X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FFDM%2FExternalNet.cxx;h=49e432096240de1f3504a8b5c7f2a9fdc1204a5c;hb=ee98995d30e75cda88c9866f3cb6a761fda7d078;hp=4d480d4873d22cd4b73465d7f5b739e9aa1f5b03;hpb=ffe498f33fcb6009e6ad65ef80fd7c551b0fb216;p=flightgear.git diff --git a/src/FDM/ExternalNet.cxx b/src/FDM/ExternalNet.cxx index 4d480d487..49e432096 100644 --- a/src/FDM/ExternalNet.cxx +++ b/src/FDM/ExternalNet.cxx @@ -21,31 +21,281 @@ // $Id$ #include +#include // endian tests + +#include
#include "ExternalNet.hxx" -FGExternalNet::FGExternalNet( double dt ) { - set_delta_t( dt ); +// FreeBSD works better with this included last ... (?) +#if defined(WIN32) && !defined(__CYGWIN__) +# include +#else +# include // 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; + } +} + + +static void global2raw( FGRawCtrls *raw ) { + int i; + + // fill in values + SGPropertyNode * node = fgGetNode("/controls", true); + raw->version = FG_RAW_CTRLS_VERSION; + raw->aileron = node->getDoubleValue( "aileron" ); + raw->elevator = node->getDoubleValue( "elevator" ); + raw->elevator_trim = node->getDoubleValue( "elevator-trim" ); + raw->rudder = node->getDoubleValue( "rudder" ); + raw->flaps = node->getDoubleValue( "flaps" ); + for ( i = 0; i < FGRawCtrls::FG_MAX_ENGINES; ++i ) { + raw->throttle[i] = node->getDoubleValue( "throttle", 0.0 ); + raw->mixture[i] = node->getDoubleValue( "mixture", 0.0 ); + raw->prop_advance[i] = node->getDoubleValue( "propeller-pitch", 0.0 ); + raw->magnetos[i] = node->getIntValue( "magnetos", 0 ); + if ( i == 0 ) { + // cout << "Magnetos -> " << node->getIntValue( "magnetos", 0 ); + } + raw->starter[i] = node->getBoolValue( "starter", false ); + if ( i == 0 ) { + // cout << " Starter -> " << node->getIntValue( "stater", false ) + // << endl; + } + } + for ( i = 0; i < FGRawCtrls::FG_MAX_WHEELS; ++i ) { + raw->brake[i] = node->getDoubleValue( "brakes", 0.0 ); + } + raw->hground = fgGetDouble( "/environment/ground-elevation-m" ); + raw->magvar = fgGetDouble("/environment/magnetic-variation-deg"); + raw->speedup = fgGetInt("/sim/speed-up"); + + // convert to network byte order + raw->version = htonl(raw->version); + htond(raw->aileron); + htond(raw->elevator); + htond(raw->elevator_trim); + htond(raw->rudder); + htond(raw->flaps); + for ( i = 0; i < FGRawCtrls::FG_MAX_ENGINES; ++i ) { + htond(raw->throttle[i]); + htond(raw->mixture[i]); + htond(raw->prop_advance[i]); + htonl(raw->magnetos[i]); + htonl(raw->starter[i]); + } + for ( i = 0; i < FGRawCtrls::FG_MAX_WHEELS; ++i ) { + htond(raw->brake[i]); + } + htond(raw->hground); + htond(raw->magvar); + raw->speedup = htonl(raw->speedup); +} + + +static void net2global( FGNetFDM *net ) { + int i; + + // Convert to the net buffer from network format + net->version = ntohl(net->version); + + htond(net->longitude); + htond(net->latitude); + htond(net->altitude); + htond(net->phi); + htond(net->theta); + htond(net->psi); + + htond(net->phidot); + htond(net->thetadot); + htond(net->psidot); + htond(net->vcas); + htond(net->climb_rate); + + htond(net->A_X_pilot); + htond(net->A_Y_pilot); + htond(net->A_Z_pilot); + + net->num_engines = htonl(net->num_engines); + for ( i = 0; i < net->num_engines; ++i ) { + htonl(net->eng_state[i]); + htond(net->rpm[i]); + htond(net->fuel_flow[i]); + htond(net->EGT[i]); + htond(net->oil_temp[i]); + htond(net->oil_px[i]); + } + + net->num_tanks = htonl(net->num_tanks); + for ( i = 0; i < net->num_tanks; ++i ) { + htond(net->fuel_quantity[i]); + } + + net->num_wheels = htonl(net->num_wheels); + // I don't need to convert the Wow flags, since they are one byte in size + htond(net->flap_deflection); + + net->cur_time = ntohl(net->cur_time); + net->warp = ntohl(net->warp); + htond(net->visibility); + + 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_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_Accels_Pilot_Body( net->A_X_pilot, + net->A_Y_pilot, + net->A_Z_pilot ); + + 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] ); + } + + fgSetDouble("/surface-positions/flap-pos-norm", net->flap_deflection); + SGPropertyNode * node = fgGetNode("/controls", true); + fgSetDouble("/surface-positions/elevator-pos-norm", + node->getDoubleValue( "elevator" )); + fgSetDouble("/surface-positions/rudder-pos-norm", + node->getDoubleValue( "rudder" )); + fgSetDouble("/surface-positions/left-aileron-pos-norm", + node->getDoubleValue( "aileron" )); + fgSetDouble("/surface-positions/right-aileron-pos-norm", + -node->getDoubleValue( "aileron" )); + + /* 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; + */ + } else { + SG_LOG( SG_IO, SG_ALERT, "Error: version mismatch in net2global()" ); + SG_LOG( SG_IO, SG_ALERT, + "\tread " << net->version << " need " << FG_NET_FDM_VERSION ); + SG_LOG( SG_IO, SG_ALERT, + "\tsomeone needs to upgrade net_fdm.hxx and recompile." ); + } +} + + +FGExternalNet::FGExternalNet( double dt, string host, int dop, int dip, int cp ) +{ +// set_delta_t( dt ); valid = true; - // client sends data + data_in_port = dip; + data_out_port = dop; + cmd_port = cp; + fdm_host = host; + + ///////////////////////////////////////////////////////// + // Setup client udp connection (sends data to remote fdm) + if ( ! data_client.open( false ) ) { SG_LOG( SG_FLIGHT, SG_ALERT, "Error opening client data channel" ); valid = false; } + // fire and forget data_client.setBlocking( false ); - // server receives data + if ( data_client.connect( fdm_host.c_str(), data_out_port ) == -1 ) { + printf("error connecting to %s:%d\n", fdm_host.c_str(), data_out_port); + valid = false; + } + + ///////////////////////////////////////////////////////// + // Setup server udp connection (for receiving data) + if ( ! data_server.open( false ) ) { SG_LOG( SG_FLIGHT, SG_ALERT, "Error opening client server channel" ); valid = false; } + // we want to block for incoming data in order to syncronize frame // rates. - data_server.setBlocking( true ); + data_server.setBlocking( false /* don't block while testing */ ); + // data_server.setBlocking( true /* don't block while testing */ ); + + // if we bind to fdm_host = "" then we accept messages from + // anyone. + if ( data_server.bind( fdm_host.c_str(), data_in_port ) == -1 ) { + printf("error binding to port %d\n", data_in_port); + valid = false; + } } @@ -59,14 +309,61 @@ FGExternalNet::~FGExternalNet() { // for each subsequent iteration through the EOM void FGExternalNet::init() { // cout << "FGExternalNet::init()" << endl; + + // Explicitly call the superclass's + // init method first. + common_init(); + + double lon = fgGetDouble( "/position/longitude-deg" ); + double lat = fgGetDouble( "/position/latitude-deg" ); + double ground = fgGetDouble( "/environment/ground-elevation-m" ); + double heading = fgGetDouble("/orientation/heading-deg"); + + char cmd[256]; + + sprintf( cmd, "/longitude-deg?value=%.8f", lon ); + new HTTPClient( fdm_host.c_str(), cmd_port, cmd ); +// cout << "before loop()" << endl; + netChannel::loop(0); +// cout << "here" << endl; + + sprintf( cmd, "/latitude-deg?value=%.8f", lat ); + new HTTPClient( fdm_host.c_str(), cmd_port, cmd ); + netChannel::loop(0); + + sprintf( cmd, "/ground-m?value=%.8f", ground ); + new HTTPClient( fdm_host.c_str(), cmd_port, cmd ); + netChannel::loop(0); + + sprintf( cmd, "/heading-deg?value=%.8f", heading ); + new HTTPClient( fdm_host.c_str(), cmd_port, cmd ); + netChannel::loop(0); + + sprintf( cmd, "/reset?value=ground" ); + new HTTPClient( fdm_host.c_str(), cmd_port, cmd ); + netChannel::loop(0); } -// Run an iteration of the EOM. This is a NOP here because the flight -// model values are getting filled in elsewhere (most likely from some -// external source.) -bool FGExternalNet::update( int multiloop ) { - // cout << "FGExternalNet::update()" << endl; +// Run an iteration of the EOM. +void FGExternalNet::update( double dt ) { + int length; + int result; + + if (is_suspended()) + return; - return true; + // Send control positions to remote fdm + length = sizeof(ctrls); + global2raw( &ctrls ); + if ( data_client.send( (char *)(& ctrls), length, 0 ) != length ) { + SG_LOG( SG_IO, SG_ALERT, "Error writing data." ); + } + + // Read next set of FDM data (blocking enabled to maintain 'sync') + length = sizeof(fdm); + while ( (result = data_server.recv( (char *)(& fdm), length, 0)) >= 0 ) { + SG_LOG( SG_IO, SG_DEBUG, "Success reading data." ); + net2global( &fdm ); + } }