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Program.cs
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Program.cs
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//
// Copyright 2018 Aalborg University, Denamrk.
// All rights reserved.
// Author: Shibarchi Majumder ([email protected])
//
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// 1. Redistributions of source code must retain the above copyright notice,
// author, this list of conditions and the following disclaimer.
//
// 2. Redistributions in binary form must reproduce the above copyright
// notice, author, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDER ``AS IS'' AND ANY EXPRESS
// OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
// OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN
// NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
// THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// The views and conclusions contained in the software and documentation are
// those of the authors and should not be interpreted as representing official
// policies, either expressed or implied, of the copyright holder.
//
//
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.IO.Ports;
using System.Threading;
using System.Net;
using System.Net.Sockets;
namespace XPC
{
class Program
{
static SerialPort serial_comm_1;
static void Main(string[] args)
{
IPEndPoint XPip = new IPEndPoint(IPAddress.Any, 49001);
UdpClient XPserver_receive = new UdpClient(XPip);
UdpClient XPserver_send = new UdpClient("127.0.0.1", 49000);
serial_comm_1 = new SerialPort();
serial_comm_1.PortName = "COM5";
serial_comm_1.BaudRate = 115200;
serial_comm_1.Open();
Console.WriteLine("Hello World!");
Console.ReadKey();
byte[] XP_receive_data = new byte[1024];
byte[] XP_send_data = { 68, 65, 84, 65, 0, 11, 0, 0, 0, 205, 204, 76, 62, 205, 204, 76, 62, 205, 204, 76, 62, 0, 192, 121, 196, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 25, 0, 0, 0, 205, 204, 76, 62, 0, 192, 121, 196, 0, 192, 121, 196, 0, 192, 121, 196, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
int counter = 0;
int receiving = 0;
int bit_1 = 0;
int bit_2 = 0;
int bit_3 = 0;
int i = 0;
int all_received = 0;
float[] raw_bytes_from_sim = { 0, 0, 0, 0, 0 };
float elev = 0.0f, ail = 0.0f, rudder = 0.0f, throttle = 0.0f;
float pitch = 0.0f;
float p_pitch = 0.0f;
float roll = 0.0f;
float p_roll = 0.0f;
float alt = 0.0f;
float p_alt = 0.0f;
float ias = 0.0f;
float p_ias = 0.0f;
float g_x = 0.0f;
float g_y = 0.0f;
float g_z = 0.0f;
float dt = 0.05f;
float P = 0.0f;
float Q = 0.0f;
float acc_x = 0.0f;
float acc_y = 0.0f;
float acc_z = 0.0f;
Thread thread1 = new Thread(() =>
{
for (; ; )
{
XP_receive_data = XPserver_receive.Receive(ref XPip);
pitch = BitConverter.ToSingle(XP_receive_data, 45);
roll = BitConverter.ToSingle(XP_receive_data, 49);
alt = BitConverter.ToSingle(XP_receive_data, 89);
ias = BitConverter.ToSingle(XP_receive_data, 33);
g_z = (float)(Math.Cos(pitch / 57.324) * Math.Cos(roll / 57.324) * 9.8);
g_x = (float)(Math.Sin(pitch / 57.324) * 9.8);
g_y = (float)(Math.Sin(roll / 57.3) * g_z);
P = (float)((pitch - p_pitch) / (dt));
Q = (float)((roll - p_roll) / (dt));
acc_x = (float)((ias - p_ias) / (dt)) + g_x;
acc_y = g_y;
acc_z = g_z;
p_pitch = pitch;
p_roll = roll;
p_ias = ias;
Random rnd = new Random();
float noise_gyro = (float)((rnd.Next(1, 10)) * 0.00001);
float noise_acc = (float)((rnd.Next(1, 10)) * 0.001);
P += noise_gyro;
Q += noise_gyro;
acc_x += noise_acc;
acc_y += noise_acc;
acc_z += noise_acc;
byte[] acc_x_bytes_array = new byte[4];
byte[] acc_y_bytes_array = new byte[4];
byte[] acc_z_bytes_array = new byte[4];
byte[] P_bytes_array = new byte[4];
byte[] Q_bytes_array = new byte[4];
acc_x_bytes_array = BitConverter.GetBytes(acc_x);
acc_y_bytes_array = BitConverter.GetBytes(acc_y);
acc_z_bytes_array = BitConverter.GetBytes(acc_z);
P_bytes_array = BitConverter.GetBytes(P);
Q_bytes_array = BitConverter.GetBytes(Q);
//Console.WriteLine(acc_z_bytes_array[3] + "," + acc_z_bytes_array[2] + "," + acc_z_bytes_array[1] + "," + acc_z_bytes_array[0] + ","+ acc_x + "," + acc_y + "," +acc_z);
byte[] data_to_serial = { 255,254,253,252,
XP_receive_data[45],
XP_receive_data[46],
XP_receive_data[47],
XP_receive_data[48],
XP_receive_data[49],
XP_receive_data[50],
XP_receive_data[51],
XP_receive_data[52],
XP_receive_data[53],
XP_receive_data[54],
XP_receive_data[55],
XP_receive_data[56],
XP_receive_data[33],
XP_receive_data[34],
XP_receive_data[35],
XP_receive_data[36],
XP_receive_data[89],
XP_receive_data[90],
XP_receive_data[91],
XP_receive_data[92],
XP_receive_data[93],
XP_receive_data[94],
XP_receive_data[95],
XP_receive_data[96],
acc_x_bytes_array[0],
acc_x_bytes_array[1],
acc_x_bytes_array[2],
acc_x_bytes_array[3],
acc_y_bytes_array[0],
acc_y_bytes_array[1],
acc_y_bytes_array[2],
acc_y_bytes_array[3],
acc_z_bytes_array[0],
acc_z_bytes_array[1],
acc_z_bytes_array[2],
acc_z_bytes_array[3],
P_bytes_array[0],
P_bytes_array[1],
P_bytes_array[2],
P_bytes_array[3],
Q_bytes_array[0],
Q_bytes_array[1],
Q_bytes_array[2],
Q_bytes_array[3],
XP_receive_data[81],
XP_receive_data[82],
XP_receive_data[83],
XP_receive_data[84],
XP_receive_data[85],
XP_receive_data[86],
XP_receive_data[87],
XP_receive_data[88],
};
counter += 1;
if (counter == 2) {
serial_comm_1.Write(data_to_serial, 0, 56);
counter = 0;
}
for (int index = 0; index < data_to_serial.Length; index++)
{
//Console.WriteLine( data_to_serial[index]);
}
Thread.Sleep(10);
}
}); // Thread 1 ends here!
Thread thread2 = new Thread(() =>
{
for (; ; )
{
byte[] received = new byte[1];
serial_comm_1.Read(received, 0, 1);
if (receiving == 1)
{
i += 1;
}
if (received[0] == 255 && receiving == 0)
{
bit_1 = 1;
}
else if (received[0] == 254 && receiving == 0 && bit_1 == 1)
{
bit_2 = 1;
}
else if (received[0] == 253 && receiving == 0 && bit_2 == 1)
{
bit_3 = 1;
}
else if (received[0] == 252 && receiving == 0 && bit_3 == 1)
{
receiving = 1;
bit_1 = 0;
bit_2 = 0;
bit_3 = 0;
}
else
{
bit_1 = 0;
bit_2 = 0;
bit_3 = 0;
}
raw_bytes_from_sim[i] = received[0];
if (i == 4)
{
receiving = 0;
i = 0;
bit_1 = 0;
bit_2 = 0;
bit_3 = 0;
all_received = 1;
}
if (all_received == 1)
{
elev = raw_bytes_from_sim[1];
ail = ((raw_bytes_from_sim[2]));
rudder = ((raw_bytes_from_sim[3]));
throttle =((raw_bytes_from_sim[4]));
Console.WriteLine(elev + "," + ail + "," + rudder + "," + throttle);
elev = (elev - 100) / 500;
ail = (ail - 100) / 1000;
rudder = (rudder - 100) / 1000;
throttle = (throttle - 100) / 100;
byte[] bytes_array = new byte[4];
bytes_array = BitConverter.GetBytes(elev);
XP_send_data[9] = bytes_array[0];
XP_send_data[10] = bytes_array[1];
XP_send_data[11] = bytes_array[2];
XP_send_data[12] = bytes_array[3];
bytes_array = BitConverter.GetBytes(ail);
XP_send_data[13] = bytes_array[0];
XP_send_data[14] = bytes_array[1];
XP_send_data[15] = bytes_array[2];
XP_send_data[16] = bytes_array[3];
bytes_array = BitConverter.GetBytes(rudder);
XP_send_data[17] = bytes_array[0];
XP_send_data[18] = bytes_array[1];
XP_send_data[19] = bytes_array[2];
XP_send_data[20] = bytes_array[3];
bytes_array = BitConverter.GetBytes(throttle);
XP_send_data[45] = bytes_array[0];
XP_send_data[46] = bytes_array[1];
XP_send_data[47] = bytes_array[2];
XP_send_data[48] = bytes_array[3];
}
all_received = 0;
XPserver_send.Send(XP_send_data, XP_send_data.Length);
}
}); // Thread 2 ends here!
thread1.Start();
thread2.Start();
}
}
}