int8_t cmd_head(uint8_t argc, char **argv)
{
int16_t heading;
int8_t rc = NRK_OK, rc_node = NRK_OK;
#if ENABLE_COMPASS_RPC
node_id_t node;
uint8_t i;
#endif
if (!(argc == 1 || argc >= 2)) {
OUT("usage: head [<node>...]\r\n");
return NRK_ERROR;
}
if (have_compass) {
rc_node = get_heading(&heading);
if (rc_node != NRK_OK)
rc = rc_node;
}
OUT("node: heading [x y z] (uT)\r\n");
if (have_compass) {
OUTP("%d: ", this_node_id);
show_heading(rc == NRK_OK ? &heading : NULL);
}
if (argc >= 2) {
#if ENABLE_COMPASS_RPC
for (i = 1; i < argc; ++i) {
node = atoi(argv[i]);
rc_node = rpc_heading(node, &heading);
if (rc_node != NRK_OK)
rc = rc_node;
OUTP("%d: ", node);
show_heading(rc == NRK_OK ? &heading : NULL);
}
#else
OUT("ERROR: COMPASS_RPC not linked in\r\n");
return NRK_ERROR;
#endif
}
return rc;
}
void cockpit_init()
{
initscr(); /* Start curses mode */
cbreak();
if(has_colors() == FALSE)
{ endwin();
printf("Your terminal does not support color\n");
exit(1);
}
start_color(); // Start color
init_pair(1, COLOR_BLUE, COLOR_BLACK);
init_pair(2, COLOR_RED, COLOR_BLACK);
init_pair(3, COLOR_RED, COLOR_WHITE);
init_pair(4, COLOR_BLACK, COLOR_RED);
//check if the screen is big enough
if((LINES < MIN_ROW)| (COLS < MIN_COL)){
endwin();
printf("your screen is too small %d x %d ,please resize it !\n",LINES,COLS);
exit(1);
}
//generate separating line
attron(COLOR_PAIR(1));
mvhline(COCKPIT_HEIGHT+1,0,'=',COLS);
attroff(COLOR_PAIR(1));
refresh();
roll=newwin(ROLL_HEIGHT,ROLL_WIDTH, ROLL_Y,ROLL_X);
show_roll(roll,0);
pitch=newwin(PITCH_HEIGHT,PITCH_WIDTH, PITCH_Y,PITCH_X);
show_pitch(pitch,0);
yaw=newwin(YAW_HEIGHT,YAW_WIDTH, YAW_Y,YAW_X);
show_yaw(yaw,0);
heading=newwin(HEAD_HEIGHT,HEAD_WIDTH,HEAD_Y,HEAD_X);
show_heading(heading,0);
other=newwin(OTHER_HEIGHT,OTHER_WIDTH,OTHER_Y,OTHER_X);
console=create_newwin(CONSOLE_HEIGHT,COLS, COCKPIT_HEIGHT+2,0);
keypad(console,TRUE);
scrollok(console,TRUE);
printx(console,"please enter the COM name,enter 'y' to use default /dev/ttyUSB0:");
wrefresh(console);
}
static void periodic_heading_process(bool enabled,
nrk_time_t *next_event, nrk_sig_mask_t *wait_mask)
{
int16_t heading;
int8_t rc;
nrk_time_t now;
if (!enabled)
return;
rc = get_heading(&heading);
OUT("heading: ");
show_heading(rc == NRK_OK ? &heading : NULL);
nrk_time_get(&now);
nrk_time_add(next_event, now, heading_period);
}
void cockpit_display(flying_status_s *flying_status)
{
show_roll(roll,flying_status->roll*180/PI);
show_pitch(pitch,flying_status->pitch*180/PI);
show_yaw(yaw,flying_status->yaw*180/PI);
show_heading(heading,flying_status->heading/100000);
//wclear(other);
//wmove(other,0,0);
mvwprintw(other,0,0,"Height_Baro:%7.3fm Height_GPS :%7.3fm\n",(float)(flying_status->b_h)/100,flying_status->g_h);
mvwprintw(other,1,0,"Sonar :%7.3fcm Next_Destin:%5d\n",(float)(flying_status->sonar_h)/58,flying_status->waypoint_dest);
mvwprintw(other,2,0,"Volt_Batter:%7.3fV Temp_CPU :%4dC\n",flying_status->voltage,flying_status->cpu_temp);
mvwprintw(other,3,0,"Longitude:%12.8f Latitude:%12.8f\n",flying_status->Long,flying_status->lat);
switch(flying_status->status)
{
case AIRCRAFT_PREPARING:
mvwprintw(other,4,0,"Plane_Stat :Preparing %5x \n",flying_status->status);
break;
case AIRCRAFT_READY:
mvwprintw(other,4,0,"Plane_Stat :Ready to go %5x \n",flying_status->status);
break;
case AIRCRAFT_TAKEOFF:
mvwprintw(other,4,0,"Plane_Stat :takeoff %5x \n",flying_status->status);
break;
case AIRCRAFT_LANDING:
mvwprintw(other,4,0,"Plane_Stat :landing %5x \n",flying_status->status);
break;
case AIRCRAFT_FLYING:
mvwprintw(other,4,0,"Plane_Stat :flying %5x \n",flying_status->status);
break;
case AIRCRAFT_TASK:
mvwprintw(other,4,0,"Plane_Stat :task %5x \n",flying_status->status);
break;
case AIRCRAFT_REMOTE1:
mvwprintw(other,4,0,"Plane_Stat :Remote1 %5x \n",flying_status->status);
break;
case AIRCRAFT_REMOTE2:
mvwprintw(other,4,0,"Plane_Stat :Remote2 %5x \n",flying_status->status);
break;
case AIRCRAFT_HOVERING:
mvwprintw(other,4,0,"Plane_Stat :%8x Hovering\n",flying_status->status);
break;
case AIRCRAFT_RETURN:
mvwprintw(other,4,0,"Plane_Stat :Return %5x \n",flying_status->status);
break;
case AIRCRAFT_OBS_AVOIDING:
mvwprintw(other,4,0,"Plane_Stat :Obstacle avoidance %5x \n",flying_status->status);
break;
case AIRCRAFT_MANUAL_MODE:
mvwprintw(other,4,0,"Plane_Stat :Manual %5x\n",flying_status->status);
break;
case AIRCRAFT_FAULT:
mvwprintw(other,4,0,"Plane_Stat :Fault %5x\n",flying_status->status);
break;
default:
break;
}
mvwprintw(other,5,0,"CPU_Status :%4d\n",flying_status->cpu_s);
wrefresh(other);
}