// $Id$
+#ifdef HAVE_CONFIG_H
+# include <config.h>
+#endif
+
#include <simgear/debug/logstream.hxx>
+#include <simgear/io/lowlevel.hxx> // endian tests
#include <simgear/io/iochannel.hxx>
+#include <simgear/timing/sg_time.hxx>
#include <FDM/flight.hxx>
+#include <Time/tmp.hxx>
+#include <Main/fg_props.hxx>
+#include <Main/globals.hxx>
+#include <Scenery/scenery.hxx>
#include "native_fdm.hxx"
+// FreeBSD works better with this included last ... (?)
+#if defined(WIN32) && !defined(__CYGWIN__)
+# include <windows.h>
+#else
+# include <netinet/in.h> // htonl() ntohl()
+#endif
+
+
+// The function htond is defined this way due to the way some
+// processors and OSes treat floating point values. Some will raise
+// an exception whenever a "bad" floating point value is loaded into a
+// floating point register. Solaris is notorious for this, but then
+// so is LynxOS on the PowerPC. By translating the data in place,
+// there is no need to load a FP register with the "corruped" floating
+// point value. By doing the BIG_ENDIAN test, I can optimize the
+// routine for big-endian processors so it can be as efficient as
+// possible
+static void htond (double &x)
+{
+ if ( sgIsLittleEndian() ) {
+ int *Double_Overlay;
+ int Holding_Buffer;
+
+ Double_Overlay = (int *) &x;
+ Holding_Buffer = Double_Overlay [0];
+
+ Double_Overlay [0] = htonl (Double_Overlay [1]);
+ Double_Overlay [1] = htonl (Holding_Buffer);
+ } else {
+ return;
+ }
+}
+
+// Float version
+static void htonf (float &x)
+{
+ if ( sgIsLittleEndian() ) {
+ int *Float_Overlay;
+ int Holding_Buffer;
+
+ Float_Overlay = (int *) &x;
+ Holding_Buffer = Float_Overlay [0];
+
+ Float_Overlay [0] = htonl (Holding_Buffer);
+ } else {
+ return;
+ }
+}
+
FGNativeFDM::FGNativeFDM() {
}
set_enabled( true );
+ // Is this really needed here ????
cur_fdm_state->_set_Sea_level_radius( SG_EQUATORIAL_RADIUS_FT );
+
return true;
}
-static void global2raw( const FGInterface *global, FGRawFDM *raw ) {
- raw->version = FG_RAW_FDM_VERSION;
- raw->longitude = cur_fdm_state->get_Longitude();
- raw->latitude = cur_fdm_state->get_Latitude();
- raw->altitude = cur_fdm_state->get_Altitude();
- raw->phi = cur_fdm_state->get_Phi();
- raw->theta = cur_fdm_state->get_Theta();
- raw->psi = cur_fdm_state->get_Psi();
+void FGProps2NetFDM( FGNetFDM *net, bool net_byte_order ) {
+ int i;
+
+ // Version sanity checking
+ net->version = FG_NET_FDM_VERSION;
+
+ // Aero parameters
+ net->longitude = cur_fdm_state->get_Longitude();
+ net->latitude = cur_fdm_state->get_Latitude();
+ net->altitude = cur_fdm_state->get_Altitude() * SG_FEET_TO_METER;
+ net->agl = cur_fdm_state->get_Altitude_AGL() * SG_FEET_TO_METER;
+ net->phi = cur_fdm_state->get_Phi();
+ net->theta = cur_fdm_state->get_Theta();
+ net->psi = cur_fdm_state->get_Psi();
+ net->alpha = cur_fdm_state->get_Alpha();
+ net->beta = cur_fdm_state->get_Beta();
+ net->phidot = cur_fdm_state->get_Phi_dot_degps() * SG_DEGREES_TO_RADIANS;
+ net->thetadot = cur_fdm_state->get_Theta_dot_degps()
+ * SG_DEGREES_TO_RADIANS;
+ net->psidot = cur_fdm_state->get_Psi_dot_degps() * SG_DEGREES_TO_RADIANS;
+
+ net->vcas = cur_fdm_state->get_V_calibrated_kts();
+ net->climb_rate = cur_fdm_state->get_Climb_Rate();
+
+ net->v_north = cur_fdm_state->get_V_north();
+ net->v_east = cur_fdm_state->get_V_east();
+ net->v_down = cur_fdm_state->get_V_down();
+ net->v_wind_body_north = cur_fdm_state->get_uBody();
+ net->v_wind_body_east = cur_fdm_state->get_vBody();
+ net->v_wind_body_down = cur_fdm_state->get_wBody();
+
+ net->A_X_pilot = cur_fdm_state->get_A_X_pilot();
+ net->A_Y_pilot = cur_fdm_state->get_A_Y_pilot();
+ net->A_Z_pilot = cur_fdm_state->get_A_Z_pilot();
+
+ net->stall_warning = fgGetDouble("/sim/alarms/stall-warning", 0.0);
+ net->slip_deg
+ = fgGetDouble("/instrumentation/slip-skid-ball/indicated-slip-skid");
+
+ // Engine parameters
+ net->num_engines = FGNetFDM::FG_MAX_ENGINES;
+ for ( i = 0; i < net->num_engines; ++i ) {
+ SGPropertyNode *node = fgGetNode("engines/engine", i, true);
+ if ( node->getBoolValue( "running" ) ) {
+ net->eng_state[0] = 2;
+ } else if ( node->getBoolValue( "cranking" ) ) {
+ net->eng_state[0] = 1;
+ } else {
+ net->eng_state[0] = 0;
+ }
+ net->rpm[i] = node->getDoubleValue( "rpm" );
+ net->fuel_flow[i] = node->getDoubleValue( "fuel-flow-gph" );
+ net->EGT[i] = node->getDoubleValue( "egt-degf" );
+ // cout << "egt = " << aero->EGT << endl;
+ net->oil_temp[i] = node->getDoubleValue( "oil-temperature-degf" );
+ net->oil_px[i] = node->getDoubleValue( "oil-pressure-psi" );
+ }
+
+ // Consumables
+ net->num_tanks = FGNetFDM::FG_MAX_TANKS;
+ for ( i = 0; i < net->num_tanks; ++i ) {
+ SGPropertyNode *node = fgGetNode("/consumables/fuel/tank", i, true);
+ net->fuel_quantity[i] = node->getDoubleValue("level-gal_us");
+ }
+
+ // Gear and flaps
+ net->num_wheels = FGNetFDM::FG_MAX_WHEELS;
+ for (i = 0; i < net->num_wheels; ++i ) {
+ SGPropertyNode *node = fgGetNode("/gear/gear", i, true);
+ net->wow[i] = node->getDoubleValue("wow");
+ net->gear_pos[i] = node->getDoubleValue("position-norm");
+ net->gear_steer[i] = node->getDoubleValue("steering-norm");
+ net->gear_compression[i] = node->getDoubleValue("compression-norm");
+ }
+
+ // the following really aren't used in this context
+ net->cur_time = globals->get_time_params()->get_cur_time();
+ net->warp = globals->get_warp();
+ net->visibility = fgGetDouble("/environment/visibility-m");
+
+ // Control surface positions
+ SGPropertyNode *node = fgGetNode("/surface-positions", true);
+ net->elevator = node->getDoubleValue( "elevator-pos-norm" );
+ net->elevator_trim_tab
+ = node->getDoubleValue( "elevator-trim-tab-pos-norm" );
+ net->flaps = node->getDoubleValue( "flap-pos-norm" );
+ net->left_aileron = node->getDoubleValue( "left-aileron-pos-norm" );
+ net->right_aileron = node->getDoubleValue( "right-aileron-pos-norm" );
+ net->rudder = node->getDoubleValue( "rudder-pos-norm" );
+ net->rudder = node->getDoubleValue( "nose-wheel-pos-norm" );
+ net->speedbrake = node->getDoubleValue( "speedbrake-pos-norm" );
+ net->spoilers = node->getDoubleValue( "spoilers-pos-norm" );
+
+ if ( net_byte_order ) {
+ // Convert the net buffer to network format
+ net->version = htonl(net->version);
+
+ htond(net->longitude);
+ htond(net->latitude);
+ htond(net->altitude);
+ htonf(net->agl);
+ htonf(net->phi);
+ htonf(net->theta);
+ htonf(net->psi);
+ htonf(net->alpha);
+ htonf(net->beta);
+
+ htonf(net->phidot);
+ htonf(net->thetadot);
+ htonf(net->psidot);
+ htonf(net->vcas);
+ htonf(net->climb_rate);
+ htonf(net->v_north);
+ htonf(net->v_east);
+ htonf(net->v_down);
+ htonf(net->v_wind_body_north);
+ htonf(net->v_wind_body_east);
+ htonf(net->v_wind_body_down);
+
+ htonf(net->A_X_pilot);
+ htonf(net->A_Y_pilot);
+ htonf(net->A_Z_pilot);
+
+ htonf(net->stall_warning);
+ htonf(net->slip_deg);
+
+ for ( i = 0; i < net->num_engines; ++i ) {
+ net->eng_state[i] = htonl(net->eng_state[i]);
+ htonf(net->rpm[i]);
+ htonf(net->fuel_flow[i]);
+ htonf(net->EGT[i]);
+ htonf(net->oil_temp[i]);
+ htonf(net->oil_px[i]);
+ }
+ net->num_engines = htonl(net->num_engines);
+
+ for ( i = 0; i < net->num_tanks; ++i ) {
+ htonf(net->fuel_quantity[i]);
+ }
+ net->num_tanks = htonl(net->num_tanks);
+
+ for ( i = 0; i < net->num_wheels; ++i ) {
+ net->wow[i] = htonl(net->wow[i]);
+ htonf(net->gear_pos[i]);
+ htonf(net->gear_steer[i]);
+ htonf(net->gear_compression[i]);
+ }
+ net->num_wheels = htonl(net->num_wheels);
+
+ net->cur_time = htonl( net->cur_time );
+ net->warp = htonl( net->warp );
+ htonf(net->visibility);
+
+ htonf(net->elevator);
+ htonf(net->elevator_trim_tab);
+ htonf(net->flaps);
+ htonf(net->left_aileron);
+ htonf(net->right_aileron);
+ htonf(net->rudder);
+ htonf(net->nose_wheel);
+ htonf(net->speedbrake);
+ htonf(net->spoilers);
+ }
}
-static void raw2global( const FGRawFDM *raw, FGInterface *global ) {
- if ( raw->version == FG_RAW_FDM_VERSION ) {
- // cout << "pos = " << raw->longitude << " " << raw->latitude << endl;
- // cout << "sea level rad = " << cur_fdm_state->get_Sea_level_radius() << endl;
- cur_fdm_state->_updatePosition( raw->latitude, raw->longitude,
- raw->altitude * SG_METER_TO_FEET );
- cur_fdm_state->_set_Euler_Angles( raw->phi,
- raw->theta,
- raw->psi );
+void FGNetFDM2Props( FGNetFDM *net, bool net_byte_order ) {
+ int i;
+
+ if ( net_byte_order ) {
+ // Convert to the net buffer from network format
+ net->version = ntohl(net->version);
+
+ htond(net->longitude);
+ htond(net->latitude);
+ htond(net->altitude);
+ htonf(net->agl);
+ htonf(net->phi);
+ htonf(net->theta);
+ htonf(net->psi);
+ htonf(net->alpha);
+ htonf(net->beta);
+
+ htonf(net->phidot);
+ htonf(net->thetadot);
+ htonf(net->psidot);
+ htonf(net->vcas);
+ htonf(net->climb_rate);
+ htonf(net->v_north);
+ htonf(net->v_east);
+ htonf(net->v_down);
+ htonf(net->v_wind_body_north);
+ htonf(net->v_wind_body_east);
+ htonf(net->v_wind_body_down);
+
+ htonf(net->A_X_pilot);
+ htonf(net->A_Y_pilot);
+ htonf(net->A_Z_pilot);
+
+ htonf(net->stall_warning);
+ htonf(net->slip_deg);
+
+ net->num_engines = htonl(net->num_engines);
+ for ( i = 0; i < net->num_engines; ++i ) {
+ net->eng_state[i] = htonl(net->eng_state[i]);
+ htonf(net->rpm[i]);
+ htonf(net->fuel_flow[i]);
+ htonf(net->EGT[i]);
+ htonf(net->oil_temp[i]);
+ htonf(net->oil_px[i]);
+ }
+
+ net->num_tanks = htonl(net->num_tanks);
+ for ( i = 0; i < net->num_tanks; ++i ) {
+ htonf(net->fuel_quantity[i]);
+ }
+
+ net->num_wheels = htonl(net->num_wheels);
+ for ( i = 0; i < net->num_wheels; ++i ) {
+ net->wow[i] = htonl(net->wow[i]);
+ htonf(net->gear_pos[i]);
+ htonf(net->gear_steer[i]);
+ htonf(net->gear_compression[i]);
+ }
+
+ net->cur_time = ntohl(net->cur_time);
+ net->warp = ntohl(net->warp);
+ htonf(net->visibility);
+
+ htonf(net->elevator);
+ htonf(net->elevator_trim_tab);
+ htonf(net->flaps);
+ htonf(net->left_aileron);
+ htonf(net->right_aileron);
+ htonf(net->rudder);
+ htonf(net->nose_wheel);
+ htonf(net->speedbrake);
+ htonf(net->spoilers);
+ }
+
+ if ( net->version == FG_NET_FDM_VERSION ) {
+ // cout << "pos = " << net->longitude << " " << net->latitude << endl;
+ // cout << "sea level rad = " << cur_fdm_state->get_Sea_level_radius()
+ // << endl;
+ cur_fdm_state->_updateGeodeticPosition( net->latitude,
+ net->longitude,
+ net->altitude
+ * SG_METER_TO_FEET );
+ if ( net->agl > -9000 ) {
+ cur_fdm_state->_set_Altitude_AGL( net->agl * SG_METER_TO_FEET );
+ } else {
+ double agl_m
+ = net->altitude - globals->get_scenery()->get_cur_elev();
+ cur_fdm_state->_set_Altitude_AGL( agl_m * SG_METER_TO_FEET );
+ }
+ cur_fdm_state->_set_Euler_Angles( net->phi,
+ net->theta,
+ net->psi );
+ cur_fdm_state->_set_Alpha( net->alpha );
+ cur_fdm_state->_set_Beta( net->beta );
+ cur_fdm_state->_set_Euler_Rates( net->phidot,
+ net->thetadot,
+ net->psidot );
+ cur_fdm_state->_set_V_calibrated_kts( net->vcas );
+ cur_fdm_state->_set_Climb_Rate( net->climb_rate );
+ cur_fdm_state->_set_Velocities_Local( net->v_north,
+ net->v_east,
+ net->v_down );
+ cur_fdm_state->_set_Velocities_Wind_Body( net->v_wind_body_north,
+ net->v_wind_body_east,
+ net->v_wind_body_down );
+
+ cur_fdm_state->_set_Accels_Pilot_Body( net->A_X_pilot,
+ net->A_Y_pilot,
+ net->A_Z_pilot );
+
+ fgSetDouble( "/sim/alarms/stall-warning", net->stall_warning );
+ fgSetDouble( "/instrumentation/slip-skid-ball/indicated-slip-skid",
+ net->slip_deg );
+ fgSetBool( "/instrumentation/slip-skid-ball/override", true );
+
+ for ( i = 0; i < net->num_engines; ++i ) {
+ SGPropertyNode *node = fgGetNode( "engines/engine", i, true );
+
+ // node->setBoolValue("running", t->isRunning());
+ // node->setBoolValue("cranking", t->isCranking());
+
+ // cout << net->eng_state[i] << endl;
+ if ( net->eng_state[i] == 0 ) {
+ node->setBoolValue( "cranking", false );
+ node->setBoolValue( "running", false );
+ } else if ( net->eng_state[i] == 1 ) {
+ node->setBoolValue( "cranking", true );
+ node->setBoolValue( "running", false );
+ } else if ( net->eng_state[i] == 2 ) {
+ node->setBoolValue( "cranking", false );
+ node->setBoolValue( "running", true );
+ }
+
+ node->setDoubleValue( "rpm", net->rpm[i] );
+ node->setDoubleValue( "fuel-flow-gph", net->fuel_flow[i] );
+ node->setDoubleValue( "egt-degf", net->EGT[i] );
+ node->setDoubleValue( "oil-temperature-degf", net->oil_temp[i] );
+ node->setDoubleValue( "oil-pressure-psi", net->oil_px[i] );
+ }
+
+ for (i = 0; i < net->num_tanks; ++i ) {
+ SGPropertyNode * node
+ = fgGetNode("/consumables/fuel/tank", i, true);
+ node->setDoubleValue("level-gal_us", net->fuel_quantity[i] );
+ }
+
+ for (i = 0; i < net->num_wheels; ++i ) {
+ SGPropertyNode * node = fgGetNode("/gear/gear", i, true);
+ node->setDoubleValue("wow", net->wow[i] );
+ node->setDoubleValue("position-norm", net->gear_pos[i] );
+ node->setDoubleValue("steering-norm", net->gear_steer[i] );
+ node->setDoubleValue("compression-norm", net->gear_compression[i] );
+ }
+
+ /* these are ignored for now ... */
+ /*
+ if ( net->cur_time ) {
+ fgSetLong("/sim/time/cur-time-override", net->cur_time);
+ }
+
+ globals->set_warp( net->warp );
+ last_warp = net->warp;
+ */
+
+ SGPropertyNode *node = fgGetNode("/surface-positions", true);
+ node->setDoubleValue("elevator-pos-norm", net->elevator);
+ node->setDoubleValue("elevator-trim-tab-pos-norm",
+ net->elevator_trim_tab);
+ node->setDoubleValue("flap-pos-norm", net->flaps);
+ node->setDoubleValue("left-aileron-pos-norm", net->left_aileron);
+ node->setDoubleValue("right-aileron-pos-norm", net->right_aileron);
+ node->setDoubleValue("rudder-pos-norm", net->rudder);
+ node->setDoubleValue("nose-wheel-pos-norm", net->nose_wheel);
+ node->setDoubleValue("speedbrake-pos-norm", net->speedbrake);
+ node->setDoubleValue("spoilers-pos-norm", net->spoilers);
} else {
- SG_LOG( SG_IO, SG_ALERT, "Error: version mismatch in raw2global()" );
SG_LOG( SG_IO, SG_ALERT,
- "\tsomeone needs to upgrade raw_fdm.hxx and recompile." );
+ "Error: version mismatch in FGNetFDM2Props()" );
+ SG_LOG( SG_IO, SG_ALERT,
+ "\tread " << net->version << " need " << FG_NET_FDM_VERSION );
+ SG_LOG( SG_IO, SG_ALERT,
+ "\tNeeds to upgrade net_fdm.hxx and recompile." );
}
}
if ( get_direction() == SG_IO_OUT ) {
// cout << "size of cur_fdm_state = " << length << endl;
- global2raw( cur_fdm_state, &buf );
+ FGProps2NetFDM( &buf );
if ( ! io->write( (char *)(& buf), length ) ) {
SG_LOG( SG_IO, SG_ALERT, "Error writing data." );
return false;
if ( io->get_type() == sgFileType ) {
if ( io->read( (char *)(& buf), length ) == length ) {
SG_LOG( SG_IO, SG_DEBUG, "Success reading data." );
- raw2global( &buf, cur_fdm_state );
+ FGNetFDM2Props( &buf );
}
} else {
- while ( io->read( (char *)(& buf), length ) == length ) {
- SG_LOG( SG_IO, SG_DEBUG, "Success reading data." );
- raw2global( &buf, cur_fdm_state );
+ int result;
+ result = io->read( (char *)(& buf), length );
+ while ( result == length ) {
+ if ( result == length ) {
+ SG_LOG( SG_IO, SG_DEBUG, " Success reading data." );
+ FGNetFDM2Props( &buf );
+ }
+ result = io->read( (char *)(& buf), length );
}
}
}
projects / flightgear.git / blobdiff