int main(void)
{
int fd, ReturnCode, i;
unsigned long Sentence_Counter = 0;
int ImagePacketCount, MaxImagePackets;
char Sentence[100], Command[100];
struct stat st = {0};
struct TGPS GPS;
pthread_t PredictionThread, LoRaThread, APRSThread, GPSThread, DS18B20Thread, ADCThread, CameraThread, BMP085Thread, BME280Thread, LEDThread, LogThread;
if (prog_count("tracker") > 1)
{
printf("\nThe tracker program is already running!\n");
printf("It is started automatically, with the camera script, when the Pi boots.\n\n");
printf("If you just want the tracker software to run, it already is,\n");
printf("and its output can be viewed on a monitor attached to a Pi video socket.\n\n");
printf("If instead you want to view the tracker output via ssh,\n");
printf("then you should first stop it by typing the following command:\n");
printf(" sudo killall tracker\n\n");
printf("and then restart manually with\n");
printf(" sudo ./tracker\n\n");
exit(1);
}
printf("\n\nRASPBERRY PI-IN-THE-SKY FLIGHT COMPUTER\n");
printf( "=======================================\n\n");
Config.BoardType = GetBoardType();
if (Config.BoardType)
{
if (Config.BoardType == 3)
{
printf("RPi Zero\n");
printf("PITS Zero Board\n");
}
else
{
if (Config.BoardType == 2)
{
printf("RPi 2 B\n");
}
else
{
printf("RPi Model A+ or B+\n");
}
printf("PITS+ Board\n");
}
Config.LED_OK = 25;
Config.LED_Warn = 24;
Config.SDA = 2;
Config.SCL = 3;
}
else
{
printf("RPi Model A or B\n");
printf("PITS Board\n");
Config.LED_OK = 11;
Config.LED_Warn = 4;
Config.SDA = 5;
Config.SCL = 6;
}
printf("Device Tree is %s\n\n", devicetree() ? "enabled" : "disabled");
LoadConfigFile(&Config);
if (Config.DisableMonitor)
{
system("/opt/vc/bin/tvservice -off");
}
if (FileExists("/boot/clear.txt"))
{
// remove SSDV and other camera images, plus log files
printf("Removing existing photo files\n");
remove("gps.txt");
remove("telemetry.txt");
remove("/boot/clear.txt");
system("rm -rf /home/pi/pits/tracker/images/*");
}
// Remove any old SSDV files
system("rm -f ssdv*.bin");
GPS.SecondsInDay = 0;
GPS.Hours = 0;
GPS.Minutes = 0;
GPS.Seconds = 0;
GPS.Longitude = 0.0;
GPS.Latitude = 0.0;
GPS.Altitude = 0;
GPS.Satellites = 0;
GPS.Speed = 0.0;
GPS.Direction = 0.0;
GPS.DS18B20Temperature[0] = 0.0;
GPS.DS18B20Temperature[1] = 0.0;
GPS.BatteryVoltage = 0.0;
GPS.BMP180Temperature = 0.0;
GPS.Pressure = 0.0;
GPS.MaximumAltitude = 0.0;
GPS.DS18B20Count = 0;
// Set up I/O
if (wiringPiSetup() == -1)
{
exit (1);
}
// Switch off the radio till it's configured
pinMode (NTX2B_ENABLE, OUTPUT);
digitalWrite (NTX2B_ENABLE, 0);
// Switch on the GPS
if (Config.BoardType == 0)
{
// Only PITS board had this, not PITS+
pinMode (UBLOX_ENABLE, OUTPUT);
digitalWrite (UBLOX_ENABLE, 0);
}
if (!Config.DisableRTTY)
{
if (*Config.Frequency)
{
SetFrequency(Config.Frequency);
}
fd = OpenSerialPort();
digitalWrite (NTX2B_ENABLE, 1);
}
// Set up DS18B20
system("sudo modprobe w1-gpio");
system("sudo modprobe w1-therm");
if (!devicetree())
{
// SPI for ADC (older boards), LoRa add-on board
system("gpio load spi");
}
// SSDV Folders
sprintf(Config.Channels[0].SSDVFolder, "%s/RTTY", SSDVFolder);
*Config.Channels[1].SSDVFolder = '\0'; // No folder for APRS images
sprintf(Config.Channels[2].SSDVFolder, "%s/LORA0", SSDVFolder);
sprintf(Config.Channels[3].SSDVFolder, "%s/LORA1", SSDVFolder);
sprintf(Config.Channels[4].SSDVFolder, "%s/FULL", SSDVFolder);
if (Config.Camera)
{
// Create SSDV Folders
if (stat(SSDVFolder, &st) == -1)
{
mkdir(SSDVFolder, 0777);
}
for (i=0; i<5; i++)
{
if (*Config.Channels[i].SSDVFolder)
{
if (stat(Config.Channels[i].SSDVFolder, &st) == -1)
{
mkdir(Config.Channels[i].SSDVFolder, 0777);
}
}
}
// Filenames for SSDV
for (i=0; i<5; i++)
{
sprintf(Config.Channels[i].take_pic, "take_pic_%d", i);
// sprintf(Config.Channels[i].current_ssdv, "ssdv_%d.bin", i);
// sprintf(Config.Channels[i].next_ssdv, "ssdv_%d.nxt", i);
sprintf(Config.Channels[i].convert_file, "convert_%d", i);
sprintf(Config.Channels[i].ssdv_done, "ssdv_done_%d", i);
Config.Channels[i].SSDVImageNumber = -1;
Config.Channels[i].SSDVPacketNumber = -1;
Config.Channels[i].ImageFP = NULL;
}
}
if (pthread_create(&GPSThread, NULL, GPSLoop, &GPS))
{
fprintf(stderr, "Error creating GPS thread\n");
return 1;
}
if (*(Config.APRS_Callsign) && Config.APRS_ID && Config.APRS_Period)
{
if (pthread_create(&APRSThread, NULL, APRSLoop, &GPS))
{
fprintf(stderr, "Error creating APRS thread\n");
return 1;
}
}
if (Config.LoRaDevices[0].InUse || Config.LoRaDevices[1].InUse)
{
if (pthread_create(&LoRaThread, NULL, LoRaLoop, &GPS))
{
fprintf(stderr, "Error creating LoRa thread\n");
}
}
if (pthread_create(&DS18B20Thread, NULL, DS18B20Loop, &GPS))
{
fprintf(stderr, "Error creating DS18B20s thread\n");
return 1;
}
if (Config.BoardType != 3)
{
// Not a zero, so should have ADC on it
if (I2CADCExists())
{
printf ("V2.4 or later board with I2C ADC\n");
if (pthread_create(&ADCThread, NULL, I2CADCLoop, &GPS))
{
fprintf(stderr, "Error creating ADC thread\n");
return 1;
}
}
else
{
printf ("Older board with SPI ADC\n");
if (pthread_create(&ADCThread, NULL, ADCLoop, &GPS))
{
fprintf(stderr, "Error creating ADC thread\n");
return 1;
}
}
}
if (Config.Camera)
{
if (pthread_create(&CameraThread, NULL, CameraLoop, &GPS))
{
fprintf(stderr, "Error creating camera thread\n");
return 1;
}
}
if (pthread_create(&LEDThread, NULL, LEDLoop, &GPS))
{
fprintf(stderr, "Error creating LED thread\n");
return 1;
}
if (Config.TelemetryFileUpdate > 0)
{
if (pthread_create(&LogThread, NULL, LogLoop, &GPS))
{
fprintf(stderr, "Error creating Log thread\n");
return 1;
}
}
if (Config.EnableBMP085)
{
if (pthread_create(&BMP085Thread, NULL, BMP085Loop, &GPS))
{
fprintf(stderr, "Error creating BMP085 thread\n");
return 1;
}
}
if (Config.EnableBME280)
{
if (pthread_create(&BME280Thread, NULL, BME280Loop, &GPS))
{
fprintf(stderr, "Error creating BME280 thread\n");
return 1;
}
}
if (Config.EnableLandingPrediction)
{
if (pthread_create(&PredictionThread, NULL, PredictionLoop, &GPS))
{
fprintf(stderr, "Error creating prediction thread\n");
}
}
if (!Config.DisableRTTY)
{
if (Config.InfoMessageCount < 0)
{
// Default number depends on baud rate
Config.InfoMessageCount = (Config.TxSpeed < B300) ? 2 : 4;
}
for (i=0; i<Config.InfoMessageCount; i++)
{
SendIPAddress(fd);
SendFreeSpace(fd);
}
}
ImagePacketCount = 0;
while (1)
{
static int CarrierOn=1;
if (Config.DisableRTTY)
{
delayMilliseconds (200);
}
else if (LoRaUploadNow(&GPS, 10))
{
if (CarrierOn)
{
digitalWrite (NTX2B_ENABLE, 0);
CarrierOn = 0;
printf("Switching RTTY carrier off\n");
}
delayMilliseconds (200);
}
else
{
if (!CarrierOn)
{
digitalWrite (NTX2B_ENABLE, 1);
printf("Switching RTTY carrier on\n");
CarrierOn = 1;
}
MaxImagePackets = (GPS.Altitude > Config.SSDVHigh) ? Config.Channels[RTTY_CHANNEL].ImagePackets : 1;
if (ImagePacketCount++ < MaxImagePackets)
{
SendRTTYImage(fd);
}
else
{
ImagePacketCount = 0;
BuildSentence(Sentence, ++Sentence_Counter, &GPS);
SendSentence(fd, Sentence);
}
}
}
}
/**
* MakeStepListForDefendDoubleEx - 防御双威胁等着法扩展生成器，用于扩展搜索
* @myInfo: 执棋方当前局面综合信息
* @denInfo: 对方当前局面综合信息
* @limit: 生成着法的数量限制
* @return: 返回着法列表
*/
vector<Step> MakeStepListForDefendDoubleEx(int side, unsigned int limit)
{
int unside = 1 - side;
SynInfo denInfo = GetBoardInfo(unside, TODEFENT);
SynInfo tempMy, tempDen;//临时局面信息储存
LineInfo tempLine[2][4], tempLine2[2][4];//临时线信息备份
Step tempStep;
vector<Step> stepList;//招法列表
vector<Point> pointList;//点列表
vector<Point>::iterator iterP, iterP2;
vector<Step>::iterator iterS;
int denType = GetBoardType(unside);
if (denType >= 20)//对方存在多威胁线型或已胜线型，或存在两个以上双威胁线型，本方必败直接返回空招法列表
{
return stepList;
}
else if (denType == 10)//此局面只存在一个双威胁线型，故只将破解步作为备选招法加入招法列表
{
for (iterS = denInfo.defStepList.begin(); iterS != denInfo.defStepList.end(); iterS++)
stepList.push_back(*iterS);
//UniqueStep(stepList);
for (iterS = stepList.begin(); iterS != stepList.end(); iterS++)
iterS->value = CalculateStepValue(*iterS, side);
sort(stepList.begin(), stepList.end(), cmpStepValue);
return stepList;
}
else//含有单威胁线型的棋局，多个单威胁（可能存在伪双），一个双威胁加单威胁（可能存在伪多）
{
if (denType > 10 && denType < 20)//存在一个双威胁线型，同时存在单威胁线型（可能存在伪多威胁）
{
for (iterS = denInfo.defStepList.begin(); iterS != denInfo.defStepList.end(); iterS++)//以双威胁线型为主要成分，若可破解必使用双威胁线型的破解步
{
MakeMove(iterS->first, tempLine, side, 0);//查看是否可以破解威胁，只要求线的类型，故不用收集更新的点信息
MakeMove(iterS->second, tempLine2, side, 0);
if (GetBoardType(unside) == 0)//判断是否破解成功，可能因为THREAT_four_ADDITION的额外破解法当成双威胁
stepList.push_back(*iterS);
BackMove(iterS->second, tempLine2, side);
BackMove(iterS->first, tempLine, side);
}
if (stepList.size() > 0)//可破解
{
UniqueStep(stepList);
for (iterS = stepList.begin(); iterS != stepList.end(); iterS++)
iterS->value = CalculateStepValue(*iterS, side);
sort(stepList.begin(), stepList.end(), cmpStepValue);
}
return stepList;//包含不可破解局面，若不可破解返回空招法列表
}
else//只存在多个单威胁线型（可能存在伪双）
{
for (iterP = denInfo.defPointList.begin(); iterP != denInfo.defPointList.end(); iterP++)
{
tempStep.first = *iterP;
MakeMove(tempStep.first, tempLine, side, TODUOTHREAT + TOSOLTHREAT);
//一子试走后进行二次分析，这样可避免针对伪双威胁的招法的第二子出现单子破解状态，从而使第一子无用
if (GetBoardType(unside) == 0)//一子破解，伪双威胁，按单威胁方案生成；根据无侥幸行棋逻辑，不存在可单子破解的三子以上威胁
{
tempMy = GetBoardInfo(side, TODUOTHREAT + TOSOLTHREAT);
//将本方<双威胁点，单威胁点>
for (iterP2 = tempMy.duoThreatList.begin(); iterP2 != tempMy.duoThreatList.end(); iterP2++)
pointList.push_back(*iterP2);
for (iterP2 = tempMy.solThreatList.begin(); iterP2 != tempMy.solThreatList.end(); iterP2++)
pointList.push_back(*iterP2);
// UniquePoint(pointList);
for (iterP2 = pointList.begin(); iterP2 != pointList.end(); iterP2++)
{
tempStep.second = *iterP2;
stepList.push_back(tempStep);
}
pointList.clear();
}
else//两子破解，包括伪双威胁
{
tempDen = GetBoardInfo(unside, 2);
for (iterP2 = tempDen.defPointList.begin(); iterP2 != tempDen.defPointList.end(); iterP2++)
{
MakeMove(*iterP2, tempLine2, side, 0);
if (GetBoardType(unside) == 0)//判断是否破解成功
{
tempStep.second = *iterP2;
stepList.push_back(tempStep);
}
BackMove(*iterP2, tempLine2, side);
}
}
BackMove(tempStep.first, tempLine, side);
}
if (stepList.size() > 0)//可破解
{
UniqueStep(stepList);
for (iterS = stepList.begin(); iterS != stepList.end(); iterS++)
iterS->value = CalculateStepValue(*iterS, side);
sort(stepList.begin(), stepList.end(), cmpStepValue);
if (stepList.size() > limit)
stepList.resize(limit);
}
return stepList;//包含不可破解局面，若不可破解返回空招法列表
}
}
}
