FGOutputFG.cpp

/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
 Module:       FGOutputFG.cpp
 Author:       Bertrand Coconnier
 Date started: 09/10/11
 Purpose:      Manage output of sim parameters to FlightGear
 Called by:    FGOutput
 
 ------------- Copyright (C) 2011 Bertrand Coconnier -------------
 
 This program is free software; you can redistribute it and/or modify it under
 the terms of the GNU Lesser 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 Lesser General Public License for more
 details.
 
 You should have received a copy of the GNU Lesser General Public License along
 with this program; if not, write to the Free Software Foundation, Inc., 59
 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
 
 Further information about the GNU Lesser General Public License can also be
 found on the world wide web at http://www.gnu.org.
 
FUNCTIONAL DESCRIPTION
--------------------------------------------------------------------------------
This is the place where you create output routines to dump data for perusal
later.
 
HISTORY
--------------------------------------------------------------------------------
11/09/07   HDW   Added FlightGear Socket Interface
09/10/11   BC    Moved the FlightGear socket in a separate class
 
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
INCLUDES
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
#include <cstring>
 
#include "FGOutputFG.h"
#include "FGXMLElement.h"
#include "models/FGAuxiliary.h"
#include "models/FGPropulsion.h"
#include "models/FGFCS.h"
#include "models/propulsion/FGPiston.h"
#include "models/propulsion/FGElectric.h"
#include "models/propulsion/FGTank.h"
 
#if defined(WIN32) && !defined(__CYGWIN__)
#  include <windows.h>
#else
#  include <netinet/in.h>       // htonl() ntohl()
#endif
 
#if !defined (min)
#  define min(X,Y) X<Y?X:Y
#endif
 
static const int endianTest = 1;
#define isLittleEndian (*((char *) &endianTest ) != 0)
 
using namespace std;
 
namespace JSBSim {
 
// (stolen from FGFS native_fdm.cxx)
// 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 ( isLittleEndian ) {
        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;
    }
}
 
// Float version
static void htonf (float &x)
{
    if ( isLittleEndian ) {
        int    *Float_Overlay;
        int     Holding_Buffer;
 
        Float_Overlay = (int *) &x;
        Holding_Buffer = Float_Overlay [0];
 
        Float_Overlay [0] = htonl (Holding_Buffer);
    } else {
        return;
    }
}
 
 
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS IMPLEMENTATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
FGOutputFG::FGOutputFG(FGFDMExec* fdmex) :
  FGOutputSocket(fdmex), outputOptions{false, 1e6}
{
  memset(&fgSockBuf, 0x0, sizeof(fgSockBuf));
 
  if (fdmex->GetDebugLevel() > 0) {
    // Engine status
    if (Propulsion->GetNumEngines() > FGNetFDM::FG_MAX_ENGINES)
      cerr << "This vehicle has " << Propulsion->GetNumEngines() << " engines, but the current " << endl
           << "version of FlightGear's FGNetFDM only supports " << FGNetFDM::FG_MAX_ENGINES << " engines." << endl
           << "Only the first " << FGNetFDM::FG_MAX_ENGINES << " engines will be used." << endl;
 
    // Consumables
    if (Propulsion->GetNumTanks() > FGNetFDM::FG_MAX_TANKS)
      cerr << "This vehicle has " << Propulsion->GetNumTanks() << " tanks, but the current " << endl
           << "version of FlightGear's FGNetFDM only supports " << FGNetFDM::FG_MAX_TANKS << " tanks." << endl
           << "Only the first " << FGNetFDM::FG_MAX_TANKS << " tanks will be used." << endl;
 
    // Gear status
    if (GroundReactions->GetNumGearUnits() > FGNetFDM::FG_MAX_WHEELS)
      cerr << "This vehicle has " << GroundReactions->GetNumGearUnits() << " bogeys, but the current " << endl
           << "version of FlightGear's FGNetFDM only supports " << FGNetFDM::FG_MAX_WHEELS << " bogeys." << endl
           << "Only the first " << FGNetFDM::FG_MAX_WHEELS << " bogeys will be used." << endl;
  }
}
 
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
bool FGOutputFG::Load(Element* el)
{
  if (!FGOutputSocket::Load(el)) {
    return false;
  }
 
  // Check if there is a <time> element
  Element* time_el = el->FindElement("time");
  if (time_el) {
    // Check if the attribute "type" is specified and is set to "simulation"
    if (time_el->HasAttribute("type") && time_el->GetAttributeValue("type") == "simulation") {
      outputOptions.useSimTime = true;
    }
 
    // Check if the attribute "resolution" is specified and set to a valid value
    if (time_el->HasAttribute("resolution")) {
      if (time_el->GetAttributeValueAsNumber("resolution") <= 1 &&
          time_el->GetAttributeValueAsNumber("resolution") >= 1e-9) {
        outputOptions.timeFactor = 1./time_el->GetAttributeValueAsNumber("resolution");
      } else {
        return false;
      }
    }
  }
  return true;
}
 
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
void FGOutputFG::SocketDataFill(FGNetFDM* net)
{
  unsigned int i;
 
  // Version
  net->version = FG_NET_FDM_VERSION;
 
  // Positions
  net->longitude = Propagate->GetLongitude(); // longitude (radians)
  net->latitude  = Propagate->GetGeodLatitudeRad(); // geodetic (radians)
  net->altitude  = Propagate->GetAltitudeASL()*0.3048; // altitude, above sea level (meters)
  net->agl       = (float)(Propagate->GetDistanceAGL()*0.3048); // altitude, above ground level (meters)
 
  net->phi       = (float)(Propagate->GetEuler(ePhi)); // roll (radians)
  net->theta     = (float)(Propagate->GetEuler(eTht)); // pitch (radians)
  net->psi       = (float)(Propagate->GetEuler(ePsi)); // yaw or true heading (radians)
 
  net->alpha     = (float)(Auxiliary->Getalpha()); // angle of attack (radians)
  net->beta      = (float)(Auxiliary->Getbeta()); // side slip angle (radians)
 
  // Velocities
  net->phidot     = (float)(Auxiliary->GetEulerRates(ePhi)); // roll rate (radians/sec)
  net->thetadot   = (float)(Auxiliary->GetEulerRates(eTht)); // pitch rate (radians/sec)
  net->psidot     = (float)(Auxiliary->GetEulerRates(ePsi)); // yaw rate (radians/sec)
  net->vcas       = (float)(Auxiliary->GetVcalibratedKTS()); // VCAS, knots
  net->climb_rate = (float)(Propagate->Gethdot());           // altitude rate, ft/sec
  net->v_north    = (float)(Propagate->GetVel(eNorth));      // north vel in NED frame, fps
  net->v_east     = (float)(Propagate->GetVel(eEast));       // east vel in NED frame, fps
  net->v_down     = (float)(Propagate->GetVel(eDown));       // down vel in NED frame, fps
//---ADD METHOD TO CALCULATE THESE TERMS---
  net->v_body_u = (float)(Propagate->GetUVW(1)); // ECEF speed in body axis
  net->v_body_v = (float)(Propagate->GetUVW(2)); // ECEF speed in body axis
  net->v_body_w = (float)(Propagate->GetUVW(3)); // ECEF speed in body axis
 
  // Accelerations
  net->A_X_pilot   = (float)(Auxiliary->GetPilotAccel(1));    // X body accel, ft/s/s
  net->A_Y_pilot   = (float)(Auxiliary->GetPilotAccel(2));    // Y body accel, ft/s/s
  net->A_Z_pilot   = (float)(Auxiliary->GetPilotAccel(3));    // Z body accel, ft/s/s
 
  // Stall
  net->stall_warning = 0.0;  // 0.0 - 1.0 indicating the amount of stall
  net->slip_deg    = (float)(Auxiliary->Getbeta(inDegrees));  // slip ball deflection, deg
 
  net->num_engines = min(FGNetFDM::FG_MAX_ENGINES,Propulsion->GetNumEngines()); // Number of valid engines
 
  for (i=0; i<net->num_engines; i++) {
    FGEngine* engine = Propulsion->GetEngine(i);
    if (engine->GetRunning())
      net->eng_state[i] = 2;       // Engine state running
    else if (engine->GetCranking())
      net->eng_state[i] = 1;       // Engine state cranking
    else
      net->eng_state[i] = 0;       // Engine state off
 
    switch (engine->GetType()) {
    case (FGEngine::etRocket):
      break;
    case (FGEngine::etPiston):
      {
        FGPiston* piston_engine = static_cast<FGPiston*>(engine);
        net->rpm[i]       = (float)(piston_engine->getRPM());
        net->fuel_flow[i] = (float)(piston_engine->getFuelFlow_gph());
        net->fuel_px[i]   = 0; // Fuel pressure, psi  (N/A in current model)
        net->egt[i]       = (float)(piston_engine->GetEGT());
        net->cht[i]       = (float)(piston_engine->getCylinderHeadTemp_degF());
        net->mp_osi[i]    = (float)(piston_engine->getManifoldPressure_inHg());
        net->oil_temp[i]  = (float)(piston_engine->getOilTemp_degF());
        net->oil_px[i]    = (float)(piston_engine->getOilPressure_psi());
        net->tit[i]       = 0; // Turbine Inlet Temperature  (N/A for piston)
      }
      break;
    case (FGEngine::etTurbine):
      break;
    case (FGEngine::etTurboprop):
      break;
    case (FGEngine::etElectric):
      net->rpm[i] = static_cast<float>(static_cast<FGElectric*>(engine)->getRPM());
      break;
    case (FGEngine::etUnknown):
      break;
    }
  }
 
  net->num_tanks = min(FGNetFDM::FG_MAX_TANKS, Propulsion->GetNumTanks());   // Max number of fuel tanks
 
  for (i=0; i<net->num_tanks; i++) {
    net->fuel_quantity[i] = (float)(((FGTank *)Propulsion->GetTank(i))->GetContents());
  }
 
  net->num_wheels  = min(FGNetFDM::FG_MAX_WHEELS, GroundReactions->GetNumGearUnits());
 
  for (i=0; i<net->num_wheels; i++) {
    net->wow[i]              = GroundReactions->GetGearUnit(i)->GetWOW();
    if (GroundReactions->GetGearUnit(i)->GetGearUnitDown())
      net->gear_pos[i]      = 1;  //gear down, using FCS convention
    else
      net->gear_pos[i]      = 0;  //gear up, using FCS convention
    net->gear_steer[i]       = (float)(GroundReactions->GetGearUnit(i)->GetSteerNorm());
    net->gear_compression[i] = (float)(GroundReactions->GetGearUnit(i)->GetCompLen());
  }
 
  // Environment
  if (outputOptions.useSimTime) {
    // Send simulation time with specified resolution
    net->cur_time    = static_cast<uint32_t>(FDMExec->GetSimTime()*outputOptions.timeFactor);
  } else {
    // Default to sending constant dummy value to ensure backwards-compatibility
    net->cur_time = 1234567890u;
  }
  
  net->warp        = 0;                       // offset in seconds to unix time
  net->visibility  = 25000.0;                 // visibility in meters (for env. effects)
 
  // Control surface positions (normalized values)
  net->elevator          = (float)(FCS->GetDePos(ofNorm));    // Norm Elevator Pos, --
  net->elevator_trim_tab = (float)(FCS->GetPitchTrimCmd());   // Norm Elev Trim Tab Pos, --
  net->left_flap         = (float)(FCS->GetDfPos(ofNorm));    // Norm Flap Pos, --
  net->right_flap        = (float)(FCS->GetDfPos(ofNorm));    // Norm Flap Pos, --
  net->left_aileron      = (float)(FCS->GetDaLPos(ofNorm));   // Norm L Aileron Pos, --
  net->right_aileron     = (float)(FCS->GetDaRPos(ofNorm));   // Norm R Aileron Pos, --
  net->rudder            = (float)(FCS->GetDrPos(ofNorm));    // Norm Rudder Pos, --
  net->nose_wheel        = (float)(FCS->GetDrPos(ofNorm));    // *** FIX ***  Using Rudder Pos for NWS, --
  net->speedbrake        = (float)(FCS->GetDsbPos(ofNorm));   // Norm Speedbrake Pos, --
  net->spoilers          = (float)(FCS->GetDspPos(ofNorm));   // Norm Spoiler Pos, --
 
  // Convert the net buffer to network format
  if ( isLittleEndian ) {
    net->version = htonl(net->version);
 
    htond(net->longitude);
    htond(net->latitude);
    htond(net->altitude);
    htonf(net->agl);
    htonf(net->phi);
    htonf(net->theta);
    htonf(net->psi);
    htonf(net->alpha);
    htonf(net->beta);
 
    htonf(net->phidot);
    htonf(net->thetadot);
    htonf(net->psidot);
    htonf(net->vcas);
    htonf(net->climb_rate);
    htonf(net->v_north);
    htonf(net->v_east);
    htonf(net->v_down);
    htonf(net->v_body_u);
    htonf(net->v_body_v);
    htonf(net->v_body_w);
 
    htonf(net->A_X_pilot);
    htonf(net->A_Y_pilot);
    htonf(net->A_Z_pilot);
 
    htonf(net->stall_warning);
    htonf(net->slip_deg);
 
    for (i=0; i<net->num_engines; ++i ) {
      net->eng_state[i] = htonl(net->eng_state[i]);
      htonf(net->rpm[i]);
      htonf(net->fuel_flow[i]);
      htonf(net->fuel_px[i]);
      htonf(net->egt[i]);
      htonf(net->cht[i]);
      htonf(net->mp_osi[i]);
      htonf(net->tit[i]);
      htonf(net->oil_temp[i]);
      htonf(net->oil_px[i]);
    }
    net->num_engines = htonl(net->num_engines);
 
    for (i=0; i<net->num_tanks; ++i ) {
      htonf(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]);
      htonf(net->gear_pos[i]);
      htonf(net->gear_steer[i]);
      htonf(net->gear_compression[i]);
    }
    net->num_wheels = htonl(net->num_wheels);
 
    net->cur_time = htonl( net->cur_time );
    net->warp = htonl( net->warp );
    htonf(net->visibility);
 
    htonf(net->elevator);
    htonf(net->elevator_trim_tab);
    htonf(net->left_flap);
    htonf(net->right_flap);
    htonf(net->left_aileron);
    htonf(net->right_aileron);
    htonf(net->rudder);
    htonf(net->nose_wheel);
    htonf(net->speedbrake);
    htonf(net->spoilers);
  }
}
 
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
void FGOutputFG::Print(void)
{
  int length = sizeof(fgSockBuf);
 
  if (socket == 0) return;
  if (!socket->GetConnectStatus()) return;
 
  SocketDataFill(&fgSockBuf);
  socket->Send((char *)&fgSockBuf, length);
}
}