1 // rul.cxx -- "RUL" protocal class (for some sort of motion platform
2 // some guy was building)
4 // Written by Curtis Olson, started November 1999.
6 // Copyright (C) 1999 Curtis L. Olson - curt@flightgear.org
8 // This program is free software; you can redistribute it and/or
9 // modify it under the terms of the GNU General Public License as
10 // published by the Free Software Foundation; either version 2 of the
11 // License, or (at your option) any later version.
13 // This program is distributed in the hope that it will be useful, but
14 // WITHOUT ANY WARRANTY; without even the implied warranty of
15 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
16 // General Public License for more details.
18 // You should have received a copy of the GNU General Public License
19 // along with this program; if not, write to the Free Software
20 // Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
25 #include <Debug/logstream.hxx>
26 #include <FDM/flight.hxx>
27 #include <Math/fg_geodesy.hxx>
28 #include <Time/fg_time.hxx>
30 #include "iochannel.hxx"
42 // "RUL" output format (for some sort of motion platform)
44 // The Baud rate is 2400 , one start bit, eight data bits, 1 stop bit,
47 // For position it requires a 3-byte data packet defined as follows:
49 // First bite: ascII character "P" ( 0x50 or 80 decimal )
50 // Second byte X pos. (1-255) 1 being 0* and 255 being 359*
51 // Third byte Y pos.( 1-255) 1 being 0* and 255 359*
53 // So sending 80 127 127 to the two axis motors will position on 180*
54 // The RS- 232 port is a nine pin connector and the only pins used are
57 bool FGRUL::gen_message() {
58 // cout << "generating rul message" << endl;
59 FGInterface *f = cur_fdm_state;
61 // get roll and pitch, convert to degrees
62 double roll_deg = f->get_Phi() * RAD_TO_DEG;
63 while ( roll_deg < -180.0 ) {
66 while ( roll_deg > 180.0 ) {
70 double pitch_deg = f->get_Theta() * RAD_TO_DEG;
71 while ( pitch_deg < -180.0 ) {
74 while ( pitch_deg > 180.0 ) {
78 // scale roll and pitch to output format (1 - 255)
79 // straight && level == (128, 128)
81 int roll = (int)( (roll_deg+180.0) * 255.0 / 360.0) + 1;
82 int pitch = (int)( (pitch_deg+180.0) * 255.0 / 360.0) + 1;
84 sprintf( buf, "p%c%c\n", roll, pitch);
87 FG_LOG( FG_IO, FG_INFO, "p " << roll << " " << pitch );
94 bool FGRUL::parse_message() {
95 FG_LOG( FG_IO, FG_ALERT, "RUL input not supported" );
101 // process work for this port
102 bool FGRUL::process() {
103 FGIOChannel *io = get_io_channel();
105 if ( get_direction() == out ) {
107 if ( ! io->write( buf, length ) ) {
108 FG_LOG( FG_IO, FG_ALERT, "Error writing data." );
111 } else if ( get_direction() == in ) {
112 FG_LOG( FG_IO, FG_ALERT, "in direction not supported for RUL." );