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 // generate Garmin message
43 bool FGRUL::gen_message() {
44 // cout << "generating rul message" << endl;
45 FGInterface *f = cur_fdm_state;
47 // get roll and pitch, convert to degrees
48 double roll_deg = f->get_Phi() * RAD_TO_DEG;
49 while ( roll_deg < -180.0 ) {
52 while ( roll_deg > 180.0 ) {
56 double pitch_deg = f->get_Theta() * RAD_TO_DEG;
57 while ( pitch_deg < -180.0 ) {
60 while ( pitch_deg > 180.0 ) {
64 // scale roll and pitch to output format (1 - 255)
65 // straight && level == (128, 128)
67 int roll = (int)( (roll_deg+180.0) * 255.0 / 360.0) + 1;
68 int pitch = (int)( (pitch_deg+180.0) * 255.0 / 360.0) + 1;
70 sprintf( buf, "p%c%c\n", roll, pitch);
73 FG_LOG( FG_IO, FG_INFO, "p " << roll << " " << pitch );
80 bool FGRUL::parse_message() {
81 FG_LOG( FG_IO, FG_ALERT, "RUL input not supported" );
87 // process work for this port
88 bool FGRUL::process() {
89 FGIOChannel *io = get_io_channel();
91 if ( get_direction() == out ) {
93 if ( ! io->write( buf, length ) ) {
94 FG_LOG( FG_IO, FG_ALERT, "Error writing data." );
97 } else if ( get_direction() == in ) {
98 FG_LOG( FG_IO, FG_ALERT, "in direction not supported for RUL." );