1 // pve.cxx -- "PVE" protocal class (for Provision Entertainment)
3 // Written by Curtis Olson, started November 1999.
5 // Copyright (C) 1999 Curtis L. Olson - http://www.flightgear.org/~curt
7 // This program is free software; you can redistribute it and/or
8 // modify it under the terms of the GNU General Public License as
9 // published by the Free Software Foundation; either version 2 of the
10 // License, or (at your option) any later version.
12 // This program is distributed in the hope that it will be useful, but
13 // WITHOUT ANY WARRANTY; without even the implied warranty of
14 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
15 // General Public License for more details.
17 // You should have received a copy of the GNU General Public License
18 // along with this program; if not, write to the Free Software
19 // Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
27 #include <stdio.h> // sprintf()
29 #include <simgear/constants.h>
30 #include <simgear/debug/logstream.hxx>
31 #include <simgear/io/iochannel.hxx>
33 #include <FDM/flight.hxx>
46 // "PVE" (ProVision Entertainment) output format (for some sort of
49 // Outputs a 5-byte data packet defined as follows:
51 // First bite: ASCII character "P" ( 0x50 or 80 decimal )
52 // Second byte: "roll" value (1-255) 1 being 0* and 255 being 359*
53 // Third byte: "pitch" value (1-255) 1 being 0* and 255 being 359*
54 // Fourth byte: "heave" value (or vertical acceleration?)
56 bool FGPVE::gen_message() {
57 // cout << "generating pve message" << endl;
58 FGInterface *f = cur_fdm_state;
60 // get roll and pitch, convert to degrees
61 double roll_deg = f->get_Phi() * SGD_RADIANS_TO_DEGREES;
62 while ( roll_deg <= -180.0 ) {
65 while ( roll_deg > 180.0 ) {
69 double pitch_deg = f->get_Theta() * SGD_RADIANS_TO_DEGREES;
70 while ( pitch_deg <= -180.0 ) {
73 while ( pitch_deg > 180.0 ) {
77 short int heave = (int)(f->get_W_body() * 128.0);
79 // scale roll and pitch to output format (1 - 255)
80 // straight && level == (128, 128)
82 short int roll = (int)(roll_deg * 32768 / 180.0);
83 short int pitch = (int)(pitch_deg * 32768 / 180.0);
85 unsigned char roll_b1, roll_b2, pitch_b1, pitch_b2, heave_b1, heave_b2;
87 roll_b2 = roll & 0x00ff;
88 pitch_b1 = pitch >> 8;
89 pitch_b2 = pitch & 0x00ff;
90 heave_b1 = heave >> 8;
91 heave_b2 = heave & 0x00ff;
93 sprintf( buf, "p%c%c%c%c%c%c\n",
94 roll_b1, roll_b2, pitch_b1, pitch_b2, heave_b1, heave_b2 );
97 // printf( "p [ %u %u ] [ %u %u ] [ %u %u ]\n",
98 // roll_b1, roll_b2, pitch_b1, pitch_b2, heave_b1, heave_b2 );
100 SG_LOG( SG_IO, SG_INFO, "roll=" << roll << " pitch=" << pitch <<
101 " heave=" << heave );
108 bool FGPVE::parse_message() {
109 SG_LOG( SG_IO, SG_ALERT, "PVE input not supported" );
115 // process work for this port
116 bool FGPVE::process() {
117 SGIOChannel *io = get_io_channel();
119 if ( get_direction() == SG_IO_OUT ) {
121 if ( ! io->write( buf, length ) ) {
122 SG_LOG( SG_IO, SG_ALERT, "Error writing data." );
125 } else if ( get_direction() == SG_IO_IN ) {
126 SG_LOG( SG_IO, SG_ALERT, "in direction not supported for RUL." );