104 lines
2.5 KiB
C++
104 lines
2.5 KiB
C++
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// rul.cxx -- "RUL" protocal class (for some sort of motion platform
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// some guy was building)
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//
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// Written by Curtis Olson, started November 1999.
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//
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// Copyright (C) 1999 Curtis L. Olson - curt@flightgear.org
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//
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// This program is free software; you can redistribute it and/or
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// modify it under the terms of the GNU General Public License as
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// published by the Free Software Foundation; either version 2 of the
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// License, or (at your option) any later version.
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//
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// This program is distributed in the hope that it will be useful, but
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// WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// General Public License for more details.
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//
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// You should have received a copy of the GNU General Public License
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// along with this program; if not, write to the Free Software
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// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
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//
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// $Id$
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#include <Debug/logstream.hxx>
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#include <FDM/flight.hxx>
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#include <Math/fg_geodesy.hxx>
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#include <Time/fg_time.hxx>
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#include "iochannel.hxx"
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#include "rul.hxx"
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FGRUL::FGRUL() {
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}
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FGRUL::~FGRUL() {
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}
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// generate Garmin message
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bool FGRUL::gen_message() {
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// cout << "generating rul message" << endl;
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FGInterface *f = cur_fdm_state;
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// get roll and pitch, convert to degrees
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double roll_deg = f->get_Phi() * RAD_TO_DEG;
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while ( roll_deg < -180.0 ) {
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roll_deg += 360.0;
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}
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while ( roll_deg > 180.0 ) {
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roll_deg -= 360.0;
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}
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double pitch_deg = f->get_Theta() * RAD_TO_DEG;
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while ( pitch_deg < -180.0 ) {
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pitch_deg += 360.0;
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}
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while ( pitch_deg > 180.0 ) {
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pitch_deg -= 360.0;
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}
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// scale roll and pitch to output format (1 - 255)
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// straight && level == (128, 128)
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int roll = (int)( (roll_deg+180.0) * 255.0 / 360.0) + 1;
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int pitch = (int)( (pitch_deg+180.0) * 255.0 / 360.0) + 1;
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sprintf( buf, "p%c%c\n", roll, pitch);
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length = 4;
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FG_LOG( FG_IO, FG_INFO, "p " << roll << " " << pitch );
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return true;
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}
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// parse RUL message
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bool FGRUL::parse_message() {
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FG_LOG( FG_IO, FG_ALERT, "RUL input not supported" );
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return false;
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}
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// process work for this port
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bool FGRUL::process() {
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FGIOChannel *io = get_io_channel();
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if ( get_direction() == out ) {
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gen_message();
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if ( ! io->write( buf, length ) ) {
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FG_LOG( FG_IO, FG_ALERT, "Error writing data." );
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return false;
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}
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} else if ( get_direction() == in ) {
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FG_LOG( FG_IO, FG_ALERT, "in direction not supported for RUL." );
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return false;
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}
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return true;
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}
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