Working on the start of a 'standard' <grin> remote FDM interface. This
is a work in progress and needs severe enhancement before it will be useful. It provides a UDP data channel that goes both ways between flightgear and the fdm. It also provides a TCP 'command' channel so flightgear can 'reliably' send commands to the remote fdm (such as set starting position, reset on ground, etc.)
This commit is contained in:
curt
parent
0a01e563f4
commit
06bf5db80a
3 changed files with 250 additions and 10 deletions
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@ -21,31 +21,197 @@
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// $Id$
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#include <simgear/debug/logstream.hxx>
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#include <simgear/io/lowlevel.hxx> // endian tests
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#include <Main/fg_props.hxx>
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#include "ExternalNet.hxx"
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FGExternalNet::FGExternalNet( double dt ) {
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// FreeBSD works better with this included last ... (?)
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#if defined(WIN32) && !defined(__CYGWIN__)
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# include <windows.h>
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#else
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# include <netinet/in.h> // htonl() ntohl()
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#endif
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// The function htond is defined this way due to the way some
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// processors and OSes treat floating point values. Some will raise
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// an exception whenever a "bad" floating point value is loaded into a
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// floating point register. Solaris is notorious for this, but then
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// so is LynxOS on the PowerPC. By translating the data in place,
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// there is no need to load a FP register with the "corruped" floating
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// point value. By doing the BIG_ENDIAN test, I can optimize the
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// routine for big-endian processors so it can be as efficient as
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// possible
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static void htond (double &x)
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{
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if ( sgIsLittleEndian() ) {
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int *Double_Overlay;
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int Holding_Buffer;
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Double_Overlay = (int *) &x;
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Holding_Buffer = Double_Overlay [0];
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Double_Overlay [0] = htonl (Double_Overlay [1]);
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Double_Overlay [1] = htonl (Holding_Buffer);
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} else {
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return;
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}
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}
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static void global2raw( FGRawCtrls *raw ) {
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int i;
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static const SGPropertyNode *aileron
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= fgGetNode("/controls/aileron");
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static const SGPropertyNode *elevator
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= fgGetNode("/controls/elevator");
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static const SGPropertyNode *elevator_trim
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= fgGetNode("/controls/elevator-trim");
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static const SGPropertyNode *rudder
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= fgGetNode("/controls/rudder");
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static const SGPropertyNode *flaps
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= fgGetNode("/controls/flaps");
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char buf[256];
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// fill in values
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raw->version = FG_RAW_CTRLS_VERSION;
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raw->aileron = fgGetDouble( "/controls/aileron" );
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raw->elevator = fgGetDouble( "/controls/elevator" );
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raw->elevator_trim = fgGetDouble( "/controls/elevator-trim" );
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raw->rudder = fgGetDouble( "/controls/rudder" );
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raw->flaps = fgGetDouble( "/controls/flaps" );
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for ( i = 0; i < FG_MAX_ENGINES; ++i ) {
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sprintf( buf, "/controls/throttle[%d]", i );
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raw->throttle[i] = fgGetDouble( buf );
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sprintf( buf, "/controls/mixture[%d]", i );
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raw->mixture[i] = fgGetDouble( buf );
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sprintf( buf, "/controls/propeller-pitch[%d]", i );
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raw->prop_advance[i] = fgGetDouble( buf );
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}
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for ( i = 0; i < FG_MAX_WHEELS; ++i ) {
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sprintf( buf, "/controls/brakes[%d]", i );
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raw->brake[i] = fgGetDouble( buf );
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}
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raw->hground = fgGetDouble( "/environment/ground-elevation-m" );
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// convert to network byte order
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raw->version = htonl(raw->version);
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htond(raw->aileron);
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htond(raw->elevator);
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htond(raw->elevator_trim);
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htond(raw->rudder);
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htond(raw->flaps);
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for ( i = 0; i < FG_MAX_ENGINES; ++i ) {
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htond(raw->throttle[i]);
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htond(raw->mixture[i]);
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htond(raw->prop_advance[i]);
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}
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for ( i = 0; i < FG_MAX_WHEELS; ++i ) {
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htond(raw->brake[i]);
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}
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htond(raw->hground);
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}
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static void net2global( FGNetFDM *net ) {
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// Convert to the net buffer from network format
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net->version = ntohl(net->version);
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htond(net->longitude);
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htond(net->latitude);
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htond(net->altitude);
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htond(net->phi);
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htond(net->theta);
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htond(net->psi);
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htond(net->vcas);
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htond(net->climb_rate);
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net->cur_time = ntohl(net->cur_time);
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net->warp = ntohl(net->warp);
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htond(net->visibility);
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if ( net->version == FG_NET_FDM_VERSION ) {
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// cout << "pos = " << net->longitude << " " << net->latitude << endl;
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// cout << "sea level rad = " << cur_fdm_state->get_Sea_level_radius() << endl;
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cur_fdm_state->_updateGeodeticPosition( net->latitude,
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net->longitude,
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net->altitude
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* SG_METER_TO_FEET );
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cur_fdm_state->_set_Euler_Angles( net->phi,
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net->theta,
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net->psi );
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cur_fdm_state->_set_V_calibrated_kts( net->vcas );
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cur_fdm_state->_set_Climb_Rate( net->climb_rate );
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/* these are ignored for now ... */
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/*
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if ( net->cur_time ) {
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fgSetLong("/sim/time/cur-time-override", net->cur_time);
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}
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globals->set_warp( net->warp );
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last_warp = net->warp;
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*/
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} else {
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SG_LOG( SG_IO, SG_ALERT, "Error: version mismatch in net2global()" );
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SG_LOG( SG_IO, SG_ALERT,
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"\tread " << net->version << " need " << FG_NET_FDM_VERSION );
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SG_LOG( SG_IO, SG_ALERT,
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"\tsomeone needs to upgrade net_fdm.hxx and recompile." );
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}
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}
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FGExternalNet::FGExternalNet( double dt, int dop, int dip, int cp,
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string host )
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{
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set_delta_t( dt );
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valid = true;
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// client sends data
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data_in_port = dip;
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data_out_port = dop;
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cmd_port = cp;
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fdm_host = host;
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/////////////////////////////////////////////////////////
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// Setup client udp connection (sends data to remote fdm)
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if ( ! data_client.open( false ) ) {
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SG_LOG( SG_FLIGHT, SG_ALERT, "Error opening client data channel" );
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valid = false;
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}
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// fire and forget
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data_client.setBlocking( false );
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// server receives data
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if ( data_client.connect( fdm_host.c_str(), data_out_port ) == -1 ) {
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printf("error connecting to %s:%d\n", fdm_host.c_str(), data_out_port);
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valid = false;
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}
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/////////////////////////////////////////////////////////
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// Setup server udp connection (for receiving data)
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if ( ! data_server.open( false ) ) {
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SG_LOG( SG_FLIGHT, SG_ALERT, "Error opening client server channel" );
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valid = false;
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}
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// we want to block for incoming data in order to syncronize frame
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// rates.
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data_server.setBlocking( true );
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data_server.setBlocking( false /* don't block while testing */ );
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// data_server.setBlocking( true /* don't block while testing */ );
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// if we bind to fdm_host = "" then we accept messages from
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// anyone.
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if ( data_server.bind( fdm_host.c_str(), data_in_port ) == -1 ) {
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printf("error binding to port %d\n", data_in_port);
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valid = false;
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}
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}
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@ -63,6 +229,33 @@ void FGExternalNet::init() {
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// Explicitly call the superclass's
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// init method first.
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common_init();
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double lon = fgGetDouble( "/position/longitude-deg" );
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double lat = fgGetDouble( "/position/latitude-deg" );
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double ground = fgGetDouble( "/environment/ground-elevation-m" );
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double heading = fgGetDouble("/orientation/heading-deg");
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char cmd[256];
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sprintf( cmd, "/longitude-deg?value=%.8f", lon );
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new HTTPClient( fdm_host.c_str(), cmd_port, cmd );
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netChannel::loop(0);
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sprintf( cmd, "/latitude-deg?value=%.8f", lat );
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new HTTPClient( fdm_host.c_str(), cmd_port, cmd );
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netChannel::loop(0);
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sprintf( cmd, "/ground-m?value=%.8f", ground );
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new HTTPClient( fdm_host.c_str(), cmd_port, cmd );
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netChannel::loop(0);
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sprintf( cmd, "/heading-deg?value=%.8f", heading );
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new HTTPClient( fdm_host.c_str(), cmd_port, cmd );
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netChannel::loop(0);
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sprintf( cmd, "/reset?value=ground" );
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new HTTPClient( fdm_host.c_str(), cmd_port, cmd );
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netChannel::loop(0);
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}
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@ -70,5 +263,20 @@ void FGExternalNet::init() {
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// model values are getting filled in elsewhere (most likely from some
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// external source.)
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void FGExternalNet::update( int multiloop ) {
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// cout << "FGExternalNet::update()" << endl;
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int length;
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int result;
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// Send control positions to remote fdm
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length = sizeof(ctrls);
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global2raw( &ctrls );
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if ( data_client.send( (char *)(& ctrls), length, 0 ) != length ) {
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SG_LOG( SG_IO, SG_ALERT, "Error writing data." );
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}
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// Read next set of FDM data (blocking enabled to maintain 'sync')
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length = sizeof(fdm);
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if ( (result = data_server.recv( (char *)(& fdm), length, 0)) >= 0 ) {
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SG_LOG( SG_IO, SG_DEBUG, "Success reading data." );
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net2global( &fdm );
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}
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}
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@ -23,28 +23,59 @@
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#ifndef _EXTERNAL_NET_HXX
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#define _EXTERNAL_NET_HXX
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#include <plib/netBuffer.h>
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#include <plib/netSocket.h>
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#include <Network/raw_ctrls.hxx>
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#include <Network/net_fdm.hxx>
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#include "flight.hxx"
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class HTTPClient : public netBufferChannel
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{
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public:
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HTTPClient ( cchar* host, int port, cchar* path ) {
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open ();
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connect (host, port);
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cchar* s = netFormat ( "GET %s HTTP/1.0\r\n\r\n", path );
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bufferSend( s, strlen(s) ) ;
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}
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virtual void handleBufferRead (netBuffer& buffer)
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{
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const char* s = buffer.getData();
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while (*s)
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fputc(*s++,stdout);
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buffer.remove();
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}
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};
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class FGExternalNet: public FGInterface {
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private:
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int data_port;
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int data_in_port;
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int data_out_port;
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int cmd_port;
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string host;
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string fdm_host;
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netSocket data_client;
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netSocket data_server;
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bool valid;
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FGRawCtrls ctrls;
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FGNetFDM fdm;
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public:
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// Constructor
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FGExternalNet::FGExternalNet( double dt );
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FGExternalNet::FGExternalNet( double dt, int dop, int dip, int cp, string host );
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// Destructor
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FGExternalNet::~FGExternalNet();
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@ -59,5 +90,3 @@ public:
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#endif // _EXTERNAL_NET_HXX
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@ -81,6 +81,7 @@
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#include <FDM/ADA.hxx>
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#include <FDM/Balloon.h>
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#include <FDM/External.hxx>
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#include <FDM/ExternalNet.hxx>
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#include <FDM/JSBSim/JSBSim.hxx>
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#include <FDM/LaRCsim.hxx>
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#include <FDM/MagicCarpet.hxx>
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@ -566,6 +567,8 @@ void fgInitFDM() {
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cur_fdm_state = new FGMagicCarpet( dt );
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} else if (model == "external") {
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cur_fdm_state = new FGExternal( dt );
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} else if (model == "network") {
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cur_fdm_state = new FGExternalNet( dt, 5501, 5502, 5503, "localhost" );
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} else if (model == "null") {
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cur_fdm_state = new FGNullFDM( dt );
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} else if (model == "yasim") {
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