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 <simgear/debug/logstream.hxx>
26 #include <simgear/math/fg_geodesy.hxx>
27 #include <simgear/timing/fg_time.hxx>
29 #include <FDM/flight.hxx>
31 #include "iochannel.hxx"
43 // "RUL" output format (for some sort of motion platform)
45 // The Baud rate is 2400 , one start bit, eight data bits, 1 stop bit,
48 // For position it requires a 3-byte data packet defined as follows:
50 // First bite: ascII character "P" ( 0x50 or 80 decimal )
51 // Second byte X pos. (1-255) 1 being 0* and 255 being 359*
52 // Third byte Y pos.( 1-255) 1 being 0* and 255 359*
54 // So sending 80 127 127 to the two axis motors will position on 180*
55 // The RS- 232 port is a nine pin connector and the only pins used are
58 bool FGRUL::gen_message() {
59 // cout << "generating rul message" << endl;
60 FGInterface *f = cur_fdm_state;
62 // get roll and pitch, convert to degrees
63 double roll_deg = f->get_Phi() * RAD_TO_DEG;
64 while ( roll_deg < -180.0 ) {
67 while ( roll_deg > 180.0 ) {
71 double pitch_deg = f->get_Theta() * RAD_TO_DEG;
72 while ( pitch_deg < -180.0 ) {
75 while ( pitch_deg > 180.0 ) {
79 // scale roll and pitch to output format (1 - 255)
80 // straight && level == (128, 128)
82 int roll = (int)( (roll_deg+180.0) * 255.0 / 360.0) + 1;
83 int pitch = (int)( (pitch_deg+180.0) * 255.0 / 360.0) + 1;
85 sprintf( buf, "p%c%c\n", roll, pitch);
88 FG_LOG( FG_IO, FG_INFO, "p " << roll << " " << pitch );
95 bool FGRUL::parse_message() {
96 FG_LOG( FG_IO, FG_ALERT, "RUL input not supported" );
102 // process work for this port
103 bool FGRUL::process() {
104 FGIOChannel *io = get_io_channel();
106 if ( get_direction() == out ) {
108 if ( ! io->write( buf, length ) ) {
109 FG_LOG( FG_IO, FG_ALERT, "Error writing data." );
112 } else if ( get_direction() == in ) {
113 FG_LOG( FG_IO, FG_ALERT, "in direction not supported for RUL." );