flightgear/src/FDM/ADA.cxx

// ADA.cxx -- interface to the "External"-ly driven ADA flight model
//
// 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.
//
// $Id$

// Modified by Cdr. VS Renganthan <vsranga@ada.ernet.in>, 12 Oct 2K

#include <simgear/io/iochannel.hxx>

#include <Controls/controls.hxx>
#include <GUI/gui.h>

#include "ADA.hxx"

#define numberofbytes 472

struct {
    double number_of_bytes;
    double lat_geoc;
    double lon_geoc;
    double altitude;
    double psirad;
    double thetrad;
    double phirad;
    double earth_posn_angle;
    double radius_to_vehicle;
    double sea_level_radius;
    double latitude;
    double longitude;
    double Vnorth;
    double Veast;
    double Vdown;
    double Vcas_kts;
    double prad;
    double qrad;
    double rrad;
    double alpharad;
    double betarad;
    double latitude_dot;
    double longitude_dot;
    double radius_dot;
    double Gamma_vert_rad;
    double Runway_altitude;
    double throttle;
    double pstick;
    double rstick;
    double rpedal;
    double U_local;
    double V_local;
    double W_local;
    double U_dot_local;
    double V_dot_local;
    double W_dot_local;
    double Machno;
    double anxg;
    double anyg;
    double anzg;
    double aux1;
    double aux2;
    double aux3;
    double aux4;
    double aux5;
    double aux6;
    double aux7;
    double aux8;
    int iaux1;
    int iaux2;
    int iaux3;
    int iaux4;
    int iaux5;
    int iaux6;
    int iaux7;
    int iaux8;
    int iaux9;
    int iaux10;
    int iaux11;
    int iaux12;
    float aux9;
    float aux10;
    float aux11;
    float aux12;
    float aux13;
    float aux14;
    float aux15;
    float aux16;
    float aux17;
    float aux18;
} sixdof_to_visuals;

#define number_of_bytes sixdof_to_visuals.number_of_bytes
#define U_dot_local sixdof_to_visuals.U_dot_local
#define V_dot_local sixdof_to_visuals.V_dot_local
#define W_dot_local sixdof_to_visuals.W_dot_local
#define U_local sixdof_to_visuals.U_local
#define V_local sixdof_to_visuals.V_local
#define W_local sixdof_to_visuals.W_local
#define throttle sixdof_to_visuals.throttle
#define pstick sixdof_to_visuals.pstick
#define rstick sixdof_to_visuals.rstick
#define rpedal sixdof_to_visuals.rpedal
#define V_north sixdof_to_visuals.Vnorth
#define V_east sixdof_to_visuals.Veast
#define V_down sixdof_to_visuals.Vdown
#define V_calibrated_kts sixdof_to_visuals.Vcas_kts
#define P_body sixdof_to_visuals.prad
#define Q_body sixdof_to_visuals.qrad
#define R_body sixdof_to_visuals.rrad
#define Latitude_dot sixdof_to_visuals.latitude_dot
#define Longitude_dot sixdof_to_visuals.longitude_dot
#define Radius_dot sixdof_to_visuals.radius_dot
#define Latitude sixdof_to_visuals.latitude
#define Longitude sixdof_to_visuals.longitude
#define Lat_geocentric sixdof_to_visuals.lat_geoc
#define Lon_geocentric sixdof_to_visuals.lon_geoc
#define Radius_to_vehicle sixdof_to_visuals.radius_to_vehicle
#define Altitude sixdof_to_visuals.altitude
#define Phi sixdof_to_visuals.phirad
#define Theta sixdof_to_visuals.thetrad
#define Psi sixdof_to_visuals.psirad
#define Alpha sixdof_to_visuals.alpharad
#define Beta sixdof_to_visuals.betarad
#define Sea_level_radius sixdof_to_visuals.sea_level_radius
#define Earth_position_angle sixdof_to_visuals.earth_posn_angle
#define Runway_altitude sixdof_to_visuals.Runway_altitude
#define Gamma_vert_rad sixdof_to_visuals.Gamma_vert_rad
#define Machno sixdof_to_visuals.Machno
#define anxg sixdof_to_visuals.anxg
#define anyg sixdof_to_visuals.anyg
#define anzg sixdof_to_visuals.anzg


FGADA::FGADA( double dt ) {
    set_delta_t( dt );
}


FGADA::~FGADA() {
}


// Initialize the ADA flight model, dt is the time increment
// for each subsequent iteration through the EOM
void FGADA::init() {
    // cout << "FGADA::init()" << endl;

    char Buffer[numberofbytes];

    printf("\nInitialising UDP sockets\n");
    // initialise a "udp" socket
    fdmsock = new SGSocket( "reddy_pc", "5001", "udp" );

    // open as a client
    bool result = fdmsock->open(SG_IO_OUT);
    if (result == false) {
	printf ("Socket Open Error\n");
    } else {
	// Dummy Write FGExternal structure from socket to establish connection
	int result = fdmsock->write(Buffer, numberofbytes);
	printf("Connection established.\n");
    }
}


// Run an iteration of the EOM.  This is essentially a NOP here
// because these values are getting filled in elsewhere based on
// external input.
bool FGADA::update( int multiloop ) {
    // cout << "FGADA::update()" << endl;

    char Buffer[numberofbytes];

    // Read FGExternal structure from socket
    while (1) {
      int result = fdmsock->read(Buffer, numberofbytes);
      if (result == numberofbytes) {
         // Copy buffer into FGExternal structure
         memcpy (&sixdof_to_visuals, &Buffer, sizeof (Buffer));
      } else {
         break;
      }
    }

    //cout << endl << sixdof_to_visuals.aux18 << endl;
    // Close Visuals through message/flag from Flight model
    if (sixdof_to_visuals.aux18 == 1) {
	fdmsock->close();
	ConfirmExitDialog();           
    }
    //cout << endl << sixdof_to_visuals.aux18 << endl;

    // Convert from the FGExternal struct to the FGInterface struct (input)
    copy_from_FGADA();

    return true;
}

// Convert from the FGInterface struct to the FGADA struct (output)
bool FGADA::copy_to_FGADA () {

    return true;
}


// Convert from the FGADA struct to the FGInterface struct (input)
bool FGADA::copy_from_FGADA() {

    // Velocities
    _set_Velocities_Local( V_north, V_east, V_down );
    _set_V_calibrated_kts( V_calibrated_kts );

    // Angular rates 
    _set_Omega_Body( P_body, Q_body, R_body );
    _set_Geocentric_Rates( Latitude_dot, Longitude_dot, Radius_dot );

    //    SG_LOG( SG_FLIGHT, SG_DEBUG, "lon = " << Longitude 
    //	    << " lat_geoc = " << Lat_geocentric << " lat_geod = " << Latitude 
    //	    << " alt = " << Altitude << " sl_radius = " << Sea_level_radius 
    //	    << " radius_to_vehicle = " << Radius_to_vehicle );
	    
    // Positions
    _set_Geocentric_Position( Lat_geocentric, Lon_geocentric,
			      Radius_to_vehicle );
    _set_Geodetic_Position( Latitude, Longitude, Altitude );
    _set_Euler_Angles( Phi, Theta, Psi );

    // Miscellaneous quantities
    _set_Alpha( Alpha );
    _set_Beta( Beta );
    _set_Gamma_vert_rad( Gamma_vert_rad );
    _set_Sea_level_radius( Sea_level_radius );
    _set_Earth_position_angle( Earth_position_angle );
    _set_Runway_altitude( Runway_altitude );
    _set_sin_lat_geocentric(Lat_geocentric);
    _set_cos_lat_geocentric(Lat_geocentric);
    _set_sin_cos_longitude(Longitude);
    _set_sin_cos_latitude(Latitude);
    _set_Accels_Local( U_dot_local, V_dot_local, W_dot_local );
    _set_Velocities_Ground( U_local, V_local, W_local );
    _set_Accels_CG_Body_N( anxg,anyg,anzg);
    _set_Mach_number( Machno);

    //    printf("sr=%f\n",Sea_level_radius);
    //    printf("psi = %f %f\n",Psi,Psi*SGD_RADIANS_TO_DEGREES);    

    // controls
    controls.set_throttle(0,throttle/131.0);
    controls.set_elevator(pstick);
    controls.set_aileron(rstick);
    controls.set_rudder(rpedal);

    // auxilliary parameters for HUD
    set_iaux1(sixdof_to_visuals.iaux1);
    set_iaux2(sixdof_to_visuals.iaux2);
    set_iaux3(sixdof_to_visuals.iaux3);
    set_iaux4(sixdof_to_visuals.iaux4);
    set_iaux5(sixdof_to_visuals.iaux5);
    set_iaux6(sixdof_to_visuals.iaux6);
    set_iaux7(sixdof_to_visuals.iaux7);
    set_iaux8(sixdof_to_visuals.iaux8);
    set_iaux9(sixdof_to_visuals.iaux9);
    set_iaux10(sixdof_to_visuals.iaux10);
    set_iaux11(sixdof_to_visuals.iaux11);
    set_iaux12(sixdof_to_visuals.iaux12);
    set_aux1(sixdof_to_visuals.aux1);
    set_aux2(sixdof_to_visuals.aux2);
    set_aux3(sixdof_to_visuals.aux3);
    set_aux4(sixdof_to_visuals.aux4);
    set_aux5(sixdof_to_visuals.aux5);
    set_aux6(sixdof_to_visuals.aux6);
    set_aux7(sixdof_to_visuals.aux7);
    set_aux8(sixdof_to_visuals.aux8);
    set_aux9(sixdof_to_visuals.aux9);
    set_aux10(sixdof_to_visuals.aux10);
    set_aux11(sixdof_to_visuals.aux11);
    set_aux12(sixdof_to_visuals.aux12);
    set_aux13(sixdof_to_visuals.aux13);
    set_aux14(sixdof_to_visuals.aux14);
    set_aux15(sixdof_to_visuals.aux15);
    set_aux16(sixdof_to_visuals.aux16);
    set_aux17(sixdof_to_visuals.aux17);
    set_aux18(sixdof_to_visuals.aux18);
    
    cout << endl << sixdof_to_visuals.aux18 << endl;

    return true;
}