X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FNetwork%2Fnative_fdm.cxx;h=95908a56ae0f8c46d323192221b263d001a60acc;hb=efcc89480db17c181262aca1d6001ba9d92f0867;hp=5af740b1784337bd645c14b1b3ccc2b983a090a6;hpb=d01cb2769ad8efc671e8d78ec026068a5de48fd9;p=flightgear.git

diff --git a/src/Network/native_fdm.cxx b/src/Network/native_fdm.cxx
index 5af740b17..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.
 //
 // $Id$
 
@@ -25,21 +25,26 @@
 #  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 <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
@@ -67,6 +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() {
 }
@@ -92,78 +113,390 @@ bool FGNativeFDM::open() {
 
     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_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 = 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_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 ) {
+            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_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 ) {
+            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_Body( net->v_body_u,
+                                                  net->v_body_v,
+                                                  net->v_body_w );
+
+        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." );
     }
 }
 
@@ -174,8 +507,8 @@ bool FGNativeFDM::process() {
     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;
@@ -184,12 +517,17 @@ bool FGNativeFDM::process() {
 	if ( io->get_type() == sgFileType ) {
 	    if ( io->read( (char *)(& buf), length ) == length ) {
 		SG_LOG( SG_IO, SG_DEBUG, "Success reading data." );
-		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 );
 	    }
 	}
     }