From 5a8d184e30e6daab5306d406278fb6b373407854 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Niccol=C3=B2=20Betto?= <niccolo.betto@skywarder.eu>
Date: Wed, 11 Dec 2024 18:39:52 +0100
Subject: [PATCH] [Main] Demo entrypoint for airbrakes showcase
---
src/Main/main-entry.cpp | 62 +++++++++++++++++++++++++++++++++++++++++
1 file changed, 62 insertions(+)
diff --git a/src/Main/main-entry.cpp b/src/Main/main-entry.cpp
index 29dbf5478..2db55c5b3 100644
--- a/src/Main/main-entry.cpp
+++ b/src/Main/main-entry.cpp
@@ -299,6 +299,68 @@ int main()
<< (info.isInitialized ? "Ok" : "Error") << std::endl;
}
+ using namespace std::chrono;
+ using fseconds = std::chrono::duration<float>; // float seconds
+
+ // Move airbrakes from start to end in the given time
+ auto animateAbk =
+ [actuators](float start, float end, std::chrono::milliseconds time)
+ {
+ // Nothing to move
+ if (start == end)
+ return;
+
+ float step = (end - start) / fseconds{time}.count();
+ float position = start;
+ auto startTime = steady_clock::now();
+ auto endTime = startTime + time;
+ auto now = startTime;
+
+ std::cout << "Animating ABK from " << start << " to " << end << " in "
+ << time.count() << "ms" << std::endl;
+
+ while (now < endTime)
+ {
+ actuators->setAbkPosition(position);
+ now = steady_clock::now();
+ auto elapsed = fseconds{now - startTime};
+ startTime = now;
+
+ position += step * elapsed.count();
+
+ Thread::sleep(10);
+ }
+ actuators->setAbkPosition(end);
+ };
+
+ for (int i = 0; i < 3; i++)
+ {
+ // Fully open airbrakes
+ animateAbk(0.0f, 1.0f, 200ms * i);
+ Thread::sleep(1000);
+ // Fully close airbrakes
+ animateAbk(1.0f, 0.0f, 200ms * i);
+ Thread::sleep(2000);
+ }
+
+ float position = 0.0f;
+
+ while (true)
+ {
+ // Get a random position that is different enough from the current one
+ float newPosition = 0.0f;
+ do
+ newPosition = static_cast<float>(std::rand()) / RAND_MAX;
+ while (std::abs(position - newPosition) < 0.3f);
+
+ std::cout << "ABK position change: " << position << " -> "
+ << newPosition << std::endl;
+ animateAbk(position, newPosition, 300ms);
+
+ position = newPosition;
+ Thread::sleep(2000);
+ }
+
while (true)
{
sdLogger.log(sdLogger.getStats());
--
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