/**
main antenna tracking code, called at 50Hz
*/
void Tracker::update_tracking(void)
{
// update vehicle position estimate
update_vehicle_pos_estimate();
// update antenna tracker position from GPS
update_tracker_position();
// update bearing and distance to vehicle
update_bearing_and_distance();
// do not perform any servo updates until startup delay has passed
if (g.startup_delay > 0 &&
AP_HAL::millis() - start_time_ms < g.startup_delay*1000) {
return;
}
// do not perform updates if safety switch is disarmed (i.e. servos can't be moved)
if (hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED) {
return;
}
switch (control_mode) {
case AUTO:
update_auto();
break;
case MANUAL:
update_manual();
break;
case SCAN:
update_scan();
break;
case SERVO_TEST:
case STOP:
case INITIALISING:
break;
}
}
int main(int argc, char**argv)
{
if (argc != 3)
{
std::cout << "Arguments are <socket mysqld> <connect_string cluster>.\n";
exit(-1);
}
char *mysqld_sock = argv[1];
const char *connectstring = argv[2];
ndb_init();
MYSQL mysql;
/* Connect to mysql server and create table. */
{
if ( !mysql_init(&mysql) ) {
std::cout << "mysql_init failed.\n";
exit(-1);
}
if ( !mysql_real_connect(&mysql, "localhost", "root", "", "",
0, mysqld_sock, 0) )
MYSQLERROR(mysql);
mysql_query(&mysql, "CREATE DATABASE ndb_examples");
if (mysql_query(&mysql, "USE ndb_examples") != 0)
MYSQLERROR(mysql);
create_table(mysql);
}
/* Connect to ndb cluster. */
Ndb_cluster_connection cluster_connection(connectstring);
if (cluster_connection.connect(4, 5, 1))
{
std::cout << "Unable to connect to cluster within 30 secs." << std::endl;
exit(-1);
}
/* Optionally connect and wait for the storage nodes (ndbd's). */
if (cluster_connection.wait_until_ready(30,0) < 0)
{
std::cout << "Cluster was not ready within 30 secs.\n";
exit(-1);
}
Ndb myNdb(&cluster_connection,"ndb_examples");
if (myNdb.init(1024) == -1) { // Set max 1024 parallel transactions
APIERROR(myNdb.getNdbError());
exit(-1);
}
setup_records(&myNdb);
if(populate(&myNdb) > 0)
std::cout << "populate: Success!" << std::endl;
if(update_key(&myNdb) > 0)
std::cout << "update_key: Success!" << std::endl;
if(update_scan(&myNdb) > 0)
std::cout << "update_scan: Success!" << std::endl;
if(fetch_key(&myNdb) > 0)
std::cout << "fetch_key: Success!" << std::endl;
if(update2_key(&myNdb) > 0)
std::cout << "update2_key: Success!" << std::endl;
if(delete_key(&myNdb) > 0)
std::cout << "delete_key: Success!" << std::endl;
return 0;
}