--- /dev/null
+// native_fdm.cxx -- FGFS "Native" flight dynamics protocal class
+//
+// Written by Curtis Olson, started September 2001.
+//
+// Copyright (C) 2001 Curtis L. Olson - curt@flightgear.org
+//
+// 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
+// License, or (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful, but
+// WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Public License for more details.
+//
+// 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.
+//
+// $Id$
+
+
+#include <simgear/debug/logstream.hxx>
+#include <simgear/io/iochannel.hxx>
+
+#include <FDM/flight.hxx>
+
+#include "native_fdm.hxx"
+
+
+FGNativeFDM::FGNativeFDM() {
+}
+
+FGNativeFDM::~FGNativeFDM() {
+}
+
+
+// open hailing frequencies
+bool FGNativeFDM::open() {
+ if ( is_enabled() ) {
+ SG_LOG( SG_IO, SG_ALERT, "This shouldn't happen, but the channel "
+ << "is already in use, ignoring" );
+ return false;
+ }
+
+ SGIOChannel *io = get_io_channel();
+
+ if ( ! io->open( get_direction() ) ) {
+ SG_LOG( SG_IO, SG_ALERT, "Error opening channel communication layer." );
+ return false;
+ }
+
+ set_enabled( true );
+
+ cur_fdm_state->_set_Sea_level_radius( SG_EQUATORIAL_RADIUS_FT );
+ return true;
+}
+
+
+static void global2raw( const FGInterface *global, FGRawFDM *raw ) {
+ raw->version = FG_RAW_FDM_VERSION;
+ raw->longitude = cur_fdm_state->get_Longitude();
+ raw->latitude = cur_fdm_state->get_Latitude();
+ raw->altitude = cur_fdm_state->get_Altitude();
+ raw->phi = cur_fdm_state->get_Phi();
+ raw->theta = cur_fdm_state->get_Theta();
+ raw->psi = cur_fdm_state->get_Psi();
+}
+
+
+static void raw2global( const FGRawFDM *raw, FGInterface *global ) {
+ if ( raw->version == FG_RAW_FDM_VERSION ) {
+ // cout << "pos = " << raw->longitude << " " << raw->latitude << endl;
+ // cout << "sea level rad = " << cur_fdm_state->get_Sea_level_radius() << endl;
+ cur_fdm_state->_updatePosition( raw->latitude, raw->longitude,
+ raw->altitude * SG_METER_TO_FEET );
+ cur_fdm_state->_set_Euler_Angles( raw->phi,
+ raw->theta,
+ raw->psi );
+ } else {
+ SG_LOG( SG_IO, SG_ALERT, "Error: version mismatch in raw2global()" );
+ SG_LOG( SG_IO, SG_ALERT,
+ "\tsomeone needs to upgrade raw_fdm.hxx and recompile." );
+ }
+}
+
+
+// process work for this port
+bool FGNativeFDM::process() {
+ SGIOChannel *io = get_io_channel();
+ int length = sizeof(buf);
+
+ if ( get_direction() == SG_IO_OUT ) {
+ // cout << "size of cur_fdm_state = " << length << endl;
+ global2raw( cur_fdm_state, &buf );
+ if ( ! io->write( (char *)(& buf), length ) ) {
+ SG_LOG( SG_IO, SG_ALERT, "Error writing data." );
+ return false;
+ }
+ } else if ( get_direction() == SG_IO_IN ) {
+ if ( io->get_type() == sgFileType ) {
+ if ( io->read( (char *)(& buf), length ) == length ) {
+ SG_LOG( SG_IO, SG_DEBUG, "Success reading data." );
+ raw2global( &buf, cur_fdm_state );
+ }
+ } else {
+ while ( io->read( (char *)(& buf), length ) == length ) {
+ SG_LOG( SG_IO, SG_DEBUG, "Success reading data." );
+ raw2global( &buf, cur_fdm_state );
+ }
+ }
+ }
+
+ return true;
+}
+
+
+// close the channel
+bool FGNativeFDM::close() {
+ SGIOChannel *io = get_io_channel();
+
+ set_enabled( false );
+
+ if ( ! io->close() ) {
+ return false;
+ }
+
+ return true;
+}
--- /dev/null
+// native_fdm.hxx -- FGFS "Native" flight dynamics protocal class
+//
+// Written by Curtis Olson, started September 2001.
+//
+// Copyright (C) 2001 Curtis L. Olson - curt@flightgear.org
+//
+// 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
+// License, or (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful, but
+// WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Public License for more details.
+//
+// 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.
+//
+// $Id$
+
+
+#ifndef _FG_NATIVE_FDM_HXX
+#define _FG_NATIVE_FDM_HXX
+
+
+#include <simgear/compiler.h>
+
+#include <FDM/flight.hxx>
+
+#include "protocol.hxx"
+#include "raw_fdm.hxx"
+
+
+class FGNativeFDM : public FGProtocol, public FGInterface {
+
+ FGRawFDM buf;
+ int length;
+
+public:
+
+ FGNativeFDM();
+ ~FGNativeFDM();
+
+ // open hailing frequencies
+ bool open();
+
+ // process work for this port
+ bool process();
+
+ // close the channel
+ bool close();
+};
+
+
+#endif // _FG_NATIVE_FDM_HXX
+
+
--- /dev/null
+// raw_fdm.hxx -- defines a common raw I/O interface to the flight
+// dynamics model
+//
+// Written by Curtis Olson, started September 2001.
+//
+// Copyright (C) 2001 Curtis L. Olson - curt@flightgear.com
+//
+// 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
+// License, or (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful, but
+// WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Public License for more details.
+//
+// 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.
+//
+// $Id$
+
+
+#ifndef _RAW_FDM_HXX
+#define _RAW_FDM_HXX
+
+
+#ifndef __cplusplus
+# error This library requires C++
+#endif
+
+const int FG_RAW_FDM_VERSION = 1;
+
+// Define a structure containing the top level flight dynamics model
+// parameters
+
+class FGRawFDM {
+
+public:
+
+ int version; // increment when data values change
+ double longitude; // radians
+ double latitude; // radians
+ double altitude; // meters (above sea level)
+ double agl; // meters (altitude above ground level)
+ double phi; // radians
+ double theta; // radians
+ double psi; // radians
+};
+
+
+#endif // _RAW_FDM_HXX
+
+
projects / flightgear.git / commitdiff