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1 // native_fdm.cxx -- FGFS "Native" flight dynamics protocal class
2 //
3 // Written by Curtis Olson, started September 2001.
4 //
5 // Copyright (C) 2001  Curtis L. Olson - http://www.flightgear.org/~curt
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
24 #ifdef HAVE_CONFIG_H
25 #  include <config.h>
26 #endif
27
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>
32
33 #include <FDM/flight.hxx>
34 #include <Time/tmp.hxx>
35 #include <Main/fg_props.hxx>
36 #include <Main/globals.hxx>
37 #include <Scenery/scenery.hxx>
38
39 #include "native_fdm.hxx"
40
41 // FreeBSD works better with this included last ... (?)
42 #if defined(WIN32) && !defined(__CYGWIN__)
43 #  include <windows.h>
44 #else
45 #  include <netinet/in.h>       // htonl() ntohl()
46 #endif
47
48
49 // The function htond is defined this way due to the way some
50 // processors and OSes treat floating point values.  Some will raise
51 // an exception whenever a "bad" floating point value is loaded into a
52 // floating point register.  Solaris is notorious for this, but then
53 // so is LynxOS on the PowerPC.  By translating the data in place,
54 // there is no need to load a FP register with the "corruped" floating
55 // point value.  By doing the BIG_ENDIAN test, I can optimize the
56 // routine for big-endian processors so it can be as efficient as
57 // possible
58 static void htond (double &x)   
59 {
60     if ( sgIsLittleEndian() ) {
61         int    *Double_Overlay;
62         int     Holding_Buffer;
63     
64         Double_Overlay = (int *) &x;
65         Holding_Buffer = Double_Overlay [0];
66     
67         Double_Overlay [0] = htonl (Double_Overlay [1]);
68         Double_Overlay [1] = htonl (Holding_Buffer);
69     } else {
70         return;
71     }
72 }
73
74 // Float version
75 static void htonf (float &x)    
76 {
77     if ( sgIsLittleEndian() ) {
78         int    *Float_Overlay;
79         int     Holding_Buffer;
80     
81         Float_Overlay = (int *) &x;
82         Holding_Buffer = Float_Overlay [0];
83     
84         Float_Overlay [0] = htonl (Holding_Buffer);
85     } else {
86         return;
87     }
88 }
89
90
91 FGNativeFDM::FGNativeFDM() {
92 }
93
94 FGNativeFDM::~FGNativeFDM() {
95 }
96
97
98 // open hailing frequencies
99 bool FGNativeFDM::open() {
100     if ( is_enabled() ) {
101         SG_LOG( SG_IO, SG_ALERT, "This shouldn't happen, but the channel " 
102                 << "is already in use, ignoring" );
103         return false;
104     }
105
106     SGIOChannel *io = get_io_channel();
107
108     if ( ! io->open( get_direction() ) ) {
109         SG_LOG( SG_IO, SG_ALERT, "Error opening channel communication layer." );
110         return false;
111     }
112
113     set_enabled( true );
114
115     // Is this really needed here ????
116     cur_fdm_state->_set_Sea_level_radius( SG_EQUATORIAL_RADIUS_FT );
117
118     return true;
119 }
120
121
122 void FGProps2NetFDM( FGNetFDM *net, bool net_byte_order ) {
123     int i;
124
125     // Version sanity checking
126     net->version = FG_NET_FDM_VERSION;
127
128     // Aero parameters
129     net->longitude = cur_fdm_state->get_Longitude();
130     net->latitude = cur_fdm_state->get_Latitude();
131     net->altitude = cur_fdm_state->get_Altitude() * SG_FEET_TO_METER;
132     net->agl = cur_fdm_state->get_Altitude_AGL() * SG_FEET_TO_METER;
133     net->phi = cur_fdm_state->get_Phi();
134     net->theta = cur_fdm_state->get_Theta();
135     net->psi = cur_fdm_state->get_Psi();
136     net->alpha = cur_fdm_state->get_Alpha();
137     net->beta = cur_fdm_state->get_Beta();
138     net->phidot = cur_fdm_state->get_Phi_dot_degps() * SG_DEGREES_TO_RADIANS;
139     net->thetadot = cur_fdm_state->get_Theta_dot_degps()
140         * SG_DEGREES_TO_RADIANS;
141     net->psidot = cur_fdm_state->get_Psi_dot_degps() * SG_DEGREES_TO_RADIANS;
142
143     net->vcas = cur_fdm_state->get_V_calibrated_kts();
144     net->climb_rate = cur_fdm_state->get_Climb_Rate();
145
146     net->v_north = cur_fdm_state->get_V_north();
147     net->v_east = cur_fdm_state->get_V_east();
148     net->v_down = cur_fdm_state->get_V_down();
149     net->v_wind_body_north = cur_fdm_state->get_uBody();
150     net->v_wind_body_east = cur_fdm_state->get_vBody();
151     net->v_wind_body_down = cur_fdm_state->get_wBody();
152
153     net->A_X_pilot = cur_fdm_state->get_A_X_pilot();
154     net->A_Y_pilot = cur_fdm_state->get_A_Y_pilot();
155     net->A_Z_pilot = cur_fdm_state->get_A_Z_pilot();
156
157     net->stall_warning = fgGetDouble("/sim/alarms/stall-warning", 0.0);
158     net->slip_deg
159       = fgGetDouble("/instrumentation/slip-skid-ball/indicated-slip-skid");
160
161     // Engine parameters
162     net->num_engines = FGNetFDM::FG_MAX_ENGINES;
163     for ( i = 0; i < net->num_engines; ++i ) {
164         SGPropertyNode *node = fgGetNode("engines/engine", i, true);
165         if ( node->getBoolValue( "running" ) ) {
166             net->eng_state[i] = 2;
167         } else if ( node->getBoolValue( "cranking" ) ) {
168             net->eng_state[i] = 1;
169         } else {
170             net->eng_state[i] = 0;
171         }
172         net->rpm[i] = node->getDoubleValue( "rpm" );
173         net->fuel_flow[i] = node->getDoubleValue( "fuel-flow-gph" );
174         net->egt[i] = node->getDoubleValue( "egt-degf" );
175         // cout << "egt = " << aero->EGT << endl;
176         net->mp_osi[i] = node->getDoubleValue( "mp-osi" );
177         net->oil_temp[i] = node->getDoubleValue( "oil-temperature-degf" );
178         net->oil_px[i] = node->getDoubleValue( "oil-pressure-psi" );
179     }
180
181     // Consumables
182     net->num_tanks = FGNetFDM::FG_MAX_TANKS;
183     for ( i = 0; i < net->num_tanks; ++i ) {
184         SGPropertyNode *node = fgGetNode("/consumables/fuel/tank", i, true);
185         net->fuel_quantity[i] = node->getDoubleValue("level-gal_us");
186     }
187
188     // Gear and flaps
189     net->num_wheels = FGNetFDM::FG_MAX_WHEELS;
190     for (i = 0; i < net->num_wheels; ++i ) {
191         SGPropertyNode *node = fgGetNode("/gear/gear", i, true);
192         net->wow[i] = node->getDoubleValue("wow");
193         net->gear_pos[i] = node->getDoubleValue("position-norm");
194         net->gear_steer[i] = node->getDoubleValue("steering-norm");
195         net->gear_compression[i] = node->getDoubleValue("compression-norm");
196     }
197
198     // the following really aren't used in this context
199     net->cur_time = globals->get_time_params()->get_cur_time();
200     net->warp = globals->get_warp();
201     net->visibility = fgGetDouble("/environment/visibility-m");
202
203     // Control surface positions
204     SGPropertyNode *node = fgGetNode("/surface-positions", true);
205     net->elevator = node->getDoubleValue( "elevator-pos-norm" );
206     net->elevator_trim_tab
207         = node->getDoubleValue( "elevator-trim-tab-pos-norm" );
208     // FIXME: CLO 10/28/04 - This really should be separated out into 2 values
209     net->left_flap = node->getDoubleValue( "flap-pos-norm" );
210     net->right_flap = node->getDoubleValue( "flap-pos-norm" );
211     net->left_aileron = node->getDoubleValue( "left-aileron-pos-norm" );
212     net->right_aileron = node->getDoubleValue( "right-aileron-pos-norm" );
213     net->rudder = node->getDoubleValue( "rudder-pos-norm" );
214     net->rudder = node->getDoubleValue( "nose-wheel-pos-norm" );
215     net->speedbrake = node->getDoubleValue( "speedbrake-pos-norm" );
216     net->spoilers = node->getDoubleValue( "spoilers-pos-norm" );
217
218     if ( net_byte_order ) {
219         // Convert the net buffer to network format
220         net->version = htonl(net->version);
221
222         htond(net->longitude);
223         htond(net->latitude);
224         htond(net->altitude);
225         htonf(net->agl);
226         htonf(net->phi);
227         htonf(net->theta);
228         htonf(net->psi);
229         htonf(net->alpha);
230         htonf(net->beta);
231
232         htonf(net->phidot);
233         htonf(net->thetadot);
234         htonf(net->psidot);
235         htonf(net->vcas);
236         htonf(net->climb_rate);
237         htonf(net->v_north);
238         htonf(net->v_east);
239         htonf(net->v_down);
240         htonf(net->v_wind_body_north);
241         htonf(net->v_wind_body_east);
242         htonf(net->v_wind_body_down);
243
244         htonf(net->A_X_pilot);
245         htonf(net->A_Y_pilot);
246         htonf(net->A_Z_pilot);
247
248         htonf(net->stall_warning);
249         htonf(net->slip_deg);
250
251         for ( i = 0; i < net->num_engines; ++i ) {
252             net->eng_state[i] = htonl(net->eng_state[i]);
253             htonf(net->rpm[i]);
254             htonf(net->fuel_flow[i]);
255             htonf(net->egt[i]);
256             htonf(net->mp_osi[i]);
257             htonf(net->oil_temp[i]);
258             htonf(net->oil_px[i]);
259         }
260         net->num_engines = htonl(net->num_engines);
261
262         for ( i = 0; i < net->num_tanks; ++i ) {
263             htonf(net->fuel_quantity[i]);
264         }
265         net->num_tanks = htonl(net->num_tanks);
266
267         for ( i = 0; i < net->num_wheels; ++i ) {
268             net->wow[i] = htonl(net->wow[i]);
269             htonf(net->gear_pos[i]);
270             htonf(net->gear_steer[i]);
271             htonf(net->gear_compression[i]);
272         }
273         net->num_wheels = htonl(net->num_wheels);
274
275         net->cur_time = htonl( net->cur_time );
276         net->warp = htonl( net->warp );
277         htonf(net->visibility);
278
279         htonf(net->elevator);
280         htonf(net->elevator_trim_tab);
281         htonf(net->left_flap);
282         htonf(net->right_flap);
283         htonf(net->left_aileron);
284         htonf(net->right_aileron);
285         htonf(net->rudder);
286         htonf(net->nose_wheel);
287         htonf(net->speedbrake);
288         htonf(net->spoilers);
289     }
290 }
291
292
293 void FGNetFDM2Props( FGNetFDM *net, bool net_byte_order ) {
294     int i;
295
296     if ( net_byte_order ) {
297         // Convert to the net buffer from network format
298         net->version = ntohl(net->version);
299
300         htond(net->longitude);
301         htond(net->latitude);
302         htond(net->altitude);
303         htonf(net->agl);
304         htonf(net->phi);
305         htonf(net->theta);
306         htonf(net->psi);
307         htonf(net->alpha);
308         htonf(net->beta);
309
310         htonf(net->phidot);
311         htonf(net->thetadot);
312         htonf(net->psidot);
313         htonf(net->vcas);
314         htonf(net->climb_rate);
315         htonf(net->v_north);
316         htonf(net->v_east);
317         htonf(net->v_down);
318         htonf(net->v_wind_body_north);
319         htonf(net->v_wind_body_east);
320         htonf(net->v_wind_body_down);
321
322         htonf(net->A_X_pilot);
323         htonf(net->A_Y_pilot);
324         htonf(net->A_Z_pilot);
325
326         htonf(net->stall_warning);
327         htonf(net->slip_deg);
328
329         net->num_engines = htonl(net->num_engines);
330         for ( i = 0; i < net->num_engines; ++i ) {
331             net->eng_state[i] = htonl(net->eng_state[i]);
332             htonf(net->rpm[i]);
333             htonf(net->fuel_flow[i]);
334             htonf(net->egt[i]);
335             htonf(net->mp_osi[i]);
336             htonf(net->oil_temp[i]);
337             htonf(net->oil_px[i]);
338         }
339
340         net->num_tanks = htonl(net->num_tanks);
341         for ( i = 0; i < net->num_tanks; ++i ) {
342             htonf(net->fuel_quantity[i]);
343         }
344
345         net->num_wheels = htonl(net->num_wheels);
346         for ( i = 0; i < net->num_wheels; ++i ) {
347             net->wow[i] = htonl(net->wow[i]);
348             htonf(net->gear_pos[i]);
349             htonf(net->gear_steer[i]);
350             htonf(net->gear_compression[i]);
351         }
352
353         net->cur_time = ntohl(net->cur_time);
354         net->warp = ntohl(net->warp);
355         htonf(net->visibility);
356
357         htonf(net->elevator);
358         htonf(net->elevator_trim_tab);
359         htonf(net->left_flap);
360         htonf(net->right_flap);
361         htonf(net->left_aileron);
362         htonf(net->right_aileron);
363         htonf(net->rudder);
364         htonf(net->nose_wheel);
365         htonf(net->speedbrake);
366         htonf(net->spoilers);
367     }
368
369     if ( net->version == FG_NET_FDM_VERSION ) {
370         // cout << "pos = " << net->longitude << " " << net->latitude << endl;
371         // cout << "sea level rad = " << cur_fdm_state->get_Sea_level_radius()
372         //      << endl;
373         cur_fdm_state->_updateGeodeticPosition( net->latitude,
374                                                 net->longitude,
375                                                 net->altitude
376                                                   * SG_METER_TO_FEET );
377         if ( net->agl > -9000 ) {
378             cur_fdm_state->_set_Altitude_AGL( net->agl * SG_METER_TO_FEET );
379         } else {
380             double agl_m
381               = net->altitude - globals->get_scenery()->get_cur_elev();
382             cur_fdm_state->_set_Altitude_AGL( agl_m * SG_METER_TO_FEET );
383         }
384         cur_fdm_state->_set_Euler_Angles( net->phi,
385                                           net->theta,
386                                           net->psi );
387         cur_fdm_state->_set_Alpha( net->alpha );
388         cur_fdm_state->_set_Beta( net->beta );
389         cur_fdm_state->_set_Euler_Rates( net->phidot,
390                                          net->thetadot,
391                                          net->psidot );
392         cur_fdm_state->_set_V_calibrated_kts( net->vcas );
393         cur_fdm_state->_set_Climb_Rate( net->climb_rate );
394         cur_fdm_state->_set_Velocities_Local( net->v_north,
395                                               net->v_east,
396                                               net->v_down );
397         cur_fdm_state->_set_Velocities_Wind_Body( net->v_wind_body_north,
398                                                   net->v_wind_body_east,
399                                                   net->v_wind_body_down );
400
401         cur_fdm_state->_set_Accels_Pilot_Body( net->A_X_pilot,
402                                                net->A_Y_pilot,
403                                                net->A_Z_pilot );
404
405         fgSetDouble( "/sim/alarms/stall-warning", net->stall_warning );
406         fgSetDouble( "/instrumentation/slip-skid-ball/indicated-slip-skid",
407                      net->slip_deg );
408         fgSetBool( "/instrumentation/slip-skid-ball/override", true );
409
410         for ( i = 0; i < net->num_engines; ++i ) {
411             SGPropertyNode *node = fgGetNode( "engines/engine", i, true );
412             
413             // node->setBoolValue("running", t->isRunning());
414             // node->setBoolValue("cranking", t->isCranking());
415             
416             // cout << net->eng_state[i] << endl;
417             if ( net->eng_state[i] == 0 ) {
418                 node->setBoolValue( "cranking", false );
419                 node->setBoolValue( "running", false );
420             } else if ( net->eng_state[i] == 1 ) {
421                 node->setBoolValue( "cranking", true );
422                 node->setBoolValue( "running", false );
423             } else if ( net->eng_state[i] == 2 ) {
424                 node->setBoolValue( "cranking", false );
425                 node->setBoolValue( "running", true );
426             }
427
428             node->setDoubleValue( "rpm", net->rpm[i] );
429             node->setDoubleValue( "fuel-flow-gph", net->fuel_flow[i] );
430             node->setDoubleValue( "egt-degf", net->egt[i] );
431             node->setDoubleValue( "mp-osi", net->mp_osi[i] );
432             node->setDoubleValue( "oil-temperature-degf", net->oil_temp[i] );
433             node->setDoubleValue( "oil-pressure-psi", net->oil_px[i] );         
434         }
435
436         for (i = 0; i < net->num_tanks; ++i ) {
437             SGPropertyNode * node
438                 = fgGetNode("/consumables/fuel/tank", i, true);
439             node->setDoubleValue("level-gal_us", net->fuel_quantity[i] );
440         }
441
442         for (i = 0; i < net->num_wheels; ++i ) {
443             SGPropertyNode * node = fgGetNode("/gear/gear", i, true);
444             node->setDoubleValue("wow", net->wow[i] );
445             node->setDoubleValue("position-norm", net->gear_pos[i] );
446             node->setDoubleValue("steering-norm", net->gear_steer[i] );
447             node->setDoubleValue("compression-norm", net->gear_compression[i] );
448         }
449
450         /* these are ignored for now  ... */
451         /*
452         if ( net->cur_time ) {
453             fgSetLong("/sim/time/cur-time-override", net->cur_time);
454         }
455
456         globals->set_warp( net->warp );
457         last_warp = net->warp;
458         */
459
460         SGPropertyNode *node = fgGetNode("/surface-positions", true);
461         node->setDoubleValue("elevator-pos-norm", net->elevator);
462         node->setDoubleValue("elevator-trim-tab-pos-norm",
463                              net->elevator_trim_tab);
464         // FIXME: CLO 10/28/04 - This really should be separated out
465         // into 2 values
466         node->setDoubleValue("flap-pos-norm", net->left_flap);
467         node->setDoubleValue("flap-pos-norm", net->right_flap);
468         node->setDoubleValue("left-aileron-pos-norm", net->left_aileron);
469         node->setDoubleValue("right-aileron-pos-norm", net->right_aileron);
470         node->setDoubleValue("rudder-pos-norm", net->rudder);
471         node->setDoubleValue("nose-wheel-pos-norm", net->nose_wheel);
472         node->setDoubleValue("speedbrake-pos-norm", net->speedbrake);
473         node->setDoubleValue("spoilers-pos-norm", net->spoilers);
474     } else {
475         SG_LOG( SG_IO, SG_ALERT,
476                 "Error: version mismatch in FGNetFDM2Props()" );
477         SG_LOG( SG_IO, SG_ALERT,
478                 "\tread " << net->version << " need " << FG_NET_FDM_VERSION );
479         SG_LOG( SG_IO, SG_ALERT,
480                 "\tNeeds to upgrade net_fdm.hxx and recompile." );
481     }
482 }
483
484
485 // process work for this port
486 bool FGNativeFDM::process() {
487     SGIOChannel *io = get_io_channel();
488     int length = sizeof(buf);
489
490     if ( get_direction() == SG_IO_OUT ) {
491         // cout << "size of cur_fdm_state = " << length << endl;
492         FGProps2NetFDM( &buf );
493         if ( ! io->write( (char *)(& buf), length ) ) {
494             SG_LOG( SG_IO, SG_ALERT, "Error writing data." );
495             return false;
496         }
497     } else if ( get_direction() == SG_IO_IN ) {
498         if ( io->get_type() == sgFileType ) {
499             if ( io->read( (char *)(& buf), length ) == length ) {
500                 SG_LOG( SG_IO, SG_DEBUG, "Success reading data." );
501                 FGNetFDM2Props( &buf );
502             }
503         } else {
504             int result;
505             result = io->read( (char *)(& buf), length );
506             while ( result == length ) {
507                 if ( result == length ) {
508                     SG_LOG( SG_IO, SG_DEBUG, "  Success reading data." );
509                     FGNetFDM2Props( &buf );
510                 }
511                 result = io->read( (char *)(& buf), length );
512             }
513         }
514     }
515
516     return true;
517 }
518
519
520 // close the channel
521 bool FGNativeFDM::close() {
522     SGIOChannel *io = get_io_channel();
523
524     set_enabled( false );
525
526     if ( ! io->close() ) {
527         return false;
528     }
529
530     return true;
531 }