X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FNetwork%2Fnative_fdm.cxx;h=58fb2d8a691debff849347c6a10e2cfdf2086dff;hb=7cad72a6f289d7a4c7863d7c970ccd952c9ebbb5;hp=efa46c8b8db787895bcf3af22120a981cfd1d705;hpb=9385f607bc92b029eed29fa3be8028c29d94f7d7;p=flightgear.git

diff --git a/src/Network/native_fdm.cxx b/src/Network/native_fdm.cxx
index efa46c8b8..58fb2d8a6 100644
--- a/src/Network/native_fdm.cxx
+++ b/src/Network/native_fdm.cxx
@@ -21,13 +21,72 @@
 // $Id$
 
 
+#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() {
 }
@@ -53,35 +112,361 @@ bool FGNativeFDM::open() {
 
     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." );
     }
 }
 
@@ -93,7 +478,7 @@ bool FGNativeFDM::process() {
 
     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;
@@ -102,12 +487,17 @@ bool FGNativeFDM::process() {
 	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 );
 	    }
 	}
     }