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flightgear/src/FDM/ExternalNet.cxx

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// ExternalNet.hxx -- an net interface to an external flight dynamics model
//
// Written by Curtis Olson, started November 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.
//
// $Id$
#include <simgear/debug/logstream.hxx>
#include <simgear/io/lowlevel.hxx> // endian tests
#include <Main/fg_props.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
// 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 global2raw( FGRawCtrls *raw ) {
int i;
// fill in values
SGPropertyNode * node = fgGetNode("/controls", true);
raw->version = FG_RAW_CTRLS_VERSION;
raw->aileron = node->getDoubleValue( "aileron" );
raw->elevator = node->getDoubleValue( "elevator" );
raw->elevator_trim = node->getDoubleValue( "elevator-trim" );
raw->rudder = node->getDoubleValue( "rudder" );
raw->flaps = node->getDoubleValue( "flaps" );
raw->num_engines = FGRawCtrls::FG_MAX_ENGINES;
for ( i = 0; i < FGRawCtrls::FG_MAX_ENGINES; ++i ) {
raw->throttle[i] = node->getDoubleValue( "throttle", 0.0 );
raw->mixture[i] = node->getDoubleValue( "mixture", 0.0 );
raw->prop_advance[i] = node->getDoubleValue( "propeller-pitch", 0.0 );
raw->magnetos[i] = node->getIntValue( "magnetos", 0 );
if ( i == 0 ) {
// cout << "Magnetos -> " << node->getIntValue( "magnetos", 0 );
}
raw->starter[i] = node->getBoolValue( "starter", false );
if ( i == 0 ) {
// cout << " Starter -> " << node->getIntValue( "stater", false )
// << endl;
}
}
raw->num_tanks = FGRawCtrls::FG_MAX_TANKS;
for ( i = 0; i < FGRawCtrls::FG_MAX_TANKS; ++i ) {
if ( node->getChild("fuel-selector", i) != 0 ) {
raw->fuel_selector[i]
= node->getChild("fuel-selector", i)->getDoubleValue();
} else {
raw->fuel_selector[i] = false;
}
}
raw->num_wheels = FGRawCtrls::FG_MAX_WHEELS;
for ( i = 0; i < FGRawCtrls::FG_MAX_WHEELS; ++i ) {
if ( node->getChild("brakes", i) != 0 ) {
raw->brake[i]
= node->getChild("brakes", i)->getDoubleValue();
} else {
raw->brake[i] = 0.0;
}
}
raw->hground = fgGetDouble( "/environment/ground-elevation-m" );
raw->magvar = fgGetDouble("/environment/magnetic-variation-deg");
raw->speedup = fgGetInt("/sim/speed-up");
// convert to network byte order
raw->version = htonl(raw->version);
htond(raw->aileron);
htond(raw->elevator);
htond(raw->elevator_trim);
htond(raw->rudder);
htond(raw->flaps);
for ( i = 0; i < FGRawCtrls::FG_MAX_ENGINES; ++i ) {
htond(raw->throttle[i]);
htond(raw->mixture[i]);
htond(raw->prop_advance[i]);
raw->magnetos[i] = htonl(raw->magnetos[i]);
raw->starter[i] = htonl(raw->starter[i]);
}
raw->num_engines = htonl(raw->num_engines);
for ( i = 0; i < FGRawCtrls::FG_MAX_TANKS; ++i ) {
raw->fuel_selector[i] = htonl(raw->fuel_selector[i]);
}
raw->num_tanks = htonl(raw->num_tanks);
for ( i = 0; i < FGRawCtrls::FG_MAX_WHEELS; ++i ) {
htond(raw->brake[i]);
}
raw->num_wheels = htonl(raw->num_wheels);
htond(raw->hground);
htond(raw->magvar);
raw->speedup = htonl(raw->speedup);
}
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->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_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 );
valid = true;
data_in_port = dip;
data_out_port = dop;
cmd_port = cp;
fdm_host = host;
/////////////////////////////////////////////////////////
// Setup client udp connection (sends data to remote fdm)
if ( ! data_client.open( false ) ) {
SG_LOG( SG_FLIGHT, SG_ALERT, "Error opening client data channel" );
valid = false;
}
// fire and forget
data_client.setBlocking( false );
if ( data_client.connect( fdm_host.c_str(), data_out_port ) == -1 ) {
printf("error connecting to %s:%d\n", fdm_host.c_str(), data_out_port);
valid = false;
}
/////////////////////////////////////////////////////////
// Setup server udp connection (for receiving data)
if ( ! data_server.open( false ) ) {
SG_LOG( SG_FLIGHT, SG_ALERT, "Error opening client server channel" );
valid = false;
}
// disable blocking
data_server.setBlocking( false );
// allowed to read from a broadcast addr
// data_server.setBroadcast( true );
// if we bind to fdm_host = "" then we accept messages from
// anyone.
if ( data_server.bind( "", data_in_port ) == -1 ) {
printf("error binding to port %d\n", data_in_port);
valid = false;
}
}
FGExternalNet::~FGExternalNet() {
data_client.close();
data_server.close();
}
// Initialize the ExternalNet flight model, dt is the time increment
// for each subsequent iteration through the EOM
void FGExternalNet::init() {
// cout << "FGExternalNet::init()" << endl;
// Explicitly call the superclass's
// init method first.
common_init();
double lon = fgGetDouble( "/position/longitude-deg" );
double lat = fgGetDouble( "/position/latitude-deg" );
double ground = fgGetDouble( "/environment/ground-elevation-m" );
double heading = fgGetDouble("/orientation/heading-deg");
char cmd[256];
sprintf( cmd, "/longitude-deg?value=%.8f", lon );
new HTTPClient( fdm_host.c_str(), cmd_port, cmd );
// cout << "before loop()" << endl;
netChannel::loop(0);
// cout << "here" << endl;
sprintf( cmd, "/latitude-deg?value=%.8f", lat );
new HTTPClient( fdm_host.c_str(), cmd_port, cmd );
netChannel::loop(0);
sprintf( cmd, "/ground-m?value=%.8f", ground );
new HTTPClient( fdm_host.c_str(), cmd_port, cmd );
netChannel::loop(0);
sprintf( cmd, "/heading-deg?value=%.8f", heading );
new HTTPClient( fdm_host.c_str(), cmd_port, cmd );
netChannel::loop(0);
SG_LOG( SG_IO, SG_INFO, "before sending reset command." );
sprintf( cmd, "/reset?value=ground" );
new HTTPClient( fdm_host.c_str(), cmd_port, cmd );
netChannel::loop(0);
SG_LOG( SG_IO, SG_INFO, "Remote FDM init() finished." );
}
// Run an iteration of the EOM.
void FGExternalNet::update( double dt ) {
int length;
int result;
if (is_suspended())
return;
// Send control positions to remote fdm
length = sizeof(ctrls);
global2raw( &ctrls );
if ( data_client.send( (char *)(& ctrls), length, 0 ) != length ) {
SG_LOG( SG_IO, SG_DEBUG, "Error writing data." );
} else {
SG_LOG( SG_IO, SG_DEBUG, "wrote control data." );
}
// Read next set of FDM data (blocking enabled to maintain 'sync')
length = sizeof(fdm);
while ( (result = data_server.recv( (char *)(& fdm), length, 0)) >= 0 ) {
SG_LOG( SG_IO, SG_DEBUG, "Success reading data." );
net2global( &fdm );
}
}
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