - buf = cleanStr(buf) - err = json.Unmarshal([]byte(buf), &gps) - if err != nil { - continue - } - } - return gps, gps.Timestamp -} - - -// Compute CRC. Adapted from FAA ref above. -func crcCompute(data []byte) uint16 { - ret := uint16(0) - for i := 0; i < len(data); i++ { - ret = Crc16Table[ret>>8] ^ (ret << 8) ^ uint16(data[i]) - } - return ret -} - -func prepareMessage(data []byte) []byte { - // Compute CRC before modifying the message. - crc := crcCompute(data) - // Add the two CRC16 bytes before replacing control characters. - data = append(data, byte(crc&0xFF)) - data = append(data, byte(crc>>8)) - - tmp := []byte{0x7E} // Flag start. - - // Copy the message over, escaping 0x7E (Flag Byte) and 0x7D (Control-Escape). - for i := 0; i < len(data); i++ { - mv := data[i] - if (mv == 0x7E) || (mv == 0x7D) { - mv = mv ^ 0x20 - tmp = append(tmp, 0x7D) - } - tmp = append(tmp, mv) - } - - tmp = append(tmp, 0x7E) // Flag end. - - return tmp -} - - -func makeHeartbeat() []byte { - msg := make([]byte, 7) - // See p.10. - msg[0] = 0x00 // Message type "Heartbeat". - msg[1] = 0x01 // "UAT Initialized". - msg[1] = msg[1] | 0x80 - msg[1] = msg[1] | 0x10 //FIXME: Addr talkback. - - nowUTC := time.Now().UTC() - // Seconds since 0000Z. - midnightUTC := time.Date(nowUTC.Year(), nowUTC.Month(), nowUTC.Day(), 0, 0, 0, 0, time.UTC) - secondsSinceMidnightUTC := uint32(nowUTC.Sub(midnightUTC).Seconds()) - - msg[2] = byte(((secondsSinceMidnightUTC >> 16) << 7) | 0x1) // UTC OK. - msg[3] = byte((secondsSinceMidnightUTC & 0xFF)) - msg[4] = byte((secondsSinceMidnightUTC & 0xFFFF) >> 8) - - // TODO. Number of uplink messages. See p.12. - // msg[5] - // msg[6] - - return prepareMessage(msg) -} - -func makeLatLng(v float64) []byte { - ret := make([]byte, 3) - - v = v / LON_LAT_RESOLUTION - wk := int32(v) - - ret[0] = byte((wk & 0xFF0000) >> 16) - ret[1] = byte((wk & 0x00FF00) >> 8) - ret[2] = byte((wk & 0x0000FF)) - - return ret -} - - -func makeOwnshipReport(gps GPSData) []byte { - msg := make([]byte, 28) - // See p.16. - msg[0] = 0x0A // Message type "Ownship". - - msg[1] = 0x01 // Alert status, address type. - - msg[2] = 1 // Address. - msg[3] = 1 // Address. - msg[4] = 1 // Address. - - tmp := makeLatLng(gps.Lat) - msg[5] = tmp[0] // Latitude. - msg[6] = tmp[1] // Latitude. - msg[7] = tmp[2] // Latitude. - - tmp = makeLatLng(gps.Lng) - msg[8] = tmp[0] // Longitude. - msg[9] = tmp[1] // Longitude. - msg[10] = tmp[2] // Longitude. - - // This is **PRESSURE ALTITUDE** - //FIXME: Temporarily removing "invalid altitude" when pressure altitude not available - using GPS altitude instead. - // alt := uint16(0xFFF) // 0xFFF "invalid altitude." - - alt := uint16(gps.Alt) //FIXME: This should not be here. - alt = (alt + 1000) / 25 - - alt = alt & 0xFFF // Should fit in 12 bits. - - msg[11] = byte((alt & 0xFF0) >> 4) // Altitude. - msg[12] = byte((alt & 0x00F) << 4) - - msg[12] = byte(((alt & 0x00F) << 4) | 0xB) // "Airborne" + "True Heading" - - msg[13] = 0xBB // NIC and NACp. - - - gdSpeed := uint16(gps.Speed) - gdSpeed = gdSpeed & 0x0FFF // Should fit in 12 bits. - - msg[14] = byte((gdSpeed & 0xFF0) >> 4) - msg[15] = byte((gdSpeed & 0x00F) << 4) - - verticalVelocity := int16(1000 / 64) // ft/min. 64 ft/min resolution. - //TODO: 0x800 = no information available. - verticalVelocity = verticalVelocity & 0x0FFF // Should fit in 12 bits. - msg[15] = msg[15] | byte((verticalVelocity&0x0F00)>>8) - msg[16] = byte(verticalVelocity & 0xFF) - - // Showing magnetic (corrected) on ForeFlight. Needs to be True Heading. - groundTrack := uint16(gps.Course) - trk := uint8(float32(groundTrack) / TRACK_RESOLUTION) // Resolution is ~1.4 degrees. - - msg[17] = byte(trk) - - msg[18] = 0x01 // "Light (ICAO) < 15,500 lbs" - - return prepareMessage(msg) -} - -//TODO -func makeOwnshipGeometricAltitudeReport(gps GPSData) []byte { - msg := make([]byte, 5) - // See p.28. - msg[0] = 0x0B // Message type "Ownship Geo Alt". - alt := int16(gps.Alt) // GPS Altitude. - alt = alt / 5 - msg[1] = byte(alt >> 8) // Altitude. - msg[2] = byte(alt & 0x00FF) // Altitude. - - //TODO: "Figure of Merit". 0x7FFF "Not available". - msg[3] = 0x00 - msg[4] = 0x0A - - return prepareMessage(msg) -} - -var myGPS GPSData - -func heartBeatSender() { - addr, err := net.ResolveUDPAddr("udp", IPAD_ADDR + ":4000") - if err != nil { - log.Printf("ResolveUDPAddr(%s): %s\n", IPAD_ADDR, err.Error()) - return - } - gdlConn, err := net.DialUDP("udp", nil, addr) - if err != nil { - log.Printf("DialUDP(%s): %s\n", IPAD_ADDR, err.Error()) - return - } - - timer := time.NewTicker(1 * time.Second) - for { - <-timer.C - gdlConn.Write(makeHeartbeat()) - gdlConn.Write(makeOwnshipReport(myGPS)) - gdlConn.Write(makeOwnshipGeometricAltitudeReport(myGPS)) - } -} - -var cal_pitch float64 -var cal_roll float64 - -var cal_num int - -func main() { - crcInit() - if len(os.Args) < 5 { - fmt.Printf("%s \n", os.Args[0]) - return - } - startsec, err := strconv.Atoi(os.Args[1]) - if err != nil { - fmt.Printf("invalid: %s\n", os.Args[1]) - return - } - - replayspeed, err := strconv.Atoi(os.Args[4]) - if err != nil { - fmt.Printf("invalid: %s\n", os.Args[4]) - return - } - - startnsec := int64(startsec) * 1000000000 - - ahrsfp, ahrsIdx, err := seekTimestampInAHRS(os.Args[2], startnsec, 1000000000) // Find the index with 1.00s tolerance. - if err != nil { - panic(err) - } - defer ahrsfp.Close() - gpsfp, err := os.OpenFile(os.Args[3], os.O_RDONLY, 0) - if err != nil { - panic(err) - } - defer gpsfp.Close() - - addr, err := net.ResolveUDPAddr("udp", IPAD_ADDR + ":49002") - if err != nil { - log.Printf("ResolveUDPAddr(%s): %s\n", IPAD_ADDR, err.Error()) - return - } - outConn, err := net.DialUDP("udp", nil, addr) - if err != nil { - log.Printf("DialUDP(%s): %s\n", IPAD_ADDR, err.Error()) - return - } - go heartBeatSender() - - ahrsReader := bufio.NewReader(ahrsfp) - gpsReader := bufio.NewReader(gpsfp) - - lastTs := ahrsIdx - for { - gps, gpsIdx := getGPS(gpsReader) - ahrs, ahrsIdx := getAHRS(ahrsReader) - - // Correct for drift between the samples. - drift := int64(math.Abs(float64(ahrsIdx - gpsIdx))) -// fmt.Printf("drift: %d\n", drift) - if drift >= 200000000 { - // There's a problem. One of the files is ahead of the other by more than 0.10s. - if gpsIdx > ahrsIdx { // GPS got ahead of AHRS? When does this happen? -// fmt.Printf("GPS sample ahead of AHRS - correcting\n") - for gpsIdx - ahrsIdx >= 200000000 { - ln, nidx := getAHRS(ahrsReader) - ahrsIdx = nidx - ahrs = ln - } - } else { // AHRS got ahead of GPS? This usually happens. - for ahrsIdx - gpsIdx >= 200000000 { -// fmt.Printf("AHRS sample ahead of GPS - correcting\n") - ln, nidx := getGPS(gpsReader) - gpsIdx = nidx - gps = ln - } - } - } - - myGPS = gps - fmt.Printf("matchy: %d, %d\n", ahrs.Timestamp, gps.Timestamp) - pitch := ahrs.FusedEuler[0] * (180.0 / math.Pi) - roll := -ahrs.FusedEuler[1] * (180.0 / math.Pi) - - if cal_num < 20 { // Average the first 5 measurements and call this "level". - cal_pitch = ((cal_pitch * float64(cal_num)) + pitch) / float64(cal_num + 1) - cal_roll = ((cal_roll * float64(cal_num)) + roll) / float64(cal_num + 1) - cal_num++ - } - - // Apply the calibration values. - pitch -= cal_pitch - roll -= cal_roll - - fmt.Printf("%f %f\n", pitch, roll) - s := fmt.Sprintf("XATTStratux,%f,%f,%f", gps.Course, pitch, roll) - outConn.Write([]byte(s)) - time.Sleep(time.Duration((ahrs.Timestamp - lastTs)/int64(replayspeed))) - lastTs = ahrs.Timestamp - - // Now we're working with synced samples. - } -} diff --git a/test-data/ahrs/ahrs_table.log b/test-data/ahrs/ahrs_table.log new file mode 100644 index 00000000..c4e63f04 --- /dev/null +++ b/test-data/ahrs/ahrs_table.log @@ -0,0 +1,4474 @@ +-0.021023,0.077395,c2530442221fe307004c84ffff00000f00edff0700e2ff0c0051de25f7fdfbde120200f7ff11008f83 +-0.021679,0.080355,c25304422283e307004b84000000000a000300faffe3ff0a004fde21f7f8fbdc120200f7ff1100e884 +-0.024518,0.079279,c253044222e7e307004c84000001000c000d000500d8ff090059de29f7f8fbdc120200f7ff11006bfd +-0.021531,0.081513,c25304422213e507004b8401000200080000000e00ddff07005cde1ef7f8fbd5120300f7ff110086f6 +-0.023289,0.077302,c25304422277e507004b8402000100fbff0a00ffffdaff090053de24f7f5fbd8120200f7ff1100d598 +-0.023578,0.074847,c253044222dbe507004a840300010004000500fcffdaff0c0049de1ff7f2fbd9120200f7ff11002c53 +-0.022907,0.076411,c2530442223fe607004b84030001000300feff0400d7ff09004ade24f7fbfbd7120200f6ff110097df 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"github.com/gonum/plot/vg" + "net/http" + "os" + "strconv" + "strings" + "time" +) + +type XY struct { + X float64 + Y float64 +} + +func imageWriter() { + for { + p, err := plot.New() + if err != nil { + panic(err) + } + p.Title.Text = "AHRS Plot" + p.X.Label.Text = "Roll" + p.Y.Label.Text = "Pitch" + + file, err := os.Open("ahrs_table.log") + if err != nil { + panic(err) + } + defer file.Close() + + scanner := bufio.NewScanner(file) + + vals := make([]XY, 0) + for scanner.Scan() { + l := scanner.Text() + x := strings.Split(l, ",") + if len(x) < 3 { + continue + } + roll, err := strconv.ParseFloat(x[0], 64) + if err != nil { + continue + } + pitch, err := strconv.ParseFloat(x[1], 64) + if err != nil { + continue + } + v := XY{X: roll, Y: pitch} + vals = append(vals, v) + } + vals_XY := make(plotter.XYs, len(vals)) + for i := 0; i < len(vals); i++ { + vals_XY[i].X = vals[i].X + vals_XY[i].Y = vals[i].Y + } + err = plotutil.AddScatters(p, "First", vals_XY) + if err != nil { + panic(err) + } + if err := p.Save(8*vg.Inch, 8*vg.Inch, "out.png"); err != nil { + panic(err) + } + time.Sleep(1000 * time.Millisecond) + } +} + +func main() { + go imageWriter() + http.Handle("/", http.FileServer(http.Dir("."))) + err := http.ListenAndServe(":8080", nil) + + if err != nil { + fmt.Printf("managementInterface ListenAndServe: %s\n", err.Error()) + } + + for { + time.Sleep(1 * time.Second) + } + +} diff --git a/tools/ahrs_table.go b/tools/ahrs_table.go new file mode 100644 index 00000000..dd1459a1 --- /dev/null +++ b/tools/ahrs_table.go @@ -0,0 +1,109 @@ +package main + +import ( + "encoding/hex" + "encoding/json" + "fmt" + "io/ioutil" + "net" + "net/http" + "os" + "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) + } +} + +var currentAHRSString string + +func listener() { + t := time.Now() + addr := net.UDPAddr{Port: 41504, IP: net.ParseIP("0.0.0.0")} + conn, err := net.ListenUDP("udp", &addr) + if err != nil { + fmt.Printf("error listening: %s\n", err.Error()) + return + } + defer conn.Close() + for { + buf := make([]byte, 1024) + n, _, err := conn.ReadFrom(buf) + if err != nil { + fmt.Printf("Err receive: %s\n", err.Error()) + continue + } + buf_encoded := make([]byte, hex.EncodedLen(n)) + hex.Encode(buf_encoded, buf[:n]) + t2 := time.Now() + time_diff := t2.Sub(t) + t = t2 + + fmt.Sprintf("%d,%s\n", time_diff/time.Millisecond, buf_encoded) + currentAHRSString = string(buf_encoded) + } +} + +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() + + } +} + +func main() { + situationMutex = &sync.Mutex{} + + go listener() + go situationUpdater() + + tm := time.NewTicker(125 * time.Millisecond) + for { + <-tm.C + fmt.Printf("%f,%f,%s\n", Location.AHRSRoll, Location.AHRSPitch, currentAHRSString) + } + +} diff --git a/tools/udp_listen.go b/tools/udp_listen.go new file mode 100644 index 00000000..6e19db79 --- /dev/null +++ b/tools/udp_listen.go @@ -0,0 +1,34 @@ +package main + +import ( + "encoding/hex" + "fmt" + "net" + "time" +) + +func main() { + t := time.Now() + addr := net.UDPAddr{Port: 41504, IP: net.ParseIP("0.0.0.0")} + conn, err := net.ListenUDP("udp", &addr) + if err != nil { + fmt.Printf("ffMonitor(): error listening: %s\n", err.Error()) + return + } + defer conn.Close() + for { + buf := make([]byte, 1024) + n, _, err := conn.ReadFrom(buf) + if err != nil { + fmt.Printf("Err receive: %s\n", err.Error()) + continue + } + buf_encoded := make([]byte, hex.EncodedLen(n)) + hex.Encode(buf_encoded, buf[:n]) + t2 := time.Now() + time_diff := t2.Sub(t) + t = t2 + + fmt.Printf("%d,%s\n", time_diff/time.Millisecond, buf_encoded) + } +} diff --git a/tools/udp_replay.go b/tools/udp_replay.go new file mode 100644 index 00000000..bde8a4f5 --- /dev/null +++ b/tools/udp_replay.go @@ -0,0 +1,67 @@ +package main + +import ( + "bufio" + "encoding/hex" + "fmt" + "net" + "os" + "strconv" + "strings" + "time" +) + +func main() { + if len(os.Args) < 2 { + fmt.Printf("%s: \n", os.Args[0]) + return + } + + f, err := os.Open(os.Args[1]) + if err != nil { + fmt.Printf("error: %s\n", err.Error()) + return + } + defer f.Close() + + scanner := bufio.NewScanner(f) + + // Open a socket. + BROADCAST_IPv4 := net.IPv4(255, 255, 255, 255) + + // addr, _ := net.ResolveUDPAddr("udp", "192.168.10.10:41501") + // laddr, _ := net.ResolveUDPAddr("udp", "192.168.10.1:58814") + // conn, err := net.DialUDP("udp", laddr, addr) + conn, err := net.DialUDP("udp", nil, &net.UDPAddr{ + IP: BROADCAST_IPv4, + Port: 41504, + }) + + if err != nil { + fmt.Printf("DialUDP(): %s\n", err.Error()) + return + } + + for scanner.Scan() { + s := scanner.Text() + x := strings.Split(s, ",") + if len(x) < 2 { + continue + } + i, err := strconv.ParseInt(x[0], 10, 32) + if err != nil { + fmt.Printf("error parsing '%s': %s.\n", x[0], err.Error()) + continue + } + buf := make([]byte, hex.DecodedLen(len(x[1]))) + n, err := hex.Decode(buf, []byte(x[1])) + if err != nil { + fmt.Printf("error parsing '%s': %s.\n", x[1], err.Error()) + continue + } + + fmt.Printf("sleeping %dms, sending %s\n", i, x[1]) + time.Sleep(time.Duration(i) * time.Millisecond) + conn.Write(buf[:n]) + } +} From 7ac549a540bbfabe2d31c2da30905f9235ff6a87 Mon Sep 17 00:00:00 2001 From: Christopher Young Date: Tue, 23 May 2017 17:03:11 -0400 Subject: [PATCH 2/6] Typo and path fix. --- Makefile | 2 +- test-data/ahrs/ahrs_approx.go | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/Makefile b/Makefile index 21bf1c7d..46ad73fb 100644 --- a/Makefile +++ b/Makefile @@ -30,7 +30,7 @@ xdump978: sudo cp -f ./libdump978.so /usr/lib/libdump978.so ahrs_approx: - go build $(BUILDINFO) -p 4 test-data/ahrs/ahrs_approx + go build $(BUILDINFO) -p 4 test-data/ahrs/ahrs_approx.go .PHONY: test test: diff --git a/test-data/ahrs/ahrs_approx.go b/test-data/ahrs/ahrs_approx.go index 5269ba58..fbfc1862 100644 --- a/test-data/ahrs/ahrs_approx.go +++ b/test-data/ahrs/ahrs_approx.go @@ -90,7 +90,7 @@ func main() { ahrsTable := make([]AHRSData, 0) - f, err := os.Open("ahrs_table.log") + f, err := os.Open("/root/ahrs_table.log") if err != nil { fmt.Printf("error: %s\n", err.Error()) return From 9989b913bca1a86945333531bbdf5f80c7f3455a Mon Sep 17 00:00:00 2001 From: Christopher Young Date: Tue, 23 May 2017 17:04:29 -0400 Subject: [PATCH 3/6] Change IP Stratux IP address and DHCP range. --- image/dhcpd.conf | 8 ++++---- image/interfaces | 2 +- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/image/dhcpd.conf b/image/dhcpd.conf index fc267f2a..504cb696 100644 --- a/image/dhcpd.conf +++ b/image/dhcpd.conf @@ -107,10 +107,10 @@ log-facility local7; # } #} -subnet 192.168.10.0 netmask 255.255.255.0 { - range 192.168.10.10 192.168.10.50; - option broadcast-address 192.168.10.255; - option routers 192.168.10.1; +subnet 10.26.36.0 netmask 255.255.255.0 { + range 10.26.36.10 10.26.36.50; + option broadcast-address 10.26.36.255; + option routers 10.26.36.1; default-lease-time 12000; max-lease-time 12000; option domain-name "stratux.local"; diff --git a/image/interfaces b/image/interfaces index 17dcaf75..7522e1e7 100644 --- a/image/interfaces +++ b/image/interfaces @@ -6,7 +6,7 @@ iface eth0 inet dhcp allow-hotplug wlan0 iface wlan0 inet static - address 192.168.10.1 + address 10.26.36.1 netmask 255.255.255.0 post-up /usr/sbin/stratux-wifi.sh From 93a2d82f96bccf345a812c6ce0e5fa102974f893 Mon Sep 17 00:00:00 2001 From: Christopher Young Date: Tue, 23 May 2017 17:06:50 -0400 Subject: [PATCH 4/6] Update install and auto-start scripts. --- image/rc.local | 4 ++++ selfupdate/makeupdate.sh | 3 +++ selfupdate/update_footer.sh | 5 +++++ 3 files changed, 12 insertions(+) diff --git a/image/rc.local b/image/rc.local index 56aecd79..e7e08161 100755 --- a/image/rc.local +++ b/image/rc.local @@ -19,4 +19,8 @@ fi /usr/bin/stratux-screen.py start +route add default gw 10.26.36.1 + +screen -d -m -S ahrs_approx /usr/bin/ahrs_approx + exit 0 diff --git a/selfupdate/makeupdate.sh b/selfupdate/makeupdate.sh index 54ae511c..cd398e9f 100755 --- a/selfupdate/makeupdate.sh +++ b/selfupdate/makeupdate.sh @@ -37,6 +37,9 @@ cp image/99-uavionix.rules work/bin/ cp image/motd work/bin/ cp image/stratux-wifi.sh work/bin/ cp image/rc.local work/bin/ +cp test-data/ahrs/ahrs_table.log work/bin/ +cp ahrs_approx work/bin/ + #TODO: librtlsdr. cd work/ diff --git a/selfupdate/update_footer.sh b/selfupdate/update_footer.sh index d948114a..96e1f399 100755 --- a/selfupdate/update_footer.sh +++ b/selfupdate/update_footer.sh @@ -75,3 +75,8 @@ cd web/ && make stratuxBuild=${stratuxBuild} # Remove old Wi-Fi watcher script. rm -f /usr/sbin/wifi_watch.sh sed -i "/\bwifi_watch\b/d" /etc/rc.local + +# AHRS approx data. +cp -f ahrs_table.log /root/ +cp -f ahrs_approx /usr/bin/ +chmod 755 /usr/bin/ahrs_approx From b812c2999658c8745b3b6545971d09e1e3b36178 Mon Sep 17 00:00:00 2001 From: Christopher Young Date: Tue, 23 May 2017 17:11:44 -0400 Subject: [PATCH 5/6] Update make clean. --- Makefile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Makefile b/Makefile index 46ad73fb..b4b22d17 100644 --- a/Makefile +++ b/Makefile @@ -61,6 +61,6 @@ install: cp -f image/stratux-wifi.sh /usr/sbin/ clean: - rm -f gen_gdl90 libdump978.so fancontrol + rm -f gen_gdl90 libdump978.so fancontrol ahrs_approx cd dump1090 && make clean cd dump978 && make clean From 7c33203672e480ab9023098e63b27d2099ea0059 Mon Sep 17 00:00:00 2001 From: Christopher Young Date: Tue, 23 May 2017 17:32:36 -0400 Subject: [PATCH 6/6] Add missing files from update scripts. --- selfupdate/makeupdate.sh | 2 ++ selfupdate/update_footer.sh | 15 +++++++++++---- 2 files changed, 13 insertions(+), 4 deletions(-) diff --git a/selfupdate/makeupdate.sh b/selfupdate/makeupdate.sh index cd398e9f..5f05bf02 100755 --- a/selfupdate/makeupdate.sh +++ b/selfupdate/makeupdate.sh @@ -37,6 +37,8 @@ cp image/99-uavionix.rules work/bin/ cp image/motd work/bin/ cp image/stratux-wifi.sh work/bin/ cp image/rc.local work/bin/ +cp image/dhcpd.conf work/bin/ +cp image/interfaces work/bin/ cp test-data/ahrs/ahrs_table.log work/bin/ cp ahrs_approx work/bin/ diff --git a/selfupdate/update_footer.sh b/selfupdate/update_footer.sh index 96e1f399..8b3161c0 100755 --- a/selfupdate/update_footer.sh +++ b/selfupdate/update_footer.sh @@ -69,6 +69,17 @@ chmod 755 /usr/bin/fancontrol cp -f dump1090 /usr/bin/ +# AHRS approx data. +cp -f ahrs_table.log /root/ +cp -f ahrs_approx /usr/bin/ +chmod 755 /usr/bin/ahrs_approx + +# DHCPD Config. +cp -f dhcpd.conf /etc/dhcp/dhcpd.conf + +# Interfaces file. +cp -f interfaces /etc/network/interfaces + # Web files install. cd web/ && make stratuxBuild=${stratuxBuild} @@ -76,7 +87,3 @@ cd web/ && make stratuxBuild=${stratuxBuild} rm -f /usr/sbin/wifi_watch.sh sed -i "/\bwifi_watch\b/d" /etc/rc.local -# AHRS approx data. -cp -f ahrs_table.log /root/ -cp -f ahrs_approx /usr/bin/ -chmod 755 /usr/bin/ahrs_approx

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