v5.18/nps__main_8h_source.html

#ifndef NPS_MAIN_H

#define NPS_MAIN_H


#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"


#ifdef __MACH__ // OS X does not have clock_gettime, use clock_get_time

#include <mach/clock.h>

#include <mach/mach.h>

void clock_get_current_time(struct timespec *ts);

#else // Linux

#define clock_get_current_time(_x) clock_gettime(CLOCK_REALTIME, _x)

#endif // #ifdef __MACH__


#define SIM_DT     (1./SYS_TIME_FREQUENCY)

#define DISPLAY_DT (1./30.)

#define HOST_TIMEOUT_MS 40


pthread_t th_flight_gear; // sends/receives flight gear packets

pthread_t th_display_ivy; // sends Ivy messages

pthread_t th_main_loop; // handles simulation


pthread_mutex_t fdm_mutex; // mutex for fdm data


int pauseSignal; // for catching SIGTSTP


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 __attribute__((unused)));

void* nps_flight_gear_loop(void* data __attribute__((unused)));

void* nps_main_display(void* data __attribute__((unused)));


void tstp_hdl(int n __attribute__((unused)));

void cont_hdl(int n __attribute__((unused)));


double time_to_double(struct timeval *t);

double ntime_to_double(struct timespec *t);


void nps_update_launch_from_dl(uint8_t value);


struct NpsMain {

  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;

  bool norc;

  char *ivy_bus;

  bool nodisplay;

};


struct NpsMain nps_main;


#endif /* NPS_MAIN_H */