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flightgear/src/Network/native_fdm.cxx

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// native_fdm.cxx -- FGFS "Native" flight dynamics protocal class
//
// Written by Curtis Olson, started September 2001.
//
// Copyright (C) 2001 Curtis L. Olson - http://www.flightgear.org/~curt
//
// 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., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, 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 <Scenery/scenery.hxx>
#include "native_fdm.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;
}
}
// Float version
static void htonf (float &x)
{
if ( sgIsLittleEndian() ) {
int *Float_Overlay;
int Holding_Buffer;
Float_Overlay = (int *) &x;
Holding_Buffer = Float_Overlay [0];
Float_Overlay [0] = htonl (Holding_Buffer);
} else {
return;
}
}
FGNativeFDM::FGNativeFDM() {
}
FGNativeFDM::~FGNativeFDM() {
}
// open hailing frequencies
bool FGNativeFDM::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 );
// Is this really needed here ????
cur_fdm_state->_set_Sea_level_radius( SG_EQUATORIAL_RADIUS_FT );
return true;
}
void FGProps2NetFDM( FGNetFDM *net, bool net_byte_order ) {
unsigned int i;
// Version sanity checking
net->version = FG_NET_FDM_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->agl = cur_fdm_state->get_Altitude_AGL() * 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->alpha = cur_fdm_state->get_Alpha();
net->beta = cur_fdm_state->get_Beta();
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;
net->vcas = cur_fdm_state->get_V_calibrated_kts();
net->climb_rate = cur_fdm_state->get_Climb_Rate();
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->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();
net->stall_warning = fgGetDouble("/sim/alarms/stall-warning", 0.0);
net->slip_deg
= fgGetDouble("/instrumentation/slip-skid-ball/indicated-slip-skid");
// 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[i] = 2;
} else if ( node->getBoolValue( "cranking" ) ) {
net->eng_state[i] = 1;
} else {
net->eng_state[i] = 0;
}
net->rpm[i] = node->getDoubleValue( "rpm" );
net->fuel_flow[i] = node->getDoubleValue( "fuel-flow-gph" );
net->fuel_px[i] = node->getDoubleValue( "fuel-px-psi" );
net->egt[i] = node->getDoubleValue( "egt-degf" );
// cout << "egt = " << aero->EGT << endl;
net->cht[i] = node->getDoubleValue( "cht-degf" );
net->mp_osi[i] = node->getDoubleValue( "mp-osi" );
net->tit[i] = node->getDoubleValue( "tit" );
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->getIntValue("wow");
net->gear_pos[i] = node->getDoubleValue("position-norm");
net->gear_steer[i] = node->getDoubleValue("steering-norm");
net->gear_compression[i] = node->getDoubleValue("compression-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 = fgGetDouble("/environment/visibility-m");
// Control surface positions
SGPropertyNode *node = fgGetNode("/surface-positions", true);
net->elevator = node->getDoubleValue( "elevator-pos-norm" );
net->elevator_trim_tab
= node->getDoubleValue( "elevator-trim-tab-pos-norm" );
// FIXME: CLO 10/28/04 - This really should be separated out into 2 values
net->left_flap = node->getDoubleValue( "flap-pos-norm" );
net->right_flap = node->getDoubleValue( "flap-pos-norm" );
net->left_aileron = node->getDoubleValue( "left-aileron-pos-norm" );
net->right_aileron = node->getDoubleValue( "right-aileron-pos-norm" );
net->rudder = node->getDoubleValue( "rudder-pos-norm" );
net->nose_wheel = node->getDoubleValue( "nose-wheel-pos-norm" );
net->speedbrake = node->getDoubleValue( "speedbrake-pos-norm" );
net->spoilers = node->getDoubleValue( "spoilers-pos-norm" );
if ( net_byte_order ) {
// Convert the net buffer to network format
net->version = htonl(net->version);
htond(net->longitude);
htond(net->latitude);
htond(net->altitude);
htonf(net->agl);
htonf(net->phi);
htonf(net->theta);
htonf(net->psi);
htonf(net->alpha);
htonf(net->beta);
htonf(net->phidot);
htonf(net->thetadot);
htonf(net->psidot);
htonf(net->vcas);
htonf(net->climb_rate);
htonf(net->v_north);
htonf(net->v_east);
htonf(net->v_down);
htonf(net->v_wind_body_north);
htonf(net->v_wind_body_east);
htonf(net->v_wind_body_down);
htonf(net->A_X_pilot);
htonf(net->A_Y_pilot);
htonf(net->A_Z_pilot);
htonf(net->stall_warning);
htonf(net->slip_deg);
for ( i = 0; i < net->num_engines; ++i ) {
net->eng_state[i] = htonl(net->eng_state[i]);
htonf(net->rpm[i]);
htonf(net->fuel_flow[i]);
htonf(net->fuel_px[i]);
htonf(net->egt[i]);
htonf(net->cht[i]);
htonf(net->mp_osi[i]);
htonf(net->tit[i]);
htonf(net->oil_temp[i]);
htonf(net->oil_px[i]);
}
net->num_engines = htonl(net->num_engines);
for ( i = 0; i < net->num_tanks; ++i ) {
htonf(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]);
htonf(net->gear_pos[i]);
htonf(net->gear_steer[i]);
htonf(net->gear_compression[i]);
}
net->num_wheels = htonl(net->num_wheels);
net->cur_time = htonl( net->cur_time );
net->warp = htonl( net->warp );
htonf(net->visibility);
htonf(net->elevator);
htonf(net->elevator_trim_tab);
htonf(net->left_flap);
htonf(net->right_flap);
htonf(net->left_aileron);
htonf(net->right_aileron);
htonf(net->rudder);
htonf(net->nose_wheel);
htonf(net->speedbrake);
htonf(net->spoilers);
}
}
void FGNetFDM2Props( FGNetFDM *net, bool net_byte_order ) {
unsigned int i;
if ( net_byte_order ) {
// Convert to the net buffer from network format
net->version = ntohl(net->version);
htond(net->longitude);
htond(net->latitude);
htond(net->altitude);
htonf(net->agl);
htonf(net->phi);
htonf(net->theta);
htonf(net->psi);
htonf(net->alpha);
htonf(net->beta);
htonf(net->phidot);
htonf(net->thetadot);
htonf(net->psidot);
htonf(net->vcas);
htonf(net->climb_rate);
htonf(net->v_north);
htonf(net->v_east);
htonf(net->v_down);
htonf(net->v_wind_body_north);
htonf(net->v_wind_body_east);
htonf(net->v_wind_body_down);
htonf(net->A_X_pilot);
htonf(net->A_Y_pilot);
htonf(net->A_Z_pilot);
htonf(net->stall_warning);
htonf(net->slip_deg);
net->num_engines = htonl(net->num_engines);
for ( i = 0; i < net->num_engines; ++i ) {
net->eng_state[i] = htonl(net->eng_state[i]);
htonf(net->rpm[i]);
htonf(net->fuel_flow[i]);
htonf(net->fuel_px[i]);
htonf(net->egt[i]);
htonf(net->cht[i]);
htonf(net->mp_osi[i]);
htonf(net->tit[i]);
htonf(net->oil_temp[i]);
htonf(net->oil_px[i]);
}
net->num_tanks = htonl(net->num_tanks);
for ( i = 0; i < net->num_tanks; ++i ) {
htonf(net->fuel_quantity[i]);
}
net->num_wheels = htonl(net->num_wheels);
for ( i = 0; i < net->num_wheels; ++i ) {
net->wow[i] = htonl(net->wow[i]);
htonf(net->gear_pos[i]);
htonf(net->gear_steer[i]);
htonf(net->gear_compression[i]);
}
net->cur_time = htonl(net->cur_time);
net->warp = ntohl(net->warp);
htonf(net->visibility);
htonf(net->elevator);
htonf(net->elevator_trim_tab);
htonf(net->left_flap);
htonf(net->right_flap);
htonf(net->left_aileron);
htonf(net->right_aileron);
htonf(net->rudder);
htonf(net->nose_wheel);
htonf(net->speedbrake);
htonf(net->spoilers);
}
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 );
if ( net->agl > -9000 ) {
cur_fdm_state->_set_Altitude_AGL( net->agl * SG_METER_TO_FEET );
} else {
double agl_m = net->altitude
- cur_fdm_state->get_Runway_altitude_m();
cur_fdm_state->_set_Altitude_AGL( agl_m * SG_METER_TO_FEET );
}
cur_fdm_state->_set_Euler_Angles( net->phi,
net->theta,
net->psi );
cur_fdm_state->_set_Alpha( net->alpha );
cur_fdm_state->_set_Beta( net->beta );
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 );
cur_fdm_state->_set_Accels_Pilot_Body( net->A_X_pilot,
net->A_Y_pilot,
net->A_Z_pilot );
fgSetDouble( "/sim/alarms/stall-warning", net->stall_warning );
fgSetDouble( "/instrumentation/slip-skid-ball/indicated-slip-skid",
net->slip_deg );
fgSetBool( "/instrumentation/slip-skid-ball/override", true );
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( "fuel-px-psi", net->fuel_px[i] );
node->setDoubleValue( "egt-degf", net->egt[i] );
node->setDoubleValue( "cht-degf", net->cht[i] );
node->setDoubleValue( "mp-osi", net->mp_osi[i] );
node->setDoubleValue( "tit", net->tit[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] );
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;
}
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