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

src/FDM/ExternalNet/ExternalNet.cxx

@@ -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 );
     }
 }

src/FDM/ExternalNet/ExternalNet.hxx

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

src/Network/native_fdm.cxx

@@ -100,65 +100,191 @@ bool FGNativeFDM::open() {
 }
 
 
-static void global2net( const FGInterface *global, FGNetFDM *net ) {
+void FGProps2NetFDM( FGNetFDM *net ) {
-    static const SGPropertyNode *visibility
+    int i;
-        = fgGetNode("/environment/visibility-m");
 
+    // 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 ) {
+void FGNetFDM2Props( FGNetFDM *net ) {
-    static long int last_warp = 0;
+    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 );
 	    }
 	}
     }

src/Network/native_fdm.hxx

@@ -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