--- /dev/null
+// ExternalPipe.hxx -- a "pipe" interface to an external flight dynamics model
+//
+// Written by Curtis Olson, started March 2003.
+//
+// Copyright (C) 2003 Curtis L. Olson - curt@flightgear.org
+//
+// 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.
+//
+// $Id$
+
+#ifdef HAVE_CONFIG_H
+# include <config.h>
+#endif
+
+#if defined( HAVE_SYS_TYPES_H ) && defined( HAVE_SYS_STAT_H )
+# include <sys/types.h> // mkfifo() open() umask()
+# include <sys/stat.h> // mkfifo() open() umask()
+# include <fcntl.h> // open()
+# include <unistd.h> // unlink()
+#endif
+
+#include <simgear/debug/logstream.hxx>
+#include <simgear/io/lowlevel.hxx> // endian tests
+
+#include <Main/fg_props.hxx>
+#include <Network/native_ctrls.hxx>
+#include <Network/native_fdm.hxx>
+
+#include "ExternalPipe.hxx"
+
+
+FGExternalPipe::FGExternalPipe( double dt, string name ) {
+ valid = true;
+
+ buf = new char[sizeof(ctrls) + 1];
+
+#if defined( HAVE_SYS_TYPES_H ) && defined( HAVE_SYS_STAT_H )
+ fifo_name_1 = name + "1";
+ fifo_name_2 = name + "2";
+
+ SG_LOG( SG_IO, SG_ALERT, "ExternalPipe Inited with " << name );
+
+ // Make the named pipe
+ umask(0);
+ int result;
+ result = mkfifo( fifo_name_1.c_str(), 0644 );
+ if ( result == -1 ) {
+ SG_LOG( SG_IO, SG_ALERT, "Unable to create named pipe: "
+ << fifo_name_1 );
+ valid = false;
+ }
+ result = mkfifo( fifo_name_2.c_str(), 0644 );
+ if ( result == -1 ) {
+ SG_LOG( SG_IO, SG_ALERT, "Unable to create named pipe: "
+ << fifo_name_2 );
+ valid = false;
+ }
+
+ pd1 = open( fifo_name_1.c_str(), O_RDWR );
+ cout << "pd1 = " << pd1 << endl;
+ if ( pd1 == -1 ) {
+ SG_LOG( SG_IO, SG_ALERT, "Unable to open named pipe: " << fifo_name_1 );
+ valid = false;
+ }
+ pd2 = open( fifo_name_2.c_str(), O_RDWR );
+ cout << "pd2 = " << pd2 << endl;
+ if ( pd2 == -1 ) {
+ SG_LOG( SG_IO, SG_ALERT, "Unable to open named pipe: " << fifo_name_2 );
+ valid = false;
+ }
+#endif
+}
+
+
+FGExternalPipe::~FGExternalPipe() {
+ delete [] buf;
+
+#if defined( HAVE_SYS_TYPES_H ) && defined( HAVE_SYS_STAT_H )
+ // close
+ int result;
+ result = close( pd1 );
+ if ( result == -1 ) {
+ SG_LOG( SG_IO, SG_ALERT, "Unable to close named pipe: "
+ << fifo_name_1 );
+ }
+ result = close( pd2 );
+ if ( result == -1 ) {
+ SG_LOG( SG_IO, SG_ALERT, "Unable to close named pipe: "
+ << fifo_name_2 );
+ }
+
+ // remove the file system entry
+ result = unlink( fifo_name_1.c_str() );
+ if ( result == -1 ) {
+ SG_LOG( SG_IO, SG_ALERT, "Unable to remove named pipe: "
+ << fifo_name_1 );
+ }
+ result = unlink( fifo_name_2.c_str() );
+ if ( result == -1 ) {
+ SG_LOG( SG_IO, SG_ALERT, "Unable to remove named pipe: "
+ << fifo_name_2 );
+ }
+#endif
+}
+
+
+// Initialize the ExternalPipe flight model, dt is the time increment
+// for each subsequent iteration through the EOM
+void FGExternalPipe::init() {
+ // Explicitly call the superclass's
+ // init method first.
+ common_init();
+
+ double lon = fgGetDouble( "/sim/presets/longitude-deg" );
+ double lat = fgGetDouble( "/sim/presets/latitude-deg" );
+ double alt = fgGetDouble( "/sim/presets/altitude-ft" );
+ double ground = fgGetDouble( "/environment/ground-elevation-m" );
+ double heading = fgGetDouble("/sim/presets/heading-deg");
+ double speed = fgGetDouble( "/sim/presets/airspeed-kt" );
+
+#if defined( HAVE_SYS_TYPES_H ) && defined( HAVE_SYS_STAT_H )
+
+ char cmd[256];
+ int result;
+
+ sprintf( cmd, "1longitude-deg=%.8f", lon );
+ result = std::write( pd1, cmd, strlen(cmd) );
+ if ( result == -1 ) {
+ SG_LOG( SG_IO, SG_ALERT, "Write error to named pipe: " << fifo_name_1 );
+ }
+
+ sprintf( cmd, "1latitude-deg=%.8f", lat );
+ result = ::write( pd1, cmd, strlen(cmd) );
+ if ( result == -1 ) {
+ SG_LOG( SG_IO, SG_ALERT, "Write error to named pipe: " << fifo_name_1 );
+ }
+
+ sprintf( cmd, "1altitude-ft=%.8f", alt );
+ result = std::write( pd1, cmd, strlen(cmd) );
+ if ( result == -1 ) {
+ SG_LOG( SG_IO, SG_ALERT, "Write error to named pipe: " << fifo_name_1 );
+ }
+
+ sprintf( cmd, "1ground-m=%.8f", ground );
+ result = std::write( pd1, cmd, strlen(cmd) );
+ if ( result == -1 ) {
+ SG_LOG( SG_IO, SG_ALERT, "Write error to named pipe: " << fifo_name_1 );
+ }
+
+ sprintf( cmd, "1speed-kts=%.8f", speed );
+ result = std::write( pd1, cmd, strlen(cmd) );
+ if ( result == -1 ) {
+ SG_LOG( SG_IO, SG_ALERT, "Write error to named pipe: " << fifo_name_1 );
+ }
+
+ sprintf( cmd, "1heading-deg=%.8f", heading );
+ result = std::write( pd1, cmd, strlen(cmd) );
+ if ( result == -1 ) {
+ SG_LOG( SG_IO, SG_ALERT, "Write error to named pipe: " << fifo_name_1 );
+ }
+
+ SG_LOG( SG_IO, SG_INFO, "before sending reset command." );
+
+ if( fgGetBool("/sim/presets/onground") ) {
+ sprintf( cmd, "1reset=ground" );
+ } else {
+ sprintf( cmd, "1reset=air" );
+ }
+ result = std::write( pd1, cmd, strlen(cmd) );
+ if ( result == -1 ) {
+ SG_LOG( SG_IO, SG_ALERT, "Write error to named pipe: " << fifo_name_1 );
+ }
+
+ SG_LOG( SG_IO, SG_INFO, "Remote FDM init() finished." );
+#endif
+}
+
+
+// Run an iteration of the EOM.
+void FGExternalPipe::update( double dt ) {
+#if defined( HAVE_SYS_TYPES_H ) && defined( HAVE_SYS_STAT_H )
+ int length;
+ int result;
+
+ if ( is_suspended() ) {
+ return;
+ }
+
+ // Send control positions to remote fdm
+ length = sizeof(ctrls);
+ FGProps2NetCtrls( &ctrls, false );
+ buf[0] = '2';
+ char *ptr = buf;
+ ptr++;
+ memcpy( ptr, (char *)(&ctrls), length );
+ result = std::write( pd1, buf, length + 1 );
+ if ( result == -1 ) {
+ SG_LOG( SG_IO, SG_ALERT, "Write error to named pipe: " << fifo_name_1 );
+ }
+ // cout << "wrote to pipe" << endl;
+
+ // Read next set of FDM data (blocking enabled to maintain 'sync')
+ length = sizeof(fdm);
+ result = std::read( pd2, (char *)(& fdm), length );
+ if ( result == -1 ) {
+ SG_LOG( SG_IO, SG_ALERT, "Read error from named pipe: "
+ << fifo_name_2 );
+ }
+ FGNetFDM2Props( &fdm, false );
+ // cout << "read from pipe" << endl;
+#endif
+}
--- /dev/null
+// ExternalPipe.hxx -- a "pipe" interface to an external flight dynamics model
+//
+// Written by Curtis Olson, started March 2003.
+//
+// Copyright (C) 2003 Curtis L. Olson - curt@flightgear.org
+//
+// 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 _EXTERNAL_PIPE_HXX
+#define _EXTERNAL_PIPE_HXX
+
+#include <simgear/timing/timestamp.hxx> // fine grained timing measurements
+
+#include <Network/net_ctrls.hxx>
+#include <Network/net_fdm.hxx>
+
+
+class FGExternalPipe: public FGInterface {
+
+private:
+
+ bool valid;
+
+ string fifo_name_1;
+ string fifo_name_2;
+ int pd1;
+ int pd2;
+
+ FGNetCtrls ctrls;
+ FGNetFDM fdm;
+ char *buf;
+
+public:
+
+ // Constructor
+ FGExternalPipe( double dt, string fifo_name );
+
+ // Destructor
+ ~FGExternalPipe();
+
+ // Reset flight params to a specific position
+ void init();
+
+ // update the fdm
+ void update( double dt );
+
+};
+
+
+#endif // _EXTERNAL_PIPE_HXX
projects / flightgear.git / commitdiff