Details | Last modification | View Log | RSS feed
Rev | Author | Line No. | Line |
---|---|---|---|
598 | rain-er | 1 | #!/usr/bin/perl |
2 | #!/usr/bin/perl -d:ptkdb |
||
3 | |||
4 | ############################################################################### |
||
5 | # |
||
6 | # mktrack.pl - Tracking Antenne |
||
7 | # |
||
8 | # Copyright (C) 2009 Rainer Walther (rainerwalther-mail@web.de) |
||
9 | # |
||
10 | # Creative Commons Lizenz mit den Zusaetzen (by, nc, sa) |
||
11 | # |
||
12 | # Es ist Ihnen gestattet: |
||
13 | # * das Werk vervielfältigen, verbreiten und öffentlich zugänglich machen |
||
14 | # * Abwandlungen bzw. Bearbeitungen des Inhaltes anfertigen |
||
15 | # |
||
16 | # Zu den folgenden Bedingungen: |
||
17 | # * Namensnennung. |
||
18 | # Sie müssen den Namen des Autors/Rechteinhabers in der von ihm festgelegten Weise nennen. |
||
19 | # * Keine kommerzielle Nutzung. |
||
20 | # Dieses Werk darf nicht für kommerzielle Zwecke verwendet werden. |
||
21 | # * Weitergabe unter gleichen Bedingungen. |
||
22 | # Wenn Sie den lizenzierten Inhalt bearbeiten oder in anderer Weise umgestalten, |
||
23 | # verändern oder als Grundlage für einen anderen Inhalt verwenden, |
||
24 | # dürfen Sie den neu entstandenen Inhalt nur unter Verwendung von Lizenzbedingungen |
||
25 | # weitergeben, die mit denen dieses Lizenzvertrages identisch oder vergleichbar sind. |
||
26 | # |
||
27 | # Im Falle einer Verbreitung müssen Sie anderen die Lizenzbedingungen, unter welche dieses |
||
28 | # Werk fällt, mitteilen. Am Einfachsten ist es, einen Link auf diese Seite einzubinden. |
||
29 | # |
||
30 | # Jede der vorgenannten Bedingungen kann aufgehoben werden, sofern Sie die Einwilligung |
||
31 | # des Rechteinhabers dazu erhalten. |
||
32 | # |
||
33 | # Diese Lizenz lässt die Urheberpersönlichkeitsrechte unberührt. |
||
34 | # |
||
35 | # Weitere Details zur Lizenzbestimmung gibt es hier: |
||
36 | # Kurzform: http://creativecommons.org/licenses/by-nc-sa/3.0/de/ |
||
37 | # Komplett: http://creativecommons.org/licenses/by-nc-sa/3.0/de/legalcode |
||
38 | # |
||
39 | ############################################################################### |
||
40 | # 2009-02-14 0.0.1 rw created |
||
41 | # 2009-04-01 0.1.0 rw RC1 |
||
42 | # 2009-06-14 0.1.1 rw Tilt-Servo added |
||
43 | # 2009-08-15 0.1.2 rw Flip Pan/Tilt servo for >180 degree |
||
44 | # config servo direction and range |
||
45 | # optional get antenna home position from Map-config |
||
46 | # Signal handler replaced by command-queue |
||
47 | # |
||
48 | ############################################################################### |
||
49 | |||
50 | $Version{'track.pl'} = "0.1.1 - 2009-08-15"; |
||
51 | |||
52 | # Packages |
||
53 | use Time::HiRes qw(usleep gettimeofday); # http://search.cpan.org/~jhi/Time-HiRes-1.9719/HiRes.pm |
||
54 | use threads; # http://search.cpan.org/~jdhedden/threads-1.72/threads.pm |
||
55 | # http://perldoc.perl.org/threads.html |
||
56 | use threads::shared; # http://search.cpan.org/~jdhedden/threads-shared-1.28/shared.pm |
||
57 | use Thread::Queue; # http://search.cpan.org/dist/Thread-Queue-2.11/lib/Thread/Queue.pm |
||
58 | use Math::Trig; |
||
59 | use Geo::Ellipsoid; # http://search.cpan.org/dist/Geo-Ellipsoid-1.12/lib/Geo/Ellipsoid.pm |
||
60 | # http://www.kompf.de/gps/distcalc.html |
||
61 | # http://www.herrmann-w.de/Geocaching/Downloads/Richt.XLS |
||
62 | # http://williams.best.vwh.net/avform.htm |
||
63 | # http://williams.best.vwh.net/gccalc.html |
||
64 | # http://de.wikipedia.org/wiki/Orthodrome |
||
65 | if ( $^O =~ /Win32/i ) |
||
66 | { |
||
67 | require Win32::SerialPort; # http://search.cpan.org/dist/Win32-SerialPort |
||
68 | } |
||
69 | else |
||
70 | { |
||
71 | require Device::SerialPort; # http://search.cpan.org/~cook/Device-SerialPort-1.04/SerialPort.pm |
||
72 | } |
||
73 | |||
74 | require "mkcomm.pl"; # MK communication |
||
75 | |||
76 | # Sharing for Threads |
||
77 | share (@ServoPos); |
||
78 | share (%MkTrack); |
||
79 | |||
80 | # Queue for receiving commands |
||
81 | $TrackQueue = Thread::Queue->new(); |
||
82 | |||
83 | # |
||
84 | # Parameter |
||
85 | # |
||
86 | |||
87 | # System Timer |
||
88 | $SysTimerResolution = 1000; # Resolution in us |
||
89 | |||
90 | # Com Port for Pololu Mikro-Servoboard |
||
91 | # http://www.shop.robotikhardware.de/shop/catalog/product_info.php?cPath=65&products_id=118 |
||
92 | my $ComPort = $Cfg->{'track'}->{'Port'} || "COM8"; |
||
93 | |||
94 | my $ServoPanCtrl = $Cfg->{'track'}->{'ServoPanCtrl'} || (0x00 | 29); |
||
95 | my $ServoTiltCtrl = $Cfg->{'track'}->{'ServoTiltCtrl'} || (0x20 | 27); |
||
96 | $MkTrack{'ServoPanCtrl'} = $ServoPanCtrl; |
||
97 | $MkTrack{'ServoTiltCtrl'} = $ServoPanCtrl; |
||
98 | |||
99 | # Servo parameter |
||
100 | $ServoPan = 0; # Servo channel Pan |
||
101 | $ServoTilt = 1; # Servo channel Tilt |
||
102 | $MkTrack{'ServoPan'} = $ServoPan; |
||
103 | $MkTrack{'ServoTilt'} = $ServoTilt; |
||
104 | @ServoSpeed = (100/40, 100/40, 100/40, 100/40, 100/40, 100/40, 100/40, 100/40); # ms/degree |
||
105 | $ServoConstPpm = 20; # PPM protocol overhead in ms |
||
106 | |||
107 | @ServoTest = ( [ 90, 0 ], # Pan, Tilt in degrees for servo test |
||
108 | [ 180, 0 ], |
||
109 | [ 180, 90 ], |
||
110 | [ 90, 0 ], |
||
111 | [ 0, 0 ], |
||
112 | [ 0, 90 ], |
||
113 | [ 90, 0 ], |
||
114 | [ 90, 180 ], |
||
115 | [ 90, 0 ], ); |
||
116 | |||
117 | # Tracking |
||
118 | $TrackInterval = 50; # in ms |
||
119 | |||
120 | # |
||
121 | # Timer |
||
122 | # |
||
123 | |||
124 | sub SetTimer_ms() |
||
125 | { |
||
126 | return $SysTimerCount_ms + $_[0]; |
||
127 | } |
||
128 | |||
129 | sub CheckTimer_ms() |
||
130 | { |
||
131 | my $Diff = $_[0] - $SysTimerCount_ms; |
||
132 | return ($Diff <= 0); |
||
133 | } |
||
134 | |||
135 | # |
||
136 | # Servo |
||
137 | # |
||
138 | |||
139 | sub ServoInit() |
||
140 | { |
||
141 | # open COM-Port |
||
142 | undef $ServoPort; |
||
143 | if ( $^O =~ m/Win32/ ) |
||
144 | { |
||
145 | $ServoPort = Win32::SerialPort->new ($ComPort) || die "Error open $ComPort\n"; |
||
146 | } |
||
147 | else |
||
148 | { |
||
149 | $ServoPort = Device::SerialPort->new ($ComPort) || die "Error open $ComPort\n"; |
||
150 | } |
||
151 | # Set COM parameters |
||
152 | $ServoPort->baudrate(38400); |
||
153 | $ServoPort->parity("none"); |
||
154 | $ServoPort->databits(8); |
||
155 | $ServoPort->stopbits(1); |
||
156 | $ServoPort->handshake('none'); |
||
157 | $ServoPort->write_settings; |
||
158 | |||
159 | # Byte 1: sync - Pololu Mode |
||
160 | # Byte 2: device |
||
161 | # Byte 3: command |
||
162 | # Byte 4: Servo num |
||
163 | # Byte 5: data |
||
164 | # Bit 6: Servo on/off |
||
165 | # Bit 5: Direction |
||
166 | # Bit 4-0: Servo Range |
||
167 | |||
168 | # Pan servo #0 |
||
169 | my $Output = pack('C*', 0x80, 0x01, 0x00, 0, 0x40 | $ServoPanCtrl ); |
||
170 | $ServoPort->write($Output); |
||
171 | |||
172 | # Tilt servo #1 |
||
173 | my $Output = pack('C*', 0x80, 0x01, 0x00, 1, 0x40 | $ServoTiltCtrl ); |
||
174 | $ServoPort->write($Output); |
||
175 | |||
176 | @ServoStartTime = (0, 0, 0, 0, 0, 0, 0, 0); # Timestamp of last ServoMove() call |
||
177 | @ServoEndTime = (0, 0, 0, 0, 0, 0, 0, 0); # Timestamp of estimated arrival at end position |
||
178 | @ServoPos = (0, 0, 0, 0, 0, 0, 0, 0); # Current servo position 0..180 degree |
||
179 | } |
||
180 | |||
181 | |||
182 | sub ServoMove() |
||
183 | { |
||
184 | my ($Num, $Angel, $Time) = @_; |
||
185 | |||
186 | my $Overhead = 0; |
||
187 | |||
188 | if ( $Angel != $ServoPos[$Num] ) |
||
189 | { |
||
190 | if ( $Angel < 0) {$Angel = 0;} |
||
191 | if ( $Angel > 180) {$Angel = 180;} |
||
192 | |||
193 | my $Pos = int ($Angel * 127/180 + 0.5); # angel 0..180 degree to servo position 0..127 |
||
194 | |||
195 | # output to COM port |
||
196 | # Byte 1: sync - Pololu Mode |
||
197 | # Byte 2: device |
||
198 | # Byte 3: command |
||
199 | # Byte 4: Servo num |
||
200 | # Byte 5: servo position 0..127 |
||
201 | |||
202 | my $Output = pack('C*', 0x80, 0x01, 0x02, $Num, $Pos ); |
||
203 | $ServoPort->write($Output); |
||
204 | |||
205 | $Overhead += $ServoConstPpm; # PPM protocol overhead |
||
206 | } |
||
207 | |||
208 | # set timer stuff for travel time predicion |
||
209 | my $LastAngel = $ServoPos[$Num]; |
||
210 | my $EstimatedTime = abs($Angel - $LastAngel) * $ServoSpeed[$Num] + $Overhead; |
||
211 | if ( $Time > 0 ) |
||
212 | { |
||
213 | # Parameter override |
||
214 | $EstimatedTime = $Time; |
||
215 | } |
||
216 | $ServoStartTime[$Num] = $SysTimerCount_ms; |
||
217 | $ServoEndTime[$Num] = $SysTimerCount_ms + $EstimatedTime; |
||
218 | $ServoPos[$Num] = $Angel; |
||
219 | |||
220 | return $ServoEndTime[$Num]; |
||
221 | } |
||
222 | |||
223 | |||
224 | # Check, if servo has reached end position |
||
225 | sub ServoCheck() |
||
226 | { |
||
227 | my $Num = $_[0]; |
||
228 | return &CheckTimer_ms($ServoEndTime[$Num]); |
||
229 | } |
||
230 | |||
231 | |||
232 | sub ServoClose() |
||
233 | { |
||
234 | # close COM-Port |
||
235 | undef $ServoPort; |
||
236 | } |
||
237 | |||
238 | # |
||
239 | # Track it |
||
240 | # |
||
241 | |||
242 | sub TrackAntennaGps() |
||
243 | { |
||
244 | |||
245 | # |
||
246 | # State maschine |
||
247 | # |
||
248 | |||
249 | $MkTrack{'IsRunning'} = "Running"; |
||
250 | |||
251 | my $State = "ColdStart"; |
||
252 | while (1) |
||
253 | { |
||
254 | |||
255 | if ( $State eq "ColdStart" ) |
||
256 | { |
||
257 | &ServoInit(); |
||
258 | |||
259 | # initialize system-timer |
||
260 | $SysTimerCount_ms = 0; |
||
261 | $SysTimerError = 0; |
||
262 | ($t0_s, $t0_us) = gettimeofday; |
||
263 | |||
264 | $ServoTestIndex = 0; |
||
265 | |||
266 | $State = "InitServoTest"; |
||
267 | } |
||
268 | |||
269 | # |
||
270 | # Start servo test |
||
271 | # doesn't really make much sense, but looks cool:-) |
||
272 | # |
||
273 | |||
274 | elsif ( $State eq "InitServoTest") |
||
275 | { |
||
276 | if ( &ServoCheck ($ServoPan) and &ServoCheck ($ServoTilt) ) |
||
277 | { |
||
278 | |||
279 | my $PanPos = $ServoTest[$ServoTestIndex][0]; |
||
280 | my $TiltPos = $ServoTest[$ServoTestIndex][1]; |
||
281 | $ServoTestIndex ++; |
||
282 | |||
283 | if ( defined $PanPos and defined $TiltPos ) |
||
284 | { |
||
285 | &ServoMove ($ServoPan, $PanPos, 1000); # override 1s travel time |
||
286 | &ServoMove ($ServoTilt, $TiltPos, 1000); # override 1s travel time |
||
287 | } |
||
288 | else |
||
289 | { |
||
290 | # complete |
||
291 | $ServoTestIndex = 0; |
||
292 | $State = "WaitGps"; |
||
293 | } |
||
294 | } |
||
295 | } |
||
296 | |||
297 | # |
||
298 | # Servo test finisched |
||
299 | # |
||
300 | # Wait for GPS Home position and compass |
||
301 | # |
||
302 | |||
303 | elsif ( $State eq "WaitGps" ) |
||
304 | { |
||
305 | if ( &ServoCheck ($ServoPan) ) |
||
306 | { |
||
307 | lock (%MkOsd); # until end of block |
||
308 | lock (%MkTrack); |
||
309 | |||
310 | if ( $MkOsd{'_Timestamp'} >= time-2 and |
||
311 | $MkOsd{'SatsInUse'} >= 6 ) |
||
312 | { |
||
313 | # gültige OSD daten vom MK und guter Satellitenempfang |
||
314 | |||
315 | # take GPS and compass from map definition or MK as antenna home-position |
||
316 | $MkTrack{'HomePos_Lon'} = $Map{'Track_Lon'} || $MkOsd{'HomePos_Lon'}; |
||
317 | $MkTrack{'HomePos_Lat'} = $Map{'Track_Lat'} || $MkOsd{'HomePos_Lat'}; |
||
318 | $MkTrack{'HomePos_Alt'} = $Map{'Track_Alt'} || $MkOsd{'HomePos_Alt'}; |
||
319 | if ( $MkTrack{'CompassHeading'} eq "" ) |
||
320 | { |
||
321 | # nur beim ersten mal |
||
322 | $MkTrack{'CompassHeading'} = $Map{'Track_Bearing'} || $MkOsd{'CompassHeading'}; |
||
323 | } |
||
324 | |||
325 | $TrackTimer = &SetTimer_ms($TrackInterval); |
||
326 | |||
327 | $State = "TrackGps"; |
||
328 | } |
||
329 | } |
||
330 | } |
||
331 | |||
332 | # |
||
333 | # GPS Fix Home position |
||
334 | # Track now |
||
335 | # |
||
336 | elsif ( $State eq "TrackGps" ) |
||
337 | { |
||
338 | if ( &CheckTimer_ms($TrackTimer) and &ServoCheck($ServoPan) ) |
||
339 | { |
||
340 | $TrackTimer = &SetTimer_ms($TrackInterval); # reload Timer |
||
341 | |||
342 | lock (%MkOsd); # until end of block |
||
343 | lock (%MkTrack); |
||
344 | |||
345 | if ( $MkOsd{'_Timestamp'} >= time -2 and |
||
346 | $MkOsd{'SatsInUse'} >= 4 ) |
||
347 | { |
||
348 | # valid OSD data from the MK and sufficient satellites |
||
349 | |||
350 | my $Track_Geo = Geo::Ellipsoid->new( 'units' => 'degrees', |
||
351 | 'distance_units' => 'meter', |
||
352 | 'ellipsoid' => 'WGS84', |
||
353 | ); |
||
354 | |||
355 | my ($Dist, $Bearing) = $Track_Geo->to($MkTrack{'HomePos_Lat'}, $MkTrack{'HomePos_Lon'}, |
||
356 | $MkOsd{'CurPos_Lat'}, $MkOsd{'CurPos_Lon'}); |
||
357 | my $Dir_h = $MkTrack{'CompassHeading'}; |
||
358 | my $Dir_c = $MkOsd{'CompassHeading'}; |
||
359 | |||
360 | if ( $Dist < 4 ) # meter |
||
361 | { |
||
362 | # Too close to Home-Position. Set antenna to middle position |
||
363 | $Bearing = $Dir_h; |
||
364 | } |
||
365 | |||
366 | $MkTrack{'Bearing'} = sprintf ("%d", $Bearing); |
||
367 | $MkTrack{'Dist'} = sprintf ("%d", $Dist); |
||
368 | $MkTrack{'CurPos_Lon'} = $MkOsd{'CurPos_Lon'}; |
||
369 | $MkTrack{'CurPos_Lat'} = $MkOsd{'CurPos_Lat'}; |
||
370 | $MkTrack{'CurPos_Alt'} = $MkOsd{'CurPos_Alt'}; |
||
371 | |||
372 | # antenna pan direction: 0..180 degree, centre = 90 |
||
373 | my $AngelPan = $Bearing - $Dir_h + 90; |
||
374 | $AngelPan = $AngelPan % 360; |
||
375 | |||
376 | # antenna tilt direction: 0..180 degree, centre is up, 0 is front |
||
377 | my $AngelTilt = rad2deg(atan2(($MkOsd{'CurPos_Alt'} - $MkTrack{'HomePos_Alt'}), $Dist)); |
||
378 | if ( $AngelTilt < 0 ) { $AngelTilt = 0; } |
||
379 | if ( $AngelTilt > 180 ) { $AngelTilt = 180; } |
||
380 | |||
381 | if ( $AngelPan >= 180 ) |
||
382 | { |
||
383 | # Flip Pan/Tilt |
||
384 | $AngelPan = $AngelPan - 180; |
||
385 | $AngelTilt = 180 - $AngelTilt; |
||
386 | } |
||
387 | |||
388 | $MkTrack{'AngelPan'} = $AngelPan; |
||
389 | $MkTrack{'AngelTilt'} = $AngelTilt; |
||
390 | |||
391 | &ServoMove ($ServoPan, $AngelPan); |
||
392 | &ServoMove ($ServoTilt, $AngelTilt); |
||
393 | |||
394 | # Timestamp, wann der Datensatz geschtieben wurde |
||
395 | $MkTrack{'_Timestamp'} = time; |
||
396 | } |
||
397 | } |
||
398 | } |
||
399 | |||
400 | else |
||
401 | { |
||
402 | # Restart |
||
403 | $State = "ColdStart"; |
||
404 | } |
||
405 | |||
406 | # |
||
407 | # check command queue |
||
408 | # |
||
409 | while ( $TrackQueue->pending() > 0 ) |
||
410 | { |
||
411 | my $Cmd = $TrackQueue->dequeue(1); |
||
412 | if ( $Cmd =~ /EXIT/i ) |
||
413 | { |
||
414 | &TrackExit(); |
||
415 | } |
||
416 | } |
||
417 | |||
418 | # |
||
419 | # update system-timer |
||
420 | # |
||
421 | ($t1_s, $t1_us) = gettimeofday; |
||
422 | $SysTimerSleep_us = ($t0_s - $t1_s) * 1000000 + $t0_us - $t1_us + $SysTimerCount_ms * $SysTimerResolution; |
||
423 | |||
424 | if ($SysTimerSleep_us > 0) |
||
425 | { |
||
426 | usleep ($SysTimerSleep_us); |
||
427 | } |
||
428 | else |
||
429 | { |
||
430 | $SysTimerError ++; |
||
431 | } |
||
432 | |||
433 | $SysTimerCount_ms ++; |
||
434 | } |
||
435 | } |
||
436 | |||
437 | |||
438 | sub TrackExit() |
||
439 | { |
||
440 | $MkTrack{'IsRunning'} = ""; |
||
441 | $State = "ColdStart"; |
||
442 | |||
443 | # move all Servo to neutral position |
||
444 | &ServoMove ($ServoPan, 90); |
||
445 | &ServoMove ($ServoTilt, 0); |
||
446 | sleep 2; |
||
447 | |||
448 | # &ServoClose(); |
||
449 | |||
450 | # if ( defined threads->self() ) |
||
451 | # { |
||
452 | # threads->exit(); |
||
453 | # } |
||
454 | # exit; |
||
455 | } |
||
456 | |||
457 | |||
458 | # |
||
459 | # Main Program |
||
460 | # |
||
461 | |||
462 | if ( $0 =~ /track.pl$/i ) |
||
463 | { |
||
464 | # Program wurde direkt aufgerufen |
||
465 | |||
466 | # Kommunikation zum MK herstellen |
||
467 | # Input: %MkOsd, %MkTarget, %MkNcDebug |
||
468 | # Ouput: Thread-Queue: $MkSendQueue |
||
469 | $mk_thr = threads->create (\&MkCommLoop) -> detach(); |
||
470 | |||
471 | &TrackAntennaGps(); |
||
472 | |||
473 | # should never exit |
||
474 | } |
||
475 | |||
476 | 1; |
||
477 | |||
478 | __END__ |