531 lines
18 KiB
C++
531 lines
18 KiB
C++
// native_fdm.cxx -- FGFS "Native" flight dynamics protocal class
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//
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// Written by Curtis Olson, started September 2001.
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//
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// Copyright (C) 2001 Curtis L. Olson - curt@flightgear.org
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//
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// This program is free software; you can redistribute it and/or
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// modify it under the terms of the GNU General Public License as
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// published by the Free Software Foundation; either version 2 of the
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// License, or (at your option) any later version.
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//
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// This program is distributed in the hope that it will be useful, but
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// WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// General Public License for more details.
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//
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// You should have received a copy of the GNU General Public License
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// along with this program; if not, write to the Free Software
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// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
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//
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// $Id$
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#ifdef HAVE_CONFIG_H
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# include <config.h>
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#endif
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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/io/iochannel.hxx>
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#include <simgear/timing/sg_time.hxx>
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#include <FDM/flight.hxx>
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#include <Time/tmp.hxx>
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#include <Main/fg_props.hxx>
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#include <Main/globals.hxx>
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#include <Scenery/scenery.hxx>
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#include "native_fdm.hxx"
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// FreeBSD works better with this included last ... (?)
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#if defined(WIN32) && !defined(__CYGWIN__)
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# include <windows.h>
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#else
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# include <netinet/in.h> // htonl() ntohl()
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#endif
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// The function htond is defined this way due to the way some
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// processors and OSes treat floating point values. Some will raise
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// an exception whenever a "bad" floating point value is loaded into a
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// floating point register. Solaris is notorious for this, but then
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// so is LynxOS on the PowerPC. By translating the data in place,
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// there is no need to load a FP register with the "corruped" floating
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// point value. By doing the BIG_ENDIAN test, I can optimize the
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// routine for big-endian processors so it can be as efficient as
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// possible
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static void htond (double &x)
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{
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if ( sgIsLittleEndian() ) {
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int *Double_Overlay;
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int Holding_Buffer;
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Double_Overlay = (int *) &x;
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Holding_Buffer = Double_Overlay [0];
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Double_Overlay [0] = htonl (Double_Overlay [1]);
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Double_Overlay [1] = htonl (Holding_Buffer);
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} else {
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return;
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}
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}
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// Float version
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static void htonf (float &x)
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{
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if ( sgIsLittleEndian() ) {
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int *Float_Overlay;
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int Holding_Buffer;
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Float_Overlay = (int *) &x;
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Holding_Buffer = Float_Overlay [0];
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Float_Overlay [0] = htonl (Holding_Buffer);
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} else {
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return;
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}
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}
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FGNativeFDM::FGNativeFDM() {
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}
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FGNativeFDM::~FGNativeFDM() {
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}
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// open hailing frequencies
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bool FGNativeFDM::open() {
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if ( is_enabled() ) {
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SG_LOG( SG_IO, SG_ALERT, "This shouldn't happen, but the channel "
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<< "is already in use, ignoring" );
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return false;
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}
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SGIOChannel *io = get_io_channel();
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if ( ! io->open( get_direction() ) ) {
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SG_LOG( SG_IO, SG_ALERT, "Error opening channel communication layer." );
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return false;
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}
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set_enabled( true );
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// Is this really needed here ????
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cur_fdm_state->_set_Sea_level_radius( SG_EQUATORIAL_RADIUS_FT );
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return true;
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}
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void FGProps2NetFDM( FGNetFDM *net, bool net_byte_order ) {
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int i;
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// Version sanity checking
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net->version = FG_NET_FDM_VERSION;
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// Aero parameters
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net->longitude = cur_fdm_state->get_Longitude();
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net->latitude = cur_fdm_state->get_Latitude();
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net->altitude = cur_fdm_state->get_Altitude() * SG_FEET_TO_METER;
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net->agl = cur_fdm_state->get_Altitude_AGL() * SG_FEET_TO_METER;
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net->phi = cur_fdm_state->get_Phi();
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net->theta = cur_fdm_state->get_Theta();
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net->psi = cur_fdm_state->get_Psi();
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net->alpha = cur_fdm_state->get_Alpha();
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net->beta = cur_fdm_state->get_Beta();
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net->phidot = cur_fdm_state->get_Phi_dot_degps() * SG_DEGREES_TO_RADIANS;
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net->thetadot = cur_fdm_state->get_Theta_dot_degps()
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* SG_DEGREES_TO_RADIANS;
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net->psidot = cur_fdm_state->get_Psi_dot_degps() * SG_DEGREES_TO_RADIANS;
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net->vcas = cur_fdm_state->get_V_calibrated_kts();
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net->climb_rate = cur_fdm_state->get_Climb_Rate();
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net->v_north = cur_fdm_state->get_V_north();
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net->v_east = cur_fdm_state->get_V_east();
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net->v_down = cur_fdm_state->get_V_down();
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net->v_wind_body_north = cur_fdm_state->get_uBody();
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net->v_wind_body_east = cur_fdm_state->get_vBody();
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net->v_wind_body_down = cur_fdm_state->get_wBody();
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net->A_X_pilot = cur_fdm_state->get_A_X_pilot();
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net->A_Y_pilot = cur_fdm_state->get_A_Y_pilot();
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net->A_Z_pilot = cur_fdm_state->get_A_Z_pilot();
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net->stall_warning = fgGetDouble("/sim/alarms/stall-warning", 0.0);
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net->slip_deg
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= fgGetDouble("/instrumentation/slip-skid-ball/indicated-slip-skid");
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// Engine parameters
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net->num_engines = FGNetFDM::FG_MAX_ENGINES;
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for ( i = 0; i < net->num_engines; ++i ) {
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SGPropertyNode *node = fgGetNode("engines/engine", i, true);
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if ( node->getBoolValue( "running" ) ) {
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net->eng_state[i] = 2;
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} else if ( node->getBoolValue( "cranking" ) ) {
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net->eng_state[i] = 1;
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} else {
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net->eng_state[i] = 0;
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}
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net->rpm[i] = node->getDoubleValue( "rpm" );
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net->fuel_flow[i] = node->getDoubleValue( "fuel-flow-gph" );
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net->egt[i] = node->getDoubleValue( "egt-degf" );
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// cout << "egt = " << aero->EGT << endl;
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net->mp_osi[i] = node->getDoubleValue( "mp-osi" );
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net->oil_temp[i] = node->getDoubleValue( "oil-temperature-degf" );
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net->oil_px[i] = node->getDoubleValue( "oil-pressure-psi" );
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}
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// Consumables
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net->num_tanks = FGNetFDM::FG_MAX_TANKS;
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for ( i = 0; i < net->num_tanks; ++i ) {
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SGPropertyNode *node = fgGetNode("/consumables/fuel/tank", i, true);
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net->fuel_quantity[i] = node->getDoubleValue("level-gal_us");
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}
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// Gear and flaps
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net->num_wheels = FGNetFDM::FG_MAX_WHEELS;
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for (i = 0; i < net->num_wheels; ++i ) {
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SGPropertyNode *node = fgGetNode("/gear/gear", i, true);
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net->wow[i] = node->getDoubleValue("wow");
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net->gear_pos[i] = node->getDoubleValue("position-norm");
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net->gear_steer[i] = node->getDoubleValue("steering-norm");
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net->gear_compression[i] = node->getDoubleValue("compression-norm");
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}
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// the following really aren't used in this context
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net->cur_time = globals->get_time_params()->get_cur_time();
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net->warp = globals->get_warp();
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net->visibility = fgGetDouble("/environment/visibility-m");
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// Control surface positions
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SGPropertyNode *node = fgGetNode("/surface-positions", true);
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net->elevator = node->getDoubleValue( "elevator-pos-norm" );
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net->elevator_trim_tab
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= node->getDoubleValue( "elevator-trim-tab-pos-norm" );
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// FIXME: CLO 10/28/04 - This really should be separated out into 2 values
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net->left_flap = node->getDoubleValue( "flap-pos-norm" );
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net->right_flap = node->getDoubleValue( "flap-pos-norm" );
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net->left_aileron = node->getDoubleValue( "left-aileron-pos-norm" );
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net->right_aileron = node->getDoubleValue( "right-aileron-pos-norm" );
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net->rudder = node->getDoubleValue( "rudder-pos-norm" );
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net->rudder = node->getDoubleValue( "nose-wheel-pos-norm" );
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net->speedbrake = node->getDoubleValue( "speedbrake-pos-norm" );
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net->spoilers = node->getDoubleValue( "spoilers-pos-norm" );
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if ( net_byte_order ) {
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// Convert the net buffer to network format
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net->version = htonl(net->version);
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htond(net->longitude);
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htond(net->latitude);
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htond(net->altitude);
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htonf(net->agl);
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htonf(net->phi);
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htonf(net->theta);
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htonf(net->psi);
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htonf(net->alpha);
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htonf(net->beta);
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htonf(net->phidot);
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htonf(net->thetadot);
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htonf(net->psidot);
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htonf(net->vcas);
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htonf(net->climb_rate);
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htonf(net->v_north);
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htonf(net->v_east);
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htonf(net->v_down);
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htonf(net->v_wind_body_north);
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htonf(net->v_wind_body_east);
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htonf(net->v_wind_body_down);
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htonf(net->A_X_pilot);
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htonf(net->A_Y_pilot);
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htonf(net->A_Z_pilot);
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htonf(net->stall_warning);
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htonf(net->slip_deg);
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for ( i = 0; i < net->num_engines; ++i ) {
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net->eng_state[i] = htonl(net->eng_state[i]);
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htonf(net->rpm[i]);
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htonf(net->fuel_flow[i]);
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htonf(net->egt[i]);
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htonf(net->mp_osi[i]);
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htonf(net->oil_temp[i]);
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htonf(net->oil_px[i]);
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}
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net->num_engines = htonl(net->num_engines);
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for ( i = 0; i < net->num_tanks; ++i ) {
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htonf(net->fuel_quantity[i]);
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}
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net->num_tanks = htonl(net->num_tanks);
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for ( i = 0; i < net->num_wheels; ++i ) {
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net->wow[i] = htonl(net->wow[i]);
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htonf(net->gear_pos[i]);
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htonf(net->gear_steer[i]);
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htonf(net->gear_compression[i]);
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}
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net->num_wheels = htonl(net->num_wheels);
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net->cur_time = htonl( net->cur_time );
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net->warp = htonl( net->warp );
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htonf(net->visibility);
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htonf(net->elevator);
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htonf(net->elevator_trim_tab);
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htonf(net->left_flap);
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htonf(net->right_flap);
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htonf(net->left_aileron);
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htonf(net->right_aileron);
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htonf(net->rudder);
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htonf(net->nose_wheel);
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htonf(net->speedbrake);
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htonf(net->spoilers);
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}
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}
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void FGNetFDM2Props( FGNetFDM *net, bool net_byte_order ) {
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int i;
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if ( net_byte_order ) {
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// Convert to the net buffer from network format
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net->version = ntohl(net->version);
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htond(net->longitude);
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htond(net->latitude);
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htond(net->altitude);
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htonf(net->agl);
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htonf(net->phi);
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htonf(net->theta);
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htonf(net->psi);
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htonf(net->alpha);
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htonf(net->beta);
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htonf(net->phidot);
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htonf(net->thetadot);
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htonf(net->psidot);
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htonf(net->vcas);
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htonf(net->climb_rate);
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htonf(net->v_north);
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htonf(net->v_east);
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htonf(net->v_down);
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htonf(net->v_wind_body_north);
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htonf(net->v_wind_body_east);
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htonf(net->v_wind_body_down);
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htonf(net->A_X_pilot);
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htonf(net->A_Y_pilot);
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htonf(net->A_Z_pilot);
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htonf(net->stall_warning);
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htonf(net->slip_deg);
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net->num_engines = htonl(net->num_engines);
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for ( i = 0; i < net->num_engines; ++i ) {
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net->eng_state[i] = htonl(net->eng_state[i]);
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htonf(net->rpm[i]);
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htonf(net->fuel_flow[i]);
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htonf(net->egt[i]);
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htonf(net->mp_osi[i]);
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htonf(net->oil_temp[i]);
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htonf(net->oil_px[i]);
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}
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net->num_tanks = htonl(net->num_tanks);
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for ( i = 0; i < net->num_tanks; ++i ) {
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htonf(net->fuel_quantity[i]);
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}
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net->num_wheels = htonl(net->num_wheels);
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for ( i = 0; i < net->num_wheels; ++i ) {
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net->wow[i] = htonl(net->wow[i]);
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htonf(net->gear_pos[i]);
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htonf(net->gear_steer[i]);
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htonf(net->gear_compression[i]);
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}
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net->cur_time = ntohl(net->cur_time);
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net->warp = ntohl(net->warp);
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htonf(net->visibility);
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htonf(net->elevator);
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htonf(net->elevator_trim_tab);
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htonf(net->left_flap);
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htonf(net->right_flap);
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htonf(net->left_aileron);
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htonf(net->right_aileron);
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htonf(net->rudder);
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htonf(net->nose_wheel);
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htonf(net->speedbrake);
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htonf(net->spoilers);
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}
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if ( net->version == FG_NET_FDM_VERSION ) {
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// cout << "pos = " << net->longitude << " " << net->latitude << endl;
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// cout << "sea level rad = " << cur_fdm_state->get_Sea_level_radius()
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// << endl;
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cur_fdm_state->_updateGeodeticPosition( net->latitude,
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net->longitude,
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net->altitude
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* SG_METER_TO_FEET );
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if ( net->agl > -9000 ) {
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cur_fdm_state->_set_Altitude_AGL( net->agl * SG_METER_TO_FEET );
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} else {
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double agl_m
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= net->altitude - 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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}
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cur_fdm_state->_set_Euler_Angles( net->phi,
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net->theta,
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net->psi );
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cur_fdm_state->_set_Alpha( net->alpha );
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cur_fdm_state->_set_Beta( net->beta );
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cur_fdm_state->_set_Euler_Rates( net->phidot,
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net->thetadot,
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net->psidot );
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cur_fdm_state->_set_V_calibrated_kts( net->vcas );
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cur_fdm_state->_set_Climb_Rate( net->climb_rate );
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cur_fdm_state->_set_Velocities_Local( net->v_north,
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net->v_east,
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net->v_down );
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cur_fdm_state->_set_Velocities_Wind_Body( net->v_wind_body_north,
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net->v_wind_body_east,
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net->v_wind_body_down );
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cur_fdm_state->_set_Accels_Pilot_Body( net->A_X_pilot,
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net->A_Y_pilot,
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net->A_Z_pilot );
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fgSetDouble( "/sim/alarms/stall-warning", net->stall_warning );
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fgSetDouble( "/instrumentation/slip-skid-ball/indicated-slip-skid",
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net->slip_deg );
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fgSetBool( "/instrumentation/slip-skid-ball/override", true );
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for ( i = 0; i < net->num_engines; ++i ) {
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SGPropertyNode *node = fgGetNode( "engines/engine", i, true );
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// node->setBoolValue("running", t->isRunning());
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// node->setBoolValue("cranking", t->isCranking());
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// cout << net->eng_state[i] << endl;
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if ( net->eng_state[i] == 0 ) {
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node->setBoolValue( "cranking", false );
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node->setBoolValue( "running", false );
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} else if ( net->eng_state[i] == 1 ) {
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node->setBoolValue( "cranking", true );
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node->setBoolValue( "running", false );
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} else if ( net->eng_state[i] == 2 ) {
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node->setBoolValue( "cranking", false );
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node->setBoolValue( "running", true );
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}
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node->setDoubleValue( "rpm", net->rpm[i] );
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node->setDoubleValue( "fuel-flow-gph", net->fuel_flow[i] );
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node->setDoubleValue( "egt-degf", net->egt[i] );
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node->setDoubleValue( "mp-osi", net->mp_osi[i] );
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node->setDoubleValue( "oil-temperature-degf", net->oil_temp[i] );
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node->setDoubleValue( "oil-pressure-psi", net->oil_px[i] );
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}
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for (i = 0; i < net->num_tanks; ++i ) {
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SGPropertyNode * node
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= fgGetNode("/consumables/fuel/tank", i, true);
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node->setDoubleValue("level-gal_us", net->fuel_quantity[i] );
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}
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for (i = 0; i < net->num_wheels; ++i ) {
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SGPropertyNode * node = fgGetNode("/gear/gear", i, true);
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node->setDoubleValue("wow", net->wow[i] );
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node->setDoubleValue("position-norm", net->gear_pos[i] );
|
|
node->setDoubleValue("steering-norm", net->gear_steer[i] );
|
|
node->setDoubleValue("compression-norm", net->gear_compression[i] );
|
|
}
|
|
|
|
/* 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;
|
|
*/
|
|
|
|
SGPropertyNode *node = fgGetNode("/surface-positions", true);
|
|
node->setDoubleValue("elevator-pos-norm", net->elevator);
|
|
node->setDoubleValue("elevator-trim-tab-pos-norm",
|
|
net->elevator_trim_tab);
|
|
// FIXME: CLO 10/28/04 - This really should be separated out
|
|
// into 2 values
|
|
node->setDoubleValue("flap-pos-norm", net->left_flap);
|
|
node->setDoubleValue("flap-pos-norm", net->right_flap);
|
|
node->setDoubleValue("left-aileron-pos-norm", net->left_aileron);
|
|
node->setDoubleValue("right-aileron-pos-norm", net->right_aileron);
|
|
node->setDoubleValue("rudder-pos-norm", net->rudder);
|
|
node->setDoubleValue("nose-wheel-pos-norm", net->nose_wheel);
|
|
node->setDoubleValue("speedbrake-pos-norm", net->speedbrake);
|
|
node->setDoubleValue("spoilers-pos-norm", net->spoilers);
|
|
} else {
|
|
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,
|
|
"\tNeeds to upgrade net_fdm.hxx and recompile." );
|
|
}
|
|
}
|
|
|
|
|
|
// process work for this port
|
|
bool FGNativeFDM::process() {
|
|
SGIOChannel *io = get_io_channel();
|
|
int length = sizeof(buf);
|
|
|
|
if ( get_direction() == SG_IO_OUT ) {
|
|
// cout << "size of cur_fdm_state = " << length << endl;
|
|
FGProps2NetFDM( &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." );
|
|
FGNetFDM2Props( &buf );
|
|
}
|
|
} else {
|
|
int result;
|
|
result = io->read( (char *)(& buf), length );
|
|
while ( result == length ) {
|
|
if ( result == length ) {
|
|
SG_LOG( SG_IO, SG_DEBUG, " Success reading data." );
|
|
FGNetFDM2Props( &buf );
|
|
}
|
|
result = io->read( (char *)(& buf), length );
|
|
}
|
|
}
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
|
|
// close the channel
|
|
bool FGNativeFDM::close() {
|
|
SGIOChannel *io = get_io_channel();
|
|
|
|
set_enabled( false );
|
|
|
|
if ( ! io->close() ) {
|
|
return false;
|
|
}
|
|
|
|
return true;
|
|
}
|