X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FNetwork%2Fray.cxx;h=855a644a857a6b4289b306cb3e290ef8e62ef6fc;hb=a1031b052dd40ca3a4ea68dcd7f572b7d9e4bb24;hp=749a9629b96e75659e201345137df454996579be;hpb=1e5c61fcbd6f93c3d323efd0780cb32cb1f26f32;p=flightgear.git

diff --git a/src/Network/ray.cxx b/src/Network/ray.cxx
index 749a9629b..855a644a8 100644
--- a/src/Network/ray.cxx
+++ b/src/Network/ray.cxx
@@ -16,18 +16,20 @@
 //
 // 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.
 //
 // $Id$
 
+#ifdef HAVE_CONFIG_H
+#  include <config.h>
+#endif
 
+#include <simgear/constants.h>
 #include <simgear/debug/logstream.hxx>
-#include <simgear/math/fg_geodesy.hxx>
+#include <simgear/io/iochannel.hxx>
 
-#include <FDM/flight.hxx>
-#include <Time/fg_time.hxx>
-
-#include "iochannel.hxx"
+#include <FDM/flightProperties.hxx>
+#include <Environment/gravity.hxx>
 #include "ray.hxx"
 
 
@@ -37,6 +39,8 @@ FGRAY::FGRAY() {
 	chair_heading = 0.0;
 	chair_vertical[0] = 0.0;
 	chair_vertical[1] = 0.0;
+//	chair_FILE = stderr;
+	chair_FILE = 0;
 }
 
 
@@ -44,11 +48,14 @@ FGRAY::~FGRAY() {
 }
 
 
-// Ray Woodworth's motion chair has between 3 and 5 axes installed.
+// Ray Woodworth (949) 262-9118 has a three axis motion chair.
+//
 // It expects +/- 5V signals for full scale.  In channel order, axes are:
 //	roll, pitch, yaw, sway, surge, heave
 // The drivers are capable of generating (in the same order)
-//	+/- 30deg, 30deg, 15deg, 12in, 12in, 12in
+//	+/- 30deg, 30deg, 30deg, 12in, 12in, 12in
+// The signs of the motion are such that positive volts gives
+//	head right, head back, feet right, body right, body back, body up
 //
 // In this code implementation, the voltage outputs are generated
 // using a ComputerBoards DDA06/Jr card and the associated Linux driver.
@@ -59,17 +66,18 @@ FGRAY::~FGRAY() {
 
 bool FGRAY::gen_message() {
     // cout << "generating RayWoodworth message" << endl;
-    FGInterface *f = cur_fdm_state;
+    FlightProperties f;
+    
     int axis, subaxis;
-    const double fullscale[6] = { -0.8, -0.8, -0.25, /* radians */
+    const double fullscale[6] = { -0.5, -0.5, -0.5, /* radians */
 				  -0.3, -0.3, -0.15  /* meters */ };
 
     /* Figure out how big our timesteps are */
     double dt = 0.05; /* seconds */
 
     /* get basic information about gravity */
-    double grav_acc = -9.81;
-    double vert_acc = f->get_A_Z_pilot() * 0.3;
+    double grav_acc = -Environment::Gravity::instance()->getGravity( f.getPosition() );
+    double vert_acc = f.get_A_Z_pilot() * 0.3;
     if ( -3.0 < vert_acc )
 	vert_acc = -3.0;
 
@@ -82,13 +90,13 @@ bool FGRAY::gen_message() {
 
 	/* Retrieve the desired components */
 	switch ( axis ) {
-	case 0: ang_pos = f->get_Phi();
-		lin_acc = f->get_A_Y_pilot() * 0.3;
+	case 0: ang_pos = f.get_Phi();
+		lin_acc = f.get_A_Y_pilot() * 0.3;
 		break;
-	case 1: ang_pos = f->get_Theta();
-		lin_acc =-f->get_A_X_pilot() * 0.3;
+	case 1: ang_pos = f.get_Theta();
+		lin_acc = f.get_A_X_pilot() * 0.3;
 		break;
-	case 2: ang_pos = f->get_Psi();
+	case 2: ang_pos = f.get_Psi();
 		lin_acc = grav_acc - vert_acc;
 		break;
 	default:
@@ -98,17 +106,21 @@ bool FGRAY::gen_message() {
 	}
 
 	/* Make sure the angles are reasonable onscale */
-	while ( ang_pos < -M_PI ) {
-		ang_pos += 2 * M_PI;
+ 	/* We use an asymmetric mapping so that the chair behaves
+ 	   reasonably when upside down.  Otherwise it oscillates. */
+ 	while ( ang_pos < -SGD_2PI/3 ) {
+		ang_pos += SGD_2PI;
 	}
-	while ( ang_pos > M_PI ) {
-		ang_pos -= 2 * M_PI;
+ 	while ( ang_pos >  2*SGD_2PI/3 ) {
+		ang_pos -= SGD_2PI;
 	}
 
 	/* Tell interested parties what the situation is */
-	printf ( "RAY %s, %8.3f rad %8.3f m/s/s  =>",
-		((axis==0)?"Roll ":((axis==1)?"Pitch":"Yaw  ")),
-		ang_pos, lin_acc );
+	if (chair_FILE) {
+	    fprintf ( chair_FILE, "RAY %s, %8.3f rad %8.3f m/s/s  =>",
+		      ((axis==0)?"Roll ":((axis==1)?"Pitch":"Yaw  ")),
+		      ang_pos, lin_acc );
+	}
 
 	/* The upward direction and axis are special cases */
 	if ( axis == 2 )
@@ -123,20 +135,20 @@ bool FGRAY::gen_message() {
 
 	/* yaw */
 		/* Make sure that we walk through North cleanly */
-		if ( fabs ( ang_pos - chair_heading ) > M_PI )
+		if ( fabs ( ang_pos - chair_heading ) > SGD_PI )
 		{	/* Need to swing chair by 360 degrees */
 			if ( ang_pos < chair_heading )
-				chair_heading -= 2 * M_PI;
-			else	chair_heading += 2 * M_PI;
+				chair_heading -= SGD_2PI;
+			else	chair_heading +=  SGD_2PI;
 		}
 		/* Remove the chair heading from the true heading */
 		ang_pos -= chair_heading;
 		/* Wash out the error at 5 sec timeconstant because
 		   a standard rate turn is 3 deg/sec and the chair
-		   can represent 15 degrees full scale.  */
+ 		   can just about represent 30 degrees full scale.  */
 		chair_heading += ang_pos * dt * 0.2;
 		/* If they turn fast, at 90 deg error subtract 30 deg */
-		if ( fabs(ang_pos) > M_PI / 2 )
+		if ( fabs(ang_pos) > SGD_PI_2 )
 			chair_heading += ang_pos / 3;
 
 	} else
@@ -153,8 +165,10 @@ bool FGRAY::gen_message() {
 	}
 
 	/* Tell interested parties what we'll do */
-	printf ( "  %8.3f deg %8.3f cm.\n",
-		ang_pos * 60.0, lin_pos * 100.0 );
+	if ( chair_FILE ) {
+	    fprintf ( chair_FILE, "  %8.3f deg %8.3f cm.\n",
+		      ang_pos * 60.0, lin_pos * 100.0 );
+	}
 
 	/* Write the resulting numbers to the command buffer */
 	/* The first pass number is linear, second pass is angle */
@@ -168,8 +182,8 @@ bool FGRAY::gen_message() {
 		/* Scale to the hardware's full scale range */
 		propose /= fullscale [ subaxis ];
 		/* Use a sine shaped washout on all axes */
-		if ( propose < -M_PI / 2 ) *dac = 0x0000; else
-		if ( propose >  M_PI / 2 ) *dac = 0xFFFF; else
+		if ( propose < -SGD_PI_2 ) *dac = 0x0000; else
+		if ( propose >  SGD_PI_2 ) *dac = 0xFFFF; else
 		   *dac = (unsigned short) ( 32767 * 
 				( 1.0 + sin ( propose ) ) );
 	}
@@ -180,18 +194,13 @@ bool FGRAY::gen_message() {
     /* Tell the caller what we did */
     length = 18;
 
-    /* Log bytes for debug */
-//    for ( axis = 0; axis < length; axis++ )
-//        printf ( "%02x ", (unsigned int) (unsigned char) buf[axis] );
-//    printf ( "\n" );
-
     return true;
 }
 
 
 // parse RUL message
 bool FGRAY::parse_message() {
-    FG_LOG( FG_IO, FG_ALERT, "RAY input not supported" );
+    SG_LOG( SG_IO, SG_ALERT, "RAY input not supported" );
 
     return false;
 }
@@ -199,16 +208,16 @@ bool FGRAY::parse_message() {
 
 // process work for this port
 bool FGRAY::process() {
-    FGIOChannel *io = get_io_channel();
+    SGIOChannel *io = get_io_channel();
 
-    if ( get_direction() == out ) {
+    if ( get_direction() == SG_IO_OUT ) {
 	gen_message();
 	if ( ! io->write( buf, length ) ) {
-	    FG_LOG( FG_IO, FG_ALERT, "Error writing data." );
+	    SG_LOG( SG_IO, SG_ALERT, "Error writing data." );
 	    return false;
 	}
-    } else if ( get_direction() == in ) {
-	FG_LOG( FG_IO, FG_ALERT, "in direction not supported for RAY." );
+    } else if ( get_direction() == SG_IO_IN ) {
+	SG_LOG( SG_IO, SG_ALERT, "in direction not supported for RAY." );
 	return false;
     }