// $Id$
-#include <Include/compiler.h>
-
-// #ifdef FG_HAVE_STD_INCLUDES
-// # include <cmath>
-// # include <cstdlib> // atoi()
-// #else
-// # include <math.h>
-// # include <stdlib.h> // atoi()
-// #endif
+#include <simgear/compiler.h>
#include STL_STRING
-#include <Debug/logstream.hxx>
-#include <Aircraft/aircraft.hxx>
-#include <Include/fg_constants.h>
-#include <Serial/serial.hxx>
-#include <Time/fg_time.hxx>
+#include <simgear/debug/logstream.hxx>
+#include <simgear/serial/serial.hxx>
-// #include "options.hxx"
+#include <Aircraft/aircraft.hxx>
#include "fg_serial.hxx"
FG_USING_STD(string);
-FGSerial::FGSerial() {
+FGSerial::FGSerial() :
+ save_len(0)
+{
}
}
-#if 0
-// "RUL" output format (for some sort of motion platform)
-//
-// The Baud rate is 2400 , one start bit, eight data bits, 1 stop bit,
-// no parity.
-//
-// For position it requires a 3-byte data packet defined as follows:
-//
-// First bite: ascII character "P" ( 0x50 or 80 decimal )
-// Second byte X pos. (1-255) 1 being 0* and 255 being 359*
-// Third byte Y pos.( 1-255) 1 being 0* and 255 359*
-//
-// So sending 80 127 127 to the two axis motors will position on 180*
-// The RS- 232 port is a nine pin connector and the only pins used are
-// 3&5.
+// Read data from port. If we don't get enough data, save what we did
+// get in the save buffer and return 0. The save buffer will be
+// prepended to subsequent reads until we get as much as is requested.
-static void send_rul_out( fgIOCHANNEL *p ) {
- char rul[256];
+int FGSerial::read( char *buf, int length ) {
+ int result;
- FGInterface *f;
- FGTime *t;
+ // read a chunk, keep in the save buffer until we have the
+ // requested amount read
- f = current_aircraft.fdm_state;
- t = FGTime::cur_time_params;
-
- // run as often as possibleonce per second
-
- // this runs once per second
- // if ( p->last_time == t->get_cur_time() ) {
- // return;
- // }
- // p->last_time = t->get_cur_time();
- // if ( t->get_cur_time() % 2 != 0 ) {
- // return;
- // }
+ char *buf_ptr = save_buf + save_len;
+ result = port.read_port( buf_ptr, length - save_len );
- // get roll and pitch, convert to degrees
- double roll_deg = f->get_Phi() * RAD_TO_DEG;
- while ( roll_deg < -180.0 ) {
- roll_deg += 360.0;
- }
- while ( roll_deg > 180.0 ) {
- roll_deg -= 360.0;
- }
+ if ( result + save_len == length ) {
+ strncpy( buf, save_buf, length );
+ save_len = 0;
- double pitch_deg = f->get_Theta() * RAD_TO_DEG;
- while ( pitch_deg < -180.0 ) {
- pitch_deg += 360.0;
- }
- while ( pitch_deg > 180.0 ) {
- pitch_deg -= 360.0;
+ return length;
}
-
- // scale roll and pitch to output format (1 - 255)
- // straight && level == (128, 128)
-
- int roll = (int)( (roll_deg+180.0) * 255.0 / 360.0) + 1;
- int pitch = (int)( (pitch_deg+180.0) * 255.0 / 360.0) + 1;
-
- sprintf( rul, "p%c%c\n", roll, pitch);
-
- FG_LOG( FG_IO, FG_INFO, "p " << roll << " " << pitch );
-
- string rul_sentence = rul;
- p->port.write_port(rul_sentence);
+
+ return 0;
}
-// "PVE" (ProVision Entertainment) output format (for some sort of
-// motion platform)
-//
-// Outputs a 5-byte data packet defined as follows:
-//
-// First bite: ASCII character "P" ( 0x50 or 80 decimal )
-// Second byte: "roll" value (1-255) 1 being 0* and 255 being 359*
-// Third byte: "pitch" value (1-255) 1 being 0* and 255 being 359*
-// Fourth byte: "heave" value (or vertical acceleration?)
-//
-// So sending 80 127 127 to the two axis motors will position on 180*
-// The RS- 232 port is a nine pin connector and the only pins used are
-// 3&5.
-
-static void send_pve_out( fgIOCHANNEL *p ) {
- char pve[256];
-
- FGInterface *f;
- FGTime *t;
-
-
- f = current_aircraft.fdm_state;
- t = FGTime::cur_time_params;
-
- // run as often as possibleonce per second
-
- // this runs once per second
- // if ( p->last_time == t->get_cur_time() ) {
- // return;
- // }
- // p->last_time = t->get_cur_time();
- // if ( t->get_cur_time() % 2 != 0 ) {
- // return;
- // }
-
- // get roll and pitch, convert to degrees
- double roll_deg = f->get_Phi() * RAD_TO_DEG;
- while ( roll_deg <= -180.0 ) {
- roll_deg += 360.0;
- }
- while ( roll_deg > 180.0 ) {
- roll_deg -= 360.0;
- }
-
- double pitch_deg = f->get_Theta() * RAD_TO_DEG;
- while ( pitch_deg <= -180.0 ) {
- pitch_deg += 360.0;
- }
- while ( pitch_deg > 180.0 ) {
- pitch_deg -= 360.0;
+// read data from port
+int FGSerial::readline( char *buf, int length ) {
+ int result;
+
+ // read a chunk, keep in the save buffer until we have the
+ // requested amount read
+
+ char *buf_ptr = save_buf + save_len;
+ result = port.read_port( buf_ptr, FG_MAX_MSG_SIZE - save_len );
+ save_len += result;
+
+ // look for the end of line in save_buf
+ int i;
+ for ( i = 0; i < save_len && save_buf[i] != '\n'; ++i );
+ if ( save_buf[i] == '\n' ) {
+ result = i + 1;
+ } else {
+ // no end of line yet
+ return 0;
}
- short int heave = (int)(f->get_W_body() * 128.0);
-
- // scale roll and pitch to output format (1 - 255)
- // straight && level == (128, 128)
-
- short int roll = (int)(roll_deg * 32768 / 180.0);
- short int pitch = (int)(pitch_deg * 32768 / 180.0);
+ // we found an end of line
- unsigned char roll_b1, roll_b2, pitch_b1, pitch_b2, heave_b1, heave_b2;
- roll_b1 = roll >> 8;
- roll_b2 = roll & 0x00ff;
- pitch_b1 = pitch >> 8;
- pitch_b2 = pitch & 0x00ff;
- heave_b1 = heave >> 8;
- heave_b2 = heave & 0x00ff;
+ // copy to external buffer
+ strncpy( buf, save_buf, result );
+ buf[result] = '\0';
+ FG_LOG( FG_IO, FG_INFO, "fg_serial line = " << buf );
- sprintf( pve, "p%c%c%c%c%c%c\n",
- roll_b1, roll_b2, pitch_b1, pitch_b2, heave_b1, heave_b2 );
-
- // printf( "p [ %u %u ] [ %u %u ] [ %u %u ]\n",
- // roll_b1, roll_b2, pitch_b1, pitch_b2, heave_b1, heave_b2 );
-
- FG_LOG( FG_IO, FG_INFO, "roll=" << roll << " pitch=" << pitch <<
- " heave=" << heave );
+ // shift save buffer
+ for ( i = result; i < save_len; ++i ) {
+ save_buf[ i - result ] = save_buf[i];
+ }
+ save_len -= result;
- string pve_sentence = pve;
- p->port.write_port(pve_sentence);
+ return result;
}
-#endif
-
-
-// read data from port
-bool FGSerial::read( char *buf, int *length ) {
- // read a chunk
- *length = port.read_port( buf );
-
- // just in case ...
- buf[ *length ] = '\0';
-
- return true;
-}
// write data to port
-bool FGSerial::write( char *buf, int length ) {
+int FGSerial::write( char *buf, int length ) {
int result = port.write_port( buf, length );
if ( result != length ) {
FG_LOG( FG_IO, FG_ALERT, "Error writing data: " << device );
- return false;
}
- return true;
+ return result;
+}
+
+
+// write null terminated string to port
+int FGSerial::writestring( char *str ) {
+ int length = strlen( str );
+ return write( str, length );
}
projects / flightgear.git / blobdiff