// $Id$
+#include <netinet/in.h> // htonl() ntohl()
+
#include <simgear/debug/logstream.hxx>
+#include <simgear/io/lowlevel.hxx> // endian tests
#include <simgear/io/iochannel.hxx>
#include <FDM/flight.hxx>
+#include <Main/globals.hxx>
#include "native_fdm.hxx"
+
+// 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;
+ }
+}
+
+
FGNativeFDM::FGNativeFDM() {
}
}
-static void global2raw( const FGInterface *global, FGRawFDM *raw ) {
- raw->version = FG_RAW_FDM_VERSION;
+static void global2net( const FGInterface *global, FGNetFDM *net ) {
+ net->version = FG_NET_FDM_VERSION;
// positions
- raw->longitude = cur_fdm_state->get_Longitude();
- raw->latitude = cur_fdm_state->get_Latitude();
- raw->altitude = cur_fdm_state->get_Altitude() * SG_FEET_TO_METER;
- raw->phi = cur_fdm_state->get_Phi();
- raw->theta = cur_fdm_state->get_Theta();
- raw->psi = cur_fdm_state->get_Psi();
+ 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();
// velocities
- raw->vcas = cur_fdm_state->get_V_calibrated_kts();
- raw->climb_rate = cur_fdm_state->get_Climb_Rate();
+ net->vcas = cur_fdm_state->get_V_calibrated_kts();
+ net->climb_rate = cur_fdm_state->get_Climb_Rate();
+
+ // time
+ 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 );
}
-static void raw2global( const FGRawFDM *raw, FGInterface *global ) {
- if ( raw->version == FG_RAW_FDM_VERSION ) {
- // cout << "pos = " << raw->longitude << " " << raw->latitude << endl;
+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);
+
+ 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( raw->latitude,
- raw->longitude,
- raw->altitude
+ cur_fdm_state->_updateGeodeticPosition( net->latitude,
+ net->longitude,
+ net->altitude
* SG_METER_TO_FEET );
- cur_fdm_state->_set_Euler_Angles( raw->phi,
- raw->theta,
- raw->psi );
- cur_fdm_state->_set_V_calibrated_kts( raw->vcas );
- cur_fdm_state->_set_Climb_Rate( raw->climb_rate );
+ 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 );
+
+ globals->set_warp( net->warp );
} else {
- SG_LOG( SG_IO, SG_ALERT, "Error: version mismatch in raw2global()" );
+ SG_LOG( SG_IO, SG_ALERT, "Error: version mismatch in net2global()" );
SG_LOG( SG_IO, SG_ALERT,
- "\tsomeone needs to upgrade raw_fdm.hxx and recompile." );
+ "\tsomeone needs to upgrade net_fdm.hxx and recompile." );
}
}
if ( get_direction() == SG_IO_OUT ) {
// cout << "size of cur_fdm_state = " << length << endl;
- global2raw( cur_fdm_state, &buf );
+ global2net( cur_fdm_state, &buf );
if ( ! io->write( (char *)(& buf), length ) ) {
SG_LOG( SG_IO, SG_ALERT, "Error writing data." );
return false;
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 );
+ net2global( &buf, cur_fdm_state );
}
} else {
while ( io->read( (char *)(& buf), length ) == length ) {
SG_LOG( SG_IO, SG_DEBUG, "Success reading data." );
- raw2global( &buf, cur_fdm_state );
+ net2global( &buf, cur_fdm_state );
}
}
}
--- /dev/null
+// net_fdm.hxx -- defines a common net I/O interface to the flight
+// dynamics model
+//
+// Written by Curtis Olson, started September 2001.
+//
+// Copyright (C) 2001 Curtis L. Olson - curt@flightgear.com
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of the
+// License, or (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful, but
+// WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Public License for more details.
+//
+// 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.
+//
+// $Id$
+
+
+#ifndef _NET_FDM_HXX
+#define _NET_FDM_HXX
+
+
+#ifndef __cplusplus
+# error This library requires C++
+#endif
+
+const int FG_NET_FDM_VERSION = 0x0104;
+
+// Define a structure containing the top level flight dynamics model
+// parameters
+
+class FGNetFDM {
+
+public:
+
+ int version; // increment when data values change
+ int pad; // keep doubles 64-bit aligned for some
+ // hardware platforms, such as the Sun
+ // SPARC, which don't like misaligned
+ // data
+
+ // Positions
+ double longitude; // geodetic (radians)
+ double latitude; // geodetic (radians)
+ double altitude; // above sea level (meters)
+ double agl; // above ground level (meters)
+ double phi; // roll (radians)
+ double theta; // pitch (radians)
+ double psi; // yaw or true heading (radians)
+
+ // Velocities
+ double vcas; // calibrated airspeed
+ double climb_rate; // feet per second
+
+ // Time
+ time_t cur_time; // current unix time
+ long int warp; // offset in seconds to unix time
+};
+
+
+#endif // _NET_FDM_HXX
+++ /dev/null
-// raw_fdm.hxx -- defines a common raw I/O interface to the flight
-// dynamics model
-//
-// Written by Curtis Olson, started September 2001.
-//
-// Copyright (C) 2001 Curtis L. Olson - curt@flightgear.com
-//
-// This program is free software; you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of the
-// License, or (at your option) any later version.
-//
-// This program is distributed in the hope that it will be useful, but
-// WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
-// General Public License for more details.
-//
-// 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.
-//
-// $Id$
-
-
-#ifndef _RAW_FDM_HXX
-#define _RAW_FDM_HXX
-
-
-#ifndef __cplusplus
-# error This library requires C++
-#endif
-
-const int FG_RAW_FDM_VERSION = 3;
-
-// Define a structure containing the top level flight dynamics model
-// parameters
-
-class FGRawFDM {
-
-public:
-
- int version; // increment when data values change
-
- // Positions
- double longitude; // geodetic (radians)
- double latitude; // geodetic (radians)
- double altitude; // above sea level (meters)
- double agl; // above ground level (meters)
- double phi; // roll (radians)
- double theta; // pitch (radians)
- double psi; // yaw or true heading (radians)
-
- // Velocities
- double vcas; // calibrated airspeed
- double climb_rate; // feet per second
-};
-
-
-#endif // _RAW_FDM_HXX
-
-
projects / flightgear.git / commitdiff