X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FFDM%2FExternalPipe%2FExternalPipe.cxx;h=abe6569601a4a98b81d943647a23eeff558c398d;hb=2ea50c63bbb95e143662de2f136c79898236e38d;hp=4cd13bc81a9f13c0a0dd7a3b40295406f8df06f4;hpb=4df7a3e9f8c1e8b450a3674ec4aab497fda0a514;p=flightgear.git diff --git a/src/FDM/ExternalPipe/ExternalPipe.cxx b/src/FDM/ExternalPipe/ExternalPipe.cxx index 4cd13bc81..abe656960 100644 --- 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 // unlink() #endif +#include #include // FILE*, fopen(), fread(), fwrite(), et. al. +#include // for cout, endl #include #include // 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 != 1 ) { SG_LOG( SG_IO, SG_ALERT, "Read error from named pipe: " << 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 - cur_fdm_state->get_Runway_altitude_m(); - 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" ) {