uav/interface.c at master · L3w1s-L1u/uav · GitHub

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#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <pthread.h>
#include <sys/time.h>
#include <unistd.h>
#include "status.h"
#include "control.h"
#include "interface.h"


/* Forward +1 -1*/
void get_flyling_line_point(int forward)
{
	waypoint_list_s *wp = get_waypoint_current();
	if (forward == 1) {
		if (get_flying_status() <= AIRCRAFT_TAKEOFF) {
			memcpy(&gspoint, &wp->waypoint, sizeof(gspoint));
			memcpy(&gepoint, &wp->waypoint, sizeof(gepoint));
		} else if (wp == get_waypoint_tail() || get_flying_status() == AIRCRAFT_RETURN){
			memcpy(&gspoint, &wp->waypoint, sizeof(gspoint));
			wp = get_waypoint_head();
			memcpy(&gepoint, &wp->waypoint, sizeof(gepoint));
		} else if (get_flying_status() == AIRCRAFT_LANDING){
			memcpy(&gspoint, &wp->waypoint, sizeof(gspoint));
			memcpy(&gepoint, &wp->waypoint, sizeof(gepoint));
		} else {
			memcpy(&gspoint, &wp->waypoint, sizeof(gspoint));
			wp = get_waypoint_next();
			memcpy(&gepoint, &wp->waypoint, sizeof(gepoint));
		}
	} else if (forward == -1) {
		if (wp == get_waypoint_head() || get_flying_status() == AIRCRAFT_LANDING) {
			memcpy(&gspoint, &wp->waypoint, sizeof(gspoint));
			memcpy(&gepoint, &wp->waypoint, sizeof(gepoint));
		} else {
			memcpy(&gspoint, &wp->waypoint, sizeof(gspoint));
			wp = get_waypoint_previous();
			memcpy(&gepoint, &wp->waypoint, sizeof(gepoint));
		}
	}
}


void update_setting_status(aircraft_preparing_status_s *aps)
{
	gsfstate.CP_tp = aps->cp_tp;
	gsfstate.tg = aps->tg;
	gsfstate.max_v = aps->max_v;
	gsfstate.radar = aps->radar;
}

void update_joystick_data(uint16 *data)
{
	memcpy(grm.c, data, sizeof(struct rm));
}

static pthread_t execute_pid;
static int running = 1;
static pthread_cond_t timer_cond;
#define TIMER_CYCLE 20000 //20MS

static void *auto_flying_execute()
{
	struct timeval tpStart,tpEnd;
	struct timespec ts;
	float timeUse;
	flying_attitude_s *fa;
	int i=0;
	uint64 current_ts, timer_ts;

	gettimeofday(&tpStart, NULL);
	timer_ts = tpStart.tv_sec * 1000000 + tpStart.tv_usec;

	while(running) {
		fa=get_flying_attitude();
	    gettimeofday(&tpStart, NULL);
	    /*
		current_ts = tpStart.tv_sec * 1000000 + tpStart.tv_usec;
		if ((current_ts - timer_ts) < TIMER_CYCLE) {
			ts.tv_nsec = (tpStart.tv_usec + (current_ts - timer_ts)) * 1000;
			ts.tv_sec = tpStart.tv_sec;
			if (ts.tv_nsec > 1000000000) {
				ts.tv_nsec -= 1000000000;
				ts.tv_sec += 1;
			}
			pthread_cond_timedwait(&timer_cond, NULL, &ts);
		} else {
			print_err("Thread cost too much time\n");
		}
		timer_ts += TIMER_CYCLE;
*/
	    print_debug("frame %4d  frame time:%d systime:%f,%d\n",i++,fa->g_time,tpStart.tv_sec*1000+tpStart.tv_usec*0.001,sizeof(flying_attitude_s));
		do {
		        gettimeofday(&tpEnd, NULL);
		        timeUse = 1000 * (tpEnd.tv_sec - tpStart.tv_sec) + 0.001 * (tpEnd.tv_usec - tpStart.tv_usec);
		} while(timeUse < 4);
	}
}
/*
static void *auto_flying_execute()
{
	struct timeval tpStart,tpEnd;
	float timeUse;
	flying_attitude_s *fa;
	int i=0;
	uint64 current_ts, timer_ts;

	gettimeofday(&tpStart, NULL);
	timer_ts = tpStart.tv_sec * 1000000 + tpStart.tv_usec;

	while(running) {
		fa=get_flying_attitude();
	    gettimeofday(&tpStart, NULL);
		current_ts = tpStart.tv_sec * 1000000 + tpStart.tv_usec;
		if ((current_ts - timer_ts) < TIMER_CYCLE) {
			usleep(current_ts - timer_ts);
		} else {
			print_err("Thread cost too much time\n");
		}
		timer_ts += TIMER_CYCLE;

	    print_debug("frame %4d  frame time:%d systime:%f,%d\n",i++,fa->g_time,tpStart.tv_sec*1000+tpStart.tv_usec*0.001,sizeof(flying_attitude_s));
		do {
		        gettimeofday(&tpEnd, NULL);
		        timeUse = 1000 * (tpEnd.tv_sec - tpStart.tv_sec) + 0.001 * (tpEnd.tv_usec - tpStart.tv_usec);
		} while(timeUse < 3);
	}
}
*/

void auto_flying_start()
{
	running = 1;
	//pthread_cond_init(&timer_cond, NULL);
	pthread_create(&execute_pid, NULL, auto_flying_execute, NULL);
}

void auto_flying_stop()
{
	void* result = NULL;
	running = 0;
	pthread_join(execute_pid,&result);
}