138 lines
3.8 KiB
C++
138 lines
3.8 KiB
C++
// native_fdm.cxx -- FGFS "Native" flight dynamics protocal class
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//
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// Written by Curtis Olson, started September 2001.
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//
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// Copyright (C) 2001 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 <simgear/debug/logstream.hxx>
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#include <simgear/io/iochannel.hxx>
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#include <FDM/flight.hxx>
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#include "native_fdm.hxx"
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FGNativeFDM::FGNativeFDM() {
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}
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FGNativeFDM::~FGNativeFDM() {
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}
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// open hailing frequencies
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bool FGNativeFDM::open() {
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if ( is_enabled() ) {
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SG_LOG( SG_IO, SG_ALERT, "This shouldn't happen, but the channel "
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<< "is already in use, ignoring" );
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return false;
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}
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SGIOChannel *io = get_io_channel();
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if ( ! io->open( get_direction() ) ) {
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SG_LOG( SG_IO, SG_ALERT, "Error opening channel communication layer." );
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return false;
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}
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set_enabled( true );
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cur_fdm_state->_set_Sea_level_radius( SG_EQUATORIAL_RADIUS_FT );
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return true;
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}
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static void global2raw( const FGInterface *global, FGRawFDM *raw ) {
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raw->version = FG_RAW_FDM_VERSION;
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// positions
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raw->longitude = cur_fdm_state->get_Longitude();
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raw->latitude = cur_fdm_state->get_Latitude();
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raw->altitude = cur_fdm_state->get_Altitude();
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raw->phi = cur_fdm_state->get_Phi();
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raw->theta = cur_fdm_state->get_Theta();
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raw->psi = cur_fdm_state->get_Psi();
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// velocities
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raw->vcas = cur_fdm_state->get_V_calibrated_kts();
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raw->climb_rate = cur_fdm_state->get_Climb_Rate();
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}
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static void raw2global( const FGRawFDM *raw, FGInterface *global ) {
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if ( raw->version == FG_RAW_FDM_VERSION ) {
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// cout << "pos = " << raw->longitude << " " << raw->latitude << endl;
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// cout << "sea level rad = " << cur_fdm_state->get_Sea_level_radius() << endl;
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cur_fdm_state->_updatePosition( raw->latitude, raw->longitude,
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raw->altitude * SG_METER_TO_FEET );
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cur_fdm_state->_set_Euler_Angles( raw->phi,
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raw->theta,
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raw->psi );
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cur_fdm_state->_set_V_calibrated_kts( raw->vcas );
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cur_fdm_state->_set_Climb_Rate( raw->climb_rate );
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} else {
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SG_LOG( SG_IO, SG_ALERT, "Error: version mismatch in raw2global()" );
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SG_LOG( SG_IO, SG_ALERT,
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"\tsomeone needs to upgrade raw_fdm.hxx and recompile." );
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}
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}
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// process work for this port
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bool FGNativeFDM::process() {
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SGIOChannel *io = get_io_channel();
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int length = sizeof(buf);
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if ( get_direction() == SG_IO_OUT ) {
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// cout << "size of cur_fdm_state = " << length << endl;
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global2raw( cur_fdm_state, &buf );
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if ( ! io->write( (char *)(& buf), length ) ) {
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SG_LOG( SG_IO, SG_ALERT, "Error writing data." );
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return false;
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}
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} else if ( get_direction() == SG_IO_IN ) {
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if ( io->get_type() == sgFileType ) {
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if ( io->read( (char *)(& buf), length ) == length ) {
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SG_LOG( SG_IO, SG_DEBUG, "Success reading data." );
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raw2global( &buf, cur_fdm_state );
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}
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} else {
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while ( io->read( (char *)(& buf), length ) == length ) {
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SG_LOG( SG_IO, SG_DEBUG, "Success reading data." );
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raw2global( &buf, cur_fdm_state );
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}
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}
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}
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return true;
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}
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// close the channel
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bool FGNativeFDM::close() {
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SGIOChannel *io = get_io_channel();
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set_enabled( false );
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if ( ! io->close() ) {
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return false;
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}
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return true;
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}
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