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 #ifdef HAVE_CONFIG_H
  24 #  include <config.h>
  25 #endif
  26
  27 #include <simgear/debug/logstream.hxx>
  28 #include <simgear/io/lowlevel.hxx> // endian tests
  29
  30 #include <Main/fg_props.hxx>
  31 #include <Network/native_ctrls.hxx>
  32
  33 #include "ExternalNet.hxx"
  34
  35
  36 // FreeBSD works better with this included last ... (?)
  37 #if defined(WIN32) && !defined(__CYGWIN__)
  38 #  include <windows.h>
  39 #else
  40 #  include <netinet/in.h>       // htonl() ntohl()
  41 #endif
  42
  43 #if defined( linux )
  44 #  include <sys/types.h>
  45 #  include <sys/socket.h>
  46 #endif
  47
  48 // The function htond is defined this way due to the way some
  49 // processors and OSes treat floating point values.  Some will raise
  50 // an exception whenever a "bad" floating point value is loaded into a
  51 // floating point register.  Solaris is notorious for this, but then
  52 // so is LynxOS on the PowerPC.  By translating the data in place,
  53 // there is no need to load a FP register with the "corruped" floating
  54 // point value.  By doing the BIG_ENDIAN test, I can optimize the
  55 // routine for big-endian processors so it can be as efficient as
  56 // possible
  57 static void htond (double &x)
  58 {
  59     if ( sgIsLittleEndian() ) {
  60         int    *Double_Overlay;
  61         int     Holding_Buffer;
  62
  63         Double_Overlay = (int *) &x;
  64         Holding_Buffer = Double_Overlay [0];
  65
  66         Double_Overlay [0] = htonl (Double_Overlay [1]);
  67         Double_Overlay [1] = htonl (Holding_Buffer);
  68     } else {
  69         return;
  70     }
  71 }
  72
  73
  74 static void net2global( FGNetFDM *net ) {
  75     int i;
  76
  77     // Convert to the net buffer from network format
  78     net->version = ntohl(net->version);
  79
  80     htond(net->longitude);
  81     htond(net->latitude);
  82     htond(net->altitude);
  83     htond(net->phi);
  84     htond(net->theta);
  85     htond(net->psi);
  86
  87     htond(net->phidot);
  88     htond(net->thetadot);
  89     htond(net->psidot);
  90     htond(net->vcas);
  91     htond(net->climb_rate);
  92     htond(net->v_north);
  93     htond(net->v_east);
  94     htond(net->v_down);
  95     htond(net->v_wind_body_north);
  96     htond(net->v_wind_body_east);
  97     htond(net->v_wind_body_down);
  98     htond(net->stall_warning);
  99
 100     htond(net->A_X_pilot);
 101     htond(net->A_Y_pilot);
 102     htond(net->A_Z_pilot);
 103
 104     net->num_engines = htonl(net->num_engines);
 105     for ( i = 0; i < net->num_engines; ++i ) {
 106         htonl(net->eng_state[i]);
 107         htond(net->rpm[i]);
 108         htond(net->fuel_flow[i]);
 109         htond(net->EGT[i]);
 110         htond(net->oil_temp[i]);
 111         htond(net->oil_px[i]);
 112     }
 113
 114     net->num_tanks = htonl(net->num_tanks);
 115     for ( i = 0; i < net->num_tanks; ++i ) {
 116         htond(net->fuel_quantity[i]);
 117     }
 118
 119     net->num_wheels = htonl(net->num_wheels);
 120     // I don't need to convert the Wow flags, since they are one byte in size
 121     htond(net->flap_deflection);
 122
 123     net->cur_time = ntohl(net->cur_time);
 124     net->warp = ntohl(net->warp);
 125     htond(net->visibility);
 126
 127     if ( net->version == FG_NET_FDM_VERSION ) {
 128         // cout << "pos = " << net->longitude << " " << net->latitude << endl;
 129         // cout << "sea level rad = " << cur_fdm_state->get_Sea_level_radius()
 130         //      << endl;
 131         cur_fdm_state->_updateGeodeticPosition( net->latitude,
 132                                                 net->longitude,
 133                                                 net->altitude
 134                                                   * SG_METER_TO_FEET );
 135         cur_fdm_state->_set_Euler_Angles( net->phi,
 136                                           net->theta,
 137                                           net->psi );
 138         cur_fdm_state->_set_Euler_Rates( net->phidot,
 139                                          net->thetadot,
 140                                          net->psidot );
 141         cur_fdm_state->_set_V_calibrated_kts( net->vcas );
 142         cur_fdm_state->_set_Climb_Rate( net->climb_rate );
 143         cur_fdm_state->_set_Velocities_Local( net->v_north,
 144                                               net->v_east,
 145                                               net->v_down );
 146         cur_fdm_state->_set_Velocities_Wind_Body( net->v_wind_body_north,
 147                                                   net->v_wind_body_east,
 148                                                   net->v_wind_body_down );
 149
 150         fgSetDouble( "/sim/alarms/stall-warning", net->stall_warning );
 151         cur_fdm_state->_set_Accels_Pilot_Body( net->A_X_pilot,
 152                                                net->A_Y_pilot,
 153                                                net->A_Z_pilot );
 154
 155         for ( i = 0; i < net->num_engines; ++i ) {
 156             SGPropertyNode *node = fgGetNode( "engines/engine", i, true );
 157
 158             // node->setBoolValue("running", t->isRunning());
 159             // node->setBoolValue("cranking", t->isCranking());
 160
 161             // cout << net->eng_state[i] << endl;
 162             if ( net->eng_state[i] == 0 ) {
 163                 node->setBoolValue( "cranking", false );
 164                 node->setBoolValue( "running", false );
 165             } else if ( net->eng_state[i] == 1 ) {
 166                 node->setBoolValue( "cranking", true );
 167                 node->setBoolValue( "running", false );
 168             } else if ( net->eng_state[i] == 2 ) {
 169                 node->setBoolValue( "cranking", false );
 170                 node->setBoolValue( "running", true );
 171             }
 172
 173             node->setDoubleValue( "rpm", net->rpm[i] );
 174             node->setDoubleValue( "fuel-flow-gph", net->fuel_flow[i] );
 175             node->setDoubleValue( "egt-degf", net->EGT[i] );
 176             node->setDoubleValue( "oil-temperature-degf", net->oil_temp[i] );
 177             node->setDoubleValue( "oil-pressure-psi", net->oil_px[i] );
 178         }
 179
 180         for (i = 0; i < net->num_tanks; ++i ) {
 181             SGPropertyNode * node
 182                 = fgGetNode("/consumables/fuel/tank", i, true);
 183             node->setDoubleValue("level-gal_us", net->fuel_quantity[i] );
 184         }
 185
 186         for (i = 0; i < net->num_wheels; ++i ) {
 187             SGPropertyNode * node
 188                 = fgGetNode("/gear/gear", i, true);
 189             node->setDoubleValue("wow", net->wow[i] );
 190         }
 191
 192         fgSetDouble("/surface-positions/flap-pos-norm", net->flap_deflection);
 193         SGPropertyNode * node = fgGetNode("/controls", true);
 194         fgSetDouble("/surface-positions/elevator-pos-norm",
 195                     node->getDoubleValue( "elevator" ));
 196         fgSetDouble("/surface-positions/rudder-pos-norm",
 197                     node->getDoubleValue( "rudder" ));
 198         fgSetDouble("/surface-positions/left-aileron-pos-norm",
 199                     node->getDoubleValue( "aileron" ));
 200         fgSetDouble("/surface-positions/right-aileron-pos-norm",
 201                     -node->getDoubleValue( "aileron" ));
 202
 203         /* these are ignored for now  ... */
 204         /*
 205         if ( net->cur_time ) {
 206             fgSetLong("/sim/time/cur-time-override", net->cur_time);
 207         }
 208
 209         globals->set_warp( net->warp );
 210         last_warp = net->warp;
 211         */
 212     } else {
 213         SG_LOG( SG_IO, SG_ALERT, "Error: version mismatch in net2global()" );
 214         SG_LOG( SG_IO, SG_ALERT,
 215                 "\tread " << net->version << " need " << FG_NET_FDM_VERSION );
 216         SG_LOG( SG_IO, SG_ALERT,
 217                 "\tsomeone needs to upgrade net_fdm.hxx and recompile." );
 218     }
 219 }
 220
 221
 222 FGExternalNet::FGExternalNet( double dt, string host, int dop, int dip, int cp )
 223 {
 224 //     set_delta_t( dt );
 225
 226     valid = true;
 227
 228     data_in_port = dip;
 229     data_out_port = dop;
 230     cmd_port = cp;
 231     fdm_host = host;
 232
 233     /////////////////////////////////////////////////////////
 234     // Setup client udp connection (sends data to remote fdm)
 235
 236     if ( ! data_client.open( false ) ) {
 237         SG_LOG( SG_FLIGHT, SG_ALERT, "Error opening client data channel" );
 238         valid = false;
 239     }
 240
 241     // fire and forget
 242     data_client.setBlocking( false );
 243
 244     if ( data_client.connect( fdm_host.c_str(), data_out_port ) == -1 ) {
 245         printf("error connecting to %s:%d\n", fdm_host.c_str(), data_out_port);
 246         valid = false;
 247     }
 248
 249     /////////////////////////////////////////////////////////
 250     // Setup server udp connection (for receiving data)
 251
 252     if ( ! data_server.open( false ) ) {
 253         SG_LOG( SG_FLIGHT, SG_ALERT, "Error opening client server channel" );
 254         valid = false;
 255     }
 256
 257     // disable blocking
 258     data_server.setBlocking( false );
 259
 260 #if defined( linux )
 261     // set SO_REUSEADDR flag
 262     int socket = data_server.getHandle();
 263     int one = 1;
 264     int result;
 265     result = ::setsockopt( socket, SOL_SOCKET, SO_REUSEADDR,
 266                            &one, sizeof(one) );
 267 #endif
 268
 269     // allowed to read from a broadcast addr
 270     // data_server.setBroadcast( true );
 271
 272     // if we bind to fdm_host = "" then we accept messages from
 273     // anyone.
 274     if ( data_server.bind( "", data_in_port ) == -1 ) {
 275         printf("error binding to port %d\n", data_in_port);
 276         valid = false;
 277     }
 278 }
 279
 280
 281 FGExternalNet::~FGExternalNet() {
 282     data_client.close();
 283     data_server.close();
 284 }
 285
 286
 287 // Initialize the ExternalNet flight model, dt is the time increment
 288 // for each subsequent iteration through the EOM
 289 void FGExternalNet::init() {
 290     // cout << "FGExternalNet::init()" << endl;
 291
 292     // Explicitly call the superclass's
 293     // init method first.
 294     common_init();
 295
 296     double lon = fgGetDouble( "/sim/presets/longitude-deg" );
 297     double lat = fgGetDouble( "/sim/presets/latitude-deg" );
 298     double alt = fgGetDouble( "/sim/presets/altitude-ft" );
 299     double ground = fgGetDouble( "/environment/ground-elevation-m" );
 300     double heading = fgGetDouble("/sim/presets/heading-deg");
 301     double speed = fgGetDouble( "/sim/presets/airspeed-kt" );
 302
 303     char cmd[256];
 304
 305     HTTPClient *http;
 306     sprintf( cmd, "/longitude-deg?value=%.8f", lon );
 307     http = new HTTPClient( fdm_host.c_str(), cmd_port, cmd );
 308     while ( !http->isDone(1000000) ) http->poll(0);
 309     delete http;
 310
 311     sprintf( cmd, "/latitude-deg?value=%.8f", lat );
 312     http = new HTTPClient( fdm_host.c_str(), cmd_port, cmd );
 313     while ( !http->isDone(1000000) ) http->poll(0);
 314     delete http;
 315
 316     sprintf( cmd, "/altitude-ft?value=%.8f", alt );
 317     http = new HTTPClient( fdm_host.c_str(), cmd_port, cmd );
 318     while ( !http->isDone(1000000) ) http->poll(0);
 319     delete http;
 320
 321     sprintf( cmd, "/ground-m?value=%.8f", ground );
 322     http = new HTTPClient( fdm_host.c_str(), cmd_port, cmd );
 323     while ( !http->isDone(1000000) ) http->poll(0);
 324     delete http;
 325
 326     sprintf( cmd, "/speed-kts?value=%.8f", speed );
 327     http = new HTTPClient( fdm_host.c_str(), cmd_port, cmd );
 328     while ( !http->isDone(1000000) ) http->poll(0);
 329     delete http;
 330
 331     sprintf( cmd, "/heading-deg?value=%.8f", heading );
 332     http = new HTTPClient( fdm_host.c_str(), cmd_port, cmd );
 333     while ( !http->isDone(1000000) ) http->poll(0);
 334     delete http;
 335
 336     SG_LOG( SG_IO, SG_INFO, "before sending reset command." );
 337
 338     if( fgGetBool("/sim/presets/onground") ) {
 339       sprintf( cmd, "/reset?value=ground" );
 340     } else {
 341       sprintf( cmd, "/reset?value=air" );
 342     }
 343     http = new HTTPClient( fdm_host.c_str(), cmd_port, cmd );
 344     while ( !http->isDone(1000000) ) http->poll(0);
 345     delete http;
 346
 347     SG_LOG( SG_IO, SG_INFO, "Remote FDM init() finished." );
 348 }
 349
 350
 351 // Run an iteration of the EOM.
 352 void FGExternalNet::update( double dt ) {
 353     int length;
 354     int result;
 355
 356     if (is_suspended())
 357       return;
 358
 359     // Send control positions to remote fdm
 360     length = sizeof(ctrls);
 361     FGProps2NetCtrls( &ctrls );
 362     if ( data_client.send( (char *)(& ctrls), length, 0 ) != length ) {
 363         SG_LOG( SG_IO, SG_DEBUG, "Error writing data." );
 364     } else {
 365         SG_LOG( SG_IO, SG_DEBUG, "wrote control data." );
 366     }
 367
 368     // Read next set of FDM data (blocking enabled to maintain 'sync')
 369     length = sizeof(fdm);
 370     while ( (result = data_server.recv( (char *)(& fdm), length, 0)) >= 0 ) {
 371         SG_LOG( SG_IO, SG_DEBUG, "Success reading data." );
 372         net2global( &fdm );
 373     }
 374 }