// $Id$
#include <simgear/debug/logstream.hxx>
+#include <simgear/io/lowlevel.hxx> // endian tests
+
+#include <Main/fg_props.hxx>
#include "ExternalNet.hxx"
-FGExternalNet::FGExternalNet( double dt ) {
+// 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;
+ }
+}
+
+
+static void global2raw( FGRawCtrls *raw ) {
+ int i;
+
+ static const SGPropertyNode *aileron
+ = fgGetNode("/controls/aileron");
+ static const SGPropertyNode *elevator
+ = fgGetNode("/controls/elevator");
+ static const SGPropertyNode *elevator_trim
+ = fgGetNode("/controls/elevator-trim");
+ static const SGPropertyNode *rudder
+ = fgGetNode("/controls/rudder");
+ static const SGPropertyNode *flaps
+ = fgGetNode("/controls/flaps");
+ char buf[256];
+
+ // fill in values
+ raw->version = FG_RAW_CTRLS_VERSION;
+ raw->aileron = fgGetDouble( "/controls/aileron" );
+ raw->elevator = fgGetDouble( "/controls/elevator" );
+ raw->elevator_trim = fgGetDouble( "/controls/elevator-trim" );
+ raw->rudder = fgGetDouble( "/controls/rudder" );
+ raw->flaps = fgGetDouble( "/controls/flaps" );
+ for ( i = 0; i < FG_MAX_ENGINES; ++i ) {
+ sprintf( buf, "/controls/throttle[%d]", i );
+ raw->throttle[i] = fgGetDouble( buf );
+ sprintf( buf, "/controls/mixture[%d]", i );
+ raw->mixture[i] = fgGetDouble( buf );
+ sprintf( buf, "/controls/propeller-pitch[%d]", i );
+ raw->prop_advance[i] = fgGetDouble( buf );
+ }
+ for ( i = 0; i < FG_MAX_WHEELS; ++i ) {
+ sprintf( buf, "/controls/brakes[%d]", i );
+ raw->brake[i] = fgGetDouble( buf );
+ }
+ raw->hground = fgGetDouble( "/environment/ground-elevation-m" );
+
+ // 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 < FG_MAX_ENGINES; ++i ) {
+ htond(raw->throttle[i]);
+ htond(raw->mixture[i]);
+ htond(raw->prop_advance[i]);
+ }
+ for ( i = 0; i < FG_MAX_WHEELS; ++i ) {
+ htond(raw->brake[i]);
+ }
+ htond(raw->hground);
+
+}
+
+
+static void net2global( FGNetFDM *net ) {
+ // 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->vcas);
+ htond(net->climb_rate);
+ 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_V_calibrated_kts( net->vcas );
+ cur_fdm_state->_set_Climb_Rate( net->climb_rate );
+
+ /* 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, int dop, int dip, int cp,
+ string host )
+{
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;
+ }
}
// 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 );
+ netChannel::loop(0);
+
+ 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);
}
// model values are getting filled in elsewhere (most likely from some
// external source.)
void FGExternalNet::update( int multiloop ) {
- // cout << "FGExternalNet::update()" << endl;
+ int length;
+ int result;
+
+ // 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);
+ if ( (result = data_server.recv( (char *)(& fdm), length, 0)) >= 0 ) {
+ SG_LOG( SG_IO, SG_DEBUG, "Success reading data." );
+ net2global( &fdm );
+ }
}
projects / flightgear.git / commitdiff