// Modified 01/23/02 - Converted portions of the Engine and Gear accesssors to properties
// - Removed data from navigation functions. OpenGC provides own nav functions
//
+// Modified 03/05/03 - Modified to reduce need to search property tree for each node per frame
+//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
// published by the Free Software Foundation; either version 2 of the
//
// 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.
//
+#ifdef HAVE_CONFIG_H
+# include <config.h>
+#endif
+
#include <simgear/debug/logstream.hxx>
#include <simgear/io/iochannel.hxx>
#include "opengc.hxx"
#include <FDM/flight.hxx>
#include <Main/globals.hxx>
-#include <Cockpit/radiostack.hxx>
-#include <Controls/controls.hxx>
#include <Main/fg_props.hxx>
-SG_USING_STD(vector);
-
-FGOpenGC::FGOpenGC() {
+using std::vector;
+
+FGOpenGC::FGOpenGC() :
+ press_node(fgGetNode("/environment/pressure-inhg[0]", true)),
+ temp_node(fgGetNode("/environment/temperature-degc[0]", true)),
+ wind_dir_node(fgGetNode("/environment/wind-from-heading-deg[0]", true)),
+ wind_speed_node(fgGetNode("/environment/wind-speed-kt[0]", true)),
+ magvar_node(fgGetNode("/environment/magnetic-variation-deg[0]", true)),
+ p_latitude(fgGetNode("/position/latitude-deg", true)),
+ p_longitude(fgGetNode("/position/longitude-deg", true)),
+ p_elev_node(fgGetNode("/position/altitude-ft", true)),
+ p_altitude_agl(fgGetNode("/position/altitude-agl-ft", true)),
+ p_pitch(fgGetNode("/orientation/pitch-deg[0]", true)),
+ p_bank(fgGetNode("/orientation/roll-deg[0]", true)),
+ p_heading(fgGetNode("/orientation/heading-magnetic-deg[0]", true)),
+ p_yaw(fgGetNode("/fdm/jsbsim/aero/beta-rad[0]", true)),
+ p_yaw_rate(fgGetNode("/fdm/jsbsim/aero/betadot-rad_sec[0]", true)),
+ vel_kcas(fgGetNode("/velocities/airspeed-kt[0]", true)),
+ p_vvi(fgGetNode("/velocities/vertical-speed-fps[0]", true )),
+ p_mach(fgGetNode("/velocities/mach[0]", true )),
+ p_left_aileron(fgGetNode("surface-positions/left-aileron-pos-norm", true)),
+ p_right_aileron(fgGetNode("surface-positions/right-aileron-pos-norm", true)),
+ p_elevator(fgGetNode("surface-positions/elevator-pos-norm", true)),
+ p_elevator_trim(fgGetNode("surface-positions/elevator_trim-pos-norm", true)),
+ p_rudder(fgGetNode("surface-positions/rudder-pos-norm", true)),
+ p_flaps(fgGetNode("surface-positions/flap-pos-norm", true)),
+ p_flaps_cmd(fgGetNode("/controls/flight/flaps", true)),
+ p_park_brake(fgGetNode("/controls/gear/brake-parking", true)),
+ egt0_node(fgGetNode("/engines/engine/EGT_degC[0]", true)),
+ egt1_node(fgGetNode("/engines/engine[1]/EGT_degC[0]", true)),
+ egt2_node(fgGetNode("/engines/engine[2]/EGT_degC[0]", true)),
+ egt3_node(fgGetNode("/engines/engine[3]/EGT_degC[0]", true)),
+ epr0_node(fgGetNode("/engines/engine/EPR[0]", true)),
+ epr1_node(fgGetNode("/engines/engine[1]/EPR[0]", true)),
+ epr2_node(fgGetNode("/engines/engine[2]/EPR[0]", true)),
+ epr3_node(fgGetNode("/engines/engine[3]/EPR[0]", true)),
+ n10_node(fgGetNode("/engines/engine/N1[0]", true)),
+ n11_node(fgGetNode("/engines/engine[1]/N1[0]", true)),
+ n12_node(fgGetNode("/engines/engine[2]/N1[0]", true)),
+ n13_node(fgGetNode("/engines/engine[3]/N1[0]", true)),
+ n20_node(fgGetNode("/engines/engine/N2[0]", true)),
+ n21_node(fgGetNode("/engines/engine[1]/N2[0]", true)),
+ n22_node(fgGetNode("/engines/engine[2]/N2[0]", true)),
+ n23_node(fgGetNode("/engines/engine[3]/N2[0]", true)),
+ oil_temp0(fgGetNode("engines/engine/oil-temp-degF[0]", true)),
+ oil_temp1(fgGetNode("engines/engine[1]/oil-temp-degF[0]", true)),
+ oil_temp2(fgGetNode("engines/engine[2]/oil-temp-degF[0]", true)),
+ oil_temp3(fgGetNode("engines/engine[3]/oil-temp-degF[0]", true)),
+ tank0_node(fgGetNode("/consumables/fuel/tank/level-lb[0]", true)),
+ tank1_node(fgGetNode("/consumables/fuel/tank[1]/level-lb[0]", true)),
+ tank2_node(fgGetNode("/consumables/fuel/tank[2]/level-lb[0]", true)),
+ tank3_node(fgGetNode("/consumables/fuel/tank[3]/level-lb[0]", true)),
+ tank4_node(fgGetNode("/consumables/fuel/tank[4]/level-lb[0]", true)),
+ tank5_node(fgGetNode("/consumables/fuel/tank[5]/level-lb[0]", true)),
+ tank6_node(fgGetNode("/consumables/fuel/tank[6]/level-lb[0]", true)),
+ tank7_node(fgGetNode("/consumables/fuel/tank[7]/level-lb[0]", true)),
+ p_alphadot(fgGetNode("/fdm/jsbsim/aero/alphadot-rad_sec[0]", true)),
+ p_betadot(fgGetNode("/fdm/jsbsim/aero/betadot-rad_sec[0]", true))
+{
}
FGOpenGC::~FGOpenGC() {
return true;
}
-
-static void collect_data( const FGInterface *fdm, ogcFGData *data ) {
-
- data->version_id = 0x0012;
-
- data->longitude = cur_fdm_state->get_Longitude_deg();
- data->latitude = cur_fdm_state->get_Latitude_deg();
- data->magvar = globals->get_mag()->get_magvar();
+//static void collect_data( const FGInterface *fdm, ogcFGData *data ) {
+void FGOpenGC::collect_data( const FGInterface *fdm, ogcFGData *data ) {
+
+ data->version_id = OGC_VERSION;
+
+ data->longitude = p_longitude->getDoubleValue();
+ data->latitude = p_latitude->getDoubleValue();
+ data->elevation = p_elev_node->getDoubleValue();
+ data->magvar = magvar_node->getDoubleValue();
+
+ data->pitch = p_pitch->getDoubleValue();
+ data->bank = p_bank->getDoubleValue();
+ data->heading = p_heading->getDoubleValue();
+ //data->altitude = p_altitude->getDoubleValue();
+ data->altitude_agl = p_altitude_agl->getDoubleValue();
- data->pitch = cur_fdm_state->get_Theta_deg();
- data->bank = cur_fdm_state->get_Phi_deg();
- data->heading = cur_fdm_state->get_Psi_deg();
- data->altitude = cur_fdm_state->get_Altitude();
- data->altitude_agl = cur_fdm_state->get_Altitude_AGL();
- data->v_kcas = cur_fdm_state->get_V_calibrated_kts();
- data->vvi = cur_fdm_state->get_Climb_Rate();
- data->mach = cur_fdm_state->get_Mach_number();
+ data->vvi = p_vvi->getDoubleValue();
+ data->mach = p_mach->getDoubleValue();
data->groundspeed = cur_fdm_state->get_V_ground_speed();
- data->v_tas = cur_fdm_state->get_V_equiv_kts();
+ data->v_keas = cur_fdm_state->get_V_equiv_kts();
+ data->v_kcas = vel_kcas->getDoubleValue();
+
data->phi_dot = cur_fdm_state->get_Phi_dot();
data->theta_dot = cur_fdm_state->get_Theta_dot();
data->psi_dot = cur_fdm_state->get_Psi_dot();
data->alpha = cur_fdm_state->get_Alpha();
- data->beta = cur_fdm_state->get_Beta();
- data->alpha_dot = cur_fdm_state->get_Alpha_dot();
- data->beta_dot = cur_fdm_state->get_Beta_dot();
-
-
- data->aileron = globals->get_controls()->get_aileron();
- //data->aileron_trim = p_Controls->get_aileron_trim();
- data->elevator = globals->get_controls()->get_elevator();
- data->elevator_trim = globals->get_controls()->get_elevator_trim();
- data->rudder = globals->get_controls()->get_rudder();
- //data->rudder_trim = p_Controls->get_rudder_trim();
- //data->flaps = fgGetDouble("/controls/flaps");
- data->flaps = globals->get_controls()->get_flaps();
-
- //data->gear_nose = p_gear[0]->GetPosition();
- //data->gear_left = p_gear[1]->GetPosition();
- //data->gear_right = p_gear[2]->GetPosition();
-
- data->rpm[0] = fgGetDouble("/engines/engine[0]/rpm");
- data->rpm[1] = fgGetDouble("/engines/engine[1]/rpm");
-
- data->epr[0] = fgGetDouble("/engines/engine[0]/epr");
- data->epr[1] = fgGetDouble("/engines/engine[1]/epr");
- data->epr[2] = fgGetDouble("/engines/engine[2]/epr");
- data->epr[3] = fgGetDouble("/engines/engine[3]/epr");
-
- data->egt[0] = fgGetDouble("/engines/engine[0]/egt-degf");
- data->egt[1] = fgGetDouble("/engines/engine[1]/egt-degf");
- data->egt[2] = fgGetDouble("/engines/engine[2]/egt-degf");
- data->egt[3] = fgGetDouble("/engines/engine[3]/egt-degf");
-
- data->n2_turbine[0] = fgGetDouble("/engines/engine[0]/n2");
- data->n2_turbine[1] = fgGetDouble("/engines/engine[1]/n2");
- data->n2_turbine[2] = fgGetDouble("/engines/engine[2]/n2");
- data->n2_turbine[3] = fgGetDouble("/engines/engine[3]/n2");
-
- data->n1_turbine[0] = fgGetDouble("/engines/engine[0]/n1");
- data->n1_turbine[1] = fgGetDouble("/engines/engine[1]/n1");
- data->n1_turbine[2] = fgGetDouble("/engines/engine[2]/n1");
- data->n1_turbine[3] = fgGetDouble("/engines/engine[3]/n1");
-
+ data->beta = p_yaw->getDoubleValue();
+ data->alpha_dot = p_alphadot->getDoubleValue();
+ data->beta_dot = p_yaw_rate->getDoubleValue();
+
+ //data->rudder_trim = p_Controls->get_rudder_trim();
+ data->parking_brake = p_park_brake->getDoubleValue();
+
+ data->left_aileron = p_left_aileron->getDoubleValue();
+ data->right_aileron = p_right_aileron->getDoubleValue();
+ data->elevator = p_elevator->getDoubleValue();
+ data->elevator_trim = p_elevator_trim->getDoubleValue();
+ data->rudder = p_rudder->getDoubleValue();
+ data->flaps = p_flaps->getDoubleValue();
+ data->flaps_cmd = p_flaps_cmd->getDoubleValue();
+
+ data->gear_nose = fgGetDouble("gear/gear[0]/position-norm[0]");
+ data->gear_left = fgGetDouble("gear/gear[1]/position-norm[0]");
+ data->gear_right = fgGetDouble("gear/gear[2]/position-norm[0]");
+ data->gear_left_rear = fgGetDouble("gear/gear[3]/position-norm[0]");
+ data->gear_right_rear = fgGetDouble("gear/gear[4]/position-norm[0]");
+ data->parking_brake = p_park_brake->getDoubleValue();
+ data->wow_main = fgGetBool("gear/gear[1]/wow[0]") && fgGetBool("gear/gear[2]/wow[0]");
+ data->wow_nose = fgGetBool("gear/gear[0]/wow[0]");
+ //cout << "Nose " << data->wow_nose << " Main " << wow_main << endl;
+
+ //data->rpm[0] = fgGetDouble("/engines/engine[0]/rpm");
+ //data->rpm[1] = fgGetDouble("/engines/engine[1]/rpm");
+
+ data->epr[0] = epr0_node->getDoubleValue();
+ data->epr[1] = epr1_node->getDoubleValue();
+ data->epr[2] = epr2_node->getDoubleValue();
+ data->epr[3] = epr3_node->getDoubleValue();
+
+ data->egt[0] = egt0_node->getDoubleValue();
+ data->egt[1] = egt1_node->getDoubleValue();
+ data->egt[2] = egt2_node->getDoubleValue();
+ data->egt[3] = egt3_node->getDoubleValue();
+
+ data->n2_turbine[0] = n20_node->getDoubleValue();
+ data->n2_turbine[1] = n21_node->getDoubleValue();
+ data->n2_turbine[2] = n22_node->getDoubleValue();
+ data->n2_turbine[3] = n23_node->getDoubleValue();
+
+ data->n1_turbine[0] = n10_node->getDoubleValue();
+ data->n1_turbine[1] = n11_node->getDoubleValue();
+ data->n1_turbine[2] = n12_node->getDoubleValue();
+ data->n1_turbine[3] = n13_node->getDoubleValue();
+
+// This is really lbs/hr (pph), converted in FGSimTurbine
data->fuel_flow[0] = fgGetDouble("/engines/engine[0]/fuel-flow-gph");
data->fuel_flow[1] = fgGetDouble("/engines/engine[1]/fuel-flow-gph");
- data->fuel_flow[1] = fgGetDouble("/engines/engine[1]/fuel-flow-gph");
data->fuel_flow[2] = fgGetDouble("/engines/engine[2]/fuel-flow-gph");
+ data->fuel_flow[3] = fgGetDouble("/engines/engine[3]/fuel-flow-gph");
data->oil_pressure[0] = fgGetDouble("/engines/engine[0]/oil-pressure-psi");
data->oil_pressure[1] = fgGetDouble("/engines/engine[1]/oil-pressure-psi");
data->oil_pressure[2] = fgGetDouble("/engines/engine[2]/oil-pressure-psi");
data->oil_pressure[3] = fgGetDouble("/engines/engine[3]/oil-pressure-psi");
-
- data->man_pressure[0] = fgGetDouble("/engines/engine[0]/mp-osi");
- data->man_pressure[1] = fgGetDouble("/engines/engine[1]/mp-osi");
-
- data->static_temperature = cur_fdm_state->get_Static_temperature();
+
+ //data->oil_temp[0] = fgGetDouble("/engines/engine[0]/oil-temperature-degf");
+ //data->oil_temp[1] = fgGetDouble("/engines/engine[1]/oil-temperature-degf");
+ //data->oil_temp[2] = fgGetDouble("/engines/engine[2]/oil-temperature-degf");
+ //data->oil_temp[3] = fgGetDouble("/engines/engine[3]/oil-temperature-degf");
+
+ data->oil_temp[0] = oil_temp0->getDoubleValue();
+ data->oil_temp[1] = oil_temp1->getDoubleValue();
+ data->oil_temp[2] = oil_temp2->getDoubleValue();
+ data->oil_temp[3] = oil_temp3->getDoubleValue();
+
+ data->hyd_pressure[0] = fgGetDouble("/engines/engine[0]/hyd-pressure-psi");
+ data->hyd_pressure[1] = fgGetDouble("/engines/engine[1]/hyd-pressure-psi");
+ data->hyd_pressure[2] = fgGetDouble("/engines/engine[2]/hyd-pressure-psi");
+ data->hyd_pressure[3] = fgGetDouble("/engines/engine[3]/hyd-pressure-psi");
+ // just a temp thing until htdraulic model built
+// data->hyd_pressure[0] = 2750.0;
+// data->hyd_pressure[1] = 2755.0;
+// data->hyd_pressure[2] = 2747.0;
+// data->hyd_pressure[3] = 2851.0;
+
+
+ //data->man_pressure[0] = fgGetDouble("/engines/engine[0]/mp-osi");
+ //data->man_pressure[1] = fgGetDouble("/engines/engine[1]/mp-osi");
+
+ data->fuel_tank[0] = tank0_node->getDoubleValue() * 0.001;
+ data->fuel_tank[1] = tank1_node->getDoubleValue() * 0.001;
+ data->fuel_tank[2] = tank2_node->getDoubleValue() * 0.001;
+ data->fuel_tank[3] = tank3_node->getDoubleValue() * 0.001;
+ data->fuel_tank[4] = tank4_node->getDoubleValue() * 0.001;
+ data->fuel_tank[5] = tank5_node->getDoubleValue() * 0.001; // 747 stab tank
+ data->fuel_tank[6] = tank6_node->getDoubleValue() * 0.001; // 747 res2 tank
+ data->fuel_tank[7] = tank7_node->getDoubleValue() * 0.001; // 747 res3 tank
+ double total_fuel = 0.0;
+ for ( int t= 0; t<8; t++ ) total_fuel += data->fuel_tank[t];
+ data->fuel_tank[8] = total_fuel;
+ //data->fuel_tank[8] = 386000.0; // total fuel load
+ //cout << endl << "Send " << data->fuel_tank[0] << endl;
+/*********
+ data->boost_pumps[0] = boost1_node->getBoolValue();
+ data->boost_pumps[1] = boost2_node->getBoolValue();
+ data->boost_pumps[2] = boost3_node->getBoolValue();
+ data->boost_pumps[3] = boost4_node->getBoolValue();
+ data->boost_pumps[4] = boost5_node->getBoolValue();
+ data->boost_pumps[5] = boost6_node->getBoolValue();
+ data->boost_pumps[6] = boost7_node->getBoolValue();
+ data->boost_pumps[7] = boost8_node->getBoolValue();
+
+ data->over_ride_pumps[0] = ovride0_node->getBoolValue();
+ data->over_ride_pumps[1] = ovride1_node->getBoolValue();
+ data->over_ride_pumps[2] = ovride2_node->getBoolValue();
+ data->over_ride_pumps[3] = ovride3_node->getBoolValue();
+ data->over_ride_pumps[4] = ovride4_node->getBoolValue();
+ data->over_ride_pumps[5] = ovride5_node->getBoolValue();
+
+ data->x_feed_valve[0] = x_feed0_node->getBoolValue();
+ data->x_feed_valve[1] = x_feed1_node->getBoolValue();
+ data->x_feed_valve[2] = x_feed2_node->getBoolValue();
+ data->x_feed_valve[3] = x_feed3_node->getBoolValue();
+ **********/
data->total_temperature = cur_fdm_state->get_Total_temperature();
- data->static_pressure = cur_fdm_state->get_Static_pressure();
data->total_pressure = cur_fdm_state->get_Total_pressure();
data->dynamic_pressure = cur_fdm_state->get_Dynamic_pressure();
+
+ data->static_pressure = press_node->getDoubleValue();
+ data->static_temperature = temp_node->getDoubleValue();
+ data->wind = wind_speed_node->getDoubleValue();
+ data->wind_dir = wind_dir_node->getDoubleValue();
+ data->sea_level_pressure = fgGetDouble("/environment/sea-level-pressure-inhg");
}
static void distribute_data( const ogcFGData *data, FGInterface *chunk ) {
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