src/FDM/ExternalNet/ExternalNet.cxx

   1 // ExternalNet.hxx -- an net interface to an external flight dynamics model
   2 //
   3 // Written by Curtis Olson, started November 2001.
   4 //
   5 // Copyright (C) 2001  Curtis L. Olson  - curt@flightgear.org
   6 //
   7 // This program is free software; you can redistribute it and/or
   8 // modify it under the terms of the GNU General Public License as
   9 // published by the Free Software Foundation; either version 2 of the
  10 // License, or (at your option) any later version.
  11 //
  12 // This program is distributed in the hope that it will be useful, but
  13 // WITHOUT ANY WARRANTY; without even the implied warranty of
  14 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  15 // General Public License for more details.
  16 //
  17 // You should have received a copy of the GNU General Public License
  18 // along with this program; if not, write to the Free Software
  19 // Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
  20 //
  21 // $Id$
  22
  23 #include <simgear/debug/logstream.hxx>
  24 #include <simgear/io/lowlevel.hxx> // endian tests
  25
  26 #include <Main/fg_props.hxx>
  27
  28 #include "ExternalNet.hxx"
  29
  30
  31 // FreeBSD works better with this included last ... (?)
  32 #if defined(WIN32) && !defined(__CYGWIN__)
  33 #  include <windows.h>
  34 #else
  35 #  include <netinet/in.h>       // htonl() ntohl()
  36 #endif
  37
  38 #if defined( linux )
  39 #  include <sys/types.h>
  40 #  include <sys/socket.h>
  41 #endif
  42
  43 // The function htond is defined this way due to the way some
  44 // processors and OSes treat floating point values.  Some will raise
  45 // an exception whenever a "bad" floating point value is loaded into a
  46 // floating point register.  Solaris is notorious for this, but then
  47 // so is LynxOS on the PowerPC.  By translating the data in place,
  48 // there is no need to load a FP register with the "corruped" floating
  49 // point value.  By doing the BIG_ENDIAN test, I can optimize the
  50 // routine for big-endian processors so it can be as efficient as
  51 // possible
  52 static void htond (double &x)
  53 {
  54     if ( sgIsLittleEndian() ) {
  55         int    *Double_Overlay;
  56         int     Holding_Buffer;
  57
  58         Double_Overlay = (int *) &x;
  59         Holding_Buffer = Double_Overlay [0];
  60
  61         Double_Overlay [0] = htonl (Double_Overlay [1]);
  62         Double_Overlay [1] = htonl (Holding_Buffer);
  63     } else {
  64         return;
  65     }
  66 }
  67
  68
  69 static void global2net( FGNetCtrls *net ) {
  70     int i;
  71
  72     // fill in values
  73     SGPropertyNode * node = fgGetNode("/controls", true);
  74     net->version = FG_NET_CTRLS_VERSION;
  75     net->aileron = node->getDoubleValue( "aileron" );
  76     net->elevator = node->getDoubleValue( "elevator" );
  77     net->elevator_trim = node->getDoubleValue( "elevator-trim" );
  78     net->rudder = node->getDoubleValue( "rudder" );
  79     net->flaps = node->getDoubleValue( "flaps" );
  80     net->flaps_power
  81             = node->getDoubleValue( "/systems/electrical/outputs/flaps",
  82                                     1.0 ) >= 1.0;
  83     net->num_engines = FGNetCtrls::FG_MAX_ENGINES;
  84     for ( i = 0; i < FGNetCtrls::FG_MAX_ENGINES; ++i ) {
  85         net->throttle[i] = node->getDoubleValue( "throttle", 0.0 );
  86         net->mixture[i] = node->getDoubleValue( "mixture", 0.0 );
  87         net->fuel_pump_power[i]
  88             = node->getDoubleValue( "/systems/electrical/outputs/fuel-pump",
  89                                     1.0 ) >= 1.0;
  90         net->prop_advance[i] = node->getDoubleValue( "propeller-pitch", 0.0 );
  91         net->magnetos[i] = node->getIntValue( "magnetos", 0 );
  92         if ( i == 0 ) {
  93           // cout << "Magnetos -> " << node->getIntValue( "magnetos", 0 );
  94         }
  95         net->starter_power[i]
  96             = node->getDoubleValue( "/systems/electrical/outputs/starter",
  97                                     1.0 ) >= 1.0;
  98         if ( i == 0 ) {
  99           // cout << " Starter -> " << node->getIntValue( "stater", false )
 100           //      << endl;
 101         }
 102     }
 103     net->num_tanks = FGNetCtrls::FG_MAX_TANKS;
 104     for ( i = 0; i < FGNetCtrls::FG_MAX_TANKS; ++i ) {
 105         if ( node->getChild("fuel-selector", i) != 0 ) {
 106             net->fuel_selector[i]
 107                 = node->getChild("fuel-selector", i)->getDoubleValue();
 108         } else {
 109             net->fuel_selector[i] = false;
 110         }
 111     }
 112     net->num_wheels = FGNetCtrls::FG_MAX_WHEELS;
 113     for ( i = 0; i < FGNetCtrls::FG_MAX_WHEELS; ++i ) {
 114         if ( node->getChild("brakes", i) != 0 ) {
 115             if ( node->getChild("parking-brake")->getDoubleValue() > 0.0 ) {
 116                 net->brake[i] = 1.0;
 117            } else {
 118                 net->brake[i]
 119                     = node->getChild("brakes", i)->getDoubleValue();
 120             }
 121         } else {
 122             net->brake[i] = 0.0;
 123         }
 124     }
 125
 126     node = fgGetNode("/controls/switches", true);
 127     net->master_bat = node->getChild("master-bat")->getBoolValue();
 128     net->master_alt = node->getChild("master-alt")->getBoolValue();
 129     net->master_avionics = node->getChild("master-avionics")->getBoolValue();
 130
 131     net->wind_speed_kt = fgGetDouble("/environment/wind-speed-kt");
 132     net->wind_dir_deg = fgGetDouble("/environment/wind-from-heading-deg");
 133
 134     // cur_fdm_state->get_ground_elev_ft() is what we want ... this
 135     // reports the altitude of the aircraft.
 136     // "/environment/ground-elevation-m" reports the ground elevation
 137     // of the current view point which could change substantially if
 138     // the user is switching views.
 139     net->hground = cur_fdm_state->get_ground_elev_ft() * SG_FEET_TO_METER;
 140     net->magvar = fgGetDouble("/environment/magnetic-variation-deg");
 141     net->speedup = fgGetInt("/sim/speed-up");
 142     net->freeze = 0;
 143     if ( fgGetBool("/sim/freeze/master") ) {
 144         net->freeze |= 0x01;
 145     }
 146     if ( fgGetBool("/sim/freeze/position") ) {
 147         net->freeze |= 0x02;
 148     }
 149     if ( fgGetBool("/sim/freeze/fuel") ) {
 150         net->freeze |= 0x04;
 151     }
 152
 153     // convert to network byte order
 154     net->version = htonl(net->version);
 155     htond(net->aileron);
 156     htond(net->elevator);
 157     htond(net->elevator_trim);
 158     htond(net->rudder);
 159     htond(net->flaps);
 160     net->flaps_power = htonl(net->flaps_power);
 161     for ( i = 0; i < FGNetCtrls::FG_MAX_ENGINES; ++i ) {
 162         htond(net->throttle[i]);
 163         htond(net->mixture[i]);
 164         net->fuel_pump_power[i] = htonl(net->fuel_pump_power[i]);
 165         htond(net->prop_advance[i]);
 166         net->magnetos[i] = htonl(net->magnetos[i]);
 167         net->starter_power[i] = htonl(net->starter_power[i]);
 168     }
 169     net->num_engines = htonl(net->num_engines);
 170     for ( i = 0; i < FGNetCtrls::FG_MAX_TANKS; ++i ) {
 171         net->fuel_selector[i] = htonl(net->fuel_selector[i]);
 172     }
 173     net->num_tanks = htonl(net->num_tanks);
 174     for ( i = 0; i < FGNetCtrls::FG_MAX_WHEELS; ++i ) {
 175         htond(net->brake[i]);
 176     }
 177     net->num_wheels = htonl(net->num_wheels);
 178     net->gear_handle = htonl(net->gear_handle);
 179     net->master_bat = htonl(net->master_bat);
 180     net->master_alt = htonl(net->master_alt);
 181     net->master_avionics = htonl(net->master_avionics);
 182     htond(net->wind_speed_kt);
 183     htond(net->wind_dir_deg);
 184     htond(net->hground);
 185     htond(net->magvar);
 186     net->speedup = htonl(net->speedup);
 187     net->freeze = htonl(net->freeze);
 188 }
 189
 190
 191 static void net2global( FGNetFDM *net ) {
 192     int i;
 193
 194     // Convert to the net buffer from network format
 195     net->version = ntohl(net->version);
 196
 197     htond(net->longitude);
 198     htond(net->latitude);
 199     htond(net->altitude);
 200     htond(net->phi);
 201     htond(net->theta);
 202     htond(net->psi);
 203
 204     htond(net->phidot);
 205     htond(net->thetadot);
 206     htond(net->psidot);
 207     htond(net->vcas);
 208     htond(net->climb_rate);
 209     htond(net->v_north);
 210     htond(net->v_east);
 211     htond(net->v_down);
 212     htond(net->v_wind_body_north);
 213     htond(net->v_wind_body_east);
 214     htond(net->v_wind_body_down);
 215     htond(net->stall_warning);
 216
 217     htond(net->A_X_pilot);
 218     htond(net->A_Y_pilot);
 219     htond(net->A_Z_pilot);
 220
 221     net->num_engines = htonl(net->num_engines);
 222     for ( i = 0; i < net->num_engines; ++i ) {
 223         htonl(net->eng_state[i]);
 224         htond(net->rpm[i]);
 225         htond(net->fuel_flow[i]);
 226         htond(net->EGT[i]);
 227         htond(net->oil_temp[i]);
 228         htond(net->oil_px[i]);
 229     }
 230
 231     net->num_tanks = htonl(net->num_tanks);
 232     for ( i = 0; i < net->num_tanks; ++i ) {
 233         htond(net->fuel_quantity[i]);
 234     }
 235
 236     net->num_wheels = htonl(net->num_wheels);
 237     // I don't need to convert the Wow flags, since they are one byte in size
 238     htond(net->flap_deflection);
 239
 240     net->cur_time = ntohl(net->cur_time);
 241     net->warp = ntohl(net->warp);
 242     htond(net->visibility);
 243
 244     if ( net->version == FG_NET_FDM_VERSION ) {
 245         // cout << "pos = " << net->longitude << " " << net->latitude << endl;
 246         // cout << "sea level rad = " << cur_fdm_state->get_Sea_level_radius()
 247         //      << endl;
 248         cur_fdm_state->_updateGeodeticPosition( net->latitude,
 249                                                 net->longitude,
 250                                                 net->altitude
 251                                                   * SG_METER_TO_FEET );
 252         cur_fdm_state->_set_Euler_Angles( net->phi,
 253                                           net->theta,
 254                                           net->psi );
 255         cur_fdm_state->_set_Euler_Rates( net->phidot,
 256                                          net->thetadot,
 257                                          net->psidot );
 258         cur_fdm_state->_set_V_calibrated_kts( net->vcas );
 259         cur_fdm_state->_set_Climb_Rate( net->climb_rate );
 260         cur_fdm_state->_set_Velocities_Local( net->v_north,
 261                                               net->v_east,
 262                                               net->v_down );
 263         cur_fdm_state->_set_Velocities_Wind_Body( net->v_wind_body_north,
 264                                                   net->v_wind_body_east,
 265                                                   net->v_wind_body_down );
 266
 267         fgSetDouble( "/sim/alarms/stall-warning", net->stall_warning );
 268         cur_fdm_state->_set_Accels_Pilot_Body( net->A_X_pilot,
 269                                                net->A_Y_pilot,
 270                                                net->A_Z_pilot );
 271
 272         for ( i = 0; i < net->num_engines; ++i ) {
 273             SGPropertyNode *node = fgGetNode( "engines/engine", i, true );
 274
 275             // node->setBoolValue("running", t->isRunning());
 276             // node->setBoolValue("cranking", t->isCranking());
 277
 278             // cout << net->eng_state[i] << endl;
 279             if ( net->eng_state[i] == 0 ) {
 280                 node->setBoolValue( "cranking", false );
 281                 node->setBoolValue( "running", false );
 282             } else if ( net->eng_state[i] == 1 ) {
 283                 node->setBoolValue( "cranking", true );
 284                 node->setBoolValue( "running", false );
 285             } else if ( net->eng_state[i] == 2 ) {
 286                 node->setBoolValue( "cranking", false );
 287                 node->setBoolValue( "running", true );
 288             }
 289
 290             node->setDoubleValue( "rpm", net->rpm[i] );
 291             node->setDoubleValue( "fuel-flow-gph", net->fuel_flow[i] );
 292             node->setDoubleValue( "egt-degf", net->EGT[i] );
 293             node->setDoubleValue( "oil-temperature-degf", net->oil_temp[i] );
 294             node->setDoubleValue( "oil-pressure-psi", net->oil_px[i] );
 295         }
 296
 297         for (i = 0; i < net->num_tanks; ++i ) {
 298             SGPropertyNode * node
 299                 = fgGetNode("/consumables/fuel/tank", i, true);
 300             node->setDoubleValue("level-gal_us", net->fuel_quantity[i] );
 301         }
 302
 303         for (i = 0; i < net->num_wheels; ++i ) {
 304             SGPropertyNode * node
 305                 = fgGetNode("/gear/gear", i, true);
 306             node->setDoubleValue("wow", net->wow[i] );
 307         }
 308
 309         fgSetDouble("/surface-positions/flap-pos-norm", net->flap_deflection);
 310         SGPropertyNode * node = fgGetNode("/controls", true);
 311         fgSetDouble("/surface-positions/elevator-pos-norm",
 312                     node->getDoubleValue( "elevator" ));
 313         fgSetDouble("/surface-positions/rudder-pos-norm",
 314                     node->getDoubleValue( "rudder" ));
 315         fgSetDouble("/surface-positions/left-aileron-pos-norm",
 316                     node->getDoubleValue( "aileron" ));
 317         fgSetDouble("/surface-positions/right-aileron-pos-norm",
 318                     -node->getDoubleValue( "aileron" ));
 319
 320         /* these are ignored for now  ... */
 321         /*
 322         if ( net->cur_time ) {
 323             fgSetLong("/sim/time/cur-time-override", net->cur_time);
 324         }
 325
 326         globals->set_warp( net->warp );
 327         last_warp = net->warp;
 328         */
 329     } else {
 330         SG_LOG( SG_IO, SG_ALERT, "Error: version mismatch in net2global()" );
 331         SG_LOG( SG_IO, SG_ALERT,
 332                 "\tread " << net->version << " need " << FG_NET_FDM_VERSION );
 333         SG_LOG( SG_IO, SG_ALERT,
 334                 "\tsomeone needs to upgrade net_fdm.hxx and recompile." );
 335     }
 336 }
 337
 338
 339 FGExternalNet::FGExternalNet( double dt, string host, int dop, int dip, int cp )
 340 {
 341 //     set_delta_t( dt );
 342
 343     valid = true;
 344
 345     data_in_port = dip;
 346     data_out_port = dop;
 347     cmd_port = cp;
 348     fdm_host = host;
 349
 350     /////////////////////////////////////////////////////////
 351     // Setup client udp connection (sends data to remote fdm)
 352
 353     if ( ! data_client.open( false ) ) {
 354         SG_LOG( SG_FLIGHT, SG_ALERT, "Error opening client data channel" );
 355         valid = false;
 356     }
 357
 358     // fire and forget
 359     data_client.setBlocking( false );
 360
 361     if ( data_client.connect( fdm_host.c_str(), data_out_port ) == -1 ) {
 362         printf("error connecting to %s:%d\n", fdm_host.c_str(), data_out_port);
 363         valid = false;
 364     }
 365
 366     /////////////////////////////////////////////////////////
 367     // Setup server udp connection (for receiving data)
 368
 369     if ( ! data_server.open( false ) ) {
 370         SG_LOG( SG_FLIGHT, SG_ALERT, "Error opening client server channel" );
 371         valid = false;
 372     }
 373
 374     // disable blocking
 375     data_server.setBlocking( false );
 376
 377 #if defined( linux )
 378     // set SO_REUSEADDR flag
 379     int socket = data_server.getHandle();
 380     int one = 1;
 381     int result;
 382     result = ::setsockopt( socket, SOL_SOCKET, SO_REUSEADDR,
 383                            &one, sizeof(one) );
 384 #endif
 385
 386     // allowed to read from a broadcast addr
 387     // data_server.setBroadcast( true );
 388
 389     // if we bind to fdm_host = "" then we accept messages from
 390     // anyone.
 391     if ( data_server.bind( "", data_in_port ) == -1 ) {
 392         printf("error binding to port %d\n", data_in_port);
 393         valid = false;
 394     }
 395 }
 396
 397
 398 FGExternalNet::~FGExternalNet() {
 399     data_client.close();
 400     data_server.close();
 401 }
 402
 403
 404 // Initialize the ExternalNet flight model, dt is the time increment
 405 // for each subsequent iteration through the EOM
 406 void FGExternalNet::init() {
 407     // cout << "FGExternalNet::init()" << endl;
 408
 409     // Explicitly call the superclass's
 410     // init method first.
 411     common_init();
 412
 413     double lon = fgGetDouble( "/sim/presets/longitude-deg" );
 414     double lat = fgGetDouble( "/sim/presets/latitude-deg" );
 415     double alt = fgGetDouble( "/sim/presets/altitude-ft" );
 416     double ground = fgGetDouble( "/environment/ground-elevation-m" );
 417     double heading = fgGetDouble("/sim/presets/heading-deg");
 418     double speed = fgGetDouble( "/sim/presets/airspeed-kt" );
 419
 420     char cmd[256];
 421
 422     HTTPClient *http;
 423     sprintf( cmd, "/longitude-deg?value=%.8f", lon );
 424     http = new HTTPClient( fdm_host.c_str(), cmd_port, cmd );
 425     while ( !http->isDone(1000000) ) http->poll(0);
 426     delete http;
 427
 428     sprintf( cmd, "/latitude-deg?value=%.8f", lat );
 429     http = new HTTPClient( fdm_host.c_str(), cmd_port, cmd );
 430     while ( !http->isDone(1000000) ) http->poll(0);
 431     delete http;
 432
 433     sprintf( cmd, "/altitude-ft?value=%.8f", alt );
 434     http = new HTTPClient( fdm_host.c_str(), cmd_port, cmd );
 435     while ( !http->isDone(1000000) ) http->poll(0);
 436     delete http;
 437
 438     sprintf( cmd, "/ground-m?value=%.8f", ground );
 439     http = new HTTPClient( fdm_host.c_str(), cmd_port, cmd );
 440     while ( !http->isDone(1000000) ) http->poll(0);
 441     delete http;
 442
 443     sprintf( cmd, "/speed-kts?value=%.8f", speed );
 444     http = new HTTPClient( fdm_host.c_str(), cmd_port, cmd );
 445     while ( !http->isDone(1000000) ) http->poll(0);
 446     delete http;
 447
 448     sprintf( cmd, "/heading-deg?value=%.8f", heading );
 449     http = new HTTPClient( fdm_host.c_str(), cmd_port, cmd );
 450     while ( !http->isDone(1000000) ) http->poll(0);
 451     delete http;
 452
 453     SG_LOG( SG_IO, SG_INFO, "before sending reset command." );
 454
 455     if( fgGetBool("/sim/presets/onground") ) {
 456       sprintf( cmd, "/reset?value=ground" );
 457     } else {
 458       sprintf( cmd, "/reset?value=air" );
 459     }
 460     http = new HTTPClient( fdm_host.c_str(), cmd_port, cmd );
 461     while ( !http->isDone(1000000) ) http->poll(0);
 462     delete http;
 463
 464     SG_LOG( SG_IO, SG_INFO, "Remote FDM init() finished." );
 465 }
 466
 467
 468 // Run an iteration of the EOM.
 469 void FGExternalNet::update( double dt ) {
 470     int length;
 471     int result;
 472
 473     if (is_suspended())
 474       return;
 475
 476     // Send control positions to remote fdm
 477     length = sizeof(ctrls);
 478     global2net( &ctrls );
 479     if ( data_client.send( (char *)(& ctrls), length, 0 ) != length ) {
 480         SG_LOG( SG_IO, SG_DEBUG, "Error writing data." );
 481     } else {
 482         SG_LOG( SG_IO, SG_DEBUG, "wrote control data." );
 483     }
 484
 485     // Read next set of FDM data (blocking enabled to maintain 'sync')
 486     length = sizeof(fdm);
 487     while ( (result = data_server.recv( (char *)(& fdm), length, 0)) >= 0 ) {
 488         SG_LOG( SG_IO, SG_DEBUG, "Success reading data." );
 489         net2global( &fdm );
 490     }
 491 }