127 lines
3.4 KiB
C++
127 lines
3.4 KiB
C++
// pve.cxx -- "PVE" protocal class (for Provision Entertainment)
|
|
//
|
|
// Written by Curtis Olson, started November 1999.
|
|
//
|
|
// Copyright (C) 1999 Curtis L. Olson - curt@flightgear.org
|
|
//
|
|
// This program is free software; you can redistribute it and/or
|
|
// modify it under the terms of the GNU General Public License as
|
|
// published by the Free Software Foundation; either version 2 of the
|
|
// License, or (at your option) any later version.
|
|
//
|
|
// This program is distributed in the hope that it will be useful, but
|
|
// WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
|
// General Public License for more details.
|
|
//
|
|
// You should have received a copy of the GNU General Public License
|
|
// along with this program; if not, write to the Free Software
|
|
// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
|
|
//
|
|
// $Id$
|
|
|
|
|
|
#include <simgear/logstream.hxx>
|
|
#include <simgear/fg_geodesy.hxx>
|
|
|
|
#include <FDM/flight.hxx>
|
|
#include <Time/fg_time.hxx>
|
|
|
|
#include "iochannel.hxx"
|
|
#include "pve.hxx"
|
|
|
|
|
|
FGPVE::FGPVE() {
|
|
}
|
|
|
|
|
|
FGPVE::~FGPVE() {
|
|
}
|
|
|
|
|
|
// "PVE" (ProVision Entertainment) output format (for some sort of
|
|
// motion platform)
|
|
//
|
|
// Outputs a 5-byte data packet defined as follows:
|
|
//
|
|
// First bite: ASCII character "P" ( 0x50 or 80 decimal )
|
|
// Second byte: "roll" value (1-255) 1 being 0* and 255 being 359*
|
|
// Third byte: "pitch" value (1-255) 1 being 0* and 255 being 359*
|
|
// Fourth byte: "heave" value (or vertical acceleration?)
|
|
|
|
bool FGPVE::gen_message() {
|
|
// cout << "generating pve message" << endl;
|
|
FGInterface *f = cur_fdm_state;
|
|
|
|
// get roll and pitch, convert to degrees
|
|
double roll_deg = f->get_Phi() * RAD_TO_DEG;
|
|
while ( roll_deg <= -180.0 ) {
|
|
roll_deg += 360.0;
|
|
}
|
|
while ( roll_deg > 180.0 ) {
|
|
roll_deg -= 360.0;
|
|
}
|
|
|
|
double pitch_deg = f->get_Theta() * RAD_TO_DEG;
|
|
while ( pitch_deg <= -180.0 ) {
|
|
pitch_deg += 360.0;
|
|
}
|
|
while ( pitch_deg > 180.0 ) {
|
|
pitch_deg -= 360.0;
|
|
}
|
|
|
|
short int heave = (int)(f->get_W_body() * 128.0);
|
|
|
|
// scale roll and pitch to output format (1 - 255)
|
|
// straight && level == (128, 128)
|
|
|
|
short int roll = (int)(roll_deg * 32768 / 180.0);
|
|
short int pitch = (int)(pitch_deg * 32768 / 180.0);
|
|
|
|
unsigned char roll_b1, roll_b2, pitch_b1, pitch_b2, heave_b1, heave_b2;
|
|
roll_b1 = roll >> 8;
|
|
roll_b2 = roll & 0x00ff;
|
|
pitch_b1 = pitch >> 8;
|
|
pitch_b2 = pitch & 0x00ff;
|
|
heave_b1 = heave >> 8;
|
|
heave_b2 = heave & 0x00ff;
|
|
|
|
sprintf( buf, "p%c%c%c%c%c%c\n",
|
|
roll_b1, roll_b2, pitch_b1, pitch_b2, heave_b1, heave_b2 );
|
|
length = 8;
|
|
|
|
// printf( "p [ %u %u ] [ %u %u ] [ %u %u ]\n",
|
|
// roll_b1, roll_b2, pitch_b1, pitch_b2, heave_b1, heave_b2 );
|
|
|
|
FG_LOG( FG_IO, FG_INFO, "roll=" << roll << " pitch=" << pitch <<
|
|
" heave=" << heave );
|
|
|
|
return true;
|
|
}
|
|
|
|
|
|
// parse RUL message
|
|
bool FGPVE::parse_message() {
|
|
FG_LOG( FG_IO, FG_ALERT, "PVE input not supported" );
|
|
|
|
return false;
|
|
}
|
|
|
|
|
|
// process work for this port
|
|
bool FGPVE::process() {
|
|
FGIOChannel *io = get_io_channel();
|
|
|
|
if ( get_direction() == out ) {
|
|
gen_message();
|
|
if ( ! io->write( buf, length ) ) {
|
|
FG_LOG( FG_IO, FG_ALERT, "Error writing data." );
|
|
return false;
|
|
}
|
|
} else if ( get_direction() == in ) {
|
|
FG_LOG( FG_IO, FG_ALERT, "in direction not supported for RUL." );
|
|
return false;
|
|
}
|
|
|
|
return true;
|
|
}
|