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Consolidate and clean up some of the FDM network interface code.

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curt 2003-01-12 22:11:55 +00:00
parent f2dac6306f
commit f9ae85b0c0
4 changed files with 215 additions and 216 deletions
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198
src/FDM/ExternalNet/ExternalNet.cxx
View file

@ -29,196 +29,11 @@
#include <Main/fg_props.hxx>
#include <Network/native_ctrls.hxx>
#include <Network/native_fdm.hxx>
#include "ExternalNet.hxx"
// FreeBSD works better with this included last ... (?)
#if defined(WIN32) && !defined(__CYGWIN__)
# include <windows.h>
#else
# include <netinet/in.h> // htonl() ntohl()
#endif
#if defined( linux )
# include <sys/types.h>
# include <sys/socket.h>
#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;
}
}
static void net2global( FGNetFDM *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);
htond(net->phidot);
htond(net->thetadot);
htond(net->psidot);
htond(net->vcas);
htond(net->climb_rate);
htond(net->v_north);
htond(net->v_east);
htond(net->v_down);
htond(net->v_wind_body_north);
htond(net->v_wind_body_east);
htond(net->v_wind_body_down);
htond(net->stall_warning);
htond(net->A_X_pilot);
htond(net->A_Y_pilot);
htond(net->A_Z_pilot);
net->num_engines = htonl(net->num_engines);
for ( i = 0; i < net->num_engines; ++i ) {
htonl(net->eng_state[i]);
htond(net->rpm[i]);
htond(net->fuel_flow[i]);
htond(net->EGT[i]);
htond(net->oil_temp[i]);
htond(net->oil_px[i]);
}
net->num_tanks = htonl(net->num_tanks);
for ( i = 0; i < net->num_tanks; ++i ) {
htond(net->fuel_quantity[i]);
}
net->num_wheels = htonl(net->num_wheels);
// I don't need to convert the Wow flags, since they are one byte in size
htond(net->flap_deflection);
net->cur_time = ntohl(net->cur_time);
net->warp = ntohl(net->warp);
htond(net->visibility);
if ( net->version == FG_NET_FDM_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 );
cur_fdm_state->_set_Euler_Rates( net->phidot,
net->thetadot,
net->psidot );
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 );
fgSetDouble( "/sim/alarms/stall-warning", net->stall_warning );
cur_fdm_state->_set_Accels_Pilot_Body( net->A_X_pilot,
net->A_Y_pilot,
net->A_Z_pilot );
for ( i = 0; i < net->num_engines; ++i ) {
SGPropertyNode *node = fgGetNode( "engines/engine", i, true );
// node->setBoolValue("running", t->isRunning());
// node->setBoolValue("cranking", t->isCranking());
// cout << net->eng_state[i] << endl;
if ( net->eng_state[i] == 0 ) {
node->setBoolValue( "cranking", false );
node->setBoolValue( "running", false );
} else if ( net->eng_state[i] == 1 ) {
node->setBoolValue( "cranking", true );
node->setBoolValue( "running", false );
} else if ( net->eng_state[i] == 2 ) {
node->setBoolValue( "cranking", false );
node->setBoolValue( "running", true );
}
node->setDoubleValue( "rpm", net->rpm[i] );
node->setDoubleValue( "fuel-flow-gph", net->fuel_flow[i] );
node->setDoubleValue( "egt-degf", net->EGT[i] );
node->setDoubleValue( "oil-temperature-degf", net->oil_temp[i] );
node->setDoubleValue( "oil-pressure-psi", net->oil_px[i] );
}
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] );
}
for (i = 0; i < net->num_wheels; ++i ) {
SGPropertyNode * node
= fgGetNode("/gear/gear", i, true);
node->setDoubleValue("wow", net->wow[i] );
}
fgSetDouble("/surface-positions/flap-pos-norm", net->flap_deflection);
SGPropertyNode * node = fgGetNode("/controls", true);
fgSetDouble("/surface-positions/elevator-pos-norm",
node->getDoubleValue( "elevator" ));
fgSetDouble("/surface-positions/rudder-pos-norm",
node->getDoubleValue( "rudder" ));
fgSetDouble("/surface-positions/left-aileron-pos-norm",
node->getDoubleValue( "aileron" ));
fgSetDouble("/surface-positions/right-aileron-pos-norm",
-node->getDoubleValue( "aileron" ));
/* these are ignored for now ... */
/*
if ( net->cur_time ) {
fgSetLong("/sim/time/cur-time-override", net->cur_time);
}
globals->set_warp( net->warp );
last_warp = net->warp;
*/
} else {
SG_LOG( SG_IO, SG_ALERT, "Error: version mismatch in net2global()" );
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." );
}
}
FGExternalNet::FGExternalNet( double dt, string host, int dop, int dip, int cp )
{
// set_delta_t( dt );
@ -257,15 +72,6 @@ FGExternalNet::FGExternalNet( double dt, string host, int dop, int dip, int cp )
// disable blocking
data_server.setBlocking( false );
#if defined( linux )
// set SO_REUSEADDR flag
int socket = data_server.getHandle();
int one = 1;
int result;
result = ::setsockopt( socket, SOL_SOCKET, SO_REUSEADDR,
&one, sizeof(one) );
#endif
// allowed to read from a broadcast addr
// data_server.setBroadcast( true );
@ -369,6 +175,6 @@ void FGExternalNet::update( double dt ) {
length = sizeof(fdm);
while ( (result = data_server.recv( (char *)(& fdm), length, 0)) >= 0 ) {
SG_LOG( SG_IO, SG_DEBUG, "Success reading data." );
net2global( &fdm );
FGNetFDM2Props( &fdm );
}
}

2
src/FDM/ExternalNet/ExternalNet.hxx
View file

@ -31,8 +31,6 @@
#include <Network/net_ctrls.hxx>
#include <Network/net_fdm.hxx>
#include <FDM/flight.hxx>
class HTTPClient : public netBufferChannel
{

222
src/Network/native_fdm.cxx
View file

@ -100,65 +100,191 @@ bool FGNativeFDM::open() {
}
static void global2net( const FGInterface *global, FGNetFDM *net ) {
static const SGPropertyNode *visibility
= fgGetNode("/environment/visibility-m");
void FGProps2NetFDM( FGNetFDM *net ) {
int i;
// Version sanity checking
net->version = FG_NET_FDM_VERSION;
// positions
// 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();
net->phidot = cur_fdm_state->get_Phi_dot_degps() * SG_DEGREES_TO_RADIANS;
net->thetadot = cur_fdm_state->get_Theta_dot_degps()
* SG_DEGREES_TO_RADIANS;
net->psidot = cur_fdm_state->get_Psi_dot_degps() * SG_DEGREES_TO_RADIANS;
// velocities
net->vcas = cur_fdm_state->get_V_calibrated_kts();
net->climb_rate = cur_fdm_state->get_Climb_Rate();
// environment
net->v_north = cur_fdm_state->get_V_north();
net->v_east = cur_fdm_state->get_V_east();
net->v_down = cur_fdm_state->get_V_down();
net->v_wind_body_north = cur_fdm_state->get_uBody();
net->v_wind_body_east = cur_fdm_state->get_vBody();
net->v_wind_body_down = cur_fdm_state->get_wBody();
net->stall_warning = fgGetDouble("/sim/alarms/stall-warning", 0.0);
net->A_X_pilot = cur_fdm_state->get_A_X_pilot();
net->A_Y_pilot = cur_fdm_state->get_A_Y_pilot();
net->A_Z_pilot = cur_fdm_state->get_A_Z_pilot();
// Engine parameters
net->num_engines = FGNetFDM::FG_MAX_ENGINES;
for ( i = 0; i < net->num_engines; ++i ) {
SGPropertyNode *node = fgGetNode("engines/engine", i, true);
if ( node->getBoolValue( "running" ) ) {
net->eng_state[0] = 2;
} else if ( node->getBoolValue( "cranking" ) ) {
net->eng_state[0] = 1;
} else {
net->eng_state[0] = 0;
}
net->rpm[i] = node->getDoubleValue( "rpm" );
net->fuel_flow[i] = node->getDoubleValue( "fuel-flow-gph" );
net->EGT[i] = node->getDoubleValue( "egt-degf" );
// cout << "egt = " << aero->EGT << endl;
net->oil_temp[i] = node->getDoubleValue( "oil-temperature-degf" );
net->oil_px[i] = node->getDoubleValue( "oil-pressure-psi" );
}
// Consumables
net->num_tanks = FGNetFDM::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");
}
// Gear and flaps
net->num_wheels = FGNetFDM::FG_MAX_WHEELS;
for (i = 0; i < net->num_wheels; ++i ) {
SGPropertyNode *node = fgGetNode("/gear/gear", i, true);
net->wow[i] = node->getDoubleValue("wow");
}
// cout << "Flap deflection = " << aero->dflap << endl;
net->flap_deflection = fgGetDouble("/surface-positions/flap-pos-norm" );
// the following really aren't used in this context
net->cur_time = globals->get_time_params()->get_cur_time();
net->warp = globals->get_warp();
net->visibility = visibility->getDoubleValue();
net->visibility = fgGetDouble("/environment/visibility-m");
// 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);
htond(net->phidot);
htond(net->thetadot);
htond(net->psidot);
htond(net->vcas);
htond(net->climb_rate);
htond(net->v_north);
htond(net->v_east);
htond(net->v_down);
htond(net->v_wind_body_north);
htond(net->v_wind_body_east);
htond(net->v_wind_body_down);
htond(net->stall_warning);
htond(net->A_X_pilot);
htond(net->A_Y_pilot);
htond(net->A_Z_pilot);
for ( i = 0; i < net->num_engines; ++i ) {
htonl(net->eng_state[i]);
htond(net->rpm[i]);
htond(net->fuel_flow[i]);
htond(net->EGT[i]);
htond(net->oil_temp[i]);
htond(net->oil_px[i]);
}
net->num_engines = htonl(net->num_engines);
for ( i = 0; i < net->num_tanks; ++i ) {
htond(net->fuel_quantity[i]);
}
net->num_tanks = htonl(net->num_tanks);
for ( i = 0; i < net->num_wheels; ++i ) {
net->wow[i] = htonl(net->wow[i]);
}
net->num_wheels = htonl(net->num_wheels);
htond(net->flap_deflection);
net->cur_time = htonl( net->cur_time );
net->warp = htonl( net->warp );
htond(net->visibility);
}
static void net2global( FGNetFDM *net, FGInterface *global ) {
static long int last_warp = 0;
void FGNetFDM2Props( FGNetFDM *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);
htond(net->phidot);
htond(net->thetadot);
htond(net->psidot);
htond(net->vcas);
htond(net->climb_rate);
htond(net->v_north);
htond(net->v_east);
htond(net->v_down);
htond(net->v_wind_body_north);
htond(net->v_wind_body_east);
htond(net->v_wind_body_down);
htond(net->stall_warning);
htond(net->A_X_pilot);
htond(net->A_Y_pilot);
htond(net->A_Z_pilot);
net->num_engines = htonl(net->num_engines);
for ( i = 0; i < net->num_engines; ++i ) {
htonl(net->eng_state[i]);
htond(net->rpm[i]);
htond(net->fuel_flow[i]);
htond(net->EGT[i]);
htond(net->oil_temp[i]);
htond(net->oil_px[i]);
}
net->num_tanks = htonl(net->num_tanks);
for ( i = 0; i < net->num_tanks; ++i ) {
htond(net->fuel_quantity[i]);
}
net->num_wheels = htonl(net->num_wheels);
// I don't need to convert the Wow flags, since they are one byte in size
htond(net->flap_deflection);
net->cur_time = ntohl(net->cur_time);
net->warp = ntohl(net->warp);
htond(net->visibility);
if ( net->version == FG_NET_FDM_VERSION ) {
// cout << "pos = " << net->longitude << " " << net->latitude << endl;
// cout << "sea level rad = " << cur_fdm_state->get_Sea_level_radius() << endl;
// cout << "sea level rad = " << cur_fdm_state->get_Sea_level_radius()
// << endl;
cur_fdm_state->_updateGeodeticPosition( net->latitude,
net->longitude,
net->altitude
@ -166,20 +292,80 @@ static void net2global( FGNetFDM *net, FGInterface *global ) {
cur_fdm_state->_set_Euler_Angles( net->phi,
net->theta,
net->psi );
cur_fdm_state->_set_Euler_Rates( net->phidot,
net->thetadot,
net->psidot );
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 );
fgSetDouble( "/sim/alarms/stall-warning", net->stall_warning );
cur_fdm_state->_set_Accels_Pilot_Body( net->A_X_pilot,
net->A_Y_pilot,
net->A_Z_pilot );
for ( i = 0; i < net->num_engines; ++i ) {
SGPropertyNode *node = fgGetNode( "engines/engine", i, true );
// node->setBoolValue("running", t->isRunning());
// node->setBoolValue("cranking", t->isCranking());
// cout << net->eng_state[i] << endl;
if ( net->eng_state[i] == 0 ) {
node->setBoolValue( "cranking", false );
node->setBoolValue( "running", false );
} else if ( net->eng_state[i] == 1 ) {
node->setBoolValue( "cranking", true );
node->setBoolValue( "running", false );
} else if ( net->eng_state[i] == 2 ) {
node->setBoolValue( "cranking", false );
node->setBoolValue( "running", true );
}
node->setDoubleValue( "rpm", net->rpm[i] );
node->setDoubleValue( "fuel-flow-gph", net->fuel_flow[i] );
node->setDoubleValue( "egt-degf", net->EGT[i] );
node->setDoubleValue( "oil-temperature-degf", net->oil_temp[i] );
node->setDoubleValue( "oil-pressure-psi", net->oil_px[i] );
}
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] );
}
for (i = 0; i < net->num_wheels; ++i ) {
SGPropertyNode * node
= fgGetNode("/gear/gear", i, true);
node->setDoubleValue("wow", net->wow[i] );
}
fgSetDouble("/surface-positions/flap-pos-norm", net->flap_deflection);
SGPropertyNode * node = fgGetNode("/controls", true);
fgSetDouble("/surface-positions/elevator-pos-norm",
node->getDoubleValue( "elevator" ));
fgSetDouble("/surface-positions/rudder-pos-norm",
node->getDoubleValue( "rudder" ));
fgSetDouble("/surface-positions/left-aileron-pos-norm",
node->getDoubleValue( "aileron" ));
fgSetDouble("/surface-positions/right-aileron-pos-norm",
-node->getDoubleValue( "aileron" ));
/* these are ignored for now ... */
/*
if ( net->cur_time ) {
fgSetLong("/sim/time/cur-time-override", net->cur_time);
}
globals->set_warp( net->warp );
if ( net->warp != last_warp ) {
fgUpdateSkyAndLightingParams();
}
last_warp = net->warp;
fgSetDouble( "/environment/visibility-m", net->visibility );
*/
} else {
SG_LOG( SG_IO, SG_ALERT, "Error: version mismatch in net2global()" );
SG_LOG( SG_IO, SG_ALERT,
@ -197,7 +383,7 @@ bool FGNativeFDM::process() {
if ( get_direction() == SG_IO_OUT ) {
// cout << "size of cur_fdm_state = " << length << endl;
global2net( cur_fdm_state, &buf );
FGProps2NetFDM( &buf );
if ( ! io->write( (char *)(& buf), length ) ) {
SG_LOG( SG_IO, SG_ALERT, "Error writing data." );
return false;
@ -206,12 +392,12 @@ bool FGNativeFDM::process() {
if ( io->get_type() == sgFileType ) {
if ( io->read( (char *)(& buf), length ) == length ) {
SG_LOG( SG_IO, SG_DEBUG, "Success reading data." );
net2global( &buf, cur_fdm_state );
FGNetFDM2Props( &buf );
}
} else {
while ( io->read( (char *)(& buf), length ) == length ) {
SG_LOG( SG_IO, SG_DEBUG, "Success reading data." );
net2global( &buf, cur_fdm_state );
FGNetFDM2Props( &buf );
}
}
}

9
src/Network/native_fdm.hxx
View file

@ -54,6 +54,15 @@ public:
};
// Helper functions which may be useful outside this class
// Populate the FGNetFDM structure from the property tree.
void FGProps2NetFDM( FGNetFDM *net );
// Update the property tree from the FGNetFDM structure.
void FGNetFDM2Props( FGNetFDM *net );
#endif // _FG_NATIVE_FDM_HXX