--- /dev/null
+// native_fdm.cxx -- FGFS "Native" flight dynamics protocal class
+//
+// Written by Curtis Olson, started September 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.
+//
+// $Id$
+
+
+#ifdef HAVE_CONFIG_H
+# include <config.h>
+#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 <Time/tmp.hxx>
+#include <Main/fg_props.hxx>
+#include <Main/globals.hxx>
+
+#include "native_fdm_mini.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;
+ }
+}
+
+
+FGNativeFDMmini::FGNativeFDMmini() {
+}
+
+FGNativeFDMmini::~FGNativeFDMmini() {
+}
+
+
+// open hailing frequencies
+bool FGNativeFDMmini::open() {
+ if ( is_enabled() ) {
+ SG_LOG( SG_IO, SG_ALERT, "This shouldn't happen, but the channel "
+ << "is already in use, ignoring" );
+ return false;
+ }
+
+ SGIOChannel *io = get_io_channel();
+
+ if ( ! io->open( get_direction() ) ) {
+ SG_LOG( SG_IO, SG_ALERT, "Error opening channel communication layer." );
+ return false;
+ }
+
+ set_enabled( true );
+
+ cur_fdm_state->_set_Sea_level_radius( SG_EQUATORIAL_RADIUS_FT );
+ return true;
+}
+
+
+void FGProps2NetFDMmini( FGNetFDMmini *net ) {
+ int i;
+
+ // Version sanity checking
+ net->version = FG_NET_FDM_MINI_VERSION;
+
+ // Aero parameters
+ 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();
+
+ // Consumables
+ net->num_tanks = FGNetFDMmini::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");
+ }
+
+ // 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);
+
+ for ( i = 0; i < net->num_tanks; ++i ) {
+ htond(net->fuel_quantity[i]);
+ }
+ net->num_tanks = htonl(net->num_tanks);
+
+ net->cur_time = htonl( net->cur_time );
+ net->warp = htonl( net->warp );
+}
+
+
+void FGNetFDMmini2Props( FGNetFDMmini *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);
+
+ net->num_tanks = htonl(net->num_tanks);
+ for ( i = 0; i < net->num_tanks; ++i ) {
+ htond(net->fuel_quantity[i]);
+ }
+
+ net->cur_time = ntohl(net->cur_time);
+ net->warp = ntohl(net->warp);
+
+ if ( net->version == FG_NET_FDM_MINI_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 );
+
+ 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] );
+ }
+
+ if ( net->cur_time ) {
+ fgSetLong("/sim/time/cur-time-override", net->cur_time);
+ }
+
+ globals->set_warp( net->warp );
+ } else {
+ SG_LOG( SG_IO, SG_ALERT,
+ "Error: version mismatch in FGNetFDMmini2Props()" );
+ SG_LOG( SG_IO, SG_ALERT,
+ "\tread " << net->version << " need " << FG_NET_FDM_MINI_VERSION );
+ SG_LOG( SG_IO, SG_ALERT,
+ "\tNeed to upgrade net_fdm.hxx and recompile." );
+ }
+}
+
+
+// process work for this port
+bool FGNativeFDMmini::process() {
+ SGIOChannel *io = get_io_channel();
+ int length = sizeof(buf);
+
+ if ( get_direction() == SG_IO_OUT ) {
+ // cout << "size of cur_fdm_state = " << length << endl;
+ FGProps2NetFDMmini( &buf );
+ if ( ! io->write( (char *)(& buf), length ) ) {
+ SG_LOG( SG_IO, SG_ALERT, "Error writing data." );
+ return false;
+ }
+ } else if ( get_direction() == SG_IO_IN ) {
+ if ( io->get_type() == sgFileType ) {
+ if ( io->read( (char *)(& buf), length ) == length ) {
+ SG_LOG( SG_IO, SG_DEBUG, "Success reading data." );
+ FGNetFDMmini2Props( &buf );
+ }
+ } else {
+ while ( io->read( (char *)(& buf), length ) == length ) {
+ SG_LOG( SG_IO, SG_DEBUG, "Success reading data." );
+ FGNetFDMmini2Props( &buf );
+ }
+ }
+ }
+
+ return true;
+}
+
+
+// close the channel
+bool FGNativeFDMmini::close() {
+ SGIOChannel *io = get_io_channel();
+
+ set_enabled( false );
+
+ if ( ! io->close() ) {
+ return false;
+ }
+
+ return true;
+}
--- /dev/null
+// native_fdm_mini.hxx -- FGFS "Mini-Native" flight dynamics protocal class
+//
+// Written by Curtis Olson, started January 2002.
+//
+// Copyright (C) 2002 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 _FG_NATIVE_FDM_MINI_HXX
+#define _FG_NATIVE_FDM_MINI_HXX
+
+
+#include <simgear/compiler.h>
+
+#include <FDM/flight.hxx>
+
+#include "protocol.hxx"
+#include "net_fdm_mini.hxx"
+
+
+class FGNativeFDMmini : public FGProtocol, public FGInterface {
+
+ FGNetFDMmini buf;
+ int length;
+
+public:
+
+ FGNativeFDMmini();
+ ~FGNativeFDMmini();
+
+ // open hailing frequencies
+ bool open();
+
+ // process work for this port
+ bool process();
+
+ // close the channel
+ bool close();
+};
+
+
+// Helper functions which may be useful outside this class
+
+// Populate the FGNetFDMmini structure from the property tree.
+void FGProps2NetFDMmini( FGNetFDMmini *net );
+
+// Update the property tree from the FGNetFDMmini structure.
+void FGNetFDMmini2Props( FGNetFDMmini *net );
+
+
+#endif // _FG_NATIVE_FDM_MINI_HXX
+
+
--- /dev/null
+// net_fdm_mini.hxx -- defines a simple subset I/O interface to the flight
+// dynamics model variables
+//
+// Written by Curtis Olson, started January 2002.
+//
+// Copyright (C) 2002 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_MINI_HXX
+#define _NET_FDM_MINI_HXX
+
+
+#ifndef __cplusplus
+# error This library requires C++
+#endif
+
+
+const int FG_NET_FDM_MINI_VERSION = 1;
+
+
+// Define a structure containing the top level flight dynamics model
+// parameters
+
+class FGNetFDMmini {
+
+public:
+
+ enum {
+ FG_MAX_ENGINES = 4,
+ FG_MAX_WHEELS = 3,
+ FG_MAX_TANKS = 4
+ };
+
+ 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)
+
+ // Consumables
+ int num_tanks; // Max number of fuel tanks
+ double fuel_quantity[FG_MAX_TANKS];
+
+ // Environment
+ time_t cur_time; // current unix time
+ long int warp; // offset in seconds to unix time
+};
+
+
+#endif // _NET_FDM_MINI_HXX
projects / flightgear.git / commitdiff