int main(int argc, char** argv) {
char temp[1024]="";
char ini_file[]="lightfield.ini";
ini_gets("Main", "TerrainFile", "", temp, 512, ini_file);
string terrain_file=ToString(temp);
ini_gets("Main", "Resources", "", temp, 512, ini_file);
string resources=ToString(temp);
ini_gets("Main", "Stage", "", temp, 512, ini_file);
string stage=ToString(temp);
ini_gets("Main", "GIA", "", temp, 512, ini_file);
string gia=ToString(temp);
float sample_unit_distance=ini_getf("Main", "SampleUnitDistance", 0.75f, ini_file);
float saturation_multiplier=ini_getf("Main", "SaturationMultiplier", 1.0f, ini_file);
float lookup_grid_size=ini_getf("Main", "LookupGridSize", 5.0f, ini_file);
LibGens::initialize();
LibGens::Error::setLogging(true);
LibGens::Terrain terrain(terrain_file, resources, stage, gia);
printf("Done loading Terrain\n");
// Sample Unit Distance, Saturation Multiplier
LibGens::VRMap *vrmap=terrain.generateVRMap(sample_unit_distance, saturation_multiplier);
printf("VR Map setup...\n");
vrmap->generateLookupGrid(lookup_grid_size, sample_unit_distance);
printf("Done generating VR Map of %d samples covering %f units of area.\n", vrmap->getSampleList().size(), vrmap->getAABB().size());
LibGens::LightField lightfield;
float ambient_color_r=ini_getf("Main", "AmbientColorR", 1.0f, ini_file);
float ambient_color_g=ini_getf("Main", "AmbientColorG", 1.0f, ini_file);
float ambient_color_b=ini_getf("Main", "AmbientColorB", 1.0f, ini_file);
float ambient_color_a=ini_getf("Main", "AmbientColorA", 1.0f, ini_file);
int sample_min_count=ini_getl("Main", "SampleMinCount", 2, ini_file);
float sample_blend_distance=ini_getf("Main", "SampleBlendDistance", 8.0f, ini_file);
float min_octree_cube_size=ini_getf("Main", "MinOctreeCubeSize", 3.0f, ini_file);
int cpu_threads=ini_getl("Main", "Threads", 1, ini_file);
// Ambient Color, Sample Min Count, Sample Blend Distance, Min Octree Cube Size
lightfield.generate(vrmap, LibGens::Color(ambient_color_r, ambient_color_g, ambient_color_b, ambient_color_a), sample_min_count, sample_blend_distance, min_octree_cube_size, cpu_threads);
printf("Done generating lightfield.\n");
lightfield.save("light-field.lft");
printf("Saved lightfield. Press Enter to exit.\n");
getchar();
return 0;
}
/*
new for helicalTurns:
#define FEED_FORWARD 1.0
#define TURN_RATE_NAV 30.0
#define TURN_RATE_FBW 60.0
#define CRUISE_SPEED 12.0
#define ANGLE_OF_ATTACK_NORMAL -0.8
#define ANGLE_OF_ATTACK_INVERTED -7.2
#define ELEVATOR_TRIM_NORMAL -0.03
#define ELEVATOR_TRIM_INVERTED -0.67
and we remove the following:
#define AILERON_BOOST 0.8
#define RUDDER_ELEV_MIX 0.2
#define ROLL_ELEV_MIX 0.35
*/
static void load_turns(void)
{
turns.FeedForward = ini_getf(strTurns, "feedfwd", FEED_FORWARD, strConfigFile);
DPRINT("turns.FeedForward = %f\r\n", turns.FeedForward);
turns.TurnRateNav = ini_getf(strTurns, "ratenav", TURN_RATE_NAV, strConfigFile);
turns.TurnRateFBW = ini_getf(strTurns, "ratefbw", TURN_RATE_FBW, strConfigFile);
turns.RefSpeed = ini_getf(strTurns, "refspd", REFERENCE_SPEED, strConfigFile);
turns.AngleOfAttackNormal = ini_getf(strTurns, "aoanorm", ANGLE_OF_ATTACK_NORMAL, strConfigFile);
turns.AngleOfAttackInverted = ini_getf(strTurns, "aoainvt", ANGLE_OF_ATTACK_INVERTED, strConfigFile);
turns.ElevatorTrimNormal = ini_getf(strTurns, "elenorm", ELEVATOR_TRIM_NORMAL, strConfigFile);
turns.ElevatorTrimInverted = ini_getf(strTurns, "eleinvt", ELEVATOR_TRIM_INVERTED, strConfigFile);
}
// Wejscie:
// user - login
// Wyjscia
// btaddr
// port
// mobile_id
// rssi
int get_user_data(const char **user, char* btaddr, int *port, char *mobile_id,
float *rssi){
char section[50]; //nazwa sekcji
char mobile[50]; //nazwa telefonu dla uzytkownika
char addr[18];
int s; //iterator sekcji
int b; // enabled, true/false
int p; // port
float min_rssi; // rssi
//char user_login[] = *user;
for (s = 0; ini_getsection(s, section, sizearray(section), inifile_users) > 0; s++) {
//printf(" [%s] user: %s\n", section, *user);
if (!strcmp(*user, section)){
printf("user cfg exists\n");
b = ini_getbool(section, "enabled", 0, inifile_users);
if(b == 1){
//pobierz nazwe telfonu przypisanego do uzytkownika
ini_gets(section, "mobile", "0", mobile, sizearray(mobile), inifile_users);
//pobierrz btaddr i port telefonu o ww nazwie
ini_gets(mobile, "btaddr", "999", addr, sizearray(addr),
inifile_mobiles);
p = ini_getl(mobile, "port", 999, inifile_mobiles);
// pobierz wartosc progu RSSI
min_rssi = ini_getf(mobile, "min_rssi", "-5.0", inifile_users);
printf("user %s enabled with mobile: %s\n", *user, mobile);
printf("mobile btaddr: %s, port: %d\n", addr, p);
printf("rssi threshold: %f\n", min_rssi);
//printf("check_user(): key length: %d, key: %s\n", key_len, k);
//zapisz btaddr, port i klucz do adresow z argumetu
strcpy(btaddr,addr);
strcpy(mobile_id, mobile);
*port = p;
*rssi = min_rssi;
return 0;
}
//for (k = 0; ini_getkey(section, k, str, sizearray(str), inifile) > 0; k++) {
// printf("\t%s\n", str);
//} /* for */
}
} /* for */
return E_INI_FILE;
}
static void load_gains(void)
{
// Aileron/Roll Control Gains
gains.RollKP = ini_getf(strRoll, "rollkp", ROLLKP, strConfigFile);
gains.RollKD = ini_getf(strRoll, "rollkd", ROLLKD, strConfigFile);
gains.YawKPAileron = ini_getf(strRoll, "yawkp", YAWKP_AILERON, strConfigFile);
gains.YawKDAileron = ini_getf(strRoll, "yawkd", YAWKD_AILERON, strConfigFile);
// gains.AileronBoost = ini_getf(strRoll, "boost", AILERON_BOOST, strConfigFile);
// Elevator/Pitch Control Gains
gains.Pitchgain = ini_getf(strPitch, "gain", PITCHGAIN, strConfigFile);
gains.PitchKD = ini_getf(strPitch, "pitchkd", PITCHKD, strConfigFile);
// gains.RudderElevMix = ini_getf(strPitch, "rudder", RUDDER_ELEV_MIX, strConfigFile);
// gains.RollElevMix = ini_getf(strPitch, "roll", ROLL_ELEV_MIX, strConfigFile);
gains.ElevatorBoost = ini_getf(strPitch, "boost", ELEVATOR_BOOST, strConfigFile);
// = ini_getf(strPitch, "invert", INVERTED_NEUTRAL_PITCH, strConfigFile);
// Rudder/Yaw Control Gains
gains.YawKPRudder = ini_getf(strYaw, "yawkp", YAWKP_RUDDER, strConfigFile);
gains.YawKDRudder = ini_getf(strYaw, "yawkd", YAWKD_RUDDER, strConfigFile);
gains.RollKPRudder = ini_getf(strYaw, "rollkp", ROLLKP_RUDDER, strConfigFile);
gains.RollKDRudder = ini_getf(strYaw, "rollkd", ROLLKD_RUDDER, strConfigFile);
// = ini_getf(strYaw, "mix", MANUAL_AILERON_RUDDER_MIX, strConfigFile);
gains.RudderBoost = ini_getf(strYaw, "boost", RUDDER_BOOST, strConfigFile);
// Altitude Hold
altit.DesiredSpeed = ini_getf(strAltitude, "desired_speed", DESIRED_SPEED, strConfigFile);
altit.HeightMargin = ini_getf(strAltitude, "height_margin", HEIGHT_MARGIN, strConfigFile);
altit.HeightTargetMax = ini_getf(strAltitude, "height_max", HEIGHT_TARGET_MAX, strConfigFile);
altit.HeightTargetMin = ini_getf(strAltitude, "height_min", HEIGHT_TARGET_MIN, strConfigFile);
altit.AltHoldThrottleMin = ini_getf(strAltitude, "throt_min", ALT_HOLD_THROTTLE_MIN, strConfigFile);
altit.AltHoldThrottleMax = ini_getf(strAltitude, "throt_max", ALT_HOLD_THROTTLE_MAX, strConfigFile);
altit.AltHoldPitchMin = ini_getf(strAltitude, "pitch_min", ALT_HOLD_PITCH_MIN, strConfigFile);
altit.AltHoldPitchMax = ini_getf(strAltitude, "pitch_max", ALT_HOLD_PITCH_MAX, strConfigFile);
altit.AltHoldPitchHigh = ini_getf(strAltitude, "pitch_high", ALT_HOLD_PITCH_HIGH, strConfigFile);
// = ini_getl(strAltitude, "margin", HEIGHT_MARGIN, strConfigFile);
// Return To Launch Pitch Down
gains.RtlPitchDown = ini_getf(strRTL, "pitch", RTL_PITCH_DOWN, strConfigFile);
// Hover
hover.HoverRollKP = ini_getf(strHover, "rollkp", HOVER_ROLLKP, strConfigFile);
hover.HoverRollKD = ini_getf(strHover, "rollkd", HOVER_ROLLKD, strConfigFile);
hover.HoverPitchGain = ini_getf(strHover, "gain", HOVER_PITCHGAIN, strConfigFile);
hover.HoverPitchKD = ini_getf(strHover, "pitchkd", HOVER_PITCHKD, strConfigFile);
hover.HoverPitchOffset = ini_getf(strHover, "pitch", HOVER_PITCH_OFFSET, strConfigFile);
hover.HoverYawKP = ini_getf(strHover, "yawkp", HOVER_YAWKP, strConfigFile);
hover.HoverYawKD = ini_getf(strHover, "yawkd", HOVER_YAWKD, strConfigFile);
hover.HoverYawOffset = ini_getf(strHover, "yaw", HOVER_YAW_OFFSET, strConfigFile);
hover.HoverPitchTowardsWP = ini_getf(strHover, "wp", HOVER_PITCH_TOWARDS_WP, strConfigFile);
hover.HoverNavMaxPitchRadius = ini_getf(strHover, "radius", HOVER_NAV_MAX_PITCH_RADIUS, strConfigFile);
}
int main(int argc, char **argv)
{
char spin[] = "-\\|/", SequenceCount = 'a';
char Message[65], Data[100], upload_exclude[200], Command[200], Telemetry[100], *Bracket, *Start;
int Bytes, Sentence_Count, sc = 0;
double Latitude, Longitude;
unsigned int Altitude;
uint8_t opmode, flags1, flags2, old_opmode = 0, old_flags1 = 0, old_flags2 = 0;
const char *inifile = "gateway.ini"; // FIXME
float node_lat, node_lon;
time_t next_beacon;
bool bmp085, xap;
/* load configuration */
ini_gets("node", "id", "", node_id, sizeof(node_id), inifile);
node_lat = ini_getf("node", "lat", 999, inifile);
node_lon = ini_getf("node", "lon", 999, inifile);
bmp085 = ini_getbool("sensors", "bmp085", false, inifile);
xap = ini_getbool("xap", "enabled", false, inifile);
ini_gets("upload", "exclude", "", upload_exclude, sizeof(upload_exclude), inifile);
if (strlen(node_id) == 0) {
puts("Node ID has not been specified");
exit(1);
}
printf("Upload exclude list is \"%s\"\n", upload_exclude);
if (xap) {
xapInit();
}
if (node_lat < 900 && node_lon < 900) {
/* put the gateway on the map */
sprintf(Message,"0aL%f,%f:%s[%s]", node_lat, node_lon, GIT_VER, node_id);
} else {
sprintf(Message,"0a:%s[%s]", GIT_VER, node_id);
}
UploadPacket(Message,0);
if (xap) {
xapSendPacket(Message, 0);
}
if (bmp085) {
next_beacon = time(NULL) + 10;
printf("Initialising BMP085\n");
bmp085_Calibration();
}
printf("Initialising RFM69\n");
setupRFM69();
printf("Starting main loop ...\n");
Sentence_Count = 0;
while (1)
{
if (rfm69_available())
{
Bytes = rfmM69_recv(Message, sizeof(Message));
printf ("%s Data available - %d bytes\n", Now(), Bytes);
printf ("rx: %s|%d\n", Message,RFM69_lastRssi());
if (Bytes > 0)
{
if (!excluded(Message, upload_exclude)) {
// UKHASNet upload
UploadPacket(Message, RFM69_lastRssi());
}
if (xap) {
// xAP broadcast
xapSendPacket(Message, RFM69_lastRssi());
}
#if 0
// Habitat upload
// 3dL51.95023,-2.54445,155[DA1]
if (strstr(Message, "DA1"))
{
if (Start = strchr(Message, 'L'))
{
// DA1,2,19:35:37,51.95023,-2.54445,160*05%0A
if (sscanf(Start+1, "%lf,%lf,%u[", &Latitude, &Longitude, &Altitude))
{
printf("Altitude = %u\n", Altitude);
sprintf(Telemetry, "%s,%d,%s,%lf,%lf,%u", "DA1", ++Sentence_Count, Now(), Latitude, Longitude, Altitude);
sprintf(Command, "wget -O habitat.txt \"http://habitat.habhub.org/transition/payload_telemetry\" --post-data \"callsign=DA0&string=\\$\\$%s*%s%s&string_type=ascii&metadata={}\"", Telemetry, Checksum(Telemetry), "\%0A");
printf("%s\n", Command);
system(Command);
}
}
}
#endif
}
}
else
{
