From e4b3eebdbb156474f07414f7f4bf29c251536c6b Mon Sep 17 00:00:00 2001
From: curt <curt>
Date: Sun, 12 Jan 2003 23:28:21 +0000
Subject: [PATCH] Added a "mini fdm" output.  This could (for example) be
 useful for an external gui if it wanted to monitor some key sim
 position/orientation varialbles without saturating the net with the full
 slate of fdm data @60hz.

---
 src/Network/Makefile.am         |   3 +-
 src/Network/native_ctrls.hxx    |   1 +
 src/Network/native_fdm.cxx      |   5 +-
 src/Network/native_fdm_mini.cxx | 244 ++++++++++++++++++++++++++++++++
 src/Network/native_fdm_mini.hxx |  68 +++++++++
 src/Network/net_fdm_mini.hxx    |  75 ++++++++++
 6 files changed, 393 insertions(+), 3 deletions(-)
 create mode 100644 src/Network/native_fdm_mini.cxx
 create mode 100644 src/Network/native_fdm_mini.hxx
 create mode 100644 src/Network/net_fdm_mini.hxx

diff --git a/src/Network/Makefile.am b/src/Network/Makefile.am
index a1306b5cd..d9a2eed61 100644
--- a/src/Network/Makefile.am
+++ b/src/Network/Makefile.am
@@ -17,7 +17,8 @@ libNetwork_a_SOURCES = \
 	native.cxx native.hxx \
 	native_ctrls.cxx native_ctrls.hxx \
 	native_fdm.cxx native_fdm.hxx \
-	net_ctrls.hxx net_fdm.hxx \
+	native_fdm_mini.cxx native_fdm_mini.hxx \
+	net_ctrls.hxx net_fdm.hxx net_fdm_mini.hxx \
         nmea.cxx nmea.hxx \
         opengc.cxx opengc.hxx opengc_data.hxx \
 	props.cxx props.hxx \
diff --git a/src/Network/native_ctrls.hxx b/src/Network/native_ctrls.hxx
index 9b1b7ba27..e903e3b03 100644
--- a/src/Network/native_ctrls.hxx
+++ b/src/Network/native_ctrls.hxx
@@ -68,6 +68,7 @@ void FGProps2NetCtrls( FGNetCtrls *net );
 // Update the property tree from the FGNetCtrls structure.
 void FGNetCtrls2Props( FGNetCtrls *net );
 
+
 #endif // _FG_NATIVE_CTRLS_HXX
 
 
diff --git a/src/Network/native_fdm.cxx b/src/Network/native_fdm.cxx
index a43c7f22a..eb2a9a5ca 100644
--- a/src/Network/native_fdm.cxx
+++ b/src/Network/native_fdm.cxx
@@ -367,11 +367,12 @@ void FGNetFDM2Props( FGNetFDM *net ) {
         last_warp = net->warp;
 	*/
     } else {
-	SG_LOG( SG_IO, SG_ALERT, "Error: version mismatch in net2global()" );
+	SG_LOG( SG_IO, SG_ALERT,
+                "Error: version mismatch in FGNetFDM2Props()" );
 	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." );
+		"\tNeeds to upgrade net_fdm.hxx and recompile." );
     }
 }
 
diff --git a/src/Network/native_fdm_mini.cxx b/src/Network/native_fdm_mini.cxx
new file mode 100644
index 000000000..3375df8be
--- /dev/null
+++ b/src/Network/native_fdm_mini.cxx
@@ -0,0 +1,244 @@
+// 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;
+}
diff --git a/src/Network/native_fdm_mini.hxx b/src/Network/native_fdm_mini.hxx
new file mode 100644
index 000000000..a95c1725c
--- /dev/null
+++ b/src/Network/native_fdm_mini.hxx
@@ -0,0 +1,68 @@
+// 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
+
+
diff --git a/src/Network/net_fdm_mini.hxx b/src/Network/net_fdm_mini.hxx
new file mode 100644
index 000000000..1f3e1fb78
--- /dev/null
+++ b/src/Network/net_fdm_mini.hxx
@@ -0,0 +1,75 @@
+// 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
-- 
2.39.5