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Add startup options for origin position and mag field (`-pos <Lon,Lat…
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…,Alt>` and `-mag <Incl,Decl>`).
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@mpaperno
mpaperno committed Apr 30, 2016
1 parent c4470d0 commit 54a984f
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Showing 2 changed files with 56 additions and 4 deletions.
58 changes: 55 additions & 3 deletions src/me/drton/jmavsim/Simulator.java
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Expand Up @@ -95,6 +95,7 @@ public class Simulator implements Runnable {
private static int qgcPeerPort = DEFAULT_QGC_PEER_PORT;
private static String serialPath = DEFAULT_SERIAL_PATH;
private static int serialBaudRate = DEFAULT_SERIAL_BAUD_RATE;
private static LatLonAlt referencePos = DEFAULT_ORIGIN_POS;

private static HashSet<Integer> monitorMessageIds = new HashSet<Integer>();
private static boolean monitorMessage = false;
Expand All @@ -119,7 +120,6 @@ public Simulator() throws IOException, InterruptedException {

// Create world
world = new World();
LatLonAlt referencePos = DEFAULT_ORIGIN_POS;
world.setGlobalReference(referencePos);

// Create environment
Expand Down Expand Up @@ -449,10 +449,14 @@ public static Vector3d magFieldLookup(LatLonAlt pos) {
public final static String AP_STRING = "-ap <autopilot_type>";
public final static String SPEED_STRING = "-r <Hz>";
public final static String SENSOR_RATE_STRING = "-rs <Hz>";
public final static String ORIGIN_POS_STRING = "-pos <Lat,Lon,Alt>";
public final static String MAG_FLD_STRING = "-mag <Incl,Decl>";
public final static String CMD_STRING = "java -cp lib/*:out/production/jmavsim.jar me.drton.jmavsim.Simulator";
public final static String CMD_STRING_JAR = "java -jar jmavsim_run.jar";
public final static String USAGE_STRING = CMD_STRING_JAR + " [-h | -v] [" + UDP_STRING + " | " + SERIAL_STRING + "] [" + SPEED_STRING + "] [" + SENSOR_RATE_STRING + "] [" + AP_STRING + "] [" + MAG_STRING + "] " +
"[" + QGC_STRING + "] [" + GIMBAL_STRING + "] [" + GUI_AA_STRING + "] [" + GUI_MAX_STRING + "] [" + GUI_VIEW_STRING + "] [" + REP_STRING + "] [" + PRINT_INDICATION_STRING + "]";
public final static String USAGE_STRING = CMD_STRING_JAR + " [-h | -v] [" + UDP_STRING + " | " + SERIAL_STRING + "] [" + SPEED_STRING + "] " +
"[" + SENSOR_RATE_STRING + "] [" + AP_STRING + "] [" + ORIGIN_POS_STRING + "] [" + MAG_FLD_STRING + "] [" + MAG_STRING + "] " +
"[" + QGC_STRING + "] [" + GIMBAL_STRING + "] [" + GUI_AA_STRING + "] [" + GUI_MAX_STRING + "] [" + GUI_VIEW_STRING + "] " +
"[" + REP_STRING + "] [" + PRINT_INDICATION_STRING + "]";

public static void main(String[] args)
throws InterruptedException, IOException {
Expand Down Expand Up @@ -626,6 +630,46 @@ else if (t.equals("gmbl"))
System.err.println("-view requires an argument: " + GUI_VIEW_STRING);
return;
}
} else if (arg.equals("-pos")) {
if ( i < args.length) {
try {
String[] arglist = args[i++].split(",");
if (arglist.length == 3) {
Double lat = Double.parseDouble(arglist[0]);
Double lon = Double.parseDouble(arglist[1]);
Double alt = Double.parseDouble(arglist[2]);
referencePos = new LatLonAlt(lat, lon, alt);
} else {
System.err.println("-pos needs three variables: Latitude, Longitude, Altitude.");
return;
}
} catch (NumberFormatException e) {
System.err.println("Number format error. Expected numeric Lat,Lon,Alt. Error: " + e.toString());
return;
}
} else {
System.err.println("-pos needs an argument. Expected: " + ORIGIN_POS_STRING + ", got: " + Arrays.toString(args));
return;
}
} else if (arg.equals("-mag")) {
if ( i < args.length) {
try {
String[] arglist = args[i++].split(",");
if (arglist.length == 2) {
DEFAULT_MAG_INCL = Double.parseDouble(arglist[0]);
DEFAULT_MAG_DECL = Double.parseDouble(arglist[1]);
} else {
System.err.println("-mag needs two numeric variables: Inclination,Declination.");
return;
}
} catch (NumberFormatException e) {
System.err.println("Number format error. Expected numeric Inclination,Declination. Error: " + e.toString());
return;
}
} else {
System.err.println("-mag needs an argument. Expected: " + MAG_FLD_STRING + ", got: " + Arrays.toString(args));
return;
}
} else if (arg.equals("-automag")) {
DO_MAG_FIELD_LOOKUP = true;
} else if (arg.equals("-rep")) {
Expand Down Expand Up @@ -680,6 +724,14 @@ public static void handleHelpFlag() {
System.out.println(" Default is " + DEFAULT_SENSOR_MSG_FREQ + " Hz");
System.out.println(AP_STRING);
System.out.println(" Specify the MAV type. E.g. 'px4' or 'aq'. Default is: " + autopilotType + "");
System.out.println(ORIGIN_POS_STRING);
System.out.println(" Start at specified Latitude, Longitude, Altitude. Lat/Lon should be");
System.out.println(" expressed in decimal degrees, Alt in meters.");
System.out.println(" Default is: " + DEFAULT_ORIGIN_POS.lat + "," + DEFAULT_ORIGIN_POS.lon + "," + DEFAULT_ORIGIN_POS.alt);
System.out.println(MAG_FLD_STRING);
System.out.println(" Use specified magnetic Inclination & Declination. Incl/Decl should ");
System.out.println(" be expressed in decimal degrees. Ignored if " + MAG_STRING + " option is used.");
System.out.println(" Default is: " + DEFAULT_MAG_INCL + "," + DEFAULT_MAG_DECL);
System.out.println(MAG_STRING);
System.out.println(" Attempt automatic magnetic field inclination/declination lookup");
System.out.println(" for starting global position via NOAA Web service.");
Expand Down
2 changes: 1 addition & 1 deletion src/me/drton/jmavsim/Version.java
View file
@@ -1,5 +1,5 @@
package me.drton.jmavsim;

public final class Version {
public static final String VERSION_STR = "160424.0"; // yymmdd.build
public static final String VERSION_STR = "160430.0"; // yymmdd.build
}

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