#include <Main/fg_props.hxx>
#include <Network/native_ctrls.hxx>
+#include <Network/native_fdm.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
-
-#if defined( linux )
-# include <sys/types.h>
-# include <sys/socket.h>
-#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 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->v_wind_body_north);
- htond(net->v_wind_body_east);
- htond(net->v_wind_body_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 );
- cur_fdm_state->_set_Velocities_Wind_Body( net->v_wind_body_north,
- net->v_wind_body_east,
- net->v_wind_body_down );
-
- fgSetDouble( "/sim/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 );
// disable blocking
data_server.setBlocking( false );
-#if defined( linux )
- // set SO_REUSEADDR flag
- int socket = data_server.getHandle();
- int one = 1;
- int result;
- result = ::setsockopt( socket, SOL_SOCKET, SO_REUSEADDR,
- &one, sizeof(one) );
-#endif
-
// allowed to read from a broadcast addr
// data_server.setBroadcast( true );
length = sizeof(fdm);
while ( (result = data_server.recv( (char *)(& fdm), length, 0)) >= 0 ) {
SG_LOG( SG_IO, SG_DEBUG, "Success reading data." );
- net2global( &fdm );
+ FGNetFDM2Props( &fdm );
}
}
}
-static void global2net( const FGInterface *global, FGNetFDM *net ) {
- static const SGPropertyNode *visibility
- = fgGetNode("/environment/visibility-m");
+void FGProps2NetFDM( FGNetFDM *net ) {
+ int i;
+ // Version sanity checking
net->version = FG_NET_FDM_VERSION;
- // positions
+ // 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();
+ net->phidot = cur_fdm_state->get_Phi_dot_degps() * SG_DEGREES_TO_RADIANS;
+ net->thetadot = cur_fdm_state->get_Theta_dot_degps()
+ * SG_DEGREES_TO_RADIANS;
+ net->psidot = cur_fdm_state->get_Psi_dot_degps() * SG_DEGREES_TO_RADIANS;
- // velocities
net->vcas = cur_fdm_state->get_V_calibrated_kts();
net->climb_rate = cur_fdm_state->get_Climb_Rate();
- // environment
+ net->v_north = cur_fdm_state->get_V_north();
+ net->v_east = cur_fdm_state->get_V_east();
+ net->v_down = cur_fdm_state->get_V_down();
+ net->v_wind_body_north = cur_fdm_state->get_uBody();
+ net->v_wind_body_east = cur_fdm_state->get_vBody();
+ net->v_wind_body_down = cur_fdm_state->get_wBody();
+ net->stall_warning = fgGetDouble("/sim/alarms/stall-warning", 0.0);
+
+ net->A_X_pilot = cur_fdm_state->get_A_X_pilot();
+ net->A_Y_pilot = cur_fdm_state->get_A_Y_pilot();
+ net->A_Z_pilot = cur_fdm_state->get_A_Z_pilot();
+
+ // Engine parameters
+ net->num_engines = FGNetFDM::FG_MAX_ENGINES;
+ for ( i = 0; i < net->num_engines; ++i ) {
+ SGPropertyNode *node = fgGetNode("engines/engine", i, true);
+ if ( node->getBoolValue( "running" ) ) {
+ net->eng_state[0] = 2;
+ } else if ( node->getBoolValue( "cranking" ) ) {
+ net->eng_state[0] = 1;
+ } else {
+ net->eng_state[0] = 0;
+ }
+ net->rpm[i] = node->getDoubleValue( "rpm" );
+ net->fuel_flow[i] = node->getDoubleValue( "fuel-flow-gph" );
+ net->EGT[i] = node->getDoubleValue( "egt-degf" );
+ // cout << "egt = " << aero->EGT << endl;
+ net->oil_temp[i] = node->getDoubleValue( "oil-temperature-degf" );
+ net->oil_px[i] = node->getDoubleValue( "oil-pressure-psi" );
+ }
+
+ // Consumables
+ net->num_tanks = FGNetFDM::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");
+ }
+
+ // Gear and flaps
+ net->num_wheels = FGNetFDM::FG_MAX_WHEELS;
+ for (i = 0; i < net->num_wheels; ++i ) {
+ SGPropertyNode *node = fgGetNode("/gear/gear", i, true);
+ net->wow[i] = node->getDoubleValue("wow");
+ }
+
+ // cout << "Flap deflection = " << aero->dflap << endl;
+ net->flap_deflection = fgGetDouble("/surface-positions/flap-pos-norm" );
+
+ // the following really aren't used in this context
net->cur_time = globals->get_time_params()->get_cur_time();
net->warp = globals->get_warp();
- net->visibility = visibility->getDoubleValue();
+ net->visibility = fgGetDouble("/environment/visibility-m");
// 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->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->v_wind_body_north);
+ htond(net->v_wind_body_east);
+ htond(net->v_wind_body_down);
+ htond(net->stall_warning);
+
+ htond(net->A_X_pilot);
+ htond(net->A_Y_pilot);
+ htond(net->A_Z_pilot);
+
+ 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_engines = htonl(net->num_engines);
+
+ for ( i = 0; i < net->num_tanks; ++i ) {
+ htond(net->fuel_quantity[i]);
+ }
+ net->num_tanks = htonl(net->num_tanks);
+
+ for ( i = 0; i < net->num_wheels; ++i ) {
+ net->wow[i] = htonl(net->wow[i]);
+ }
+ net->num_wheels = htonl(net->num_wheels);
+ htond(net->flap_deflection);
+
net->cur_time = htonl( net->cur_time );
net->warp = htonl( net->warp );
htond(net->visibility);
}
-static void net2global( FGNetFDM *net, FGInterface *global ) {
- static long int last_warp = 0;
+void FGNetFDM2Props( 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->v_wind_body_north);
+ htond(net->v_wind_body_east);
+ htond(net->v_wind_body_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;
+ // cout << "sea level rad = " << cur_fdm_state->get_Sea_level_radius()
+ // << endl;
cur_fdm_state->_updateGeodeticPosition( net->latitude,
net->longitude,
net->altitude
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 );
+ cur_fdm_state->_set_Velocities_Wind_Body( net->v_wind_body_north,
+ net->v_wind_body_east,
+ net->v_wind_body_down );
+
+ fgSetDouble( "/sim/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 );
- if ( net->warp != last_warp ) {
- fgUpdateSkyAndLightingParams();
- }
last_warp = net->warp;
-
- fgSetDouble( "/environment/visibility-m", net->visibility );
+ */
} else {
SG_LOG( SG_IO, SG_ALERT, "Error: version mismatch in net2global()" );
SG_LOG( SG_IO, SG_ALERT,
if ( get_direction() == SG_IO_OUT ) {
// cout << "size of cur_fdm_state = " << length << endl;
- global2net( cur_fdm_state, &buf );
+ FGProps2NetFDM( &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." );
- net2global( &buf, cur_fdm_state );
+ FGNetFDM2Props( &buf );
}
} else {
while ( io->read( (char *)(& buf), length ) == length ) {
SG_LOG( SG_IO, SG_DEBUG, "Success reading data." );
- net2global( &buf, cur_fdm_state );
+ FGNetFDM2Props( &buf );
}
}
}
projects / flightgear.git / commitdiff