*** empty log message ***

sw/simulator/nps_test2.c

@@ -0,0 +1,86 @@
+#include <glib.h>
+#include <getopt.h>
+#include <sys/time.h>
+
+#include <Ivy/ivy.h>
+#include <Ivy/ivyglibloop.h>
+
+#include "nps_fdm.h"
+
+static struct NpsFdmState fdm_state;
+
+
+/* rate of the host mainloop */
+#define HOST_TIMEOUT_PERIOD 4
+struct timeval host_time_start;
+double host_time_elapsed;
+double host_time_factor = 1.;
+
+/* 250Hz <-> 4ms */
+#define SIM_DT (1./10.)
+double sim_time;
+
+
+static gboolean sim_periodic(gpointer data __attribute__ ((unused))) {
+
+  struct timeval host_time_now;
+  gettimeofday (&host_time_now, NULL);
+  host_time_elapsed = host_time_factor *
+    ((host_time_now.tv_sec  - host_time_start.tv_sec) +
+     (host_time_now.tv_usec - host_time_start.tv_usec)*1e-6);
+  
+  while (sim_time <= host_time_elapsed) {
+    sim_run_one_step();
+    sim_time += SIM_DT;
+  }  
+    
+  
+    
+  return TRUE;
+}
+
+static void sim_run_one_step(void) {
+
+  // met les entrées
+
+  // fait tourner 1 coupo JSBSIM
+
+  // affiche l'etat
+
+  //  IvySendMsg("%d BOOZ_SIM_SPEED_POS %f %f %f %f %f %f",  
+  //	     AC_ID,
+  //	     (fdm_state.speed_ltp->ve[AXIS_X]), 
+  //	     (bfm.speed_ltp->ve[AXIS_Y]), 
+  //	     (bfm.speed_ltp->ve[AXIS_Z]),
+  //         (bfm.pos_ltp->ve[AXIS_X]), 
+  //	     (bfm.pos_ltp->ve[AXIS_Y]), 
+  //	     (bfm.pos_ltp->ve[AXIS_Z]));
+
+
+
+
+}
+
+
+static void sim_init(void) {
+
+  gettimeofday (&host_time_start, NULL);
+  sim_time = 0.;
+
+  IvyInit ("nps_test2", "nps_test2 READY", NULL, NULL, NULL, NULL);
+  IvyStart("127.255.255.255");
+
+}
+
+
+
+int main ( int argc, char** argv) {
+
+  GMainLoop *ml =  g_main_loop_new(NULL, FALSE);
+  
+  g_timeout_add(HOST_TIMEOUT_PERIOD, sim_periodic, NULL);
+
+  g_main_loop_run(ml);
+  
+  return 0;
+}