From 9db076f8d31534b7140b24320ed629e83b87e778 Mon Sep 17 00:00:00 2001 From: cyoung Date: Tue, 14 Apr 2020 11:07:19 -0400 Subject: [PATCH] Clean up old Stratus AHRS RE tools. FF opened their AHRS-over-GDL90, not needed. --- tools/ahrs_plot.go | 87 ----------------------------------- tools/ahrs_table.go | 109 -------------------------------------------- tools/udp_listen.go | 34 -------------- tools/udp_replay.go | 67 --------------------------- 4 files changed, 297 deletions(-) delete mode 100644 tools/ahrs_plot.go delete mode 100644 tools/ahrs_table.go delete mode 100644 tools/udp_listen.go delete mode 100644 tools/udp_replay.go diff --git a/tools/ahrs_plot.go b/tools/ahrs_plot.go deleted file mode 100644 index 2aa61db8..00000000 --- a/tools/ahrs_plot.go +++ /dev/null @@ -1,87 +0,0 @@ -package main - -import ( - "bufio" - "fmt" - "github.com/gonum/plot" - "github.com/gonum/plot/plotter" - "github.com/gonum/plot/plotutil" - "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 deleted file mode 100644 index dd1459a1..00000000 --- a/tools/ahrs_table.go +++ /dev/null @@ -1,109 +0,0 @@ -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 deleted file mode 100644 index 6e19db79..00000000 --- a/tools/udp_listen.go +++ /dev/null @@ -1,34 +0,0 @@ -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 deleted file mode 100644 index bde8a4f5..00000000 --- a/tools/udp_replay.go +++ /dev/null @@ -1,67 +0,0 @@ -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]) - } -}