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