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617 | 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 | # |
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49 | ############################################################################### |
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50 | |||
51 | $Version{'track.pl'} = "0.1.3 - 2009-09-30"; |
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52 | |||
53 | |||
54 | if ( $0 =~ /track.pl$/i ) |
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55 | { |
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56 | # Program wurde direkt aufgerufen |
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57 | |||
58 | # change working directory to program path |
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59 | my $Cwd = substr ($0, 0, rindex ($0, "track.pl")); |
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60 | chdir $Cwd; |
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61 | |||
62 | # set path for local Perl libs |
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63 | push @INC, $Cwd . "perl/lib"; |
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64 | } |
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65 | |||
66 | |||
67 | # Packages |
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68 | use Time::HiRes qw(usleep gettimeofday); # http://search.cpan.org/~jhi/Time-HiRes-1.9719/HiRes.pm |
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69 | use threads; # http://search.cpan.org/~jdhedden/threads-1.72/threads.pm |
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70 | # http://perldoc.perl.org/threads.html |
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71 | use threads::shared; # http://search.cpan.org/~jdhedden/threads-shared-1.28/shared.pm |
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72 | use Thread::Queue; # http://search.cpan.org/dist/Thread-Queue-2.11/lib/Thread/Queue.pm |
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73 | use Math::Trig; |
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74 | use Geo::Ellipsoid; # http://search.cpan.org/dist/Geo-Ellipsoid-1.12/lib/Geo/Ellipsoid.pm |
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75 | # http://www.kompf.de/gps/distcalc.html |
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76 | # http://www.herrmann-w.de/Geocaching/Downloads/Richt.XLS |
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77 | # http://williams.best.vwh.net/avform.htm |
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78 | # http://williams.best.vwh.net/gccalc.html |
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79 | # http://de.wikipedia.org/wiki/Orthodrome |
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80 | if ( $^O =~ /Win32/i ) |
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81 | { |
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82 | require Win32::SerialPort; # http://search.cpan.org/dist/Win32-SerialPort |
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83 | } |
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84 | else |
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85 | { |
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86 | require Device::SerialPort; # http://search.cpan.org/~cook/Device-SerialPort-1.04/SerialPort.pm |
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87 | } |
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88 | |||
89 | require "mkcomm.pl"; # MK communication |
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90 | |||
91 | # Sharing for Threads |
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92 | share (@ServoPos); |
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93 | share (%MkTrack); |
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94 | |||
95 | # Queue for receiving commands |
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96 | $TrackQueue = Thread::Queue->new(); |
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97 | |||
98 | # Commandline |
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99 | my %CmdLine = @ARGV; |
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100 | |||
101 | |||
102 | # |
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103 | # Parameter |
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104 | # |
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105 | |||
106 | # System Timer |
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107 | $SysTimerResolution = 1000; # Resolution in us |
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108 | |||
109 | # Com Port for Pololu Mikro-Servoboard |
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110 | # http://www.shop.robotikhardware.de/shop/catalog/product_info.php?cPath=65&products_id=118 |
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111 | my $ComPort = $Cfg->{'track'}->{'Port'} || "COM8"; |
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112 | |||
113 | my $ServoPanCtrl = $Cfg->{'track'}->{'ServoPanCtrl'} || (0x00 | 29); |
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114 | my $ServoTiltCtrl = $Cfg->{'track'}->{'ServoTiltCtrl'} || (0x20 | 27); |
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115 | $MkTrack{'ServoPanCtrl'} = $ServoPanCtrl; |
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116 | $MkTrack{'ServoTiltCtrl'} = $ServoPanCtrl; |
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117 | |||
118 | # Servo parameter |
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119 | $ServoPan = 0; # Servo channel Pan |
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120 | $ServoTilt = 1; # Servo channel Tilt |
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121 | $MkTrack{'ServoPan'} = $ServoPan; |
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122 | $MkTrack{'ServoTilt'} = $ServoTilt; |
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123 | @ServoSpeed = (100/40, 100/40, 100/40, 100/40, 100/40, 100/40, 100/40, 100/40); # ms/degree |
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124 | $ServoConstPpm = 20; # PPM protocol overhead in ms |
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125 | |||
126 | @ServoTest = ( [ 90, 0 ], # Pan, Tilt in degrees for servo test |
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127 | [ 180, 0 ], |
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128 | [ 180, 90 ], |
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129 | [ 90, 0 ], |
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130 | [ 0, 0 ], |
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131 | [ 0, 90 ], |
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132 | [ 90, 0 ], |
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133 | [ 90, 180 ], |
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134 | [ 90, 0 ], ); |
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135 | |||
136 | # Tracking |
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137 | $TrackInterval = 50; # in ms |
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138 | |||
139 | # |
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140 | # Timer |
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141 | # |
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142 | |||
143 | sub SetTimer_ms() |
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144 | { |
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145 | return $SysTimerCount_ms + $_[0]; |
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146 | } |
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147 | |||
148 | sub CheckTimer_ms() |
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149 | { |
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150 | my $Diff = $_[0] - $SysTimerCount_ms; |
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151 | return ($Diff <= 0); |
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152 | } |
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153 | |||
154 | # |
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155 | # Servo |
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156 | # |
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157 | |||
158 | sub ServoInit() |
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159 | { |
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160 | # open COM-Port |
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161 | undef $ServoPort; |
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162 | if ( $^O =~ m/Win32/ ) |
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163 | { |
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164 | $ServoPort = Win32::SerialPort->new ($ComPort) || die "Error open $ComPort\n"; |
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165 | } |
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166 | else |
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167 | { |
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168 | $ServoPort = Device::SerialPort->new ($ComPort) || die "Error open $ComPort\n"; |
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169 | } |
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170 | # Set COM parameters |
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171 | $ServoPort->baudrate(38400); |
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172 | $ServoPort->parity("none"); |
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173 | $ServoPort->databits(8); |
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174 | $ServoPort->stopbits(1); |
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175 | $ServoPort->handshake('none'); |
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176 | $ServoPort->write_settings; |
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177 | |||
178 | # Byte 1: sync - Pololu Mode |
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179 | # Byte 2: device |
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180 | # Byte 3: command |
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181 | # Byte 4: Servo num |
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182 | # Byte 5: data |
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183 | # Bit 6: Servo on/off |
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184 | # Bit 5: Direction |
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185 | # Bit 4-0: Servo Range |
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186 | |||
187 | # Pan servo #0 |
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188 | my $Output = pack('C*', 0x80, 0x01, 0x00, 0, 0x40 | $ServoPanCtrl ); |
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189 | $ServoPort->write($Output); |
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190 | |||
191 | # Tilt servo #1 |
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192 | my $Output = pack('C*', 0x80, 0x01, 0x00, 1, 0x40 | $ServoTiltCtrl ); |
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193 | $ServoPort->write($Output); |
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194 | |||
195 | @ServoStartTime = (0, 0, 0, 0, 0, 0, 0, 0); # Timestamp of last ServoMove() call |
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196 | @ServoEndTime = (0, 0, 0, 0, 0, 0, 0, 0); # Timestamp of estimated arrival at end position |
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197 | @ServoPos = (0, 0, 0, 0, 0, 0, 0, 0); # Current servo position 0..180 degree |
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198 | } |
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199 | |||
200 | |||
201 | sub ServoMove() |
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202 | { |
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203 | my ($Num, $Angel, $Time) = @_; |
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204 | |||
205 | my $Overhead = 0; |
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206 | |||
207 | if ( $Angel != $ServoPos[$Num] ) |
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208 | { |
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209 | if ( $Angel < 0) {$Angel = 0;} |
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210 | if ( $Angel > 180) {$Angel = 180;} |
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211 | |||
212 | my $Pos = int ($Angel * 127/180 + 0.5); # angel 0..180 degree to servo position 0..127 |
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213 | |||
214 | # output to COM port |
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215 | # Byte 1: sync - Pololu Mode |
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216 | # Byte 2: device |
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217 | # Byte 3: command |
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218 | # Byte 4: Servo num |
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219 | # Byte 5: servo position 0..127 |
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220 | |||
221 | my $Output = pack('C*', 0x80, 0x01, 0x02, $Num, $Pos ); |
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222 | $ServoPort->write($Output); |
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223 | |||
224 | $Overhead += $ServoConstPpm; # PPM protocol overhead |
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225 | } |
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226 | |||
227 | # set timer stuff for travel time predicion |
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228 | my $LastAngel = $ServoPos[$Num]; |
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229 | my $EstimatedTime = abs($Angel - $LastAngel) * $ServoSpeed[$Num] + $Overhead; |
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230 | if ( $Time > 0 ) |
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231 | { |
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232 | # Parameter override |
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233 | $EstimatedTime = $Time; |
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234 | } |
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235 | $ServoStartTime[$Num] = $SysTimerCount_ms; |
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236 | $ServoEndTime[$Num] = $SysTimerCount_ms + $EstimatedTime; |
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237 | $ServoPos[$Num] = $Angel; |
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238 | |||
239 | return $ServoEndTime[$Num]; |
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240 | } |
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241 | |||
242 | |||
243 | # Check, if servo has reached end position |
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244 | sub ServoCheck() |
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245 | { |
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246 | my $Num = $_[0]; |
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247 | return &CheckTimer_ms($ServoEndTime[$Num]); |
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248 | } |
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249 | |||
250 | |||
251 | sub ServoClose() |
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252 | { |
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253 | # close COM-Port |
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254 | undef $ServoPort; |
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255 | } |
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256 | |||
257 | # |
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258 | # Track it |
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259 | # |
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260 | |||
261 | sub TrackAntennaGps() |
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262 | { |
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263 | |||
264 | # |
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265 | # State maschine |
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266 | # |
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267 | |||
268 | $MkTrack{'IsRunning'} = "Running"; |
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269 | |||
270 | my $State = "ColdStart"; |
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271 | while (1) |
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272 | { |
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273 | |||
274 | if ( $State eq "ColdStart" ) |
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275 | { |
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276 | &ServoInit(); |
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277 | |||
278 | # initialize system-timer |
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279 | $SysTimerCount_ms = 0; |
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280 | $SysTimerError = 0; |
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281 | ($t0_s, $t0_us) = gettimeofday; |
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282 | |||
283 | $ServoTestIndex = 0; |
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284 | |||
285 | $State = "InitServoTest"; |
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286 | } |
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287 | |||
288 | # |
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289 | # Start servo test |
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290 | # doesn't really make much sense, but looks cool:-) |
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291 | # |
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292 | |||
293 | elsif ( $State eq "InitServoTest") |
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294 | { |
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295 | if ( &ServoCheck ($ServoPan) and &ServoCheck ($ServoTilt) ) |
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296 | { |
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297 | |||
298 | my $PanPos = $ServoTest[$ServoTestIndex][0]; |
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299 | my $TiltPos = $ServoTest[$ServoTestIndex][1]; |
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300 | $ServoTestIndex ++; |
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301 | |||
302 | if ( defined $PanPos and defined $TiltPos ) |
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303 | { |
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304 | &ServoMove ($ServoPan, $PanPos, 1000); # override 1s travel time |
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305 | &ServoMove ($ServoTilt, $TiltPos, 1000); # override 1s travel time |
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306 | } |
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307 | else |
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308 | { |
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309 | # complete |
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310 | $ServoTestIndex = 0; |
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311 | $State = "WaitGps"; |
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312 | } |
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313 | } |
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314 | } |
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315 | |||
316 | # |
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317 | # Servo test finisched |
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318 | # |
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319 | # Wait for GPS Home position and compass |
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320 | # |
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321 | |||
322 | elsif ( $State eq "WaitGps" ) |
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323 | { |
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324 | if ( &ServoCheck ($ServoPan) ) |
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325 | { |
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326 | lock (%MkOsd); # until end of block |
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327 | lock (%MkTrack); |
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328 | |||
329 | if ( $MkOsd{'_Timestamp'} >= time-2 and |
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330 | $MkOsd{'SatsInUse'} >= 6 ) |
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331 | { |
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332 | # gültige OSD daten vom MK und guter Satellitenempfang |
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333 | |||
334 | # take GPS and compass from map definition or MK as antenna home-position |
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335 | $MkTrack{'HomePos_Lon'} = $Map{'Track_Lon'} || $MkOsd{'HomePos_Lon'}; |
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336 | $MkTrack{'HomePos_Lat'} = $Map{'Track_Lat'} || $MkOsd{'HomePos_Lat'}; |
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337 | $MkTrack{'HomePos_Alt'} = $Map{'Track_Alt'} || $MkOsd{'HomePos_Alt'}; |
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338 | if ( $MkTrack{'CompassHeading'} eq "" ) |
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339 | { |
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340 | # nur beim ersten mal |
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341 | $MkTrack{'CompassHeading'} = $Map{'Track_Bearing'} || $MkOsd{'CompassHeading'}; |
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342 | } |
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343 | |||
344 | $TrackTimer = &SetTimer_ms($TrackInterval); |
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345 | |||
346 | $State = "TrackGps"; |
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347 | } |
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348 | } |
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349 | } |
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350 | |||
351 | # |
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352 | # GPS Fix Home position |
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353 | # Track now |
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354 | # |
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355 | elsif ( $State eq "TrackGps" ) |
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356 | { |
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357 | if ( &CheckTimer_ms($TrackTimer) and &ServoCheck($ServoPan) ) |
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358 | { |
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359 | $TrackTimer = &SetTimer_ms($TrackInterval); # reload Timer |
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360 | |||
361 | lock (%MkOsd); # until end of block |
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362 | lock (%MkTrack); |
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363 | |||
364 | if ( $MkOsd{'_Timestamp'} >= time -2 and |
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365 | $MkOsd{'SatsInUse'} >= 4 ) |
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366 | { |
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367 | # valid OSD data from the MK and sufficient satellites |
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368 | |||
369 | my $Track_Geo = Geo::Ellipsoid->new( 'units' => 'degrees', |
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370 | 'distance_units' => 'meter', |
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371 | 'ellipsoid' => 'WGS84', |
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372 | ); |
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373 | |||
374 | my ($Dist, $Bearing) = $Track_Geo->to($MkTrack{'HomePos_Lat'}, $MkTrack{'HomePos_Lon'}, |
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375 | $MkOsd{'CurPos_Lat'}, $MkOsd{'CurPos_Lon'}); |
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376 | my $Dir_h = $MkTrack{'CompassHeading'}; |
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377 | my $Dir_c = $MkOsd{'CompassHeading'}; |
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378 | |||
379 | if ( $Dist < 4 ) # meter |
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380 | { |
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381 | # Too close to Home-Position. Set antenna to middle position |
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382 | $Bearing = $Dir_h; |
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383 | } |
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384 | |||
385 | $MkTrack{'Bearing'} = sprintf ("%d", $Bearing); |
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386 | $MkTrack{'Dist'} = sprintf ("%d", $Dist); |
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387 | $MkTrack{'CurPos_Lon'} = $MkOsd{'CurPos_Lon'}; |
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388 | $MkTrack{'CurPos_Lat'} = $MkOsd{'CurPos_Lat'}; |
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389 | $MkTrack{'CurPos_Alt'} = $MkOsd{'CurPos_Alt'}; |
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390 | |||
391 | # antenna pan direction: 0..180 degree, centre = 90 |
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392 | my $AngelPan = $Bearing - $Dir_h + 90; |
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393 | $AngelPan = $AngelPan % 360; |
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394 | |||
395 | # antenna tilt direction: 0..180 degree, centre is up, 0 is front |
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396 | my $AngelTilt = rad2deg(atan2(($MkOsd{'CurPos_Alt'} - $MkTrack{'HomePos_Alt'}), $Dist)); |
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397 | if ( $AngelTilt < 0 ) { $AngelTilt = 0; } |
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398 | if ( $AngelTilt > 180 ) { $AngelTilt = 180; } |
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399 | |||
400 | if ( $AngelPan >= 180 ) |
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401 | { |
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402 | # Flip Pan/Tilt |
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403 | $AngelPan = $AngelPan - 180; |
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404 | $AngelTilt = 180 - $AngelTilt; |
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405 | } |
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406 | |||
407 | $MkTrack{'AngelPan'} = $AngelPan; |
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408 | $MkTrack{'AngelTilt'} = $AngelTilt; |
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409 | |||
410 | &ServoMove ($ServoPan, $AngelPan); |
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411 | &ServoMove ($ServoTilt, $AngelTilt); |
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412 | |||
413 | # Timestamp, wann der Datensatz geschtieben wurde |
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414 | $MkTrack{'_Timestamp'} = time; |
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415 | } |
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416 | } |
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417 | } |
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418 | |||
419 | else |
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420 | { |
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421 | # Restart |
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422 | $State = "ColdStart"; |
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423 | } |
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424 | |||
425 | # |
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426 | # check command queue |
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427 | # |
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428 | while ( $TrackQueue->pending() > 0 ) |
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429 | { |
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430 | my $Cmd = $TrackQueue->dequeue(1); |
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431 | if ( $Cmd =~ /EXIT/i ) |
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432 | { |
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433 | &TrackExit(); |
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434 | } |
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435 | } |
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436 | |||
437 | # |
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438 | # update system-timer |
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439 | # |
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440 | ($t1_s, $t1_us) = gettimeofday; |
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441 | $SysTimerSleep_us = ($t0_s - $t1_s) * 1000000 + $t0_us - $t1_us + $SysTimerCount_ms * $SysTimerResolution; |
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442 | |||
443 | if ($SysTimerSleep_us > 0) |
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444 | { |
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445 | usleep ($SysTimerSleep_us); |
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446 | } |
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447 | else |
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448 | { |
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449 | $SysTimerError ++; |
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450 | } |
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451 | |||
452 | $SysTimerCount_ms ++; |
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453 | } |
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454 | } |
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455 | |||
456 | |||
457 | sub TrackExit() |
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458 | { |
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459 | $MkTrack{'IsRunning'} = ""; |
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460 | $State = "ColdStart"; |
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461 | |||
462 | # move all Servo to neutral position |
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463 | &ServoMove ($ServoPan, 90); |
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464 | &ServoMove ($ServoTilt, 0); |
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465 | sleep 2; |
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466 | |||
467 | # &ServoClose(); |
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468 | |||
469 | # if ( defined threads->self() ) |
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470 | # { |
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471 | # threads->exit(); |
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472 | # } |
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473 | # exit; |
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474 | } |
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475 | |||
476 | |||
477 | # |
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478 | # Main Program |
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479 | # |
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480 | |||
481 | if ( $0 =~ /track.pl$/i ) |
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482 | { |
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483 | # Program wurde direkt aufgerufen |
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484 | |||
485 | # |
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486 | # Commandline Parameter |
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487 | # |
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488 | my $TrackPort = $CmdLine{'-TrackPort'}; |
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489 | if ( $TrackPort ne "" ) |
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490 | { |
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491 | $ComPort = $TrackPort; |
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492 | } |
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493 | |||
494 | my $MkPort = $CmdLine{'-MkPort'}; |
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495 | if ( $MkPort ne "" ) |
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496 | { |
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497 | $Cfg->{'mkcomm'}->{'Port'} = $MkPort; |
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498 | } |
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499 | |||
500 | my $PanCtrl = $CmdLine{'-PanCtrl'}; |
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501 | if ( $PanCtrl ne "" ) |
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502 | { |
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503 | $ServoPanCtrl = $PanCtrl; |
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504 | } |
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505 | |||
506 | my $TiltCtrl = $CmdLine{'-TiltCtrl'}; |
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507 | if ( $TiltCtrl ne "" ) |
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508 | { |
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509 | $ServoTiltCtrl = $TiltCtrl; |
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510 | } |
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511 | |||
512 | |||
513 | # Kommunikation zum MK herstellen |
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514 | # Input: %MkOsd, %MkTarget, %MkNcDebug |
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515 | # Ouput: Thread-Queue: $MkSendQueue |
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516 | $mk_thr = threads->create (\&MkCommLoop) -> detach(); |
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517 | |||
518 | &TrackAntennaGps(); |
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519 | |||
520 | # should never exit |
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521 | } |
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522 | |||
523 | 1; |
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524 | |||
525 | __END__ |