mlat test now creates a cheesy moving simulated aircraft. mlat is broken though due to incorrect assumptions in the solver.

apps/mlat_test.py

@@ -2,7 +2,8 @@
 
 #test stuff for mlat server
 
-import socket, pickle, time, random, sys
+import socket, pickle, time, random, sys, math, numpy
+import air_modes
 
 class rx_data:
     secs = 0
@@ -12,17 +13,13 @@ class rx_data:
 class client_info:
     def __init__(self):
         self.name = ""
-        self.latitude = 0.0
-        self.longitude = 0.0
-        self.altitude = 0.0
+        self.position = []
         self.offset_secs = 0
         self.offset_frac_secs = 0.0
 
 info = client_info()
 info.name = sys.argv[1]
-info.latitude = float(sys.argv[2])
-info.longitude = float(sys.argv[3])
-info.altitude = 123
+info.position = [float(sys.argv[2]), float(sys.argv[3]), 100]
 info.offset_secs = 0
 info.offset_frac_secs = 0.0
 
@@ -30,15 +27,34 @@ data1 = rx_data()
 data1.secs = 0
 data1.data = int("0x8da81f875857f10eb65b10cb66f3", 16)
 
+ac_starting_pos = [37.617175, -122.400843, 8000]
+ac_hdg = 130.
+ac_spd = 0.00008
+def get_pos(time):
+    return [ac_starting_pos[0] + ac_spd * time * math.cos(ac_hdg*math.pi/180.), \
+            ac_starting_pos[1] + ac_spd * time * math.sin(ac_hdg*math.pi/180.), \
+            ac_starting_pos[2]]
+
+def get_simulated_timestamp(time, position):
+    return time + numpy.linalg.norm(numpy.array(air_modes.mlat.llh2ecef(position))-numpy.array(air_modes.mlat.llh2geoid(info.position))) / air_modes.mlat.c
+
 sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
 sock.setblocking(1)
 sock.connect(("localhost", 31337))
 sock.send(pickle.dumps(info))
 print sock.recv(1024)
+ts = 0.0
 while 1:
-    time.sleep(0.05)
-    data1.frac_secs = random.random()
+    pos = get_pos(ts)
+    stamp = get_simulated_timestamp(ts, pos)
+    print "Timestamp: %.10f" % (stamp)
+    print "Position: ", pos
+    data1.secs = int(stamp)
+    data1.frac_secs = float(stamp)
+    data1.frac_secs -= int(data1.frac_secs)
     sock.send(pickle.dumps([data1]))
+    ts+=1
+    time.sleep(1)
 
 sock.close()
 sock = None