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swift - Add getOwnAircraftVelocityData dbus method

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This commit is contained in:
Lars Toenning 2021-03-11 22:49:16 +01:00 committed by James Turner
parent 938bfd1604
commit 509fbbcebc
2 changed files with 82 additions and 3 deletions
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60
src/Network/Swift/service.cpp
View file

@ -22,8 +22,9 @@
#include <iostream>
#include <simgear/debug/logstream.hxx>
#include <simgear/structure/commands.hxx>
#include <simgear/constants.h>
#define FGSWIFTBUS_API_VERSION 2;
#define FGSWIFTBUS_API_VERSION 3;
namespace FGSwiftBus {
@ -60,8 +61,14 @@ CService::CService()
m_flapsDeployRatioNode = fgGetNode("/surface-positions/flap-pos-norm", true);
m_gearDeployRatioNode = fgGetNode("/gear/gear/position-norm", true);
m_speedBrakeDeployRatioNode = fgGetNode("/surface-positions/speedbrake-pos-norm", true);
m_aircraftNameNode = fgGetNode("/sim/aircraft", true);
m_groundElevationNode = fgGetNode("/position/ground-elev-m", true);
m_aircraftNameNode = fgGetNode("/sim/aircraft", true);
m_groundElevationNode = fgGetNode("/position/ground-elev-m", true);
m_velocityXNode = fgGetNode("/velocities/speed-east-fps", true);
m_velocityYNode = fgGetNode("/velocities/speed-down-fps", true);
m_velocityZNode = fgGetNode("/velocities/speed-north-fps", true);
m_rollRateNode = fgGetNode("/orientation/roll-rate-degps", true);
m_pichRateNode = fgGetNode("/orientation/pitch-rate-degps", true);
m_yawRateNode = fgGetNode("/orientation/yaw-rate-degps", true);
SG_LOG(SG_NETWORK, SG_INFO, "FGSwiftBus Service initialized");
}
@ -316,6 +323,35 @@ std::string CService::getAircraftName() const
return m_aircraftNameNode->getStringValue();
}
double CService::getVelocityX() const
{
return m_velocityXNode->getDoubleValue() * SG_FEET_TO_METER;
}
double CService::getVelocityY() const
{
return m_velocityYNode->getDoubleValue() * SG_FEET_TO_METER * -1; // + (up), - (down)
}
double CService::getVelocityZ() const
{
return m_velocityZNode->getDoubleValue() * SG_FEET_TO_METER;
}
double CService::getRollRate() const
{
return m_rollRateNode->getDoubleValue() * SG_DEGREES_TO_RADIANS;
}
double CService::getPitchRate() const
{
return m_pichRateNode->getDoubleValue() * SG_DEGREES_TO_RADIANS;
}
double CService::getYawRate() const
{
return m_yawRateNode->getDoubleValue() * SG_DEGREES_TO_RADIANS;
}
static const char* introspection_service = DBUS_INTROSPECT_1_0_XML_DOCTYPE_DECL_NODE;
DBusHandlerResult CService::dbusMessageHandler(const CDBusMessage& message_)
@ -361,6 +397,24 @@ DBusHandlerResult CService::dbusMessageHandler(const CDBusMessage& message_)
reply.appendArgument(pressAlt);
sendDBusMessage(reply);
});
} else if (message.getMethodName() == "getOwnAircraftVelocityData") {
queueDBusCall([=]() {
double velocityX = getVelocityX();
double velocityY = getVelocityY();
double velocityZ = getVelocityZ();
double pitchVelocity = getPitchRate();
double rollVelocity = getRollRate();
double yawVelocity = getYawRate();
CDBusMessage reply = CDBusMessage::createReply(sender, serial);
reply.beginArgumentWrite();
reply.appendArgument(velocityX);
reply.appendArgument(velocityY);
reply.appendArgument(velocityZ);
reply.appendArgument(pitchVelocity);
reply.appendArgument(rollVelocity);
reply.appendArgument(yawVelocity);
sendDBusMessage(reply);
});
} else if (message.getMethodName() == "getVersionNumber") {
queueDBusCall([=]() {
sendDBusReply(sender, serial, getVersionNumber());

25
src/Network/Swift/service.h
View file

@ -196,6 +196,24 @@ public:
//! Get ground elevation at aircraft current position
double getGroundElevation() const;
//! Get x velocity in m/s
double getVelocityX() const;
//! Get y velocity in m/s
double getVelocityY() const;
//! Get z velocity in m/s
double getVelocityZ() const;
//! Get roll rate in rad/sec
double getRollRate() const;
//! Get pitch rate in rad/sec
double getPitchRate() const;
//! Get yaw rate in rad/sec
double getYawRate() const;
//! Perform generic processing
int process();
@ -239,6 +257,13 @@ private:
//SGPropertyNode_ptr numberEnginesNode;
//SGPropertyNode_ptr engineN1PercentageNode;
SGPropertyNode_ptr m_aircraftNameNode;
SGPropertyNode_ptr m_velocityXNode;
SGPropertyNode_ptr m_velocityYNode;
SGPropertyNode_ptr m_velocityZNode;
SGPropertyNode_ptr m_rollRateNode;
SGPropertyNode_ptr m_pichRateNode;
SGPropertyNode_ptr m_yawRateNode;
};
} // namespace FGSwiftBus