//
// Written by Curtis Olson, started September 2001.
//
-// Copyright (C) 2001 Curtis L. Olson - curt@flightgear.org
+// Copyright (C) 2001 Curtis L. Olson - http://www.flightgear.org/~curt
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
-// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
//
// $Id$
# include <config.h>
#endif
-#if defined(WIN32) && !defined(__CYGWIN__)
-# include <windows.h>
-#else
-# include <netinet/in.h> // htonl() ntohl()
-#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 <FDM/flightProperties.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( _MSC_VER )
+# include <windows.h>
+#elif defined( __MINGW32__ )
+# include <winsock2.h>
+#else
+# include <netinet/in.h> // htonl() ntohl()
+#endif
// The function htond is defined this way due to the way some
}
}
+// 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 );
- cur_fdm_state->_set_Sea_level_radius( SG_EQUATORIAL_RADIUS_FT );
+ // Is this really needed here ????
+ fgSetDouble("/position/sea-level-radius-ft", SG_EQUATORIAL_RADIUS_FT);
+
+
+
return true;
}
-static void global2net( const FGInterface *global, FGNetFDM *net ) {
+void FGProps2NetFDM( FGNetFDM *net, bool net_byte_order ) {
+ unsigned int i;
+
+ FlightProperties fdm_state;
+
+ // Version sanity checking
net->version = FG_NET_FDM_VERSION;
- // positions
- 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->phi = cur_fdm_state->get_Phi();
- net->theta = cur_fdm_state->get_Theta();
- net->psi = cur_fdm_state->get_Psi();
+ // Aero parameters
+ net->longitude = fdm_state.get_Longitude();
+ net->latitude = fdm_state.get_Latitude();
+ net->altitude = fdm_state.get_Altitude() * SG_FEET_TO_METER;
+ net->agl = fdm_state.get_Altitude_AGL() * SG_FEET_TO_METER;
+ net->phi = fdm_state.get_Phi();
+ net->theta = fdm_state.get_Theta();
+ net->psi = fdm_state.get_Psi();
+ net->alpha = fdm_state.get_Alpha();
+ net->beta = fdm_state.get_Beta();
+ net->phidot = fdm_state.get_Phi_dot_degps() * SG_DEGREES_TO_RADIANS;
+ net->thetadot = fdm_state.get_Theta_dot_degps()
+ * SG_DEGREES_TO_RADIANS;
+ net->psidot = fdm_state.get_Psi_dot_degps() * SG_DEGREES_TO_RADIANS;
+
+ net->vcas = fdm_state.get_V_calibrated_kts();
+ net->climb_rate = fdm_state.get_Climb_Rate();
+
+ net->v_north = fdm_state.get_V_north();
+ net->v_east = fdm_state.get_V_east();
+ net->v_down = fdm_state.get_V_down();
+ net->v_wind_body_north = fdm_state.get_uBody();
+ net->v_wind_body_east = fdm_state.get_vBody();
+ net->v_wind_body_down = fdm_state.get_wBody();
+
+ net->A_X_pilot = fdm_state.get_A_X_pilot();
+ net->A_Y_pilot = fdm_state.get_A_Y_pilot();
+ net->A_Z_pilot = 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[i] = 2;
+ } else if ( node->getBoolValue( "cranking" ) ) {
+ net->eng_state[i] = 1;
+ } else {
+ net->eng_state[i] = 0;
+ }
+ net->rpm[i] = node->getDoubleValue( "rpm" );
+ net->fuel_flow[i] = node->getDoubleValue( "fuel-flow-gph" );
+ net->fuel_px[i] = node->getDoubleValue( "fuel-px-psi" );
+ net->egt[i] = node->getDoubleValue( "egt-degf" );
+ // cout << "egt = " << aero->EGT << endl;
+ net->cht[i] = node->getDoubleValue( "cht-degf" );
+ net->mp_osi[i] = node->getDoubleValue( "mp-osi" );
+ net->tit[i] = node->getDoubleValue( "tit" );
+ 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");
+ }
- // velocities
- net->vcas = cur_fdm_state->get_V_calibrated_kts();
- net->climb_rate = cur_fdm_state->get_Climb_Rate();
+ // 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->getIntValue("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");
+ }
- // time
+ // the following really aren't used in this context
net->cur_time = globals->get_time_params()->get_cur_time();
net->warp = globals->get_warp();
-
- // Convert the net buffer to network format
- net->version = htonl(net->version);
- htond(net->longitude);
- htond(net->latitude);
- htond(net->altitude);
- htond(net->phi);
- htond(net->theta);
- htond(net->psi);
- htond(net->vcas);
- htond(net->climb_rate);
- net->cur_time = htonl( net->cur_time );
- net->warp = htonl( net->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" );
+ // FIXME: CLO 10/28/04 - This really should be separated out into 2 values
+ net->left_flap = node->getDoubleValue( "flap-pos-norm" );
+ net->right_flap = 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->nose_wheel = 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->fuel_px[i]);
+ htonf(net->egt[i]);
+ htonf(net->cht[i]);
+ htonf(net->mp_osi[i]);
+ htonf(net->tit[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->left_flap);
+ htonf(net->right_flap);
+ htonf(net->left_aileron);
+ htonf(net->right_aileron);
+ htonf(net->rudder);
+ htonf(net->nose_wheel);
+ htonf(net->speedbrake);
+ htonf(net->spoilers);
+ }
}
-static void net2global( FGNetFDM *net, FGInterface *global ) {
-
- // Convert to the net buffer from network format
- net->version = htonl(net->version);
- htond(net->longitude);
- htond(net->latitude);
- htond(net->altitude);
- htond(net->phi);
- htond(net->theta);
- htond(net->psi);
- htond(net->vcas);
- htond(net->climb_rate);
- net->cur_time = htonl(net->cur_time);
- net->warp = htonl(net->warp);
+void FGNetFDM2Props( FGNetFDM *net, bool net_byte_order ) {
+ unsigned int i;
+ FlightProperties fdm_state;
+
+ 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->fuel_px[i]);
+ htonf(net->egt[i]);
+ htonf(net->cht[i]);
+ htonf(net->mp_osi[i]);
+ htonf(net->tit[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 = htonl(net->cur_time);
+ net->warp = ntohl(net->warp);
+ htonf(net->visibility);
+
+ htonf(net->elevator);
+ htonf(net->elevator_trim_tab);
+ htonf(net->left_flap);
+ htonf(net->right_flap);
+ 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 );
- cur_fdm_state->_set_Euler_Angles( net->phi,
- net->theta,
- net->psi );
- cur_fdm_state->_set_V_calibrated_kts( net->vcas );
- cur_fdm_state->_set_Climb_Rate( net->climb_rate );
+ // cout << "pos = " << net->longitude << " " << net->latitude << endl;
+ // cout << "sea level rad = " << fdm_state.get_Sea_level_radius()
+ // << endl;
+
+ fdm_state.set_Latitude(net->latitude);
+ fdm_state.set_Longitude(net->longitude);
+ fdm_state.set_Altitude(net->altitude * SG_METER_TO_FEET);
+
+ if ( net->agl > -9000 ) {
+ fdm_state.set_Altitude_AGL( net->agl * SG_METER_TO_FEET );
+ } else {
+ double agl_m = net->altitude
+ - fdm_state.get_Runway_altitude_m();
+ fdm_state.set_Altitude_AGL( agl_m * SG_METER_TO_FEET );
+ }
+ fdm_state.set_Euler_Angles( net->phi,
+ net->theta,
+ net->psi );
+ fdm_state.set_Alpha( net->alpha );
+ fdm_state.set_Beta( net->beta );
+ fdm_state.set_Euler_Rates( net->phidot,
+ net->thetadot,
+ net->psidot );
+ fdm_state.set_V_calibrated_kts( net->vcas );
+ fdm_state.set_Climb_Rate( net->climb_rate );
+ fdm_state.set_Velocities_Local( net->v_north,
+ net->v_east,
+ net->v_down );
+ fdm_state.set_Velocities_Wind_Body( net->v_wind_body_north,
+ net->v_wind_body_east,
+ net->v_wind_body_down );
+
+ 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( "fuel-px-psi", net->fuel_px[i] );
+ node->setDoubleValue( "egt-degf", net->egt[i] );
+ node->setDoubleValue( "cht-degf", net->cht[i] );
+ node->setDoubleValue( "mp-osi", net->mp_osi[i] );
+ node->setDoubleValue( "tit", net->tit[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);
+ // FIXME: CLO 10/28/04 - This really should be separated out
+ // into 2 values
+ node->setDoubleValue("flap-pos-norm", net->left_flap);
+ node->setDoubleValue("flap-pos-norm", net->right_flap);
+ 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 net2global()" );
SG_LOG( SG_IO, SG_ALERT,
- "\tsomeone needs to upgrade net_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." );
}
}
int length = sizeof(buf);
if ( get_direction() == SG_IO_OUT ) {
- // cout << "size of cur_fdm_state = " << length << endl;
- global2net( 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." );
- net2global( &buf, cur_fdm_state );
+ FGNetFDM2Props( &buf );
}
} else {
- while ( io->read( (char *)(& buf), length ) == length ) {
- SG_LOG( SG_IO, SG_DEBUG, "Success reading data." );
- net2global( &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