nps_main.c File Reference

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <signal.h>
#include <glib.h>
#include <sys/time.h>
#include <getopt.h>
#include "nps_main.h"
#include "nps_fdm.h"
#include "nps_sensors.h"
#include "nps_atmosphere.h"
#include "nps_autopilot.h"
#include "nps_ivy.h"
#include "nps_flightgear.h"
#include "mcu_periph/sys_time.h"

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Macros
#define	SIM_DT   (1./SYS_TIME_FREQUENCY)
#define	DISPLAY_DT   (1./30.)
#define	HOST_TIMEOUT_MS   40

Functions
static bool	nps_main_parse_options (int argc, char **argv)
static void	nps_main_init (void)
static void	nps_main_display (void)
static void	nps_main_run_sim_step (void)
static gboolean	nps_main_periodic (gpointer data)
void	tstp_hdl (int n)
void	cont_hdl (int n)
double	time_to_double (struct timeval *t)
int	main (int argc, char **argv)
void	nps_set_time_factor (float time_factor)

Variables
struct {
double	real_initial_time
double	scaled_initial_time
double	host_time_factor
double	sim_time
double	display_time
char *	fg_host
unsigned int	fg_port
unsigned int	fg_port_in
unsigned int	fg_time_offset
int	fg_fdm
char *	js_dev
char *	spektrum_dev
int	rc_script
char *	ivy_bus
}	nps_main
int	pauseSignal = 0

Macro Definition Documentation

#define DISPLAY_DT   (1./30.)

Definition at line 40 of file nps_main.c.

Referenced by nps_main_periodic().

#define HOST_TIMEOUT_MS   40

Definition at line 41 of file nps_main.c.

Referenced by main().

#define SIM_DT   (1./SYS_TIME_FREQUENCY)

Definition at line 39 of file nps_main.c.

Referenced by nps_main_init(), nps_main_periodic(), and nps_main_run_sim_step().

Function Documentation

void cont_hdl

(

int

n

)

Definition at line 80 of file nps_main.c.

References tstp_hdl().

Referenced by main().

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int main	(	int	argc,
		char **	argv
	)

Definition at line 92 of file nps_main.c.

References cont_hdl(), FALSE, HOST_TIMEOUT_MS, nps_main, nps_main_init(), nps_main_parse_options(), nps_main_periodic(), and tstp_hdl().

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static void nps_main_display ( void  )

static

Definition at line 176 of file nps_main.c.

References nps_flightgear_receive(), nps_flightgear_send(), nps_flightgear_send_fdm(), nps_ivy_display(), and nps_main.

Referenced by nps_main_periodic().

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static void nps_main_init ( void  )

static

Definition at line 118 of file nps_main.c.

References JOYSTICK, nps_atmosphere_init(), nps_autopilot_init(), nps_fdm_init(), nps_flightgear_init(), nps_ivy_init(), nps_main, nps_sensors_init(), SCRIPT, SIM_DT, SPEKTRUM, and time_to_double().

Referenced by main().

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static bool nps_main_parse_options ( int  argc, char **  argv  )

static

Definition at line 297 of file nps_main.c.

References nps_main, and TRUE.

Referenced by main().

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static gboolean nps_main_periodic ( gpointer  data )

static

Definition at line 220 of file nps_main.c.

References DISPLAY_DT, nps_main, nps_main_display(), nps_main_run_sim_step(), SIM_DT, time_to_double(), and TRUE.

Referenced by main().

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static void nps_main_run_sim_step ( void  )

static

Definition at line 159 of file nps_main.c.

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

Referenced by nps_main_periodic().

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void nps_set_time_factor

(

float

time_factor

)

Definition at line 192 of file nps_main.c.

References nps_main, and time_to_double().

Referenced by on_WORLD_ENV().

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double time_to_double

(

struct timeval *

t

)

Definition at line 87 of file nps_main.c.

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

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void tstp_hdl

(

int

n

)

Definition at line 69 of file nps_main.c.

Referenced by cont_hdl(), and main().

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Variable Documentation

struct { ... } nps_main

Referenced by main(), nps_main_display(), nps_main_init(), nps_main_parse_options(), nps_main_periodic(), nps_main_run_sim_step(), and nps_set_time_factor().

int pauseSignal = 0

Definition at line 67 of file nps_main.c.