This is a work in progress. I am extending the "ExternalPipe" protocol to
have a "property" mode as well as the original "binary" mode. The property mode will allow the remote module to request any set of properties, and it will send those properties each frame. The remote module can reply with a list of arbitrary property name/value pairs to update on the FlightGear side. This is a first stab, so it's not the cleanest, most well concieved code, but it allows an external module (communicating via a pipe) to have a huge amount of flexibility in the data in can access and update.
This commit is contained in:
curt
parent
a69bc500ef
commit
86249209b9
3 changed files with 364 additions and 51 deletions
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@ -25,32 +25,39 @@
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#endif
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#ifdef HAVE_MKFIFO
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# include <sys/types.h> // mkfifo() open() umask()
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# include <sys/stat.h> // mkfifo() open() umask()
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# include <sys/types.h> // mkfifo() umask()
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# include <sys/stat.h> // mkfifo() umask()
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# include <errno.h> // perror()
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# include <fcntl.h> // open()
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# include <unistd.h> // unlink()
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#endif
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#include <stdio.h> // FILE*, fopen(), fread(), fwrite(), et. al.
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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 <simgear/misc/strutils.hxx> // split()
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#include <Main/fg_props.hxx>
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#include <Network/native_ctrls.hxx>
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#include <Network/native_fdm.hxx>
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#include <Scenery/scenery.hxx>
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#include "ExternalPipe.hxx"
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static const int MAX_BUF = 32768;
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FGExternalPipe::FGExternalPipe( double dt, string name ) {
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FGExternalPipe::FGExternalPipe( double dt, string name, string protocol ) {
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valid = true;
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last_weight = 0.0;
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last_cg_offset = -9999.9;
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buf = new char[MAX_BUF];
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// clear property request list
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property_names.clear();
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nodes.clear();
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#ifdef HAVE_MKFIFO
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fifo_name_1 = name + "1";
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fifo_name_2 = name + "2";
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@ -73,17 +80,26 @@ FGExternalPipe::FGExternalPipe( double dt, string name ) {
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perror( "ExternalPipe()" );
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}
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pd1 = open( fifo_name_1.c_str(), O_RDWR );
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if ( pd1 == -1 ) {
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pd1 = fopen( fifo_name_1.c_str(), "w" );
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if ( pd1 == NULL ) {
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SG_LOG( SG_IO, SG_ALERT, "Unable to open named pipe: " << fifo_name_1 );
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valid = false;
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}
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pd2 = open( fifo_name_2.c_str(), O_RDWR );
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if ( pd2 == -1 ) {
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pd2 = fopen( fifo_name_2.c_str(), "r" );
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if ( pd2 == NULL ) {
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SG_LOG( SG_IO, SG_ALERT, "Unable to open named pipe: " << fifo_name_2 );
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valid = false;
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}
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#endif
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_protocol = protocol;
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if ( _protocol != "binary" && _protocol != "property" ) {
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SG_LOG( SG_IO, SG_ALERT, "Constructor(): Unknown ExternalPipe protocol."
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<< " Must be 'binary' or 'property'."
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<< " (assuming binary)" );
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_protocol = "binary";
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}
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}
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@ -95,14 +111,14 @@ FGExternalPipe::~FGExternalPipe() {
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#ifdef HAVE_MKFIFO
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// close
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int result;
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result = close( pd1 );
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if ( result == -1 ) {
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result = fclose( pd1 );
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if ( result ) {
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SG_LOG( SG_IO, SG_ALERT, "Unable to close named pipe: "
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<< fifo_name_1 );
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perror( "~FGExternalPipe()" );
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}
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result = close( pd2 );
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if ( result == -1 ) {
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result = fclose( pd2 );
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if ( result ) {
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SG_LOG( SG_IO, SG_ALERT, "Unable to close named pipe: "
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<< fifo_name_2 );
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perror( "~FGExternalPipe()" );
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@ -111,7 +127,7 @@ FGExternalPipe::~FGExternalPipe() {
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}
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static int write_fifo( char cmd_type, int pd, char *cmd, int len ) {
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static int write_binary( char cmd_type, FILE *pd, char *cmd, int len ) {
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#ifdef HAVE_MKFIFO
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char *buf = new char[len + 3];
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@ -119,21 +135,25 @@ static int write_fifo( char cmd_type, int pd, char *cmd, int len ) {
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unsigned char hi = (len + 1) / 256;
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unsigned char lo = (len + 1) - (hi * 256);
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// cout << "len = " << len << " hi = " << (int)hi << " lo = " << (int)lo << endl;
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// cout << "len = " << len << " hi = " << (int)hi << " lo = "
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// << (int)lo << endl;
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buf[0] = hi;
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buf[1] = lo;
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buf[2] = cmd_type;
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// strncpy( buf + 3, cmd, len );
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memcpy( buf + 3, cmd, len );
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if ( cmd_type == '1' ) {
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// cout << "writing '" << cmd << "'" << endl;
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cout << "writing '";
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for ( int i = 0; i < len + 3; ++i ) {
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cout << buf[i];
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}
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cout << "' (" << cmd << ")" << endl;
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} else if ( cmd_type == '2' ) {
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// cout << "writing controls packet" << endl;
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cout << "writing controls packet" << endl;
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} else {
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// cout << "writing unknown command?" << endl;
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cout << "writing unknown command?" << endl;
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}
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// for ( int i = 0; i < len + 3; ++i ) {
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@ -141,9 +161,9 @@ static int write_fifo( char cmd_type, int pd, char *cmd, int len ) {
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// }
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// cout << endl;
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int result = ::write( pd, buf, len + 3 );
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if ( result == -1 ) {
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perror( "write_fifo()" );
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int result = fwrite( buf, len + 3, 1, pd );
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if ( result != 1 ) {
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perror( "write_binary()" );
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SG_LOG( SG_IO, SG_ALERT, "Write error to named pipe: " << pd );
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}
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// cout << "wrote " << len + 3 << " bytes." << endl;
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@ -157,13 +177,56 @@ static int write_fifo( char cmd_type, int pd, char *cmd, int len ) {
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}
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// Initialize the ExternalPipe flight model, dt is the time increment
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// for each subsequent iteration through the EOM
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static int write_property( FILE *pd, char *cmd ) {
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int len = strlen(cmd);
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#ifdef HAVE_MKFIFO
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char *buf = new char[len + 1];
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memcpy( buf, cmd, len );
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buf[len] = '\n';
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int result = fwrite( buf, len + 1, 1, pd );
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if ( result == len + 1 ) {
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perror( "write_property()" );
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SG_LOG( SG_IO, SG_ALERT, "Write error to named pipe: " << pd );
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}
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// cout << "wrote " << len + 1 << " bytes." << endl;
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delete [] buf;
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return result;
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#else
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return 0;
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#endif
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}
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// Wrapper for the ExternalPipe flight model initialization. dt is
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// the time increment for each subsequent iteration through the EOM
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void FGExternalPipe::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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if ( _protocol == "binary" ) {
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init_binary();
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} else if ( _protocol == "property" ) {
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init_property();
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} else {
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SG_LOG( SG_IO, SG_ALERT, "Init(): Unknown ExternalPipe protocol."
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<< " Must be 'binary' or 'property'."
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<< " (assuming binary)" );
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}
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}
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// Initialize the ExternalPipe flight model using the binary protocol,
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// dt is the time increment for each subsequent iteration through the
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// EOM
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void FGExternalPipe::init_binary() {
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cout << "init_binary()" << endl;
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double lon = fgGetDouble( "/sim/presets/longitude-deg" );
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double lat = fgGetDouble( "/sim/presets/latitude-deg" );
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double alt = fgGetDouble( "/sim/presets/altitude-ft" );
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@ -173,38 +236,36 @@ void FGExternalPipe::init() {
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double weight = fgGetDouble( "/sim/aircraft-weight-lbs" );
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double cg_offset = fgGetDouble( "/sim/aircraft-cg-offset-inches" );
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#ifdef HAVE_MKFIFO
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char cmd[256];
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int result;
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sprintf( cmd, "longitude-deg=%.8f", lon );
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result = write_fifo( '1', pd1, cmd, strlen(cmd) );
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result = write_binary( '1', pd1, cmd, strlen(cmd) );
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sprintf( cmd, "latitude-deg=%.8f", lat );
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result = write_fifo( '1', pd1, cmd, strlen(cmd) );
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result = write_binary( '1', pd1, cmd, strlen(cmd) );
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sprintf( cmd, "altitude-ft=%.8f", alt );
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result = write_fifo( '1', pd1, cmd, strlen(cmd) );
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result = write_binary( '1', pd1, cmd, strlen(cmd) );
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sprintf( cmd, "ground-m=%.8f", ground );
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result = write_fifo( '1', pd1, cmd, strlen(cmd) );
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result = write_binary( '1', pd1, cmd, strlen(cmd) );
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sprintf( cmd, "speed-kts=%.8f", speed );
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result = write_fifo( '1', pd1, cmd, strlen(cmd) );
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result = write_binary( '1', pd1, cmd, strlen(cmd) );
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sprintf( cmd, "heading-deg=%.8f", heading );
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result = write_fifo( '1', pd1, cmd, strlen(cmd) );
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result = write_binary( '1', pd1, cmd, strlen(cmd) );
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if ( weight > 1000.0 ) {
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sprintf( cmd, "aircraft-weight-lbs=%.2f", weight );
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result = write_fifo( '1', pd1, cmd, strlen(cmd) );
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result = write_binary( '1', pd1, cmd, strlen(cmd) );
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}
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last_weight = weight;
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if ( cg_offset > -5.0 || cg_offset < 5.0 ) {
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sprintf( cmd, "aircraft-cg-offset-inches=%.2f", cg_offset );
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result = write_fifo( '1', pd1, cmd, strlen(cmd) );
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result = write_binary( '1', pd1, cmd, strlen(cmd) );
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}
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last_cg_offset = cg_offset;
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} else {
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sprintf( cmd, "reset=air" );
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}
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result = write_fifo( '1', pd1, cmd, strlen(cmd) );
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result = write_binary( '1', pd1, cmd, strlen(cmd) );
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fflush( pd1 );
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SG_LOG( SG_IO, SG_ALERT, "Remote FDM init() finished." );
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#endif
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}
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// Initialize the ExternalPipe flight model using the property
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// protocol, dt is the time increment for each subsequent iteration
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// through the EOM
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void FGExternalPipe::init_property() {
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cout << "init_property()" << endl;
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double lon = fgGetDouble( "/sim/presets/longitude-deg" );
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double lat = fgGetDouble( "/sim/presets/latitude-deg" );
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double alt = fgGetDouble( "/sim/presets/altitude-ft" );
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double ground = fgGetDouble( "/environment/ground-elevation-m" );
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double heading = fgGetDouble("/sim/presets/heading-deg");
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double speed = fgGetDouble( "/sim/presets/airspeed-kt" );
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double weight = fgGetDouble( "/sim/aircraft-weight-lbs" );
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double cg_offset = fgGetDouble( "/sim/aircraft-cg-offset-inches" );
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char cmd[256];
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int result;
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sprintf( cmd, "init longitude-deg=%.8f", lon );
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result = write_property( pd1, cmd );
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sprintf( cmd, "init latitude-deg=%.8f", lat );
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result = write_property( pd1, cmd );
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sprintf( cmd, "init altitude-ft=%.8f", alt );
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result = write_property( pd1, cmd );
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sprintf( cmd, "init ground-m=%.8f", ground );
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result = write_property( pd1, cmd );
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sprintf( cmd, "init speed-kts=%.8f", speed );
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result = write_property( pd1, cmd );
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sprintf( cmd, "init heading-deg=%.8f", heading );
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result = write_property( pd1, cmd );
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if ( weight > 1000.0 ) {
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sprintf( cmd, "init aircraft-weight-lbs=%.2f", weight );
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result = write_property( pd1, cmd );
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}
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last_weight = weight;
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if ( cg_offset > -5.0 || cg_offset < 5.0 ) {
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sprintf( cmd, "init aircraft-cg-offset-inches=%.2f", cg_offset );
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result = write_property( pd1, cmd );
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}
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last_cg_offset = cg_offset;
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SG_LOG( SG_IO, SG_ALERT, "before sending reset command." );
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if( fgGetBool("/sim/presets/onground") ) {
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sprintf( cmd, "reset ground" );
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} else {
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sprintf( cmd, "reset air" );
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}
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result = write_property( pd1, cmd );
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fflush( pd1 );
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SG_LOG( SG_IO, SG_ALERT, "Remote FDM init() finished." );
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}
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// Wrapper for the ExternalPipe update routines. dt is the time
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// increment for each subsequent iteration through the EOM
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void FGExternalPipe::update( double dt ) {
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if ( _protocol == "binary" ) {
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update_binary(dt);
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} else if ( _protocol == "property" ) {
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update_property(dt);
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} else {
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SG_LOG( SG_IO, SG_ALERT, "Init(): Unknown ExternalPipe protocol."
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<< " Must be 'binary' or 'property'."
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<< " (assuming binary)" );
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}
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}
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// Run an iteration of the EOM.
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void FGExternalPipe::update( double dt ) {
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void FGExternalPipe::update_binary( double dt ) {
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#ifdef HAVE_MKFIFO
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// SG_LOG( SG_IO, SG_INFO, "Start FGExternalPipe::udpate()" );
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SG_LOG( SG_IO, SG_INFO, "Start FGExternalPipe::udpate_binary()" );
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int length;
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int result;
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@ -241,7 +381,7 @@ void FGExternalPipe::update( double dt ) {
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if ( fabs( weight - last_weight ) > 0.01 ) {
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char cmd[256];
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sprintf( cmd, "aircraft-weight-lbs=%.2f", weight );
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result = write_fifo( '1', pd1, cmd, strlen(cmd) );
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result = write_binary( '1', pd1, cmd, strlen(cmd) );
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}
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last_weight = weight;
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@ -249,7 +389,7 @@ void FGExternalPipe::update( double dt ) {
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if ( fabs( cg_offset - last_cg_offset ) > 0.01 ) {
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char cmd[256];
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sprintf( cmd, "aircraft-cg-offset-inches=%.2f", cg_offset );
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result = write_fifo( '1', pd1, cmd, strlen(cmd) );
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result = write_binary( '1', pd1, cmd, strlen(cmd) );
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}
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last_cg_offset = cg_offset;
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@ -261,21 +401,166 @@ void FGExternalPipe::update( double dt ) {
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// cout << "iterations = " << iterations << endl;
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ptr += sizeof(int);
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memcpy( ptr, (char *)(&ctrls), length );
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// cout << "writing control structure, size = "
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// << length + sizeof(int) << endl;
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cout << "writing control structure, size = "
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<< length + sizeof(int) << endl;
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result = write_fifo( '2', pd1, buf, length + sizeof(int) );
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result = write_binary( '2', pd1, buf, length + sizeof(int) );
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fflush( pd1 );
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// Read fdm values
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length = sizeof(fdm);
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// cout << "about to read fdm data from remote fdm." << endl;
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result = read( pd2, (char *)(& fdm), length );
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if ( result == -1 ) {
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cout << "about to read fdm data from remote fdm." << endl;
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result = fread( (char *)(& fdm), length, 1, pd2 );
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if ( result != length ) {
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SG_LOG( SG_IO, SG_ALERT, "Read error from named pipe: "
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<< fifo_name_2 );
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} else {
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// cout << " read successful." << endl;
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cout << " read successful." << endl;
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}
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FGNetFDM2Props( &fdm, false );
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#endif
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}
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// Process remote FDM "set" commands
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static void process_set_command( const string_list &tokens ) {
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if ( tokens[1] == "geodetic_position" ) {
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double lat_rad = atof( tokens[2].c_str() );
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double lon_rad = atof( tokens[3].c_str() );
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double alt_m = atof( tokens[4].c_str() );
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cur_fdm_state->_updateGeodeticPosition( lat_rad, lon_rad,
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alt_m * SG_METER_TO_FEET );
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double agl_m = alt_m - globals->get_scenery()->get_cur_elev();
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cur_fdm_state->_set_Altitude_AGL( agl_m * SG_METER_TO_FEET );
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} else if ( tokens[1] == "euler_angles" ) {
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double phi_rad = atof( tokens[2].c_str() );
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double theta_rad = atof( tokens[3].c_str() );
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double psi_rad = atof( tokens[4].c_str() );
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cur_fdm_state->_set_Euler_Angles( phi_rad, theta_rad, psi_rad );
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} else if ( tokens[1] == "euler_rates" ) {
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double phidot = atof( tokens[2].c_str() );
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double thetadot = atof( tokens[3].c_str() );
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double psidot = atof( tokens[4].c_str() );
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cur_fdm_state->_set_Euler_Rates( phidot, thetadot, psidot );
|
||||
} else if ( tokens[1] == "alpha" ) {
|
||||
cur_fdm_state->_set_Alpha( atof(tokens[2].c_str()) );
|
||||
} else if ( tokens[1] == "beta" ) {
|
||||
cur_fdm_state->_set_Beta( atof(tokens[2].c_str()) );
|
||||
|
||||
#if 0
|
||||
cur_fdm_state->_set_V_calibrated_kts( net->vcas );
|
||||
cur_fdm_state->_set_Climb_Rate( net->climb_rate );
|
||||
cur_fdm_state->_set_Velocities_Local( net->v_north,
|
||||
net->v_east,
|
||||
net->v_down );
|
||||
cur_fdm_state->_set_Velocities_Wind_Body( net->v_wind_body_north,
|
||||
net->v_wind_body_east,
|
||||
net->v_wind_body_down );
|
||||
|
||||
cur_fdm_state->_set_Accels_Pilot_Body( net->A_X_pilot,
|
||||
net->A_Y_pilot,
|
||||
net->A_Z_pilot );
|
||||
#endif
|
||||
} else {
|
||||
fgSetString( tokens[1].c_str(), tokens[2].c_str() );
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
// Run an iteration of the EOM.
|
||||
void FGExternalPipe::update_property( double dt ) {
|
||||
// cout << "update_property()" << endl;
|
||||
|
||||
#ifdef HAVE_MKFIFO
|
||||
// SG_LOG( SG_IO, SG_INFO, "Start FGExternalPipe::udpate()" );
|
||||
|
||||
int result;
|
||||
char cmd[256];
|
||||
|
||||
if ( is_suspended() ) {
|
||||
return;
|
||||
}
|
||||
|
||||
int iterations = _calc_multiloop(dt);
|
||||
|
||||
double weight = fgGetDouble( "/sim/aircraft-weight-lbs" );
|
||||
static double last_weight = 0.0;
|
||||
if ( fabs( weight - last_weight ) > 0.01 ) {
|
||||
sprintf( cmd, "init aircraft-weight-lbs=%.2f", weight );
|
||||
result = write_property( pd1, cmd );
|
||||
}
|
||||
last_weight = weight;
|
||||
|
||||
double cg_offset = fgGetDouble( "/sim/aircraft-cg-offset-inches" );
|
||||
if ( fabs( cg_offset - last_cg_offset ) > 0.01 ) {
|
||||
sprintf( cmd, "init aircraft-cg-offset-inches=%.2f", cg_offset );
|
||||
result = write_property( pd1, cmd );
|
||||
}
|
||||
last_cg_offset = cg_offset;
|
||||
|
||||
// Send requested property values to fdm
|
||||
for ( unsigned int i = 0; i < nodes.size(); i++ ) {
|
||||
sprintf( cmd, "set %s %s", property_names[i].c_str(),
|
||||
nodes[i]->getStringValue() );
|
||||
// cout << " sending " << cmd << endl;
|
||||
result = write_property( pd1, cmd );
|
||||
}
|
||||
|
||||
sprintf( cmd, "update %d", iterations );
|
||||
write_property( pd1, cmd );
|
||||
|
||||
fflush( pd1 );
|
||||
|
||||
// Read FDM response
|
||||
// cout << "ready to read fdm response" << endl;
|
||||
bool done = false;
|
||||
while ( !done ) {
|
||||
if ( fgets( cmd, 256, pd2 ) == NULL ) {
|
||||
cout << "Error reading data" << endl;
|
||||
} else {
|
||||
// cout << " read " << strlen(cmd) << " bytes" << endl;
|
||||
}
|
||||
|
||||
// chop trailing newline
|
||||
cmd[strlen(cmd)-1] = '\0';
|
||||
|
||||
// cout << cmd << endl;
|
||||
string_list tokens = simgear::strutils::split( cmd, " " );
|
||||
|
||||
if ( tokens[0] == "request" ) {
|
||||
// save the long form name
|
||||
property_names.push_back( tokens[1] );
|
||||
|
||||
// now do the property name lookup and cache the pointer
|
||||
SGPropertyNode *node = fgGetNode( tokens[1].c_str() );
|
||||
if ( node == NULL ) {
|
||||
// node doesn't exist so create with requested type
|
||||
node = fgGetNode( tokens[1].c_str(), true );
|
||||
if ( tokens[2] == "bool" ) {
|
||||
node->setBoolValue(true);
|
||||
} else if ( tokens[2] == "int" ) {
|
||||
node->setIntValue(0);
|
||||
} else if ( tokens[2] == "double" ) {
|
||||
node->setDoubleValue(0.0);
|
||||
} else if ( tokens[2] == "string" ) {
|
||||
node->setStringValue("");
|
||||
} else {
|
||||
cout << "Unknown data type: " << tokens[2]
|
||||
<< " for " << tokens[1] << endl;
|
||||
}
|
||||
}
|
||||
nodes.push_back( node );
|
||||
} else if ( tokens[0] == "set" ) {
|
||||
process_set_command( tokens );
|
||||
} else if ( tokens[0] == "update" ) {
|
||||
done = true;
|
||||
} else {
|
||||
cout << "unknown command = " << cmd << endl;
|
||||
}
|
||||
}
|
||||
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -23,6 +23,8 @@
|
|||
#ifndef _EXTERNAL_PIPE_HXX
|
||||
#define _EXTERNAL_PIPE_HXX
|
||||
|
||||
#include <stdio.h> // FILE*, fopen(), fread(), fwrite(), et. al.
|
||||
|
||||
#include <simgear/timing/timestamp.hxx> // fine grained timing measurements
|
||||
|
||||
#include <Network/net_ctrls.hxx>
|
||||
|
|
@ -37,8 +39,9 @@ private:
|
|||
|
||||
string fifo_name_1;
|
||||
string fifo_name_2;
|
||||
int pd1;
|
||||
int pd2;
|
||||
FILE *pd1;
|
||||
FILE *pd2;
|
||||
string _protocol;
|
||||
|
||||
FGNetCtrls ctrls;
|
||||
FGNetFDM fdm;
|
||||
|
|
@ -47,10 +50,21 @@ private:
|
|||
double last_weight;
|
||||
double last_cg_offset;
|
||||
|
||||
vector <string> property_names;
|
||||
vector <SGPropertyNode *> nodes;
|
||||
|
||||
// Protocol specific init routines
|
||||
void init_binary();
|
||||
void init_property();
|
||||
|
||||
// Protocol specific update routines
|
||||
void update_binary( double dt );
|
||||
void update_property( double dt );
|
||||
|
||||
public:
|
||||
|
||||
// Constructor
|
||||
FGExternalPipe( double dt, string fifo_name );
|
||||
FGExternalPipe( double dt, string fifo_name, string protocol );
|
||||
|
||||
// Destructor
|
||||
~FGExternalPipe();
|
||||
|
|
|
|||
|
|
@ -1315,8 +1315,22 @@ void fgInitFDM() {
|
|||
}
|
||||
cur_fdm_state = new FGExternalNet( dt, host, port1, port2, port3 );
|
||||
} else if ( model.find("pipe") == 0 ) {
|
||||
string pipe_path = model.substr(5);
|
||||
cur_fdm_state = new FGExternalPipe( dt, pipe_path );
|
||||
// /* old */ string pipe_path = model.substr(5);
|
||||
// /* old */ cur_fdm_state = new FGExternalPipe( dt, pipe_path );
|
||||
string pipe_path = "";
|
||||
string pipe_protocol = "";
|
||||
string pipe_options = model.substr(5);
|
||||
string::size_type begin, end;
|
||||
begin = 0;
|
||||
// pipe file path
|
||||
end = pipe_options.find( ",", begin );
|
||||
if ( end != string::npos ) {
|
||||
pipe_path = pipe_options.substr(begin, end - begin);
|
||||
begin = end + 1;
|
||||
}
|
||||
// protocol (last option)
|
||||
pipe_protocol = pipe_options.substr(begin);
|
||||
cur_fdm_state = new FGExternalPipe( dt, pipe_path, pipe_protocol );
|
||||
} else if ( model == "null" ) {
|
||||
cur_fdm_state = new FGNullFDM( dt );
|
||||
} else if ( model == "yasim" ) {
|
||||
|
|
|
|||
Loading…
Reference in a new issue