--- /dev/null
+// ExternalNet.hxx -- an net interface to an external flight dynamics model
+//
+// Written by Curtis Olson, started November 2001.
+//
+// Copyright (C) 2001 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.
+//
+// $Id$
+
+#include <simgear/debug/logstream.hxx>
+#include <simgear/io/lowlevel.hxx> // endian tests
+
+#include <Main/fg_props.hxx>
+
+#include "ExternalNet.hxx"
+
+
+// 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;
+
+ // fill in values
+ SGPropertyNode * node = fgGetNode("/controls", true);
+ raw->version = FG_RAW_CTRLS_VERSION;
+ raw->aileron = node->getDoubleValue( "aileron" );
+ raw->elevator = node->getDoubleValue( "elevator" );
+ raw->elevator_trim = node->getDoubleValue( "elevator-trim" );
+ raw->rudder = node->getDoubleValue( "rudder" );
+ raw->flaps = node->getDoubleValue( "flaps" );
+ raw->flaps_power
+ = node->getDoubleValue( "/systems/electrical/outputs/flaps",
+ 1.0 ) >= 1.0;
+ raw->num_engines = FGRawCtrls::FG_MAX_ENGINES;
+ for ( i = 0; i < FGRawCtrls::FG_MAX_ENGINES; ++i ) {
+ raw->throttle[i] = node->getDoubleValue( "throttle", 0.0 );
+ raw->mixture[i] = node->getDoubleValue( "mixture", 0.0 );
+ raw->fuel_pump_power[i]
+ = node->getDoubleValue( "/systems/electrical/outputs/fuel-pump",
+ 1.0 ) >= 1.0;
+ raw->prop_advance[i] = node->getDoubleValue( "propeller-pitch", 0.0 );
+ raw->magnetos[i] = node->getIntValue( "magnetos", 0 );
+ if ( i == 0 ) {
+ // cout << "Magnetos -> " << node->getIntValue( "magnetos", 0 );
+ }
+ raw->starter_power[i]
+ = node->getDoubleValue( "/systems/electrical/outputs/starter",
+ 1.0 ) >= 1.0;
+ if ( i == 0 ) {
+ // cout << " Starter -> " << node->getIntValue( "stater", false )
+ // << endl;
+ }
+ }
+ raw->num_tanks = FGRawCtrls::FG_MAX_TANKS;
+ for ( i = 0; i < FGRawCtrls::FG_MAX_TANKS; ++i ) {
+ if ( node->getChild("fuel-selector", i) != 0 ) {
+ raw->fuel_selector[i]
+ = node->getChild("fuel-selector", i)->getDoubleValue();
+ } else {
+ raw->fuel_selector[i] = false;
+ }
+ }
+ raw->num_wheels = FGRawCtrls::FG_MAX_WHEELS;
+ for ( i = 0; i < FGRawCtrls::FG_MAX_WHEELS; ++i ) {
+ if ( node->getChild("brakes", i) != 0 ) {
+ raw->brake[i]
+ = node->getChild("brakes", i)->getDoubleValue();
+ } else {
+ raw->brake[i] = 0.0;
+ }
+ }
+
+ node = fgGetNode("/controls/switches", true);
+ raw->master_bat = node->getChild("master-bat")->getBoolValue();
+ raw->master_alt = node->getChild("master-alt")->getBoolValue();
+ raw->master_avionics = node->getChild("master-avionics")->getBoolValue();
+
+ // cur_fdm_state->get_ground_elev_ft() is what we want ... this
+ // reports the altitude of the aircraft.
+ // "/environment/ground-elevation-m" reports the ground elevation
+ // of the current view point which could change substantially if
+ // the user is switching views.
+ raw->hground = cur_fdm_state->get_ground_elev_ft() * SG_FEET_TO_METER;
+ raw->magvar = fgGetDouble("/environment/magnetic-variation-deg");
+ raw->speedup = fgGetInt("/sim/speed-up");
+
+ // 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);
+ raw->flaps_power = htonl(raw->flaps_power);
+ for ( i = 0; i < FGRawCtrls::FG_MAX_ENGINES; ++i ) {
+ htond(raw->throttle[i]);
+ htond(raw->mixture[i]);
+ raw->fuel_pump_power[i] = htonl(raw->fuel_pump_power[i]);
+ htond(raw->prop_advance[i]);
+ raw->magnetos[i] = htonl(raw->magnetos[i]);
+ raw->starter_power[i] = htonl(raw->starter_power[i]);
+ }
+ raw->num_engines = htonl(raw->num_engines);
+ for ( i = 0; i < FGRawCtrls::FG_MAX_TANKS; ++i ) {
+ raw->fuel_selector[i] = htonl(raw->fuel_selector[i]);
+ }
+ raw->num_tanks = htonl(raw->num_tanks);
+ for ( i = 0; i < FGRawCtrls::FG_MAX_WHEELS; ++i ) {
+ htond(raw->brake[i]);
+ }
+ raw->num_wheels = htonl(raw->num_wheels);
+ raw->gear_handle = htonl(raw->gear_handle);
+ raw->master_bat = htonl(raw->master_bat);
+ raw->master_alt = htonl(raw->master_alt);
+ raw->master_avionics = htonl(raw->master_avionics);
+ htond(raw->hground);
+ htond(raw->magvar);
+ raw->speedup = htonl(raw->speedup);
+}
+
+
+static void net2global( FGNetFDM *net ) {
+ int i;
+
+ // 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->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->stall_warning);
+
+ htond(net->A_X_pilot);
+ htond(net->A_Y_pilot);
+ htond(net->A_Z_pilot);
+
+ 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->num_tanks = htonl(net->num_tanks);
+ for ( i = 0; i < net->num_tanks; ++i ) {
+ htond(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);
+
+ 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_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,
+ net->v_east,
+ net->v_down );
+ fgSetDouble( "/sim/aero/alarms/stall-warning", net->stall_warning );
+ cur_fdm_state->_set_Accels_Pilot_Body( net->A_X_pilot,
+ net->A_Y_pilot,
+ net->A_Z_pilot );
+
+ 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( "egt-degf", net->EGT[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] );
+ }
+
+ 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 ) {
+ 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, string host, int dop, int dip, int cp )
+{
+// set_delta_t( dt );
+
+ valid = true;
+
+ 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 );
+
+ 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;
+ }
+
+ // disable blocking
+ data_server.setBlocking( false );
+
+ // allowed to read from a broadcast addr
+ // data_server.setBroadcast( true );
+
+ // if we bind to fdm_host = "" then we accept messages from
+ // anyone.
+ if ( data_server.bind( "", data_in_port ) == -1 ) {
+ printf("error binding to port %d\n", data_in_port);
+ valid = false;
+ }
+}
+
+
+FGExternalNet::~FGExternalNet() {
+ data_client.close();
+ data_server.close();
+}
+
+
+// Initialize the ExternalNet flight model, dt is the time increment
+// for each subsequent iteration through the EOM
+void FGExternalNet::init() {
+ // cout << "FGExternalNet::init()" << endl;
+
+ // 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];
+
+ HTTPClient *http;
+ sprintf( cmd, "/longitude-deg?value=%.8f", lon );
+ http = new HTTPClient( fdm_host.c_str(), cmd_port, cmd );
+ while ( !http->isDone() ) http->poll(0);
+ delete http;
+
+ sprintf( cmd, "/latitude-deg?value=%.8f", lat );
+ http = new HTTPClient( fdm_host.c_str(), cmd_port, cmd );
+ while ( !http->isDone() ) http->poll(0);
+ delete http;
+
+ sprintf( cmd, "/ground-m?value=%.8f", ground );
+ http = new HTTPClient( fdm_host.c_str(), cmd_port, cmd );
+ while ( !http->isDone() ) http->poll(0);
+ delete http;
+
+ sprintf( cmd, "/heading-deg?value=%.8f", heading );
+ http = new HTTPClient( fdm_host.c_str(), cmd_port, cmd );
+ while ( !http->isDone() ) http->poll(0);
+ delete http;
+
+ SG_LOG( SG_IO, SG_INFO, "before sending reset command." );
+
+ sprintf( cmd, "/reset?value=ground" );
+ http = new HTTPClient( fdm_host.c_str(), cmd_port, cmd );
+ while ( !http->isDone() ) http->poll(0);
+ delete http;
+
+ SG_LOG( SG_IO, SG_INFO, "Remote FDM init() finished." );
+}
+
+
+// Run an iteration of the EOM.
+void FGExternalNet::update( double dt ) {
+ int length;
+ int result;
+
+ if (is_suspended())
+ return;
+
+ // 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_DEBUG, "Error writing data." );
+ } else {
+ SG_LOG( SG_IO, SG_DEBUG, "wrote control data." );
+ }
+
+ // Read next set of FDM data (blocking enabled to maintain 'sync')
+ length = sizeof(fdm);
+ while ( (result = data_server.recv( (char *)(& fdm), length, 0)) >= 0 ) {
+ SG_LOG( SG_IO, SG_DEBUG, "Success reading data." );
+ net2global( &fdm );
+ }
+}
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