nps_main.h File Reference

#include <pthread.h>
#include <sys/time.h>
#include "nps_fdm.h"
#include "mcu_periph/sys_time.h"
#include "nps_atmosphere.h"
#include "nps_sensors.h"
#include "nps_autopilot.h"

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Data Structures
struct	NpsMain

Macros
#define	clock_get_current_time(_x)   clock_gettime(CLOCK_REALTIME, _x)
#define	SIM_DT   (1./SYS_TIME_FREQUENCY)
#define	DISPLAY_DT   (1./30.)
#define	HOST_TIMEOUT_MS   40

Functions
bool	nps_main_parse_options (int argc, char **argv)
int	nps_main_init (int argc, char **argv)
void	nps_radio_and_autopilot_init (void)
void	nps_main_run_sim_step (void)
void	nps_set_time_factor (float time_factor)
void *	nps_main_loop (void *data)
void *	nps_flight_gear_loop (void *data)
void *	nps_main_display (void *data)
void	tstp_hdl (int n)
void	cont_hdl (int n)
double	time_to_double (struct timeval *t)
double	ntime_to_double (struct timespec *t)
void	nps_update_launch_from_dl (uint8_t value)
void	nps_hitl_impl_init (void)
	END pprzlink_dev. More...

Variables
pthread_t	th_flight_gear
pthread_t	th_display_ivy
pthread_t	th_main_loop
pthread_mutex_t	fdm_mutex
int	pauseSignal
struct NpsMain	nps_main

---

Data Structure Documentation

NpsMain

struct NpsMain

Definition at line 53 of file nps_main.h.

Data Fields
double	display_time
int	fg_fdm
char *	fg_host
unsigned int	fg_port
unsigned int	fg_port_in
unsigned int	fg_time_offset
double	host_time_factor
char *	ivy_bus
char *	js_dev
bool	nodisplay
bool	norc
int	rc_script
double	real_initial_time
double	scaled_initial_time
double	sim_time
char *	spektrum_dev

Macro Definition Documentation

clock_get_current_time

#define clock_get_current_time

(

_x

)

clock_gettime(CLOCK_REALTIME, _x)

Definition at line 17 of file nps_main.h.

DISPLAY_DT

#define DISPLAY_DT   (1./30.)

Definition at line 21 of file nps_main.h.

HOST_TIMEOUT_MS

#define HOST_TIMEOUT_MS   40

Definition at line 22 of file nps_main.h.

SIM_DT

#define SIM_DT   (1./SYS_TIME_FREQUENCY)

Definition at line 20 of file nps_main.h.

Function Documentation

cont_hdl()

void cont_hdl

(

int

n

)

Definition at line 68 of file nps_main_common.c.

References cont_hdl(), and tstp_hdl().

Referenced by cont_hdl(), and nps_main_init().

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nps_flight_gear_loop()

void* nps_flight_gear_loop

(

void *

data

)

Definition at line 265 of file nps_main_common.c.

References clock_get_current_time, DISPLAY_DT, fdm_mutex, NpsMain::fg_fdm, NpsMain::fg_host, NpsMain::fg_port, NpsMain::fg_port_in, NpsMain::fg_time_offset, nps_flightgear_init(), nps_flightgear_send(), nps_flightgear_send_fdm(), nps_main, and TRUE.

Referenced by main().

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nps_hitl_impl_init()

void nps_hitl_impl_init

(

void

)

END pprzlink_dev.

Definition at line 154 of file nps_hitl_sensors.c.

References AP_BAUD, AP_DEV, char_available(), check_free_space(), dev, linkdev::device, SerialPort::fd, linkdev::fds, getch(), nps_ap_data_loop(), nps_sensors_loop(), linkdev::port, linkdev::pprz_tp, put_buffer(), put_byte(), send_message(), serial_port_free(), serial_port_new(), serial_port_open_raw(), th_ap_data, and th_sensors.

Referenced by main().

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nps_main_display()

void* nps_main_display

(

void *

data

)

Definition at line 313 of file nps_main_common.c.

References clock_get_current_time, DISPLAY_DT, fdm, NpsMain::ivy_bus, NpsMain::nodisplay, nps_ivy_display(), nps_ivy_init(), nps_main, sensors, and TRUE.

Referenced by main().

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nps_main_init()

int nps_main_init	(	int	argc,
		char **	argv
	)

Definition at line 86 of file nps_main_common.c.

References cont_hdl(), NpsMain::display_time, NpsMain::host_time_factor, nps_atmosphere_init(), nps_fdm_init(), nps_main, nps_main_parse_options(), nps_radio_and_autopilot_init(), nps_sensors_init(), pauseSignal, NpsMain::real_initial_time, NpsMain::scaled_initial_time, SIM_DT, NpsMain::sim_time, time_to_double(), and tstp_hdl().

Referenced by main().

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nps_main_loop()

void* nps_main_loop

(

void *

data

)

Definition at line 78 of file nps_main_hitl.c.

References clock_get_current_time, NpsMain::display_time, fdm, fdm_mutex, NpsMain::host_time_factor, HOST_TIMEOUT_MS, nps_main, nps_main_run_sim_step(), ntime_to_double(), pauseSignal, NpsMain::real_initial_time, NpsMain::scaled_initial_time, SIM_DT, NpsMain::sim_time, t1, NpsFdm::time, time_to_double(), and TRUE.

Referenced by main().

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nps_main_parse_options()

bool nps_main_parse_options	(	int	argc,
		char **	argv
	)

Definition at line 154 of file nps_main_common.c.

References NpsMain::fg_fdm, NpsMain::fg_host, NpsMain::fg_port, NpsMain::fg_port_in, NpsMain::fg_time_offset, NpsMain::host_time_factor, NpsMain::ivy_bus, NpsMain::js_dev, NpsMain::nodisplay, NpsMain::norc, nps_main, NpsMain::rc_script, NpsMain::spektrum_dev, TRUE, and usage().

Referenced by nps_main_init().

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nps_main_run_sim_step()

void nps_main_run_sim_step

(

void

)

Definition at line 68 of file nps_main_hitl.c.

References NpsAutopilot::commands, NpsAutopilot::launch, nps_atmosphere_update(), nps_autopilot, nps_autopilot_run_step(), nps_autopilot_run_systime_step(), NPS_COMMANDS_NB, nps_fdm_run_step(), nps_main, nps_sensors_run_step(), SIM_DT, and NpsMain::sim_time.

Referenced by nps_main_loop().

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nps_radio_and_autopilot_init()

void nps_radio_and_autopilot_init

(

void

)

Definition at line 58 of file nps_main_hitl.c.

References JOYSTICK, NpsMain::js_dev, NpsMain::norc, NORC, nps_autopilot_init(), nps_main, NpsMain::rc_script, SCRIPT, SPEKTRUM, and NpsMain::spektrum_dev.

Referenced by nps_main_init().

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nps_set_time_factor()

void nps_set_time_factor

(

float

time_factor

)

Definition at line 126 of file nps_main_common.c.

References NpsMain::host_time_factor, nps_main, NpsMain::scaled_initial_time, and time_to_double().

Referenced by on_WORLD_ENV().

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nps_update_launch_from_dl()

void nps_update_launch_from_dl

(

uint8_t

value

)

Definition at line 62 of file nps_main_hitl.c.

References NpsAutopilot::launch, and nps_autopilot.

Referenced by on_DL_SETTING().

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ntime_to_double()

double ntime_to_double

(

struct timespec *

t

)

Definition at line 81 of file nps_main_common.c.

Referenced by nps_main_loop().

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time_to_double()

double time_to_double

(

struct timeval *

t

)

Definition at line 76 of file nps_main_common.c.

Referenced by nps_main_init(), nps_main_loop(), and nps_set_time_factor().

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tstp_hdl()

void tstp_hdl

(

int

n

)

Definition at line 56 of file nps_main_common.c.

References pauseSignal.

Referenced by cont_hdl(), and nps_main_init().

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Variable Documentation

fdm_mutex

pthread_mutex_t fdm_mutex

extern

Definition at line 36 of file nps_main_common.c.

Referenced by nps_ap_data_loop(), nps_flight_gear_loop(), nps_flightgear_receive(), nps_ivy_display(), nps_main_loop(), and nps_sensors_loop().

nps_main

struct NpsMain nps_main

extern

Definition at line 37 of file nps_main_common.c.

Referenced by main(), nps_flight_gear_loop(), nps_main_display(), nps_main_init(), nps_main_loop(), nps_main_parse_options(), nps_main_run_sim_step(), nps_radio_and_autopilot_init(), nps_sensors_loop(), and nps_set_time_factor().

pauseSignal

int pauseSignal

extern

Definition at line 37 of file nps_main_common.c.

Referenced by nps_main_init(), nps_main_loop(), and tstp_hdl().

th_display_ivy

pthread_t th_display_ivy

extern

Definition at line 34 of file nps_main_common.c.

Referenced by main().

th_flight_gear

pthread_t th_flight_gear

extern

Definition at line 33 of file nps_main_common.c.

Referenced by main().

th_main_loop

pthread_t th_main_loop

extern

Definition at line 35 of file nps_main_common.c.

Referenced by main().