1 // native_fdm.cxx -- FGFS "Native" flight dynamics protocal class
3 // Written by Curtis Olson, started September 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.
28 #include <simgear/debug/logstream.hxx>
29 #include <simgear/io/lowlevel.hxx> // endian tests
30 #include <simgear/io/iochannel.hxx>
31 #include <simgear/timing/sg_time.hxx>
33 #include <FDM/flight.hxx>
34 #include <Time/tmp.hxx>
35 #include <Main/fg_props.hxx>
36 #include <Main/globals.hxx>
38 #include "mini_fdm.hxx"
40 // FreeBSD works better with this included last ... (?)
41 #if defined(WIN32) && !defined(__CYGWIN__)
44 # include <netinet/in.h> // htonl() ntohl()
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
57 static void htond (double &x)
59 if ( sgIsLittleEndian() ) {
63 Double_Overlay = (int *) &x;
64 Holding_Buffer = Double_Overlay [0];
66 Double_Overlay [0] = htonl (Double_Overlay [1]);
67 Double_Overlay [1] = htonl (Holding_Buffer);
74 FGMiniFDM::FGMiniFDM() {
77 FGMiniFDM::~FGMiniFDM() {
81 // open hailing frequencies
82 bool FGMiniFDM::open() {
84 SG_LOG( SG_IO, SG_ALERT, "This shouldn't happen, but the channel "
85 << "is already in use, ignoring" );
89 SGIOChannel *io = get_io_channel();
91 if ( ! io->open( get_direction() ) ) {
92 SG_LOG( SG_IO, SG_ALERT, "Error opening channel communication layer." );
98 cur_fdm_state->_set_Sea_level_radius( SG_EQUATORIAL_RADIUS_FT );
103 void FGProps2NetMiniFDM( FGNetMiniFDM *net ) {
106 // Version sanity checking
107 net->version = FG_NET_FDM_MINI_VERSION;
110 net->longitude = cur_fdm_state->get_Longitude();
111 net->latitude = cur_fdm_state->get_Latitude();
112 net->altitude = cur_fdm_state->get_Altitude() * SG_FEET_TO_METER;
113 net->phi = cur_fdm_state->get_Phi();
114 net->theta = cur_fdm_state->get_Theta();
115 net->psi = cur_fdm_state->get_Psi();
118 net->vcas = cur_fdm_state->get_V_calibrated_kts();
119 net->climb_rate = cur_fdm_state->get_Climb_Rate();
122 net->num_tanks = FGNetMiniFDM::FG_MAX_TANKS;
123 for ( i = 0; i < net->num_tanks; ++i ) {
124 SGPropertyNode *node = fgGetNode("/consumables/fuel/tank", i, true);
125 net->fuel_quantity[i] = node->getDoubleValue("level-gal_us");
128 // the following really aren't used in this context
129 net->cur_time = globals->get_time_params()->get_cur_time();
130 net->warp = globals->get_warp();
132 // Convert the net buffer to network format
133 net->version = htonl(net->version);
135 htond(net->longitude);
136 htond(net->latitude);
137 htond(net->altitude);
142 htond(net->climb_rate);
144 for ( i = 0; i < net->num_tanks; ++i ) {
145 htond(net->fuel_quantity[i]);
147 net->num_tanks = htonl(net->num_tanks);
149 net->cur_time = htonl( net->cur_time );
150 net->warp = htonl( net->warp );
154 void FGNetMiniFDM2Props( FGNetMiniFDM *net ) {
157 // Convert to the net buffer from network format
158 net->version = ntohl(net->version);
160 htond(net->longitude);
161 htond(net->latitude);
162 htond(net->altitude);
167 htond(net->climb_rate);
169 net->num_tanks = htonl(net->num_tanks);
170 for ( i = 0; i < net->num_tanks; ++i ) {
171 htond(net->fuel_quantity[i]);
174 net->cur_time = ntohl(net->cur_time);
175 net->warp = ntohl(net->warp);
177 if ( net->version == FG_NET_FDM_MINI_VERSION ) {
178 // cout << "pos = " << net->longitude << " " << net->latitude << endl;
179 // cout << "sea level rad = " << cur_fdm_state->get_Sea_level_radius()
181 cur_fdm_state->_updateGeodeticPosition( net->latitude,
184 * SG_METER_TO_FEET );
185 cur_fdm_state->_set_Euler_Angles( net->phi,
189 cur_fdm_state->_set_V_calibrated_kts( net->vcas );
190 cur_fdm_state->_set_Climb_Rate( net->climb_rate );
192 for (i = 0; i < net->num_tanks; ++i ) {
193 SGPropertyNode * node
194 = fgGetNode("/consumables/fuel/tank", i, true);
195 node->setDoubleValue("level-gal_us", net->fuel_quantity[i] );
198 if ( net->cur_time ) {
199 fgSetLong("/sim/time/cur-time-override", net->cur_time);
202 globals->set_warp( net->warp );
204 SG_LOG( SG_IO, SG_ALERT,
205 "Error: version mismatch in FGNetMiniFDM2Props()" );
206 SG_LOG( SG_IO, SG_ALERT,
207 "\tread " << net->version << " need " << FG_NET_FDM_MINI_VERSION );
208 SG_LOG( SG_IO, SG_ALERT,
209 "\tNeed to upgrade net_fdm.hxx and recompile." );
214 // process work for this port
215 bool FGMiniFDM::process() {
216 SGIOChannel *io = get_io_channel();
217 int length = sizeof(buf);
219 if ( get_direction() == SG_IO_OUT ) {
220 // cout << "size of cur_fdm_state = " << length << endl;
221 FGProps2NetMiniFDM( &buf );
222 if ( ! io->write( (char *)(& buf), length ) ) {
223 SG_LOG( SG_IO, SG_ALERT, "Error writing data." );
226 } else if ( get_direction() == SG_IO_IN ) {
227 if ( io->get_type() == sgFileType ) {
228 if ( io->read( (char *)(& buf), length ) == length ) {
229 SG_LOG( SG_IO, SG_DEBUG, "Success reading data." );
230 FGNetMiniFDM2Props( &buf );
233 while ( io->read( (char *)(& buf), length ) == length ) {
234 SG_LOG( SG_IO, SG_DEBUG, "Success reading data." );
235 FGNetMiniFDM2Props( &buf );
245 bool FGMiniFDM::close() {
246 SGIOChannel *io = get_io_channel();
248 set_enabled( false );
250 if ( ! io->close() ) {