d0eaafb1e1
separate header file. This change will help integrate properties into JSBSim. Also, I (David Megginson) removed most of the SimGear include statements from globals.hxx, reducing the amount of recompilation every time SimGear changes. This required making minor changes to a lot of files that were depending on the side-effects of the inclusions in globals.hxx.
234 lines
6.8 KiB
C++
234 lines
6.8 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 "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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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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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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static void global2net( const FGInterface *global, FGNetFDM *net ) {
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static const SGPropertyNode *visibility
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= fgGetNode("/environment/visibility-m");
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net->version = FG_NET_FDM_VERSION;
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// positions
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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->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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// velocities
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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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// environment
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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 = visibility->getDoubleValue();
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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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htond(net->phi);
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htond(net->theta);
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htond(net->psi);
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htond(net->vcas);
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htond(net->climb_rate);
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net->cur_time = htonl( net->cur_time );
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net->warp = htonl( net->warp );
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htond(net->visibility);
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}
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static void net2global( FGNetFDM *net, FGInterface *global ) {
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static long int last_warp = 0;
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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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htond(net->phi);
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htond(net->theta);
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htond(net->psi);
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htond(net->vcas);
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htond(net->climb_rate);
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net->cur_time = ntohl(net->cur_time);
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net->warp = ntohl(net->warp);
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htond(net->visibility);
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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() << 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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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_V_calibrated_kts( net->vcas );
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cur_fdm_state->_set_Climb_Rate( net->climb_rate );
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if ( net->cur_time ) {
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fgSetLong("/sim/time/cur-time-override", net->cur_time);
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}
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globals->set_warp( net->warp );
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if ( net->warp != last_warp ) {
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fgUpdateSkyAndLightingParams();
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}
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last_warp = net->warp;
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fgSetDouble( "/environment/visibility-m", net->visibility );
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} else {
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SG_LOG( SG_IO, SG_ALERT, "Error: version mismatch in net2global()" );
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SG_LOG( SG_IO, SG_ALERT,
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"\tread " << net->version << " need " << FG_NET_FDM_VERSION );
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SG_LOG( SG_IO, SG_ALERT,
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"\tsomeone needs to upgrade net_fdm.hxx and recompile." );
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}
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}
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// process work for this port
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bool FGNativeFDM::process() {
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SGIOChannel *io = get_io_channel();
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int length = sizeof(buf);
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if ( get_direction() == SG_IO_OUT ) {
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// cout << "size of cur_fdm_state = " << length << endl;
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global2net( cur_fdm_state, &buf );
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if ( ! io->write( (char *)(& buf), length ) ) {
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SG_LOG( SG_IO, SG_ALERT, "Error writing data." );
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return false;
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}
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} else if ( get_direction() == SG_IO_IN ) {
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if ( io->get_type() == sgFileType ) {
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if ( io->read( (char *)(& buf), length ) == length ) {
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SG_LOG( SG_IO, SG_DEBUG, "Success reading data." );
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net2global( &buf, cur_fdm_state );
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}
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} else {
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while ( io->read( (char *)(& buf), length ) == length ) {
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SG_LOG( SG_IO, SG_DEBUG, "Success reading data." );
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net2global( &buf, cur_fdm_state );
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}
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}
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}
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return true;
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}
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// close the channel
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bool FGNativeFDM::close() {
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SGIOChannel *io = get_io_channel();
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set_enabled( false );
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if ( ! io->close() ) {
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return false;
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}
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return true;
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}
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