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739 | 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 | # 2010-01-02 0.1.5 rw bugfix |
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54 | # |
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55 | ############################################################################### |
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56 | |||
57 | $Version{'track.pl'} = "0.1.5 - 2010-01-02"; |
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58 | |||
59 | |||
60 | if ( $0 =~ /track.pl$/i ) |
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61 | { |
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62 | # Program wurde direkt aufgerufen |
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63 | |||
64 | # change working directory to program path |
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65 | my $Cwd = substr ($0, 0, rindex ($0, "track.pl")); |
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66 | chdir $Cwd; |
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67 | |||
68 | # set path for local Perl libs |
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69 | push @INC, $Cwd . "perl/lib"; |
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70 | } |
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71 | |||
72 | |||
73 | # Packages |
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74 | use Time::HiRes qw(usleep gettimeofday); # http://search.cpan.org/~jhi/Time-HiRes-1.9719/HiRes.pm |
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75 | use threads; # http://search.cpan.org/~jdhedden/threads-1.72/threads.pm |
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76 | # http://perldoc.perl.org/threads.html |
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77 | use threads::shared; # http://search.cpan.org/~jdhedden/threads-shared-1.28/shared.pm |
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78 | use Thread::Queue; # http://search.cpan.org/dist/Thread-Queue-2.11/lib/Thread/Queue.pm |
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79 | use Math::Trig; |
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80 | use Geo::Ellipsoid; # http://search.cpan.org/dist/Geo-Ellipsoid-1.12/lib/Geo/Ellipsoid.pm |
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81 | # http://www.kompf.de/gps/distcalc.html |
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82 | # http://www.herrmann-w.de/Geocaching/Downloads/Richt.XLS |
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83 | # http://williams.best.vwh.net/avform.htm |
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84 | # http://williams.best.vwh.net/gccalc.html |
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85 | # http://de.wikipedia.org/wiki/Orthodrome |
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86 | if ( $^O =~ /Win32/i ) |
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87 | { |
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88 | require Win32::SerialPort; # http://search.cpan.org/dist/Win32-SerialPort |
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89 | } |
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90 | else |
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91 | { |
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92 | require Device::SerialPort; # http://search.cpan.org/~cook/Device-SerialPort-1.04/SerialPort.pm |
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93 | } |
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94 | |||
95 | require "mkcomm.pl"; # MK communication |
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96 | |||
97 | # Sharing for Threads |
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98 | share (@ServoPos); |
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99 | share (%MkTrack); |
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100 | |||
101 | # Queue for receiving commands |
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102 | $TrackQueue = Thread::Queue->new(); |
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103 | |||
104 | # Commandline |
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105 | my %CmdLine = @ARGV; |
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106 | |||
107 | |||
108 | # |
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109 | # Parameter |
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110 | # |
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111 | |||
112 | # System Timer |
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113 | $SysTimerResolution = 1000; # Resolution in us |
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114 | |||
115 | # Com Port for Pololu Mikro-Servoboard |
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116 | # http://www.shop.robotikhardware.de/shop/catalog/product_info.php?cPath=65&products_id=118 |
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117 | my $ComPort = $Cfg->{'track'}->{'Port'} || "COM8"; |
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118 | |||
119 | my $ServoPanCtrl = $Cfg->{'track'}->{'ServoPanCtrl'} || (0x00 | 15); |
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120 | my $ServoTiltCtrl = $Cfg->{'track'}->{'ServoTiltCtrl'} || (0x20 | 15 ); |
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121 | my $ServoPanSpeed = $Cfg->{'track'}->{'ServoPanSpeed'} || 0; |
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122 | my $ServoTiltSpeed = $Cfg->{'track'}->{'ServoTiltSpeed'} || 0; |
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123 | my $ServoPanNeutral = $Cfg->{'track'}->{'ServoPanNeutral'} || 3000; |
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124 | my $ServoTiltNeutral = $Cfg->{'track'}->{'ServoTiltNeutral'} || 3000; |
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125 | |||
126 | $MkTrack{'ServoPanCtrl'} = $ServoPanCtrl; |
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127 | $MkTrack{'ServoTiltCtrl'} = $ServoTiltCtrl; |
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128 | $MkTrack{'ServoPanSpeed'} = $ServoPanSpeed; |
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129 | $MkTrack{'ServoTiltSpeed'} = $ServoTiltSpeed; |
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130 | $MkTrack{'ServoPanNeutral'} = $ServoPanNeutral; |
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131 | $MkTrack{'ServoTiltNeutral'} = $ServoTiltNeutral; |
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132 | |||
133 | # Servo parameter |
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134 | $ServoPan = 0; # Servo channel Pan |
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135 | $ServoTilt = 1; # Servo channel Tilt |
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136 | $MkTrack{'ServoPan'} = $ServoPan; |
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137 | $MkTrack{'ServoTilt'} = $ServoTilt; |
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138 | @ServoSpeed = (200/40, 200/40, 200/40, 200/40, 200/40, 200/40, 200/40, 200/40); # ms/degree |
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139 | $ServoConstPpm = 20; # PPM protocol overhead in ms |
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140 | |||
141 | @ServoTest = ( [ 90, 0 ], # Pan, Tilt in degrees for servo test |
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142 | [ 180, 0 ], |
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143 | [ 180, 90 ], |
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144 | [ 90, 0 ], |
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145 | [ 0, 0 ], |
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146 | [ 0, 90 ], |
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147 | [ 90, 0 ], |
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148 | [ 90, 180 ], |
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149 | [ 90, 0 ], ); |
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150 | |||
151 | # Tracking |
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152 | $TrackInterval = 50; # in ms |
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153 | |||
154 | # |
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155 | # Timer |
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156 | # |
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157 | |||
158 | sub SetTimer_ms() |
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159 | { |
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160 | return $SysTimerCount_ms + $_[0]; |
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161 | } |
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162 | |||
163 | sub CheckTimer_ms() |
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164 | { |
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165 | my $Diff = $_[0] - $SysTimerCount_ms; |
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166 | return ($Diff <= 0); |
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167 | } |
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168 | |||
169 | # |
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170 | # Servo |
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171 | # |
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172 | |||
173 | sub ServoInit() |
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174 | { |
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175 | # open COM-Port |
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176 | undef $ServoPort; |
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177 | |||
178 | if ( $ComPort =~ /^COM/i ) |
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179 | { |
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180 | $ComPort = "\\\\.\\" . $ComPort; # for Port > 9 required |
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181 | } |
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182 | |||
183 | if ( $^O =~ m/Win32/ ) |
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184 | { |
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185 | $ServoPort = Win32::SerialPort->new ($ComPort) || die "Error open $ComPort\n"; |
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186 | } |
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187 | else |
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188 | { |
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189 | $ServoPort = Device::SerialPort->new ($ComPort) || die "Error open $ComPort\n"; |
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190 | } |
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191 | |||
192 | if ( ! ($Cfg->{'track'}->{'PortSetSkip'} =~ /y/i) ) |
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193 | { |
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194 | # Set COM parameters, don't set for Bluetooth device |
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195 | $ServoPort->baudrate(38400); |
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196 | $ServoPort->parity("none"); |
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197 | $ServoPort->databits(8); |
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198 | $ServoPort->stopbits(1); |
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199 | $ServoPort->handshake('none'); |
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200 | $ServoPort->write_settings; |
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201 | } |
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202 | |||
203 | # Byte 1: sync - Pololu Mode |
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204 | # Byte 2: device |
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205 | # Byte 3: command |
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206 | # Byte 4: Servo num |
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207 | |||
208 | # Byte 5: Set Speed 0, 1..127, 0=full speed |
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209 | # Speed Pan/Tilt servo #0/#1 |
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210 | my $Output = pack('C*', 0x80, 0x01, 0x01, 0, $ServoPanSpeed ); |
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211 | $ServoPort->write($Output); |
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212 | my $Output = pack('C*', 0x80, 0x01, 0x01, 1, $ServoTiltSpeed ); |
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213 | $ServoPort->write($Output); |
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214 | |||
215 | # Byte 5: Set Parameter |
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216 | # Bit 6: Servo on/off |
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217 | # Bit 5: Direction |
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218 | # Bit 4-0: Servo Range |
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219 | # Set Pan/Tilt servo #0/#1 |
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220 | my $Output = pack('C*', 0x80, 0x01, 0x00, 0, 0x40 | $ServoPanCtrl ); |
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221 | $ServoPort->write($Output); |
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222 | my $Output = pack('C*', 0x80, 0x01, 0x00, 1, 0x40 | $ServoTiltCtrl ); |
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223 | $ServoPort->write($Output); |
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224 | |||
225 | # Byte 5/6: Neutral in 0.5us |
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226 | # Neutral Pan/Tilt servo #0/#1 |
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227 | my $Output = pack('C*', 0x80, 0x01, 0x05, 0, $ServoPanNeutral >> 7, $ServoPanNeutral & 0x7f); |
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228 | $ServoPort->write($Output); |
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229 | my $Output = pack('C*', 0x80, 0x01, 0x05, 1, $ServoTiltNeutral >> 7, $ServoTiltNeutral & 0x7f); |
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230 | $ServoPort->write($Output); |
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231 | |||
232 | @ServoStartTime = (0, 0, 0, 0, 0, 0, 0, 0); # Timestamp of last ServoMove() call |
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233 | @ServoEndTime = (0, 0, 0, 0, 0, 0, 0, 0); # Timestamp of estimated arrival at end position |
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234 | @ServoPos = (90, 90, 90, 90, 90, 90, 90, 90); # Current servo position 0..180 degree |
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235 | } |
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236 | |||
237 | |||
238 | sub ServoMove() |
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239 | { |
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240 | my ($Num, $Angel, $Time) = @_; |
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241 | |||
242 | my $Overhead = 0; |
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243 | |||
244 | if ( $Angel != $ServoPos[$Num] ) |
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245 | { |
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246 | if ( $Angel < 0) {$Angel = 0;} |
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247 | if ( $Angel > 180) {$Angel = 180;} |
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248 | |||
249 | my $Pos = int ($Angel * 255/180 + 0.5); # angel 0..180 degree to servo position 0..255 |
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250 | |||
251 | # output to COM port |
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252 | # Byte 1: sync - Pololu Mode |
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253 | # Byte 2: device |
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254 | # Byte 3: command |
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255 | # Byte 4: Servo num |
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256 | # Byte 5/6: servo position 0..255 |
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257 | |||
258 | my $Output = pack('C*', 0x80, 0x01, 0x03, $Num, $Pos >> 7, $Pos & 0x7f); |
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259 | $ServoPort->write($Output); |
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260 | |||
261 | $Overhead += $ServoConstPpm; # PPM protocol overhead |
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262 | } |
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263 | |||
264 | # set timer stuff for travel time predicion |
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265 | my $LastAngel = $ServoPos[$Num]; |
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266 | my $EstimatedTime = abs($Angel - $LastAngel) * $ServoSpeed[$Num] + $Overhead; |
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267 | if ( $Time > 0 ) |
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268 | { |
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269 | # Parameter override |
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270 | $EstimatedTime = $Time; |
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271 | } |
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272 | $ServoStartTime[$Num] = $SysTimerCount_ms; |
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273 | $ServoEndTime[$Num] = $SysTimerCount_ms + $EstimatedTime; |
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274 | $ServoPos[$Num] = $Angel; |
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275 | |||
276 | return $ServoEndTime[$Num]; |
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277 | } |
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278 | |||
279 | |||
280 | # switch off servo |
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281 | sub ServoRelax() |
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282 | { |
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283 | if ( defined $ServoPort ) |
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284 | { |
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285 | # Byte 1: sync - Pololu Mode |
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286 | # Byte 2: device |
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287 | # Byte 3: command |
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288 | # Byte 4: Servo num |
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289 | |||
290 | # Byte 5: Set Parameter |
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291 | # Bit 6: Servo on/off |
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292 | # Bit 5: Direction |
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293 | # Bit 4-0: Servo Range |
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294 | # Set Pan/Tilt servo #0/#1 |
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295 | my $Output = pack('C*', 0x80, 0x01, 0x00, 0, 0x00 | $ServoPanCtrl ); |
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296 | $ServoPort->write($Output); |
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297 | my $Output = pack('C*', 0x80, 0x01, 0x00, 1, 0x00 | $ServoTiltCtrl ); |
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298 | $ServoPort->write($Output); |
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299 | } |
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300 | } |
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301 | |||
302 | |||
303 | # Check, if servo has reached end position |
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304 | sub ServoCheck() |
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305 | { |
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306 | my $Num = $_[0]; |
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307 | return &CheckTimer_ms($ServoEndTime[$Num]); |
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308 | } |
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309 | |||
310 | |||
311 | sub ServoClose() |
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312 | { |
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313 | # close COM-Port |
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314 | undef $ServoPort; |
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315 | } |
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316 | |||
317 | |||
318 | |||
319 | |||
320 | # |
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321 | # Track it |
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322 | # |
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323 | |||
324 | sub TrackAntennaGps() |
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325 | { |
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326 | |||
327 | # initialize system-timer |
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328 | $SysTimerCount_ms = 0; |
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329 | $SysTimerError = 0; |
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330 | ($t0_s, $t0_us) = gettimeofday; |
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331 | |||
332 | # |
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333 | # State maschine |
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334 | # |
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335 | |||
336 | my $State = "Idle"; |
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337 | while (1) |
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338 | { |
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339 | |||
340 | $MkTrack{'State'} = $State; # export state |
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341 | |||
342 | # |
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343 | # Idle |
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344 | # |
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345 | if ( $State eq "Idle" ) |
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346 | { |
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347 | # nothing to do. Wait for commands in TrackQueue |
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348 | } |
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349 | |||
350 | # |
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351 | # ColdStart |
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352 | # |
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353 | elsif ( $State eq "ColdStart" ) |
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354 | { |
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355 | &ServoInit(); |
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356 | |||
357 | |||
358 | $ServoTestIndex = 0; |
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359 | |||
360 | $State = "InitServoTest"; |
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361 | } |
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362 | |||
363 | # |
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364 | # Start servo test |
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365 | # doesn't really make much sense, but looks cool:-) |
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366 | # |
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367 | |||
368 | elsif ( $State eq "InitServoTest") |
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369 | { |
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370 | if ( &ServoCheck ($ServoPan) and &ServoCheck ($ServoTilt) ) |
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371 | { |
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372 | |||
373 | my $PanPos = $ServoTest[$ServoTestIndex][0]; |
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374 | my $TiltPos = $ServoTest[$ServoTestIndex][1]; |
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375 | $ServoTestIndex ++; |
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376 | |||
377 | if ( defined $PanPos and defined $TiltPos ) |
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378 | { |
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379 | my $Delay = 200; |
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380 | my $LastPan = $ServoPos[$ServoPan]; |
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381 | my $LastTilt = $ServoPos[$ServoTilt]; |
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382 | my $EstimatedPan = 1000; |
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383 | if ( $ServoPanSpeed != 0 ) |
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384 | { |
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385 | # about 2ms/180degree pulse, 50us/s servo pulse change per unit |
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386 | $EstimatedPan = abs($PanPos - $LastPan) * 0.002/180 / ($ServoPanSpeed * 0.000050) * 1000 + $Delay; |
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387 | } |
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388 | my $EstimatedTilt = 1000; |
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389 | if ( $ServoTiltSpeed != 0 ) |
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390 | { |
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391 | # about 2ms/180degree pulse, 50us/s servo pulse change per unit |
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392 | $EstimatedTilt = abs($TiltPos - $LastTilt) * 0.002/180 / ($ServoTiltSpeed * 0.000050) * 1000 + $Delay; |
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393 | } |
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394 | |||
395 | &ServoMove ($ServoPan, $PanPos, $EstimatedPan); # override travel time |
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396 | &ServoMove ($ServoTilt, $TiltPos, $EstimatedTilt); # override travel time |
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397 | } |
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398 | else |
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399 | { |
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400 | # complete |
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401 | $ServoTestIndex = 0; |
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402 | $State = "WaitGps"; |
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403 | } |
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404 | } |
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405 | } |
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406 | |||
407 | # |
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408 | # Servo test finisched |
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409 | # |
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410 | # Wait for GPS Home position and compass |
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411 | # |
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412 | |||
413 | elsif ( $State eq "WaitGps" ) |
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414 | { |
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415 | if ( &ServoCheck ($ServoPan) ) |
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416 | { |
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417 | lock (%MkOsd); # until end of block |
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418 | lock (%MkTrack); |
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419 | |||
420 | if ( $MkOsd{'_Timestamp'} >= time-2 and |
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421 | $MkOsd{'SatsInUse'} >= 6 ) |
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422 | { |
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423 | # gültige OSD daten vom MK und guter Satellitenempfang |
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424 | |||
425 | # take GPS and compass from map definition or MK as antenna home-position |
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426 | $MkTrack{'HomePos_Lon'} = $Map{'Track_Lon'} || $MkOsd{'HomePos_Lon'}; |
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427 | $MkTrack{'HomePos_Lat'} = $Map{'Track_Lat'} || $MkOsd{'HomePos_Lat'}; |
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428 | $MkTrack{'HomePos_Alt'} = $Map{'Track_Alt'} || $MkOsd{'HomePos_Alt'}; |
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429 | $MkTrack{'CompassHeading'} = $Map{'Track_Bearing'} || $MkOsd{'CompassHeading'}; |
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430 | |||
431 | $TrackTimer = &SetTimer_ms($TrackInterval); |
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432 | |||
433 | $State = "TrackGps"; |
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434 | } |
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435 | } |
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436 | } |
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437 | |||
438 | # |
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439 | # GPS Fix Home position |
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440 | # Track now |
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441 | # |
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442 | elsif ( $State eq "TrackGps" ) |
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443 | { |
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444 | if ( &CheckTimer_ms($TrackTimer) and &ServoCheck($ServoPan) ) |
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445 | { |
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446 | $TrackTimer = &SetTimer_ms($TrackInterval); # reload Timer |
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447 | |||
448 | lock (%MkOsd); # until end of block |
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449 | lock (%MkTrack); |
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450 | |||
451 | if ( $MkOsd{'_Timestamp'} >= time -2 and |
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452 | $MkOsd{'SatsInUse'} >= 4 ) |
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453 | { |
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454 | # valid OSD data from the MK and sufficient satellites |
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455 | |||
456 | my $Track_Geo = Geo::Ellipsoid->new( 'units' => 'degrees', |
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457 | 'distance_units' => 'meter', |
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458 | 'ellipsoid' => 'WGS84', |
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459 | 'longitude' => 1, # Symmetric: -pi..pi |
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460 | ); |
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461 | |||
462 | my ($Dist, $Bearing) = $Track_Geo->to($MkTrack{'HomePos_Lat'}, $MkTrack{'HomePos_Lon'}, |
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463 | $MkOsd{'CurPos_Lat'}, $MkOsd{'CurPos_Lon'}); |
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464 | my $Dir_h = $MkTrack{'CompassHeading'}; |
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465 | my $Dir_c = $MkOsd{'CompassHeading'}; |
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466 | |||
467 | if ( $Dist < 4 ) # meter |
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468 | { |
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469 | # Too close to Home-Position. Set antenna to middle position |
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470 | $Bearing = $Dir_h; |
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471 | } |
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472 | |||
473 | $MkTrack{'Bearing'} = sprintf ("%d", $Bearing); |
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474 | $MkTrack{'Dist'} = sprintf ("%d", $Dist); |
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475 | $MkTrack{'CurPos_Lon'} = $MkOsd{'CurPos_Lon'}; |
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476 | $MkTrack{'CurPos_Lat'} = $MkOsd{'CurPos_Lat'}; |
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477 | $MkTrack{'CurPos_Alt'} = $MkOsd{'CurPos_Alt'}; |
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478 | |||
479 | # antenna pan direction: 0..180 degree, centre = 90 |
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480 | my $AngelPan = $Bearing - $Dir_h + 90; |
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481 | $AngelPan = $AngelPan % 360; |
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482 | |||
483 | # antenna tilt direction: 0..180 degree, centre is up, 0 is front |
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484 | my $AngelTilt = rad2deg(atan2(($MkOsd{'CurPos_Alt'} - $MkTrack{'HomePos_Alt'}), $Dist)); |
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485 | if ( $AngelTilt < 0 ) { $AngelTilt = 0; } |
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486 | if ( $AngelTilt > 180 ) { $AngelTilt = 180; } |
||
487 | |||
488 | if ( $AngelPan >= 180 ) |
||
489 | { |
||
490 | # Flip Pan/Tilt |
||
491 | $AngelPan = $AngelPan - 180; |
||
492 | $AngelTilt = 180 - $AngelTilt; |
||
493 | } |
||
494 | |||
495 | $MkTrack{'AngelPan'} = $AngelPan; |
||
496 | $MkTrack{'AngelTilt'} = $AngelTilt; |
||
497 | |||
498 | &ServoMove ($ServoPan, $AngelPan); |
||
499 | &ServoMove ($ServoTilt, $AngelTilt); |
||
500 | |||
501 | # Timestamp, wann der Datensatz geschtieben wurde |
||
502 | $MkTrack{'_Timestamp'} = time; |
||
503 | } |
||
504 | } |
||
505 | } |
||
506 | |||
507 | else |
||
508 | { |
||
509 | # Restart |
||
510 | $State = "ColdStart"; |
||
511 | } |
||
512 | |||
513 | # |
||
514 | # check command queue |
||
515 | # |
||
516 | while ( $TrackQueue->pending() > 0 ) |
||
517 | { |
||
518 | my $Cmd = $TrackQueue->dequeue(1); |
||
519 | |||
520 | if ( $Cmd =~ /COLDSTART/i ) |
||
521 | { |
||
522 | $State = "ColdStart"; |
||
523 | } |
||
524 | |||
525 | if ( $Cmd =~ /IDLE/i ) |
||
526 | { |
||
527 | if ( defined $ServoPort ) |
||
528 | { |
||
529 | # move all Servo to neutral position |
||
530 | &ServoMove ($ServoPan, 90); |
||
531 | &ServoMove ($ServoTilt, 0); |
||
532 | |||
533 | sleep 1; |
||
534 | &ServoRelax(); # swith off servo |
||
535 | } |
||
536 | |||
537 | $State = "Idle"; |
||
538 | } |
||
539 | } |
||
540 | |||
541 | # |
||
542 | # update system-timer |
||
543 | # |
||
544 | ($t1_s, $t1_us) = gettimeofday; |
||
545 | $SysTimerSleep_us = ($t0_s - $t1_s) * 1000000 + $t0_us - $t1_us + $SysTimerCount_ms * $SysTimerResolution; |
||
546 | |||
547 | if ($SysTimerSleep_us > 0) |
||
548 | { |
||
549 | usleep ($SysTimerSleep_us); |
||
550 | } |
||
551 | else |
||
552 | { |
||
553 | $SysTimerError ++; |
||
554 | } |
||
555 | |||
556 | $SysTimerCount_ms ++; |
||
557 | } |
||
558 | } |
||
559 | |||
560 | |||
561 | # |
||
562 | # Main Program |
||
563 | # |
||
564 | |||
565 | if ( $0 =~ /track.pl$/i ) |
||
566 | { |
||
567 | # Program wurde direkt aufgerufen |
||
568 | |||
569 | # |
||
570 | # Commandline Parameter |
||
571 | # |
||
572 | my $TrackPort = $CmdLine{'-TrackPort'}; |
||
573 | if ( $TrackPort ne "" ) |
||
574 | { |
||
575 | $ComPort = $TrackPort; |
||
576 | } |
||
577 | |||
578 | my $MkPort = $CmdLine{'-MkPort'}; |
||
579 | if ( $MkPort ne "" ) |
||
580 | { |
||
581 | $Cfg->{'mkcomm'}->{'Port'} = $MkPort; |
||
582 | } |
||
583 | |||
584 | my $PanCtrl = $CmdLine{'-PanCtrl'}; |
||
585 | if ( $PanCtrl ne "" ) |
||
586 | { |
||
587 | $ServoPanCtrl = $PanCtrl; |
||
588 | } |
||
589 | |||
590 | my $TiltCtrl = $CmdLine{'-TiltCtrl'}; |
||
591 | if ( $TiltCtrl ne "" ) |
||
592 | { |
||
593 | $ServoTiltCtrl = $TiltCtrl; |
||
594 | } |
||
595 | |||
596 | my $PanSpeed = $CmdLine{'-PanSpeed'}; |
||
597 | if ( $PanSpeed ne "" ) |
||
598 | { |
||
599 | $ServoPanSpeed = $PanSpeed; |
||
600 | } |
||
601 | |||
602 | my $TiltSpeed = $CmdLine{'-TiltSpeed'}; |
||
603 | if ( $TiltSpeed ne "" ) |
||
604 | { |
||
605 | $ServoTiltSpeed = $TiltSpeed; |
||
606 | } |
||
607 | |||
608 | my $PanNeutral = $CmdLine{'-PanNeutral'}; |
||
609 | if ( $PanNeutral ne "" ) |
||
610 | { |
||
611 | $ServoPanNeutral = $PanNeutral; |
||
612 | } |
||
613 | |||
614 | my $TiltNeutral = $CmdLine{'-TiltNeutral'}; |
||
615 | if ( $TiltNeutral ne "" ) |
||
616 | { |
||
617 | $ServoTiltNeutral = $TiltNeutral; |
||
618 | } |
||
619 | |||
620 | # Kommunikation zum MK herstellen |
||
621 | # Input: %MkOsd, %MkTarget, %MkNcDebug |
||
622 | # Ouput: Thread-Queue: $MkSendQueue |
||
623 | $mk_thr = threads->create (\&MkCommLoop) -> detach(); |
||
624 | |||
625 | $TrackQueue->enqueue("COLDSTART"); # start command |
||
626 | &TrackAntennaGps(); |
||
627 | |||
628 | # should never exit |
||
629 | } |
||
630 | |||
631 | 1; |
||
632 | |||
633 | __END__ |