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Move the C version of fgfdm_log.c to examples/dds/ and convert it to C++ as fg_dds_log.cpp using the SimGear provided hepper classes.

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This commit is contained in:
Erik Hofman 2021-03-27 13:31:39 +01:00
parent 3276c9a754
commit 1467a8a170
4 changed files with 160 additions and 16 deletions
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18
examples/dds/README Normal file
View file

@ -0,0 +1,18 @@
Data Distribution Service (DDS) logger
This example uses a waitset to listens to the FlightGear GUI, FDM adn Ctrls
DDS topics and logs some data for any of them when new data arrives.
Run FlightGear with any combination of the following command line arguments to
get it to produce new DDS samples:
fgfs
--native-gui=dds,out,30
--native-fdm=dds,out,60
--native-ctrls=dds,out,10
The executable has to be linkes against the CycloneDDS ddsc component and
all *.c files in src/Network/DDS:
gcc -I ../../src fgfdm_log.c ../../src/Network/DDS/*.c -l ddsc -o fgfdm_log

29
src/Network/DDS/fgfdm_log.c → examples/dds/fgfdm_log.c
View file

@ -1,11 +1,14 @@
#include "dds/dds.h"
#include "dds_gui.h"
#include "dds_fdm.h"
#include "dds_ctrls.h"
#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include <dds/dds.h>
#include <Network/DDS/dds_gui.h>
#include <Network/DDS/dds_fdm.h>
#include <Network/DDS/dds_ctrls.h>
/* An array of one message(aka sample in dds terms) will be used. */
#define MAX_SAMPLES 1
@ -119,7 +122,7 @@ int main()
if (status < 0)
DDS_FATAL("ds_waitset_attach: %s\n", dds_strretcode(-status));
/* Create an Ctrls Topic. */
/* Create a Ctrls Topic. */
ctrls_topic = dds_create_topic(
participant, &FG_DDS_Ctrls_desc, "FG_DDS_Ctrls", NULL, NULL);
if(ctrls_topic < 0)
@ -160,8 +163,8 @@ int main()
printf("GUI Message:\n");
printf(" version: %i\n", gui->version);
printf(" tuned_freq: %lf\n", gui->longitude);
printf(" nav_radial %lf\n", gui->latitude);
printf(" dist_nm: %lf\n", gui->altitude);
printf(" nav_radial: %lf\n", gui->latitude);
printf(" dist_nm: %lf\n", gui->altitude);
}
rc = dds_take(fdm_reader, samples, infos, 1, 1);
@ -176,9 +179,9 @@ int main()
printf("=== [fgfdm_log] Received : ");
printf("FDM Message:\n");
printf(" version: %i\n", fdm->version);
printf(" longitude: %lf\n", fdm->longitude);
printf(" latitude: %lf\n", fdm->latitude);
printf(" altitude: %lf\n", fdm->altitude);
printf(" longitude: %lf\n", fdm->longitude);
printf(" latitude: %lf\n", fdm->latitude);
printf(" altitude: %lf\n", fdm->altitude);
}
rc = dds_take(ctrls_reader, samples, infos, 1, 1);
@ -193,9 +196,9 @@ int main()
printf("=== [fgfdm_log] Received : ");
printf("Ctrls Message:\n");
printf(" version: %i\n", ctrls->version);
printf(" aileron: %lf\n", ctrls->aileron);
printf(" elevator: %lf\n", ctrls->elevator);
printf(" rudder: %lf\n", ctrls->rudder);
printf(" aileron: %lf\n", ctrls->aileron);
printf(" elevator: %lf\n", ctrls->elevator);
printf(" rudder: %lf\n", ctrls->rudder);
}
fflush(stdout);

6
src/Network/DDS/CMakeLists.txt
View file

@ -12,12 +12,12 @@ set(HEADERS
dds_gui.h
)
add_executable(fgfdm_log
add_executable(fg_dds_log
WIN32
MACOSX_BUNDLE
fgfdm_log.c
fg_dds_log.cpp
${SOURCES}
)
target_link_libraries(fgfdm_log CycloneDDS::ddsc)
setup_fgfs_libraries(fg_dds_log)
flightgear_component(Network "${SOURCES}" "${HEADERS}")

123
src/Network/DDS/fg_dds_log.cpp Normal file
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@ -0,0 +1,123 @@
#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include <map>
#include <simgear/io/SGDataDistributionService.hxx>
#include "dds_gui.h"
#include "dds_fdm.h"
#include "dds_ctrls.h"
/* An array of one message(aka sample in dds terms) will be used. */
#define MAX_SAMPLES 1
#ifndef _WIN32
# include <termios.h>
void set_mode(int want_key)
{
static struct termios tios_old, tios_new;
if (!want_key) {
tcsetattr(STDIN_FILENO, TCSANOW, &tios_old);
return;
}
tcgetattr(STDIN_FILENO, &tios_old);
tios_new = tios_old;
tios_new.c_lflag &= ~(ICANON | ECHO);
tcsetattr(STDIN_FILENO, TCSANOW, &tios_new);
}
int get_key()
{
int c = 0;
struct timeval tv;
fd_set fs;
tv.tv_usec = tv.tv_sec = 0;
FD_ZERO(&fs);
FD_SET(STDIN_FILENO, &fs);
select(STDIN_FILENO + 1, &fs, 0, 0, &tv);
if (FD_ISSET(STDIN_FILENO, &fs)) {
c = getchar();
}
return c;
}
#else
# include <conio.h>
int get_key()
{
if (kbhit()) {
return getch();
}
return 0;
}
void set_mode(int want_key)
{
}
#endif
int main()
{
SG_DDS participant;
std::map<std::string, SG_DDS_Topic *> topics;
topics["gui"] = new SG_DDS_Topic();
topics["fdm"] = new SG_DDS_Topic();
topics["ctrls"] = new SG_DDS_Topic();
topics["gui"]->setup("FG_DDS_GUI", &FG_DDS_GUI_desc, sizeof(FG_DDS_GUI));
topics["fdm"]->setup("FG_DDS_FDM", &FG_DDS_FDM_desc, sizeof(FG_DDS_FDM));
topics["ctrls"]->setup("FG_DDS_Ctrls", &FG_DDS_Ctrls_desc, sizeof(FG_DDS_Ctrls));
participant.add(topics["gui"], SG_IO_IN);
participant.add(topics["fdm"], SG_IO_IN);
participant.add(topics["ctrls"], SG_IO_IN);
set_mode(1);
while(participant.wait(0.1f))
{
FG_DDS_Ctrls ctrls;
FG_DDS_FDM fdm;
FG_DDS_GUI gui;
if (topics["gui"]->read((char*)&gui, sizeof(gui)) == sizeof(gui)) {
printf("=== [fgfdm_log] Received : ");
printf("GUI Message:\n");
printf(" version: %i\n", gui.version);
printf(" tuned_freq: %lf\n", gui.longitude);
printf(" nav_radial: %lf\n", gui.latitude);
printf(" dist_nm: %lf\n", gui.altitude);
}
if (topics["fdm"]->read((char*)&fdm, sizeof(fdm)) == sizeof(fdm)) {
printf("=== [fgfdm_log] Received : ");
printf("FDM Message:\n");
printf(" version: %i\n", fdm.version);
printf(" longitude: %lf\n", fdm.longitude);
printf(" latitude: %lf\n", fdm.latitude);
printf(" altitude: %lf\n", fdm.altitude);
}
if (topics["ctrls"]->read((char*)&ctrls, sizeof(ctrls)) == sizeof(ctrls)) {
printf("=== [fgfdm_log] Received : ");
printf("Ctrls Message:\n");
printf(" version: %i\n", ctrls.version);
printf(" aileron: %lf\n", ctrls.aileron);
printf(" elevator: %lf\n", ctrls.elevator);
printf(" rudder: %lf\n", ctrls.rudder);
}
fflush(stdout);
if (get_key()) break;
}
set_mode(0);
return EXIT_SUCCESS;
}