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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 727 | 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; } |
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| 487 | |||
| 488 | if ( $AngelPan >= 180 ) |
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| 489 | { |
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| 490 | # Flip Pan/Tilt |
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| 491 | $AngelPan = $AngelPan - 180; |
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| 492 | $AngelTilt = 180 - $AngelTilt; |
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| 493 | } |
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| 494 | |||
| 495 | $MkTrack{'AngelPan'} = $AngelPan; |
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| 496 | $MkTrack{'AngelTilt'} = $AngelTilt; |
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| 497 | |||
| 498 | &ServoMove ($ServoPan, $AngelPan); |
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| 499 | &ServoMove ($ServoTilt, $AngelTilt); |
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| 500 | |||
| 501 | # Timestamp, wann der Datensatz geschtieben wurde |
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| 502 | $MkTrack{'_Timestamp'} = time; |
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| 503 | } |
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| 504 | } |
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| 505 | } |
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| 506 | |||
| 507 | else |
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| 508 | { |
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| 509 | # Restart |
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| 510 | $State = "ColdStart"; |
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| 511 | } |
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| 512 | |||
| 513 | # |
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| 514 | # check command queue |
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| 515 | # |
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| 516 | while ( $TrackQueue->pending() > 0 ) |
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| 517 | { |
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| 518 | my $Cmd = $TrackQueue->dequeue(1); |
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| 519 | |||
| 520 | if ( $Cmd =~ /COLDSTART/i ) |
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| 521 | { |
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| 522 | $State = "ColdStart"; |
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| 523 | } |
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| 524 | |||
| 525 | if ( $Cmd =~ /IDLE/i ) |
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| 526 | { |
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| 527 | if ( defined $ServoPort ) |
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| 528 | { |
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| 529 | # move all Servo to neutral position |
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| 530 | &ServoMove ($ServoPan, 90); |
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| 531 | &ServoMove ($ServoTilt, 0); |
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| 532 | |||
| 533 | sleep 1; |
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| 534 | &ServoRelax(); # swith off servo |
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| 535 | } |
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| 536 | |||
| 537 | $State = "Idle"; |
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| 538 | } |
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| 539 | } |
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| 540 | |||
| 541 | # |
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| 542 | # update system-timer |
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| 543 | # |
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| 544 | ($t1_s, $t1_us) = gettimeofday; |
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| 545 | $SysTimerSleep_us = ($t0_s - $t1_s) * 1000000 + $t0_us - $t1_us + $SysTimerCount_ms * $SysTimerResolution; |
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| 546 | |||
| 547 | if ($SysTimerSleep_us > 0) |
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| 548 | { |
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| 549 | usleep ($SysTimerSleep_us); |
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| 550 | } |
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| 551 | else |
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| 552 | { |
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| 553 | $SysTimerError ++; |
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| 554 | } |
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| 555 | |||
| 556 | $SysTimerCount_ms ++; |
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| 557 | } |
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| 558 | } |
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| 559 | |||
| 560 | |||
| 561 | # |
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| 562 | # Main Program |
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| 563 | # |
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| 564 | |||
| 565 | if ( $0 =~ /track.pl$/i ) |
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| 566 | { |
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| 567 | # Program wurde direkt aufgerufen |
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| 568 | |||
| 569 | # |
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| 570 | # Commandline Parameter |
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| 571 | # |
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| 572 | my $TrackPort = $CmdLine{'-TrackPort'}; |
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| 573 | if ( $TrackPort ne "" ) |
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| 574 | { |
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| 575 | $ComPort = $TrackPort; |
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| 576 | } |
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| 577 | |||
| 578 | my $MkPort = $CmdLine{'-MkPort'}; |
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| 579 | if ( $MkPort ne "" ) |
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| 580 | { |
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| 581 | $Cfg->{'mkcomm'}->{'Port'} = $MkPort; |
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| 582 | } |
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| 583 | |||
| 584 | my $PanCtrl = $CmdLine{'-PanCtrl'}; |
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| 585 | if ( $PanCtrl ne "" ) |
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| 586 | { |
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| 587 | $ServoPanCtrl = $PanCtrl; |
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| 588 | } |
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| 589 | |||
| 590 | my $TiltCtrl = $CmdLine{'-TiltCtrl'}; |
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| 591 | if ( $TiltCtrl ne "" ) |
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| 592 | { |
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| 593 | $ServoTiltCtrl = $TiltCtrl; |
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| 594 | } |
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| 595 | |||
| 596 | my $PanSpeed = $CmdLine{'-PanSpeed'}; |
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| 597 | if ( $PanSpeed ne "" ) |
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| 598 | { |
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| 599 | $ServoPanSpeed = $PanSpeed; |
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| 600 | } |
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| 601 | |||
| 602 | my $TiltSpeed = $CmdLine{'-TiltSpeed'}; |
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| 603 | if ( $TiltSpeed ne "" ) |
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| 604 | { |
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| 605 | $ServoTiltSpeed = $TiltSpeed; |
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| 606 | } |
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| 607 | |||
| 608 | my $PanNeutral = $CmdLine{'-PanNeutral'}; |
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| 609 | if ( $PanNeutral ne "" ) |
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| 610 | { |
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| 611 | $ServoPanNeutral = $PanNeutral; |
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| 612 | } |
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| 613 | |||
| 614 | my $TiltNeutral = $CmdLine{'-TiltNeutral'}; |
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| 615 | if ( $TiltNeutral ne "" ) |
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| 616 | { |
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| 617 | $ServoTiltNeutral = $TiltNeutral; |
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| 618 | } |
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| 619 | |||
| 620 | # Kommunikation zum MK herstellen |
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| 621 | # Input: %MkOsd, %MkTarget, %MkNcDebug |
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| 622 | # Ouput: Thread-Queue: $MkSendQueue |
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| 623 | $mk_thr = threads->create (\&MkCommLoop) -> detach(); |
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| 624 | |||
| 625 | $TrackQueue->enqueue("COLDSTART"); # start command |
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| 626 | &TrackAntennaGps(); |
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| 627 | |||
| 628 | # should never exit |
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| 629 | } |
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| 630 | |||
| 631 | 1; |
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| 632 | |||
| 633 | __END__ |