X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FNetwork%2Fnative_fdm.cxx;h=95908a56ae0f8c46d323192221b263d001a60acc;hb=efcc89480db17c181262aca1d6001ba9d92f0867;hp=4f7afe65f20fe0a6dc02d51ec497cbedbaafa5b0;hpb=9c0c54ef6cfab99d8a6065124e4c0721a84cd0fd;p=flightgear.git

diff --git a/src/Network/native_fdm.cxx b/src/Network/native_fdm.cxx
index 4f7afe65f..95908a56a 100644
--- a/src/Network/native_fdm.cxx
+++ b/src/Network/native_fdm.cxx
@@ -2,7 +2,7 @@
 //
 // 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
@@ -16,7 +16,7 @@
 //
 // 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.
 //
 // $Id$
 
@@ -30,16 +30,18 @@
 #include <simgear/io/iochannel.hxx>
 #include <simgear/timing/sg_time.hxx>
 
-#include <FDM/flight.hxx>
-#include <Time/tmp.hxx>
+#include <FDM/flightProperties.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__)
+#if defined( _MSC_VER )
 #  include <windows.h>
+#elif defined( __MINGW32__ )
+#  include <winsock2.h>
 #else
 #  include <netinet/in.h>	// htonl() ntohl()
 #endif
@@ -70,6 +72,22 @@ static void htond (double &x)
     }
 }
 
+// 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() {
 }
@@ -95,64 +113,75 @@ bool FGNativeFDM::open() {
 
     set_enabled( true );
 
-    // initialize time stamp to something reasonably current
-    last_time.stamp();
-
     // Is this really needed here ????
-    cur_fdm_state->_set_Sea_level_radius( SG_EQUATORIAL_RADIUS_FT );
+    fgSetDouble("/position/sea-level-radius-ft", SG_EQUATORIAL_RADIUS_FT);
+
+    
 
     return true;
 }
 
 
 void FGProps2NetFDM( FGNetFDM *net, bool net_byte_order ) {
-    int i;
+    unsigned int i;
+
+    FlightProperties fdm_state;
 
     // 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->phi = cur_fdm_state->get_Phi();
-    net->theta = cur_fdm_state->get_Theta();
-    net->psi = cur_fdm_state->get_Psi();
-    net->phidot = cur_fdm_state->get_Phi_dot_degps() * SG_DEGREES_TO_RADIANS;
-    net->thetadot = cur_fdm_state->get_Theta_dot_degps()
+    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 = cur_fdm_state->get_Psi_dot_degps() * SG_DEGREES_TO_RADIANS;
+    net->psidot = 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->vcas = fdm_state.get_V_calibrated_kts();
+    net->climb_rate = 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->stall_warning = fgGetDouble("/sim/alarms/stall-warning", 0.0);
+    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_body_u = fdm_state.get_uBody();
+    net->v_body_v = fdm_state.get_vBody();
+    net->v_body_w = 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->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[0] = 2;
+            net->eng_state[i] = 2;
         } else if ( node->getBoolValue( "cranking" ) ) {
-            net->eng_state[0] = 1;
+            net->eng_state[i] = 1;
         } else {
-            net->eng_state[0] = 0;
+            net->eng_state[i] = 0;
         }
         net->rpm[i] = node->getDoubleValue( "rpm" );
         net->fuel_flow[i] = node->getDoubleValue( "fuel-flow-gph" );
-        net->EGT[i] = node->getDoubleValue( "egt-degf" );
+        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" );
     }
@@ -168,17 +197,32 @@ void FGProps2NetFDM( FGNetFDM *net, bool net_byte_order ) {
     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->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");
     }
 
-    // cout << "Flap deflection = " << aero->dflap << endl;
-    net->flap_deflection = fgGetDouble("/surface-positions/flap-pos-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" );
+    // 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);
@@ -186,58 +230,81 @@ void FGProps2NetFDM( FGNetFDM *net, bool net_byte_order ) {
         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->v_north);
-        htond(net->v_east);
-        htond(net->v_down);
-        htond(net->v_wind_body_north);
-        htond(net->v_wind_body_east);
-        htond(net->v_wind_body_down);
-        htond(net->stall_warning);
-
-        htond(net->A_X_pilot);
-        htond(net->A_Y_pilot);
-        htond(net->A_Z_pilot);
+        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_body_u);
+        htonf(net->v_body_v);
+        htonf(net->v_body_w);
+
+        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 ) {
-            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->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 ) {
-            htond(net->fuel_quantity[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);
-        htond(net->flap_deflection);
 
         net->cur_time = htonl( net->cur_time );
         net->warp = htonl( net->warp );
-        htond(net->visibility);
+        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);
     }
 }
 
 
 void FGNetFDM2Props( FGNetFDM *net, bool net_byte_order ) {
-    int i;
-
+    unsigned int i;
+    FlightProperties fdm_state;
+    
     if ( net_byte_order ) {
         // Convert to the net buffer from network format
         net->version = ntohl(net->version);
@@ -245,80 +312,117 @@ void FGNetFDM2Props( FGNetFDM *net, bool net_byte_order ) {
         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->v_north);
-        htond(net->v_east);
-        htond(net->v_down);
-        htond(net->v_wind_body_north);
-        htond(net->v_wind_body_east);
-        htond(net->v_wind_body_down);
-        htond(net->stall_warning);
-
-        htond(net->A_X_pilot);
-        htond(net->A_Y_pilot);
-        htond(net->A_Z_pilot);
+        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_body_u);
+        htonf(net->v_body_v);
+        htonf(net->v_body_w);
+
+        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 ) {
-            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->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 ) {
-            htond(net->fuel_quantity[i]);
+            htonf(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);
+        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->cur_time = htonl(net->cur_time);
         net->warp = ntohl(net->warp);
-        htond(net->visibility);
+        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()
+        // cout << "sea level rad = " << 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,
+                                      
+      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 );
-        cur_fdm_state->_set_Euler_Rates( net->phidot,
+        fdm_state.set_Alpha( net->alpha );
+        fdm_state.set_Beta( net->beta );
+        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,
+        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 );
-        cur_fdm_state->_set_Velocities_Wind_Body( net->v_wind_body_north,
-                                                  net->v_wind_body_east,
-                                                  net->v_wind_body_down );
+        fdm_state.set_Velocities_Body( net->v_body_u,
+                                                  net->v_body_v,
+                                                  net->v_body_w );
 
-        fgSetDouble( "/sim/alarms/stall-warning", net->stall_warning );
-        cur_fdm_state->_set_Accels_Pilot_Body( net->A_X_pilot,
+        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 );
 	    
@@ -339,7 +443,11 @@ void FGNetFDM2Props( FGNetFDM *net, bool net_byte_order ) {
 
 	    node->setDoubleValue( "rpm", net->rpm[i] );
 	    node->setDoubleValue( "fuel-flow-gph", net->fuel_flow[i] );
-	    node->setDoubleValue( "egt-degf", net->EGT[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] );		
 	}
@@ -351,22 +459,13 @@ void FGNetFDM2Props( FGNetFDM *net, bool net_byte_order ) {
 	}
 
 	for (i = 0; i < net->num_wheels; ++i ) {
-	    SGPropertyNode * node
-		= fgGetNode("/gear/gear", i, true);
+	    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] );
 	}
 
-        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 ) {
@@ -376,6 +475,21 @@ void FGNetFDM2Props( FGNetFDM *net, bool net_byte_order ) {
         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 FGNetFDM2Props()" );
@@ -393,7 +507,7 @@ bool FGNativeFDM::process() {
     int length = sizeof(buf);
 
     if ( get_direction() == SG_IO_OUT ) {
-	// cout << "size of cur_fdm_state = " << length << endl;
+
 	FGProps2NetFDM( &buf );
 	if ( ! io->write( (char *)(& buf), length ) ) {
 	    SG_LOG( SG_IO, SG_ALERT, "Error writing data." );