1 // ExternalNet.hxx -- an net interface to an external flight dynamics model
3 // Written by Curtis Olson, started November 2001.
5 // Copyright (C) 2001 Curtis L. Olson - curt@flightgear.org
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.
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.
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.
23 #include <simgear/debug/logstream.hxx>
24 #include <simgear/io/lowlevel.hxx> // endian tests
26 #include <Main/fg_props.hxx>
28 #include "ExternalNet.hxx"
31 // FreeBSD works better with this included last ... (?)
32 #if defined(WIN32) && !defined(__CYGWIN__)
35 # include <netinet/in.h> // htonl() ntohl()
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
48 static void htond (double &x)
50 if ( sgIsLittleEndian() ) {
54 Double_Overlay = (int *) &x;
55 Holding_Buffer = Double_Overlay [0];
57 Double_Overlay [0] = htonl (Double_Overlay [1]);
58 Double_Overlay [1] = htonl (Holding_Buffer);
65 static void global2raw( FGRawCtrls *raw ) {
69 SGPropertyNode * node = fgGetNode("/controls", true);
70 raw->version = FG_RAW_CTRLS_VERSION;
71 raw->aileron = node->getDoubleValue( "aileron" );
72 raw->elevator = node->getDoubleValue( "elevator" );
73 raw->elevator_trim = node->getDoubleValue( "elevator-trim" );
74 raw->rudder = node->getDoubleValue( "rudder" );
75 raw->flaps = node->getDoubleValue( "flaps" );
76 for ( i = 0; i < FGRawCtrls::FG_MAX_ENGINES; ++i ) {
77 raw->throttle[i] = node->getDoubleValue( "throttle", 0.0 );
78 raw->mixture[i] = node->getDoubleValue( "mixture", 0.0 );
79 raw->prop_advance[i] = node->getDoubleValue( "propeller-pitch", 0.0 );
80 raw->magnetos[i] = node->getIntValue( "magnetos", 0 );
82 // cout << "Magnetos -> " << node->getIntValue( "magnetos", 0 );
84 raw->starter[i] = node->getBoolValue( "starter", false );
86 // cout << " Starter -> " << node->getIntValue( "stater", false )
90 for ( i = 0; i < FGRawCtrls::FG_MAX_TANKS; ++i ) {
91 raw->fuel_selector[i] = node->getDoubleValue( "fuel-selector", true );
93 for ( i = 0; i < FGRawCtrls::FG_MAX_WHEELS; ++i ) {
94 raw->brake[i] = node->getDoubleValue( "brakes", 0.0 );
96 raw->hground = fgGetDouble( "/environment/ground-elevation-m" );
97 raw->magvar = fgGetDouble("/environment/magnetic-variation-deg");
98 raw->speedup = fgGetInt("/sim/speed-up");
100 // convert to network byte order
101 raw->version = htonl(raw->version);
103 htond(raw->elevator);
104 htond(raw->elevator_trim);
107 for ( i = 0; i < FGRawCtrls::FG_MAX_ENGINES; ++i ) {
108 htond(raw->throttle[i]);
109 htond(raw->mixture[i]);
110 htond(raw->prop_advance[i]);
111 raw->magnetos[i] = htonl(raw->magnetos[i]);
112 raw->starter[i] = htonl(raw->starter[i]);
114 for ( i = 0; i < FGRawCtrls::FG_MAX_TANKS; ++i ) {
115 raw->fuel_selector[i] = htonl(raw->fuel_selector[i]);
117 for ( i = 0; i < FGRawCtrls::FG_MAX_WHEELS; ++i ) {
118 htond(raw->brake[i]);
122 raw->speedup = htonl(raw->speedup);
126 static void net2global( FGNetFDM *net ) {
129 // Convert to the net buffer from network format
130 net->version = ntohl(net->version);
132 htond(net->longitude);
133 htond(net->latitude);
134 htond(net->altitude);
140 htond(net->thetadot);
143 htond(net->climb_rate);
145 htond(net->A_X_pilot);
146 htond(net->A_Y_pilot);
147 htond(net->A_Z_pilot);
149 net->num_engines = htonl(net->num_engines);
150 for ( i = 0; i < net->num_engines; ++i ) {
151 htonl(net->eng_state[i]);
153 htond(net->fuel_flow[i]);
155 htond(net->oil_temp[i]);
156 htond(net->oil_px[i]);
159 net->num_tanks = htonl(net->num_tanks);
160 for ( i = 0; i < net->num_tanks; ++i ) {
161 htond(net->fuel_quantity[i]);
164 net->num_wheels = htonl(net->num_wheels);
165 // I don't need to convert the Wow flags, since they are one byte in size
166 htond(net->flap_deflection);
168 net->cur_time = ntohl(net->cur_time);
169 net->warp = ntohl(net->warp);
170 htond(net->visibility);
172 if ( net->version == FG_NET_FDM_VERSION ) {
173 // cout << "pos = " << net->longitude << " " << net->latitude << endl;
174 // cout << "sea level rad = " << cur_fdm_state->get_Sea_level_radius()
176 cur_fdm_state->_updateGeodeticPosition( net->latitude,
179 * SG_METER_TO_FEET );
180 cur_fdm_state->_set_Euler_Angles( net->phi,
183 cur_fdm_state->_set_Euler_Rates( net->phidot,
186 cur_fdm_state->_set_V_calibrated_kts( net->vcas );
187 cur_fdm_state->_set_Climb_Rate( net->climb_rate );
188 cur_fdm_state->_set_Accels_Pilot_Body( net->A_X_pilot,
192 for ( i = 0; i < net->num_engines; ++i ) {
193 SGPropertyNode *node = fgGetNode( "engines/engine", i, true );
195 // node->setBoolValue("running", t->isRunning());
196 // node->setBoolValue("cranking", t->isCranking());
198 // cout << net->eng_state[i] << endl;
199 if ( net->eng_state[i] == 0 ) {
200 node->setBoolValue( "cranking", false );
201 node->setBoolValue( "running", false );
202 } else if ( net->eng_state[i] == 1 ) {
203 node->setBoolValue( "cranking", true );
204 node->setBoolValue( "running", false );
205 } else if ( net->eng_state[i] == 2 ) {
206 node->setBoolValue( "cranking", false );
207 node->setBoolValue( "running", true );
210 node->setDoubleValue( "rpm", net->rpm[i] );
211 node->setDoubleValue( "fuel-flow-gph", net->fuel_flow[i] );
212 node->setDoubleValue( "egt-degf", net->EGT[i] );
213 node->setDoubleValue( "oil-temperature-degf", net->oil_temp[i] );
214 node->setDoubleValue( "oil-pressure-psi", net->oil_px[i] );
217 for (i = 0; i < net->num_tanks; ++i ) {
218 SGPropertyNode * node
219 = fgGetNode("/consumables/fuel/tank", i, true);
220 node->setDoubleValue("level-gal_us", net->fuel_quantity[i] );
223 for (i = 0; i < net->num_wheels; ++i ) {
224 SGPropertyNode * node
225 = fgGetNode("/gear/gear", i, true);
226 node->setDoubleValue("wow", net->wow[i] );
229 fgSetDouble("/surface-positions/flap-pos-norm", net->flap_deflection);
230 SGPropertyNode * node = fgGetNode("/controls", true);
231 fgSetDouble("/surface-positions/elevator-pos-norm",
232 node->getDoubleValue( "elevator" ));
233 fgSetDouble("/surface-positions/rudder-pos-norm",
234 node->getDoubleValue( "rudder" ));
235 fgSetDouble("/surface-positions/left-aileron-pos-norm",
236 node->getDoubleValue( "aileron" ));
237 fgSetDouble("/surface-positions/right-aileron-pos-norm",
238 -node->getDoubleValue( "aileron" ));
240 /* these are ignored for now ... */
242 if ( net->cur_time ) {
243 fgSetLong("/sim/time/cur-time-override", net->cur_time);
246 globals->set_warp( net->warp );
247 last_warp = net->warp;
250 SG_LOG( SG_IO, SG_ALERT, "Error: version mismatch in net2global()" );
251 SG_LOG( SG_IO, SG_ALERT,
252 "\tread " << net->version << " need " << FG_NET_FDM_VERSION );
253 SG_LOG( SG_IO, SG_ALERT,
254 "\tsomeone needs to upgrade net_fdm.hxx and recompile." );
259 FGExternalNet::FGExternalNet( double dt, string host, int dop, int dip, int cp )
261 // set_delta_t( dt );
270 /////////////////////////////////////////////////////////
271 // Setup client udp connection (sends data to remote fdm)
273 if ( ! data_client.open( false ) ) {
274 SG_LOG( SG_FLIGHT, SG_ALERT, "Error opening client data channel" );
279 data_client.setBlocking( false );
281 if ( data_client.connect( fdm_host.c_str(), data_out_port ) == -1 ) {
282 printf("error connecting to %s:%d\n", fdm_host.c_str(), data_out_port);
286 /////////////////////////////////////////////////////////
287 // Setup server udp connection (for receiving data)
289 if ( ! data_server.open( false ) ) {
290 SG_LOG( SG_FLIGHT, SG_ALERT, "Error opening client server channel" );
294 // we want to block for incoming data in order to syncronize frame
296 data_server.setBlocking( false /* don't block while testing */ );
297 // data_server.setBlocking( true /* don't block while testing */ );
299 // if we bind to fdm_host = "" then we accept messages from
301 if ( data_server.bind( fdm_host.c_str(), data_in_port ) == -1 ) {
302 printf("error binding to port %d\n", data_in_port);
308 FGExternalNet::~FGExternalNet() {
314 // Initialize the ExternalNet flight model, dt is the time increment
315 // for each subsequent iteration through the EOM
316 void FGExternalNet::init() {
317 // cout << "FGExternalNet::init()" << endl;
319 // Explicitly call the superclass's
320 // init method first.
323 double lon = fgGetDouble( "/position/longitude-deg" );
324 double lat = fgGetDouble( "/position/latitude-deg" );
325 double ground = fgGetDouble( "/environment/ground-elevation-m" );
326 double heading = fgGetDouble("/orientation/heading-deg");
330 sprintf( cmd, "/longitude-deg?value=%.8f", lon );
331 new HTTPClient( fdm_host.c_str(), cmd_port, cmd );
332 // cout << "before loop()" << endl;
334 // cout << "here" << endl;
336 sprintf( cmd, "/latitude-deg?value=%.8f", lat );
337 new HTTPClient( fdm_host.c_str(), cmd_port, cmd );
340 sprintf( cmd, "/ground-m?value=%.8f", ground );
341 new HTTPClient( fdm_host.c_str(), cmd_port, cmd );
344 sprintf( cmd, "/heading-deg?value=%.8f", heading );
345 new HTTPClient( fdm_host.c_str(), cmd_port, cmd );
348 sprintf( cmd, "/reset?value=ground" );
349 new HTTPClient( fdm_host.c_str(), cmd_port, cmd );
354 // Run an iteration of the EOM.
355 void FGExternalNet::update( double dt ) {
362 // Send control positions to remote fdm
363 length = sizeof(ctrls);
364 global2raw( &ctrls );
365 if ( data_client.send( (char *)(& ctrls), length, 0 ) != length ) {
366 SG_LOG( SG_IO, SG_ALERT, "Error writing data." );
369 // Read next set of FDM data (blocking enabled to maintain 'sync')
370 length = sizeof(fdm);
371 while ( (result = data_server.recv( (char *)(& fdm), length, 0)) >= 0 ) {
372 SG_LOG( SG_IO, SG_DEBUG, "Success reading data." );