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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 655 | rain-er | 1 | #!/usr/bin/perl |
| 2 | #!/usr/bin/perl -d:ptkdb |
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| 3 | |||
| 4 | ############################################################################### |
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| 5 | # |
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| 6 | # mktrack.pl - Tracking Antenne |
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| 7 | # |
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| 8 | # Copyright (C) 2009 Rainer Walther (rainerwalther-mail@web.de) |
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| 9 | # |
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| 10 | # Creative Commons Lizenz mit den Zusaetzen (by, nc, sa) |
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| 11 | # |
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| 12 | # Es ist Ihnen gestattet: |
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| 13 | # * das Werk vervielfältigen, verbreiten und öffentlich zugänglich machen |
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| 14 | # * Abwandlungen bzw. Bearbeitungen des Inhaltes anfertigen |
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| 15 | # |
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| 16 | # Zu den folgenden Bedingungen: |
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| 17 | # * Namensnennung. |
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| 18 | # Sie müssen den Namen des Autors/Rechteinhabers in der von ihm festgelegten Weise nennen. |
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| 19 | # * Keine kommerzielle Nutzung. |
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| 20 | # Dieses Werk darf nicht für kommerzielle Zwecke verwendet werden. |
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| 21 | # * Weitergabe unter gleichen Bedingungen. |
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| 22 | # Wenn Sie den lizenzierten Inhalt bearbeiten oder in anderer Weise umgestalten, |
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| 23 | # verändern oder als Grundlage für einen anderen Inhalt verwenden, |
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| 24 | # dürfen Sie den neu entstandenen Inhalt nur unter Verwendung von Lizenzbedingungen |
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| 25 | # weitergeben, die mit denen dieses Lizenzvertrages identisch oder vergleichbar sind. |
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| 26 | # |
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| 27 | # Im Falle einer Verbreitung müssen Sie anderen die Lizenzbedingungen, unter welche dieses |
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| 28 | # Werk fällt, mitteilen. Am Einfachsten ist es, einen Link auf diese Seite einzubinden. |
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| 29 | # |
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| 30 | # Jede der vorgenannten Bedingungen kann aufgehoben werden, sofern Sie die Einwilligung |
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| 31 | # des Rechteinhabers dazu erhalten. |
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| 32 | # |
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| 33 | # Diese Lizenz lässt die Urheberpersönlichkeitsrechte unberührt. |
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| 34 | # |
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| 35 | # Weitere Details zur Lizenzbestimmung gibt es hier: |
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| 36 | # Kurzform: http://creativecommons.org/licenses/by-nc-sa/3.0/de/ |
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| 37 | # Komplett: http://creativecommons.org/licenses/by-nc-sa/3.0/de/legalcode |
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| 38 | # |
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| 39 | ############################################################################### |
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| 40 | # 2009-02-14 0.0.1 rw created |
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| 41 | # 2009-04-01 0.1.0 rw RC1 |
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| 42 | # 2009-06-14 0.1.1 rw Tilt-Servo added |
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| 43 | # 2009-08-15 0.1.2 rw Flip Pan/Tilt servo for >180 degree |
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| 44 | # config servo direction and range |
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| 45 | # optional get antenna home position from Map-config |
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| 46 | # Signal handler replaced by command-queue |
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| 47 | # 2009-09-30 0.1.3 rw Commandline parameter added |
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| 48 | # 2009-10-07 0.1.4 rw COM-Port > 9 |
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| 49 | # Servo Speed, neutral position and 8 bit position |
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| 50 | # Add Coldstart command |
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| 51 | # Relax servo at shutdown |
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| 52 | # PortSetSkip config |
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| 53 | # |
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| 54 | ############################################################################### |
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| 55 | |||
| 56 | $Version{'track.pl'} = "0.1.4 - 2009-10-05"; |
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| 57 | |||
| 58 | |||
| 59 | if ( $0 =~ /track.pl$/i ) |
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| 60 | { |
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| 61 | # Program wurde direkt aufgerufen |
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| 62 | |||
| 63 | # change working directory to program path |
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| 64 | my $Cwd = substr ($0, 0, rindex ($0, "track.pl")); |
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| 65 | chdir $Cwd; |
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| 66 | |||
| 67 | # set path for local Perl libs |
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| 68 | push @INC, $Cwd . "perl/lib"; |
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| 69 | } |
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| 70 | |||
| 71 | |||
| 72 | # Packages |
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| 73 | use Time::HiRes qw(usleep gettimeofday); # http://search.cpan.org/~jhi/Time-HiRes-1.9719/HiRes.pm |
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| 74 | use threads; # http://search.cpan.org/~jdhedden/threads-1.72/threads.pm |
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| 75 | # http://perldoc.perl.org/threads.html |
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| 76 | use threads::shared; # http://search.cpan.org/~jdhedden/threads-shared-1.28/shared.pm |
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| 77 | use Thread::Queue; # http://search.cpan.org/dist/Thread-Queue-2.11/lib/Thread/Queue.pm |
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| 78 | use Math::Trig; |
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| 79 | use Geo::Ellipsoid; # http://search.cpan.org/dist/Geo-Ellipsoid-1.12/lib/Geo/Ellipsoid.pm |
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| 80 | # http://www.kompf.de/gps/distcalc.html |
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| 81 | # http://www.herrmann-w.de/Geocaching/Downloads/Richt.XLS |
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| 82 | # http://williams.best.vwh.net/avform.htm |
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| 83 | # http://williams.best.vwh.net/gccalc.html |
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| 84 | # http://de.wikipedia.org/wiki/Orthodrome |
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| 85 | if ( $^O =~ /Win32/i ) |
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| 86 | { |
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| 87 | require Win32::SerialPort; # http://search.cpan.org/dist/Win32-SerialPort |
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| 88 | } |
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| 89 | else |
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| 90 | { |
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| 91 | require Device::SerialPort; # http://search.cpan.org/~cook/Device-SerialPort-1.04/SerialPort.pm |
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| 92 | } |
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| 93 | |||
| 94 | require "mkcomm.pl"; # MK communication |
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| 95 | |||
| 96 | # Sharing for Threads |
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| 97 | share (@ServoPos); |
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| 98 | share (%MkTrack); |
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| 99 | |||
| 100 | # Queue for receiving commands |
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| 101 | $TrackQueue = Thread::Queue->new(); |
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| 102 | |||
| 103 | # Commandline |
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| 104 | my %CmdLine = @ARGV; |
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| 105 | |||
| 106 | |||
| 107 | # |
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| 108 | # Parameter |
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| 109 | # |
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| 110 | |||
| 111 | # System Timer |
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| 112 | $SysTimerResolution = 1000; # Resolution in us |
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| 113 | |||
| 114 | # Com Port for Pololu Mikro-Servoboard |
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| 115 | # http://www.shop.robotikhardware.de/shop/catalog/product_info.php?cPath=65&products_id=118 |
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| 116 | my $ComPort = $Cfg->{'track'}->{'Port'} || "COM8"; |
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| 117 | |||
| 118 | my $ServoPanCtrl = $Cfg->{'track'}->{'ServoPanCtrl'} || (0x00 | 15); |
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| 119 | my $ServoTiltCtrl = $Cfg->{'track'}->{'ServoTiltCtrl'} || (0x20 | 15 ); |
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| 120 | my $ServoPanSpeed = $Cfg->{'track'}->{'ServoPanSpeed'} || 0; |
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| 121 | my $ServoTiltSpeed = $Cfg->{'track'}->{'ServoTiltSpeed'} || 0; |
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| 122 | my $ServoPanNeutral = $Cfg->{'track'}->{'ServoPanNeutral'} || 3000; |
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| 123 | my $ServoTiltNeutral = $Cfg->{'track'}->{'ServoTiltNeutral'} || 3000; |
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| 124 | |||
| 125 | $MkTrack{'ServoPanCtrl'} = $ServoPanCtrl; |
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| 126 | $MkTrack{'ServoTiltCtrl'} = $ServoTiltCtrl; |
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| 127 | $MkTrack{'ServoPanSpeed'} = $ServoPanSpeed; |
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| 128 | $MkTrack{'ServoTiltSpeed'} = $ServoTiltSpeed; |
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| 129 | $MkTrack{'ServoPanNeutral'} = $ServoPanNeutral; |
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| 130 | $MkTrack{'ServoTiltNeutral'} = $ServoTiltNeutral; |
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| 131 | |||
| 132 | # Servo parameter |
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| 133 | $ServoPan = 0; # Servo channel Pan |
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| 134 | $ServoTilt = 1; # Servo channel Tilt |
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| 135 | $MkTrack{'ServoPan'} = $ServoPan; |
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| 136 | $MkTrack{'ServoTilt'} = $ServoTilt; |
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| 137 | @ServoSpeed = (200/40, 200/40, 200/40, 200/40, 200/40, 200/40, 200/40, 200/40); # ms/degree |
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| 138 | $ServoConstPpm = 20; # PPM protocol overhead in ms |
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| 139 | |||
| 140 | @ServoTest = ( [ 90, 0 ], # Pan, Tilt in degrees for servo test |
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| 141 | [ 180, 0 ], |
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| 142 | [ 180, 90 ], |
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| 143 | [ 90, 0 ], |
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| 144 | [ 0, 0 ], |
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| 145 | [ 0, 90 ], |
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| 146 | [ 90, 0 ], |
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| 147 | [ 90, 180 ], |
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| 148 | [ 90, 0 ], ); |
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| 149 | |||
| 150 | # Tracking |
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| 151 | $TrackInterval = 50; # in ms |
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| 152 | |||
| 153 | # |
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| 154 | # Timer |
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| 155 | # |
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| 156 | |||
| 157 | sub SetTimer_ms() |
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| 158 | { |
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| 159 | return $SysTimerCount_ms + $_[0]; |
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| 160 | } |
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| 161 | |||
| 162 | sub CheckTimer_ms() |
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| 163 | { |
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| 164 | my $Diff = $_[0] - $SysTimerCount_ms; |
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| 165 | return ($Diff <= 0); |
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| 166 | } |
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| 167 | |||
| 168 | # |
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| 169 | # Servo |
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| 170 | # |
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| 171 | |||
| 172 | sub ServoInit() |
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| 173 | { |
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| 174 | # open COM-Port |
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| 175 | undef $ServoPort; |
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| 176 | |||
| 177 | if ( $ComPort =~ /^COM/i ) |
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| 178 | { |
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| 179 | $ComPort = "\\\\.\\" . $ComPort; # for Port > 9 required |
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| 180 | } |
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| 181 | |||
| 182 | if ( $^O =~ m/Win32/ ) |
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| 183 | { |
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| 184 | $ServoPort = Win32::SerialPort->new ($ComPort) || die "Error open $ComPort\n"; |
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| 185 | } |
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| 186 | else |
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| 187 | { |
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| 188 | $ServoPort = Device::SerialPort->new ($ComPort) || die "Error open $ComPort\n"; |
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| 189 | } |
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| 190 | |||
| 191 | if ( ! ($Cfg->{'track'}->{'PortSetSkip'} =~ /y/i) ) |
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| 192 | { |
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| 193 | # Set COM parameters, don't set for Bluetooth device |
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| 194 | $ServoPort->baudrate(38400); |
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| 195 | $ServoPort->parity("none"); |
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| 196 | $ServoPort->databits(8); |
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| 197 | $ServoPort->stopbits(1); |
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| 198 | $ServoPort->handshake('none'); |
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| 199 | $ServoPort->write_settings; |
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| 200 | } |
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| 201 | |||
| 202 | # Byte 1: sync - Pololu Mode |
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| 203 | # Byte 2: device |
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| 204 | # Byte 3: command |
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| 205 | # Byte 4: Servo num |
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| 206 | |||
| 207 | # Byte 5: Set Speed 0, 1..127, 0=full speed |
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| 208 | # Speed Pan/Tilt servo #0/#1 |
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| 209 | my $Output = pack('C*', 0x80, 0x01, 0x01, 0, $ServoPanSpeed ); |
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| 210 | $ServoPort->write($Output); |
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| 211 | my $Output = pack('C*', 0x80, 0x01, 0x01, 1, $ServoTiltSpeed ); |
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| 212 | $ServoPort->write($Output); |
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| 213 | |||
| 214 | # Byte 5: Set Parameter |
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| 215 | # Bit 6: Servo on/off |
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| 216 | # Bit 5: Direction |
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| 217 | # Bit 4-0: Servo Range |
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| 218 | # Set Pan/Tilt servo #0/#1 |
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| 219 | my $Output = pack('C*', 0x80, 0x01, 0x00, 0, 0x40 | $ServoPanCtrl ); |
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| 220 | $ServoPort->write($Output); |
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| 221 | my $Output = pack('C*', 0x80, 0x01, 0x00, 1, 0x40 | $ServoTiltCtrl ); |
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| 222 | $ServoPort->write($Output); |
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| 223 | |||
| 224 | # Byte 5/6: Neutral in 0.5us |
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| 225 | # Neutral Pan/Tilt servo #0/#1 |
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| 226 | my $Output = pack('C*', 0x80, 0x01, 0x05, 0, $ServoPanNeutral >> 7, $ServoPanNeutral & 0x7f); |
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| 227 | $ServoPort->write($Output); |
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| 228 | my $Output = pack('C*', 0x80, 0x01, 0x05, 1, $ServoTiltNeutral >> 7, $ServoTiltNeutral & 0x7f); |
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| 229 | $ServoPort->write($Output); |
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| 230 | |||
| 231 | @ServoStartTime = (0, 0, 0, 0, 0, 0, 0, 0); # Timestamp of last ServoMove() call |
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| 232 | @ServoEndTime = (0, 0, 0, 0, 0, 0, 0, 0); # Timestamp of estimated arrival at end position |
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| 233 | @ServoPos = (90, 90, 90, 90, 90, 90, 90, 90); # Current servo position 0..180 degree |
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| 234 | } |
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| 235 | |||
| 236 | |||
| 237 | sub ServoMove() |
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| 238 | { |
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| 239 | my ($Num, $Angel, $Time) = @_; |
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| 240 | |||
| 241 | my $Overhead = 0; |
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| 242 | |||
| 243 | if ( $Angel != $ServoPos[$Num] ) |
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| 244 | { |
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| 245 | if ( $Angel < 0) {$Angel = 0;} |
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| 246 | if ( $Angel > 180) {$Angel = 180;} |
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| 247 | |||
| 248 | my $Pos = int ($Angel * 255/180 + 0.5); # angel 0..180 degree to servo position 0..255 |
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| 249 | |||
| 250 | # output to COM port |
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| 251 | # Byte 1: sync - Pololu Mode |
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| 252 | # Byte 2: device |
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| 253 | # Byte 3: command |
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| 254 | # Byte 4: Servo num |
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| 255 | # Byte 5/6: servo position 0..255 |
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| 256 | |||
| 257 | my $Output = pack('C*', 0x80, 0x01, 0x03, $Num, $Pos >> 7, $Pos & 0x7f); |
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| 258 | $ServoPort->write($Output); |
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| 259 | |||
| 260 | $Overhead += $ServoConstPpm; # PPM protocol overhead |
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| 261 | } |
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| 262 | |||
| 263 | # set timer stuff for travel time predicion |
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| 264 | my $LastAngel = $ServoPos[$Num]; |
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| 265 | my $EstimatedTime = abs($Angel - $LastAngel) * $ServoSpeed[$Num] + $Overhead; |
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| 266 | if ( $Time > 0 ) |
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| 267 | { |
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| 268 | # Parameter override |
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| 269 | $EstimatedTime = $Time; |
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| 270 | } |
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| 271 | $ServoStartTime[$Num] = $SysTimerCount_ms; |
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| 272 | $ServoEndTime[$Num] = $SysTimerCount_ms + $EstimatedTime; |
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| 273 | $ServoPos[$Num] = $Angel; |
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| 274 | |||
| 275 | return $ServoEndTime[$Num]; |
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| 276 | } |
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| 277 | |||
| 278 | |||
| 279 | # switch off servo |
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| 280 | sub ServoRelax() |
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| 281 | { |
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| 282 | if ( defined $ServoPort ) |
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| 283 | { |
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| 284 | # Byte 1: sync - Pololu Mode |
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| 285 | # Byte 2: device |
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| 286 | # Byte 3: command |
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| 287 | # Byte 4: Servo num |
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| 288 | |||
| 289 | # Byte 5: Set Parameter |
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| 290 | # Bit 6: Servo on/off |
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| 291 | # Bit 5: Direction |
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| 292 | # Bit 4-0: Servo Range |
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| 293 | # Set Pan/Tilt servo #0/#1 |
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| 294 | my $Output = pack('C*', 0x80, 0x01, 0x00, 0, 0x00 | $ServoPanCtrl ); |
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| 295 | $ServoPort->write($Output); |
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| 296 | my $Output = pack('C*', 0x80, 0x01, 0x00, 1, 0x00 | $ServoTiltCtrl ); |
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| 297 | $ServoPort->write($Output); |
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| 298 | } |
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| 299 | } |
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| 300 | |||
| 301 | |||
| 302 | # Check, if servo has reached end position |
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| 303 | sub ServoCheck() |
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| 304 | { |
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| 305 | my $Num = $_[0]; |
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| 306 | return &CheckTimer_ms($ServoEndTime[$Num]); |
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| 307 | } |
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| 308 | |||
| 309 | |||
| 310 | sub ServoClose() |
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| 311 | { |
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| 312 | # close COM-Port |
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| 313 | undef $ServoPort; |
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| 314 | } |
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| 315 | |||
| 316 | |||
| 317 | |||
| 318 | |||
| 319 | # |
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| 320 | # Track it |
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| 321 | # |
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| 322 | |||
| 323 | sub TrackAntennaGps() |
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| 324 | { |
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| 325 | |||
| 326 | # initialize system-timer |
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| 327 | $SysTimerCount_ms = 0; |
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| 328 | $SysTimerError = 0; |
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| 329 | ($t0_s, $t0_us) = gettimeofday; |
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| 330 | |||
| 331 | # |
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| 332 | # State maschine |
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| 333 | # |
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| 334 | |||
| 335 | my $State = "Idle"; |
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| 336 | while (1) |
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| 337 | { |
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| 338 | |||
| 339 | $MkTrack{'State'} = $State; # export state |
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| 340 | |||
| 341 | # |
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| 342 | # Idle |
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| 343 | # |
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| 344 | if ( $State eq "Idle" ) |
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| 345 | { |
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| 346 | # nothing to do. Wait for commands in TrackQueue |
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| 347 | } |
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| 348 | |||
| 349 | # |
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| 350 | # ColdStart |
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| 351 | # |
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| 352 | elsif ( $State eq "ColdStart" ) |
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| 353 | { |
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| 354 | &ServoInit(); |
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| 355 | |||
| 356 | |||
| 357 | $ServoTestIndex = 0; |
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| 358 | |||
| 359 | $State = "InitServoTest"; |
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| 360 | } |
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| 361 | |||
| 362 | # |
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| 363 | # Start servo test |
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| 364 | # doesn't really make much sense, but looks cool:-) |
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| 365 | # |
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| 366 | |||
| 367 | elsif ( $State eq "InitServoTest") |
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| 368 | { |
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| 369 | if ( &ServoCheck ($ServoPan) and &ServoCheck ($ServoTilt) ) |
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| 370 | { |
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| 371 | |||
| 372 | my $PanPos = $ServoTest[$ServoTestIndex][0]; |
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| 373 | my $TiltPos = $ServoTest[$ServoTestIndex][1]; |
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| 374 | $ServoTestIndex ++; |
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| 375 | |||
| 376 | if ( defined $PanPos and defined $TiltPos ) |
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| 377 | { |
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| 378 | my $Delay = 200; |
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| 379 | my $LastPan = $ServoPos[$ServoPan]; |
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| 380 | my $LastTilt = $ServoPos[$ServoTilt]; |
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| 381 | my $EstimatedPan = 1000; |
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| 382 | if ( $ServoPanSpeed != 0 ) |
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| 383 | { |
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| 384 | # about 2ms/180degree pulse, 50us/s servo pulse change per unit |
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| 385 | $EstimatedPan = abs($PanPos - $LastPan) * 0.002/180 / ($ServoPanSpeed * 0.000050) * 1000 + $Delay; |
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| 386 | } |
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| 387 | my $EstimatedTilt = 1000; |
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| 388 | if ( $ServoTiltSpeed != 0 ) |
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| 389 | { |
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| 390 | # about 2ms/180degree pulse, 50us/s servo pulse change per unit |
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| 391 | $EstimatedTilt = abs($TiltPos - $LastTilt) * 0.002/180 / ($ServoTiltSpeed * 0.000050) * 1000 + $Delay; |
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| 392 | } |
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| 393 | |||
| 394 | &ServoMove ($ServoPan, $PanPos, $EstimatedPan); # override travel time |
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| 395 | &ServoMove ($ServoTilt, $TiltPos, $EstimatedTilt); # override travel time |
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| 396 | } |
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| 397 | else |
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| 398 | { |
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| 399 | # complete |
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| 400 | $ServoTestIndex = 0; |
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| 401 | $State = "WaitGps"; |
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| 402 | } |
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| 403 | } |
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| 404 | } |
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| 405 | |||
| 406 | # |
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| 407 | # Servo test finisched |
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| 408 | # |
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| 409 | # Wait for GPS Home position and compass |
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| 410 | # |
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| 411 | |||
| 412 | elsif ( $State eq "WaitGps" ) |
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| 413 | { |
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| 414 | if ( &ServoCheck ($ServoPan) ) |
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| 415 | { |
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| 416 | lock (%MkOsd); # until end of block |
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| 417 | lock (%MkTrack); |
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| 418 | |||
| 419 | if ( $MkOsd{'_Timestamp'} >= time-2 and |
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| 420 | $MkOsd{'SatsInUse'} >= 6 ) |
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| 421 | { |
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| 422 | # gültige OSD daten vom MK und guter Satellitenempfang |
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| 423 | |||
| 424 | # take GPS and compass from map definition or MK as antenna home-position |
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| 425 | $MkTrack{'HomePos_Lon'} = $Map{'Track_Lon'} || $MkOsd{'HomePos_Lon'}; |
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| 426 | $MkTrack{'HomePos_Lat'} = $Map{'Track_Lat'} || $MkOsd{'HomePos_Lat'}; |
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| 427 | $MkTrack{'HomePos_Alt'} = $Map{'Track_Alt'} || $MkOsd{'HomePos_Alt'}; |
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| 428 | $MkTrack{'CompassHeading'} = $Map{'Track_Bearing'} || $MkOsd{'CompassHeading'}; |
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| 429 | |||
| 430 | $TrackTimer = &SetTimer_ms($TrackInterval); |
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| 431 | |||
| 432 | $State = "TrackGps"; |
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| 433 | } |
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| 434 | } |
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| 435 | } |
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| 436 | |||
| 437 | # |
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| 438 | # GPS Fix Home position |
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| 439 | # Track now |
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| 440 | # |
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| 441 | elsif ( $State eq "TrackGps" ) |
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| 442 | { |
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| 443 | if ( &CheckTimer_ms($TrackTimer) and &ServoCheck($ServoPan) ) |
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| 444 | { |
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| 445 | $TrackTimer = &SetTimer_ms($TrackInterval); # reload Timer |
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| 446 | |||
| 447 | lock (%MkOsd); # until end of block |
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| 448 | lock (%MkTrack); |
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| 449 | |||
| 450 | if ( $MkOsd{'_Timestamp'} >= time -2 and |
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| 451 | $MkOsd{'SatsInUse'} >= 4 ) |
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| 452 | { |
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| 453 | # valid OSD data from the MK and sufficient satellites |
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| 454 | |||
| 455 | my $Track_Geo = Geo::Ellipsoid->new( 'units' => 'degrees', |
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| 456 | 'distance_units' => 'meter', |
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| 457 | 'ellipsoid' => 'WGS84', |
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| 458 | ); |
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| 459 | |||
| 460 | my ($Dist, $Bearing) = $Track_Geo->to($MkTrack{'HomePos_Lat'}, $MkTrack{'HomePos_Lon'}, |
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| 461 | $MkOsd{'CurPos_Lat'}, $MkOsd{'CurPos_Lon'}); |
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| 462 | my $Dir_h = $MkTrack{'CompassHeading'}; |
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| 463 | my $Dir_c = $MkOsd{'CompassHeading'}; |
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| 464 | |||
| 465 | if ( $Dist < 4 ) # meter |
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| 466 | { |
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| 467 | # Too close to Home-Position. Set antenna to middle position |
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| 468 | $Bearing = $Dir_h; |
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| 469 | } |
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| 470 | |||
| 471 | $MkTrack{'Bearing'} = sprintf ("%d", $Bearing); |
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| 472 | $MkTrack{'Dist'} = sprintf ("%d", $Dist); |
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| 473 | $MkTrack{'CurPos_Lon'} = $MkOsd{'CurPos_Lon'}; |
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| 474 | $MkTrack{'CurPos_Lat'} = $MkOsd{'CurPos_Lat'}; |
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| 475 | $MkTrack{'CurPos_Alt'} = $MkOsd{'CurPos_Alt'}; |
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| 476 | |||
| 477 | # antenna pan direction: 0..180 degree, centre = 90 |
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| 478 | my $AngelPan = $Bearing - $Dir_h + 90; |
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| 479 | $AngelPan = $AngelPan % 360; |
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| 480 | |||
| 481 | # antenna tilt direction: 0..180 degree, centre is up, 0 is front |
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| 482 | my $AngelTilt = rad2deg(atan2(($MkOsd{'CurPos_Alt'} - $MkTrack{'HomePos_Alt'}), $Dist)); |
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| 483 | if ( $AngelTilt < 0 ) { $AngelTilt = 0; } |
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| 484 | if ( $AngelTilt > 180 ) { $AngelTilt = 180; } |
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| 485 | |||
| 486 | if ( $AngelPan >= 180 ) |
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| 487 | { |
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| 488 | # Flip Pan/Tilt |
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| 489 | $AngelPan = $AngelPan - 180; |
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| 490 | $AngelTilt = 180 - $AngelTilt; |
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| 491 | } |
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| 492 | |||
| 493 | $MkTrack{'AngelPan'} = $AngelPan; |
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| 494 | $MkTrack{'AngelTilt'} = $AngelTilt; |
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| 495 | |||
| 496 | &ServoMove ($ServoPan, $AngelPan); |
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| 497 | &ServoMove ($ServoTilt, $AngelTilt); |
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| 498 | |||
| 499 | # Timestamp, wann der Datensatz geschtieben wurde |
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| 500 | $MkTrack{'_Timestamp'} = time; |
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| 501 | } |
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| 502 | } |
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| 503 | } |
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| 504 | |||
| 505 | else |
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| 506 | { |
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| 507 | # Restart |
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| 508 | $State = "ColdStart"; |
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| 509 | } |
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| 510 | |||
| 511 | # |
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| 512 | # check command queue |
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| 513 | # |
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| 514 | while ( $TrackQueue->pending() > 0 ) |
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| 515 | { |
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| 516 | my $Cmd = $TrackQueue->dequeue(1); |
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| 517 | |||
| 518 | if ( $Cmd =~ /COLDSTART/i ) |
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| 519 | { |
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| 520 | $State = "ColdStart"; |
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| 521 | } |
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| 522 | |||
| 523 | if ( $Cmd =~ /IDLE/i ) |
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| 524 | { |
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| 525 | if ( defined $ServoPort ) |
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| 526 | { |
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| 527 | # move all Servo to neutral position |
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| 528 | &ServoMove ($ServoPan, 90); |
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| 529 | &ServoMove ($ServoTilt, 0); |
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| 530 | |||
| 531 | sleep 1; |
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| 532 | &ServoRelax(); # swith off servo |
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| 533 | } |
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| 534 | |||
| 535 | $State = "Idle"; |
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| 536 | } |
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| 537 | } |
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| 538 | |||
| 539 | # |
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| 540 | # update system-timer |
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| 541 | # |
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| 542 | ($t1_s, $t1_us) = gettimeofday; |
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| 543 | $SysTimerSleep_us = ($t0_s - $t1_s) * 1000000 + $t0_us - $t1_us + $SysTimerCount_ms * $SysTimerResolution; |
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| 544 | |||
| 545 | if ($SysTimerSleep_us > 0) |
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| 546 | { |
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| 547 | usleep ($SysTimerSleep_us); |
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| 548 | } |
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| 549 | else |
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| 550 | { |
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| 551 | $SysTimerError ++; |
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| 552 | } |
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| 553 | |||
| 554 | $SysTimerCount_ms ++; |
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| 555 | } |
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| 556 | } |
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| 557 | |||
| 558 | |||
| 559 | # |
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| 560 | # Main Program |
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| 561 | # |
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| 562 | |||
| 563 | if ( $0 =~ /track.pl$/i ) |
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| 564 | { |
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| 565 | # Program wurde direkt aufgerufen |
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| 566 | |||
| 567 | # |
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| 568 | # Commandline Parameter |
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| 569 | # |
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| 570 | my $TrackPort = $CmdLine{'-TrackPort'}; |
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| 571 | if ( $TrackPort ne "" ) |
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| 572 | { |
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| 573 | $ComPort = $TrackPort; |
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| 574 | } |
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| 575 | |||
| 576 | my $MkPort = $CmdLine{'-MkPort'}; |
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| 577 | if ( $MkPort ne "" ) |
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| 578 | { |
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| 579 | $Cfg->{'mkcomm'}->{'Port'} = $MkPort; |
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| 580 | } |
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| 581 | |||
| 582 | my $PanCtrl = $CmdLine{'-PanCtrl'}; |
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| 583 | if ( $PanCtrl ne "" ) |
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| 584 | { |
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| 585 | $ServoPanCtrl = $PanCtrl; |
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| 586 | } |
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| 587 | |||
| 588 | my $TiltCtrl = $CmdLine{'-TiltCtrl'}; |
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| 589 | if ( $TiltCtrl ne "" ) |
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| 590 | { |
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| 591 | $ServoTiltCtrl = $TiltCtrl; |
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| 592 | } |
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| 593 | |||
| 594 | my $PanSpeed = $CmdLine{'-PanSpeed'}; |
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| 595 | if ( $PanSpeed ne "" ) |
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| 596 | { |
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| 597 | $ServoPanSpeed = $PanSpeed; |
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| 598 | } |
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| 599 | |||
| 600 | my $TiltSpeed = $CmdLine{'-TiltSpeed'}; |
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| 601 | if ( $TiltSpeed ne "" ) |
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| 602 | { |
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| 603 | $ServoTiltSpeed = $TiltSpeed; |
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| 604 | } |
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| 605 | |||
| 606 | my $PanNeutral = $CmdLine{'-PanNeutral'}; |
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| 607 | if ( $PanNeutral ne "" ) |
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| 608 | { |
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| 609 | $ServoPanNeutral = $PanNeutral; |
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| 610 | } |
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| 611 | |||
| 612 | my $TiltNeutral = $CmdLine{'-TiltNeutral'}; |
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| 613 | if ( $TiltNeutral ne "" ) |
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| 614 | { |
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| 615 | $ServoTiltNeutral = $TiltNeutral; |
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| 616 | } |
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| 617 | |||
| 618 | # Kommunikation zum MK herstellen |
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| 619 | # Input: %MkOsd, %MkTarget, %MkNcDebug |
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| 620 | # Ouput: Thread-Queue: $MkSendQueue |
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| 621 | $mk_thr = threads->create (\&MkCommLoop) -> detach(); |
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| 622 | |||
| 623 | $TrackQueue->enqueue("COLDSTART"); # start command |
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| 624 | &TrackAntennaGps(); |
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| 625 | |||
| 626 | # should never exit |
||
| 627 | } |
||
| 628 | |||
| 629 | 1; |
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| 630 | |||
| 631 | __END__ |