Merge branch 'next' of git://gitorious.org/fg/flightgear into next

[flightgear.git] / src / FDM / ExternalPipe / ExternalPipe.cxx

diff --git a/src/FDM/ExternalPipe/ExternalPipe.cxx b/src/FDM/ExternalPipe/ExternalPipe.cxx
index a94525448ac30bec378035050ab5d4a6df25671b..abe6569601a4a98b81d943647a23eeff558c398d 100644 (file)
--- a/src/FDM/ExternalPipe/ExternalPipe.cxx
+++ b/src/FDM/ExternalPipe/ExternalPipe.cxx
@@ -16,7 +16,7 @@
 //
 // You should have received a copy of the GNU General Public License
 // along with this program; if not, write to the Free Software
-// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 //
 // $Id$
 
@@ -31,7 +31,9 @@
 #  include <unistd.h>           // unlink()
 #endif
 
+#include <cstring>
 #include <stdio.h>              // FILE*, fopen(), fread(), fwrite(), et. al.
+#include <iostream>             // for cout, endl
 
 #include <simgear/debug/logstream.hxx>
 #include <simgear/io/lowlevel.hxx> // endian tests
@@ -44,6 +46,8 @@
 
 #include "ExternalPipe.hxx"
 
+using std::cout;
+using std::endl;
 
 static const int MAX_BUF = 32768;
 
@@ -145,13 +149,15 @@ static int write_binary( char cmd_type, FILE *pd, char *cmd, int len ) {
     memcpy( buf + 3, cmd, len );
 
     if ( cmd_type == '1' ) {
-        cout << "writing '";
-        for ( int i = 0; i < len + 3; ++i ) {
+        cout << "writing ";
+        cout << (int)hi << " ";
+        cout << (int)lo << " '";
+        for ( int i = 2; i < len + 3; ++i ) {
             cout << buf[i];
         }
         cout << "' (" << cmd << ")" << endl;
     } else if ( cmd_type == '2' ) {
-        cout << "writing controls packet" << endl;
+        // cout << "writing controls packet" << endl;
     } else {
         cout << "writing unknown command?" << endl;
     }
@@ -230,7 +236,7 @@ void FGExternalPipe::init_binary() {
     double lon = fgGetDouble( "/sim/presets/longitude-deg" );
     double lat = fgGetDouble( "/sim/presets/latitude-deg" );
     double alt = fgGetDouble( "/sim/presets/altitude-ft" );
-    double ground = fgGetDouble( "/environment/ground-elevation-m" );
+    double ground = get_Runway_altitude_m();
     double heading = fgGetDouble("/sim/presets/heading-deg");
     double speed = fgGetDouble( "/sim/presets/airspeed-kt" );
     double weight = fgGetDouble( "/sim/aircraft-weight-lbs" );
@@ -293,7 +299,7 @@ void FGExternalPipe::init_property() {
     double lon = fgGetDouble( "/sim/presets/longitude-deg" );
     double lat = fgGetDouble( "/sim/presets/latitude-deg" );
     double alt = fgGetDouble( "/sim/presets/altitude-ft" );
-    double ground = fgGetDouble( "/environment/ground-elevation-m" );
+    double ground = get_Runway_altitude_m();
     double heading = fgGetDouble("/sim/presets/heading-deg");
     double speed = fgGetDouble( "/sim/presets/airspeed-kt" );
     double weight = fgGetDouble( "/sim/aircraft-weight-lbs" );
@@ -401,64 +407,70 @@ void FGExternalPipe::update_binary( double dt ) {
     // cout << "iterations = " << iterations << endl;
     ptr += sizeof(int);
     memcpy( ptr, (char *)(&ctrls), length );
-    cout << "writing control structure, size = "
-         << length + sizeof(int) << endl;
+    // cout << "writing control structure, size = "
+    //      << length + sizeof(int) << endl;
 
     result = write_binary( '2', pd1, buf, length + sizeof(int) );
     fflush( pd1 );
 
     // Read fdm values
     length = sizeof(fdm);
-    cout << "about to read fdm data from remote fdm." << endl;
+    // cout << "about to read fdm data from remote fdm." << endl;
     result = fread( (char *)(& fdm), length, 1, pd2 );
-    if ( result != length ) {
+    if ( result != 1 ) {
         SG_LOG( SG_IO, SG_ALERT, "Read error from named pipe: "
-                << fifo_name_2 );
+                << fifo_name_2 << " expected 1 item, but got " << result );
     } else {
-        cout << "  read successful." << endl;
+        // cout << "  read successful." << endl;
+        FGNetFDM2Props( &fdm, false );
     }
-    FGNetFDM2Props( &fdm, false );
 #endif
 }
 
 
 // Process remote FDM "set" commands
-static void process_set_command( const string_list &tokens ) {
+
+void FGExternalPipe::process_set_command( const string_list &tokens ) {
     if ( tokens[1] == "geodetic_position" ) {
         double lat_rad = atof( tokens[2].c_str() );
         double lon_rad = atof( tokens[3].c_str() );
         double alt_m   = atof( tokens[4].c_str() );
-        cur_fdm_state->_updateGeodeticPosition( lat_rad, lon_rad,
+        _updateGeodeticPosition( lat_rad, lon_rad,
                                                 alt_m * SG_METER_TO_FEET );
 
-        double agl_m = alt_m - globals->get_scenery()->get_cur_elev();
-        cur_fdm_state->_set_Altitude_AGL( agl_m * SG_METER_TO_FEET );
+        double agl_m = alt_m - get_Runway_altitude_m();
+        _set_Altitude_AGL( agl_m * SG_METER_TO_FEET );
     } else if ( tokens[1] == "euler_angles" ) {
         double phi_rad   = atof( tokens[2].c_str() );
         double theta_rad = atof( tokens[3].c_str() );
         double psi_rad   = atof( tokens[4].c_str() );
-        cur_fdm_state->_set_Euler_Angles( phi_rad, theta_rad, psi_rad );
+        _set_Euler_Angles( phi_rad, theta_rad, psi_rad );
     } else if ( tokens[1] == "euler_rates" ) {
         double phidot   = atof( tokens[2].c_str() );
         double thetadot = atof( tokens[3].c_str() );
         double psidot   = atof( tokens[4].c_str() );
-        cur_fdm_state->_set_Euler_Rates( phidot, thetadot, psidot );
+        _set_Euler_Rates( phidot, thetadot, psidot );
+    } else if ( tokens[1] == "ned" ) {
+       double north_fps = atof( tokens[2].c_str() );
+       double east_fps = atof( tokens[3].c_str() );
+       double down_fps = atof( tokens[4].c_str() );
+       _set_Velocities_Local( north_fps, east_fps, down_fps );
     } else if ( tokens[1] == "alpha" ) {
-        cur_fdm_state->_set_Alpha( atof(tokens[2].c_str()) );
+        _set_Alpha( atof(tokens[2].c_str()) );
     } else if ( tokens[1] == "beta" ) {
-        cur_fdm_state->_set_Beta( atof(tokens[2].c_str()) );
+        _set_Beta( atof(tokens[2].c_str()) );
 
 #if 0
-    cur_fdm_state->_set_V_calibrated_kts( net->vcas );
-    cur_fdm_state->_set_Climb_Rate( net->climb_rate );
-    cur_fdm_state->_set_Velocities_Local( net->v_north,
+    _set_V_calibrated_kts( net->vcas );
+    _set_Climb_Rate( net->climb_rate );
+    _set_Velocities_Local( net->v_north,
                                           net->v_east,
                                           net->v_down );
-    cur_fdm_state->_set_Velocities_Wind_Body( net->v_wind_body_north,
+    _set_Velocities_Wind_Body( net->v_wind_body_north,
                                               net->v_wind_body_east,
                                               net->v_wind_body_down );
 
-    cur_fdm_state->_set_Accels_Pilot_Body( net->A_X_pilot,
+    _set_Accels_Pilot_Body( net->A_X_pilot,
                                            net->A_Y_pilot,
                                            net->A_Z_pilot );
 #endif
@@ -520,6 +532,7 @@ void FGExternalPipe::update_property( double dt ) {
             cout << "Error reading data" << endl;
         } else {
             // cout << "  read " << strlen(cmd) << " bytes" << endl;
+            // cout << cmd << endl;
         }
 
         // chop trailing newline
@@ -538,7 +551,7 @@ void FGExternalPipe::update_property( double dt ) {
                 // node doesn't exist so create with requested type
                 node = fgGetNode( tokens[1].c_str(), true );
                 if ( tokens[2] == "bool" ) {
-                    node->setBoolValue(true);
+                    node->setBoolValue(false);
                 } else if ( tokens[2] == "int" ) {
                     node->setIntValue(0);
                 } else if ( tokens[2] == "double" ) {