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Change the message passing structure just a bit in order to remove a possible

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time dependency ambiguity on the remote end.
This commit is contained in:
curt 2004-04-20 22:53:38 +00:00
parent bded088de1
commit 795abb81a4
1 changed files with 82 additions and 71 deletions
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149
src/FDM/ExternalPipe/ExternalPipe.cxx
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@ -27,6 +27,7 @@
#ifdef HAVE_MKFIFO
# include <sys/types.h> // mkfifo() open() umask()
# include <sys/stat.h> // mkfifo() open() umask()
# include <errno.h> // perror()
# include <fcntl.h> // open()
# include <unistd.h> // unlink()
#endif
@ -41,12 +42,14 @@
#include "ExternalPipe.hxx"
static const int MAX_BUF = 32768;
FGExternalPipe::FGExternalPipe( double dt, string name ) {
valid = true;
last_weight = 0.0;
last_cg_offset = -9999.9;
buf = new char[sizeof(char) + sizeof(int) + sizeof(ctrls)];
buf = new char[MAX_BUF];
#ifdef HAVE_MKFIFO
fifo_name_1 = name + "1";
@ -61,13 +64,13 @@ FGExternalPipe::FGExternalPipe( double dt, string name ) {
if ( result == -1 ) {
SG_LOG( SG_IO, SG_ALERT, "Unable to create named pipe: "
<< fifo_name_1 );
valid = false;
perror( "ExternalPipe()" );
}
result = mkfifo( fifo_name_2.c_str(), 0644 );
if ( result == -1 ) {
SG_LOG( SG_IO, SG_ALERT, "Unable to create named pipe: "
<< fifo_name_2 );
valid = false;
perror( "ExternalPipe()" );
}
pd1 = open( fifo_name_1.c_str(), O_RDWR );
@ -96,16 +99,62 @@ FGExternalPipe::~FGExternalPipe() {
if ( result == -1 ) {
SG_LOG( SG_IO, SG_ALERT, "Unable to close named pipe: "
<< fifo_name_1 );
perror( "~FGExternalPipe()" );
}
result = close( pd2 );
if ( result == -1 ) {
SG_LOG( SG_IO, SG_ALERT, "Unable to close named pipe: "
<< fifo_name_2 );
perror( "~FGExternalPipe()" );
}
#endif
}
static int write_fifo( char cmd_type, int pd, char *cmd, int len ) {
#ifdef HAVE_MKFIFO
char *buf = new char[len + 3];
// write 2 byte command length + command type + command
char hi = (len + 1) / 256;
char lo = (len + 1) - (hi * 256);
buf[0] = hi;
buf[1] = lo;
buf[2] = cmd_type;
// strncpy( buf + 3, cmd, len );
memcpy( buf + 3, cmd, len );
if ( cmd_type == '1' ) {
// cout << "writing '" << cmd << "'" << endl;
} else if ( cmd_type == '2' ) {
// cout << "writing controls packet" << endl;
} else {
// cout << "writing unknown command?" << endl;
}
// for ( int i = 0; i < len + 3; ++i ) {
// cout << " " << (int)buf[i];
// }
// cout << endl;
int result = ::write( pd, buf, len + 3 );
if ( result == -1 ) {
perror( "write_fifo()" );
SG_LOG( SG_IO, SG_ALERT, "Write error to named pipe: " << pd );
}
// cout << "wrote " << len + 3 << " bytes." << endl;
delete [] buf;
return result;
#else
return 0;
#endif
}
// Initialize the ExternalPipe flight model, dt is the time increment
// for each subsequent iteration through the EOM
void FGExternalPipe::init() {
@ -127,71 +176,44 @@ void FGExternalPipe::init() {
char cmd[256];
int result;
sprintf( cmd, "1longitude-deg=%.8f", lon );
result = write( pd1, cmd, strlen(cmd) );
if ( result == -1 ) {
SG_LOG( SG_IO, SG_ALERT, "Write error to named pipe: " << fifo_name_1 );
}
sprintf( cmd, "longitude-deg=%.8f", lon );
result = write_fifo( '1', pd1, cmd, strlen(cmd) );
sprintf( cmd, "1latitude-deg=%.8f", lat );
result = ::write( pd1, cmd, strlen(cmd) );
if ( result == -1 ) {
SG_LOG( SG_IO, SG_ALERT, "Write error to named pipe: " << fifo_name_1 );
}
sprintf( cmd, "latitude-deg=%.8f", lat );
result = write_fifo( '1', pd1, cmd, strlen(cmd) );
sprintf( cmd, "1altitude-ft=%.8f", alt );
result = write( pd1, cmd, strlen(cmd) );
if ( result == -1 ) {
SG_LOG( SG_IO, SG_ALERT, "Write error to named pipe: " << fifo_name_1 );
}
sprintf( cmd, "altitude-ft=%.8f", alt );
result = write_fifo( '1', pd1, cmd, strlen(cmd) );
sprintf( cmd, "1ground-m=%.8f", ground );
result = write( pd1, cmd, strlen(cmd) );
if ( result == -1 ) {
SG_LOG( SG_IO, SG_ALERT, "Write error to named pipe: " << fifo_name_1 );
}
sprintf( cmd, "ground-m=%.8f", ground );
result = write_fifo( '1', pd1, cmd, strlen(cmd) );
sprintf( cmd, "1speed-kts=%.8f", speed );
result = write( pd1, cmd, strlen(cmd) );
if ( result == -1 ) {
SG_LOG( SG_IO, SG_ALERT, "Write error to named pipe: " << fifo_name_1 );
}
sprintf( cmd, "speed-kts=%.8f", speed );
result = write_fifo( '1', pd1, cmd, strlen(cmd) );
sprintf( cmd, "1heading-deg=%.8f", heading );
result = write( pd1, cmd, strlen(cmd) );
if ( result == -1 ) {
SG_LOG( SG_IO, SG_ALERT, "Write error to named pipe: " << fifo_name_1 );
}
sprintf( cmd, "heading-deg=%.8f", heading );
result = write_fifo( '1', pd1, cmd, strlen(cmd) );
if ( weight > 1000.0 ) {
sprintf( cmd, "1aircraft-weight-lbs=%.2f", weight );
result = write( pd1, cmd, strlen(cmd) );
if ( result == -1 ) {
SG_LOG( SG_IO, SG_ALERT, "Write error to named pipe: " << fifo_name_1 );
}
sprintf( cmd, "aircraft-weight-lbs=%.2f", weight );
result = write_fifo( '1', pd1, cmd, strlen(cmd) );
}
last_weight = weight;
if ( cg_offset > -5.0 || cg_offset < 5.0 ) {
sprintf( cmd, "1aircraft-cg-offset-inches=%.2f", cg_offset );
result = write( pd1, cmd, strlen(cmd) );
if ( result == -1 ) {
SG_LOG( SG_IO, SG_ALERT, "Write error to named pipe: " << fifo_name_1 );
}
sprintf( cmd, "aircraft-cg-offset-inches=%.2f", cg_offset );
result = write_fifo( '1', pd1, cmd, strlen(cmd) );
}
last_cg_offset = cg_offset;
SG_LOG( SG_IO, SG_INFO, "before sending reset command." );
if( fgGetBool("/sim/presets/onground") ) {
sprintf( cmd, "1reset=ground" );
sprintf( cmd, "reset=ground" );
} else {
sprintf( cmd, "1reset=air" );
}
result = write( pd1, cmd, strlen(cmd) );
if ( result == -1 ) {
SG_LOG( SG_IO, SG_ALERT, "Write error to named pipe: " << fifo_name_1 );
sprintf( cmd, "reset=air" );
}
result = write_fifo( '1', pd1, cmd, strlen(cmd) );
SG_LOG( SG_IO, SG_INFO, "Remote FDM init() finished." );
#endif
@ -216,22 +238,16 @@ void FGExternalPipe::update( double dt ) {
static double last_weight = 0.0;
if ( fabs( weight - last_weight ) > 0.01 ) {
char cmd[256];
sprintf( cmd, "1aircraft-weight-lbs=%.2f", weight );
result = write( pd1, cmd, strlen(cmd) );
if ( result == -1 ) {
SG_LOG( SG_IO, SG_ALERT, "Write error to named pipe: " << fifo_name_1 );
}
sprintf( cmd, "aircraft-weight-lbs=%.2f", weight );
result = write_fifo( '1', pd1, cmd, strlen(cmd) );
}
last_weight = weight;
double cg_offset = fgGetDouble( "/sim/aircraft-cg-offset-inches" );
if ( fabs( cg_offset - last_cg_offset ) > 0.01 ) {
char cmd[256];
sprintf( cmd, "1aircraft-cg-offset-inches=%.2f", cg_offset );
result = write( pd1, cmd, strlen(cmd) );
if ( result == -1 ) {
SG_LOG( SG_IO, SG_ALERT, "Write error to named pipe: " << fifo_name_1 );
}
sprintf( cmd, "aircraft-cg-offset-inches=%.2f", cg_offset );
result = write_fifo( '1', pd1, cmd, strlen(cmd) );
}
last_cg_offset = cg_offset;
@ -239,19 +255,14 @@ void FGExternalPipe::update( double dt ) {
length = sizeof(ctrls);
FGProps2NetCtrls( &ctrls, true, false );
char *ptr = buf;
*ptr = '2';
ptr++;
*((int *)ptr) = iterations;
// cout << "iterations = " << iterations << endl;
ptr += sizeof(int);
memcpy( ptr, (char *)(&ctrls), length );
// cout << "writing control structure to remote fdm." << endl;
result = write( pd1, buf, length + 1 );
if ( result == -1 ) {
SG_LOG( SG_IO, SG_ALERT, "Write error to named pipe: "
<< fifo_name_1 );
} else {
// cout << " write successful = " << length + 1 << endl;
}
// cout << "writing control structure, size = "
// << length + sizeof(int) << endl;
result = write_fifo( '2', pd1, buf, length + sizeof(int) );
// Read fdm values
length = sizeof(fdm);