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Added a "mini fdm" output. This could (for example) be useful for an

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external gui if it wanted to monitor some key sim position/orientation
varialbles without saturating the net with the full slate of fdm data
@60hz.
This commit is contained in:
curt 2003-01-12 23:28:21 +00:00
parent f9ae85b0c0
commit e4b3eebdbb
6 changed files with 393 additions and 3 deletions
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3
src/Network/Makefile.am
View file

@ -17,7 +17,8 @@ libNetwork_a_SOURCES = \
native.cxx native.hxx \
native_ctrls.cxx native_ctrls.hxx \
native_fdm.cxx native_fdm.hxx \
net_ctrls.hxx net_fdm.hxx \
native_fdm_mini.cxx native_fdm_mini.hxx \
net_ctrls.hxx net_fdm.hxx net_fdm_mini.hxx \
nmea.cxx nmea.hxx \
opengc.cxx opengc.hxx opengc_data.hxx \
props.cxx props.hxx \

1
src/Network/native_ctrls.hxx
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@ -68,6 +68,7 @@ void FGProps2NetCtrls( FGNetCtrls *net );
// Update the property tree from the FGNetCtrls structure.
void FGNetCtrls2Props( FGNetCtrls *net );
#endif // _FG_NATIVE_CTRLS_HXX

5
src/Network/native_fdm.cxx
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@ -367,11 +367,12 @@ void FGNetFDM2Props( FGNetFDM *net ) {
last_warp = net->warp;
*/
} else {
SG_LOG( SG_IO, SG_ALERT, "Error: version mismatch in net2global()" );
SG_LOG( SG_IO, SG_ALERT,
"Error: version mismatch in FGNetFDM2Props()" );
SG_LOG( SG_IO, SG_ALERT,
"\tread " << net->version << " need " << FG_NET_FDM_VERSION );
SG_LOG( SG_IO, SG_ALERT,
"\tsomeone needs to upgrade net_fdm.hxx and recompile." );
"\tNeeds to upgrade net_fdm.hxx and recompile." );
}
}

244
src/Network/native_fdm_mini.cxx Normal file
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@ -0,0 +1,244 @@
// native_fdm.cxx -- FGFS "Native" flight dynamics protocal class
//
// Written by Curtis Olson, started September 2001.
//
// Copyright (C) 2001 Curtis L. Olson - curt@flightgear.org
//
// 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.
//
// $Id$
#ifdef HAVE_CONFIG_H
# include <config.h>
#endif
#include <simgear/debug/logstream.hxx>
#include <simgear/io/lowlevel.hxx> // endian tests
#include <simgear/io/iochannel.hxx>
#include <simgear/timing/sg_time.hxx>
#include <FDM/flight.hxx>
#include <Time/tmp.hxx>
#include <Main/fg_props.hxx>
#include <Main/globals.hxx>
#include "native_fdm_mini.hxx"
// FreeBSD works better with this included last ... (?)
#if defined(WIN32) && !defined(__CYGWIN__)
# include <windows.h>
#else
# include <netinet/in.h> // htonl() ntohl()
#endif
// The function htond is defined this way due to the way some
// processors and OSes treat floating point values. Some will raise
// an exception whenever a "bad" floating point value is loaded into a
// floating point register. Solaris is notorious for this, but then
// so is LynxOS on the PowerPC. By translating the data in place,
// there is no need to load a FP register with the "corruped" floating
// point value. By doing the BIG_ENDIAN test, I can optimize the
// routine for big-endian processors so it can be as efficient as
// possible
static void htond (double &x)
{
if ( sgIsLittleEndian() ) {
int *Double_Overlay;
int Holding_Buffer;
Double_Overlay = (int *) &x;
Holding_Buffer = Double_Overlay [0];
Double_Overlay [0] = htonl (Double_Overlay [1]);
Double_Overlay [1] = htonl (Holding_Buffer);
} else {
return;
}
}
FGNativeFDMmini::FGNativeFDMmini() {
}
FGNativeFDMmini::~FGNativeFDMmini() {
}
// open hailing frequencies
bool FGNativeFDMmini::open() {
if ( is_enabled() ) {
SG_LOG( SG_IO, SG_ALERT, "This shouldn't happen, but the channel "
<< "is already in use, ignoring" );
return false;
}
SGIOChannel *io = get_io_channel();
if ( ! io->open( get_direction() ) ) {
SG_LOG( SG_IO, SG_ALERT, "Error opening channel communication layer." );
return false;
}
set_enabled( true );
cur_fdm_state->_set_Sea_level_radius( SG_EQUATORIAL_RADIUS_FT );
return true;
}
void FGProps2NetFDMmini( FGNetFDMmini *net ) {
int i;
// Version sanity checking
net->version = FG_NET_FDM_MINI_VERSION;
// Aero parameters
net->longitude = cur_fdm_state->get_Longitude();
net->latitude = cur_fdm_state->get_Latitude();
net->altitude = cur_fdm_state->get_Altitude() * SG_FEET_TO_METER;
net->phi = cur_fdm_state->get_Phi();
net->theta = cur_fdm_state->get_Theta();
net->psi = cur_fdm_state->get_Psi();
// Consumables
net->num_tanks = FGNetFDMmini::FG_MAX_TANKS;
for ( i = 0; i < net->num_tanks; ++i ) {
SGPropertyNode *node = fgGetNode("/consumables/fuel/tank", i, true);
net->fuel_quantity[i] = node->getDoubleValue("level-gal_us");
}
// the following really aren't used in this context
net->cur_time = globals->get_time_params()->get_cur_time();
net->warp = globals->get_warp();
// Convert the net buffer to network format
net->version = htonl(net->version);
htond(net->longitude);
htond(net->latitude);
htond(net->altitude);
htond(net->phi);
htond(net->theta);
htond(net->psi);
for ( i = 0; i < net->num_tanks; ++i ) {
htond(net->fuel_quantity[i]);
}
net->num_tanks = htonl(net->num_tanks);
net->cur_time = htonl( net->cur_time );
net->warp = htonl( net->warp );
}
void FGNetFDMmini2Props( FGNetFDMmini *net ) {
int i;
// Convert to the net buffer from network format
net->version = ntohl(net->version);
htond(net->longitude);
htond(net->latitude);
htond(net->altitude);
htond(net->phi);
htond(net->theta);
htond(net->psi);
net->num_tanks = htonl(net->num_tanks);
for ( i = 0; i < net->num_tanks; ++i ) {
htond(net->fuel_quantity[i]);
}
net->cur_time = ntohl(net->cur_time);
net->warp = ntohl(net->warp);
if ( net->version == FG_NET_FDM_MINI_VERSION ) {
// cout << "pos = " << net->longitude << " " << net->latitude << endl;
// cout << "sea level rad = " << cur_fdm_state->get_Sea_level_radius()
// << endl;
cur_fdm_state->_updateGeodeticPosition( net->latitude,
net->longitude,
net->altitude
* SG_METER_TO_FEET );
cur_fdm_state->_set_Euler_Angles( net->phi,
net->theta,
net->psi );
for (i = 0; i < net->num_tanks; ++i ) {
SGPropertyNode * node
= fgGetNode("/consumables/fuel/tank", i, true);
node->setDoubleValue("level-gal_us", net->fuel_quantity[i] );
}
if ( net->cur_time ) {
fgSetLong("/sim/time/cur-time-override", net->cur_time);
}
globals->set_warp( net->warp );
} else {
SG_LOG( SG_IO, SG_ALERT,
"Error: version mismatch in FGNetFDMmini2Props()" );
SG_LOG( SG_IO, SG_ALERT,
"\tread " << net->version << " need " << FG_NET_FDM_MINI_VERSION );
SG_LOG( SG_IO, SG_ALERT,
"\tNeed to upgrade net_fdm.hxx and recompile." );
}
}
// process work for this port
bool FGNativeFDMmini::process() {
SGIOChannel *io = get_io_channel();
int length = sizeof(buf);
if ( get_direction() == SG_IO_OUT ) {
// cout << "size of cur_fdm_state = " << length << endl;
FGProps2NetFDMmini( &buf );
if ( ! io->write( (char *)(& buf), length ) ) {
SG_LOG( SG_IO, SG_ALERT, "Error writing data." );
return false;
}
} else if ( get_direction() == SG_IO_IN ) {
if ( io->get_type() == sgFileType ) {
if ( io->read( (char *)(& buf), length ) == length ) {
SG_LOG( SG_IO, SG_DEBUG, "Success reading data." );
FGNetFDMmini2Props( &buf );
}
} else {
while ( io->read( (char *)(& buf), length ) == length ) {
SG_LOG( SG_IO, SG_DEBUG, "Success reading data." );
FGNetFDMmini2Props( &buf );
}
}
}
return true;
}
// close the channel
bool FGNativeFDMmini::close() {
SGIOChannel *io = get_io_channel();
set_enabled( false );
if ( ! io->close() ) {
return false;
}
return true;
}

68
src/Network/native_fdm_mini.hxx Normal file
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@ -0,0 +1,68 @@
// native_fdm_mini.hxx -- FGFS "Mini-Native" flight dynamics protocal class
//
// Written by Curtis Olson, started January 2002.
//
// Copyright (C) 2002 Curtis L. Olson - curt@flightgear.org
//
// 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.
//
// $Id$
#ifndef _FG_NATIVE_FDM_MINI_HXX
#define _FG_NATIVE_FDM_MINI_HXX
#include <simgear/compiler.h>
#include <FDM/flight.hxx>
#include "protocol.hxx"
#include "net_fdm_mini.hxx"
class FGNativeFDMmini : public FGProtocol, public FGInterface {
FGNetFDMmini buf;
int length;
public:
FGNativeFDMmini();
~FGNativeFDMmini();
// open hailing frequencies
bool open();
// process work for this port
bool process();
// close the channel
bool close();
};
// Helper functions which may be useful outside this class
// Populate the FGNetFDMmini structure from the property tree.
void FGProps2NetFDMmini( FGNetFDMmini *net );
// Update the property tree from the FGNetFDMmini structure.
void FGNetFDMmini2Props( FGNetFDMmini *net );
#endif // _FG_NATIVE_FDM_MINI_HXX

75
src/Network/net_fdm_mini.hxx Normal file
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@ -0,0 +1,75 @@
// net_fdm_mini.hxx -- defines a simple subset I/O interface to the flight
// dynamics model variables
//
// Written by Curtis Olson, started January 2002.
//
// Copyright (C) 2002 Curtis L. Olson - curt@flightgear.com
//
// 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.
//
// $Id$
#ifndef _NET_FDM_MINI_HXX
#define _NET_FDM_MINI_HXX
#ifndef __cplusplus
# error This library requires C++
#endif
const int FG_NET_FDM_MINI_VERSION = 1;
// Define a structure containing the top level flight dynamics model
// parameters
class FGNetFDMmini {
public:
enum {
FG_MAX_ENGINES = 4,
FG_MAX_WHEELS = 3,
FG_MAX_TANKS = 4
};
int version; // increment when data values change
int pad; // keep doubles 64-bit aligned for some
// hardware platforms, such as the Sun
// SPARC, which don't like misaligned
// data
// Positions
double longitude; // geodetic (radians)
double latitude; // geodetic (radians)
double altitude; // above sea level (meters)
double agl; // above ground level (meters)
double phi; // roll (radians)
double theta; // pitch (radians)
double psi; // yaw or true heading (radians)
// Consumables
int num_tanks; // Max number of fuel tanks
double fuel_quantity[FG_MAX_TANKS];
// Environment
time_t cur_time; // current unix time
long int warp; // offset in seconds to unix time
};
#endif // _NET_FDM_MINI_HXX