From f196c8418d11846ac7b5e3a24e80d615d64a2cf0 Mon Sep 17 00:00:00 2001
From: Erik Hofman <erik@ehofman.com>
Date: Thu, 15 Apr 2021 10:11:42 +0200
Subject: [PATCH] Update the props sample description: remove an unnecessary
type specifier (the union already holds it), add a sample version number and
a mode to indicate reading from, or writing to, a property. The option to set
a property value is reserved for future use and not yet implemented.
---
src/Network/DDS/dds_props.c | 9 ++--
src/Network/DDS/dds_props.h | 8 ++-
src/Network/DDS/dds_props.idl | 41 ++++++++-------
src/Network/DDS/fg_dds_log.cpp | 8 ++-
src/Network/DDS/fg_dds_prop.cpp | 91 ++++++++++++++++++---------------
src/Network/dds_props.cxx | 20 ++++----
6 files changed, 99 insertions(+), 78 deletions(-)
diff --git a/src/Network/DDS/dds_props.c b/src/Network/DDS/dds_props.c
index 413c5f67e..7d4297763 100644
--- a/src/Network/DDS/dds_props.c
+++ b/src/Network/DDS/dds_props.c
@@ -17,8 +17,8 @@ static const dds_key_descriptor_t FG_DDS_PROP_keys[1] =
static const uint32_t FG_DDS_PROP_ops [] =
{
DDS_OP_ADR | DDS_OP_TYPE_4BY | DDS_OP_FLAG_SGN | DDS_OP_FLAG_KEY, offsetof (FG_DDS_PROP, id),
- DDS_OP_ADR | DDS_OP_TYPE_ARR | DDS_OP_SUBTYPE_1BY, offsetof (FG_DDS_PROP, guid), 16,
- DDS_OP_ADR | DDS_OP_TYPE_4BY | DDS_OP_FLAG_SGN, offsetof (FG_DDS_PROP, type),
+ DDS_OP_ADR | DDS_OP_TYPE_1BY, offsetof (FG_DDS_PROP, version),
+ DDS_OP_ADR | DDS_OP_TYPE_BOO, offsetof (FG_DDS_PROP, mode),
DDS_OP_ADR | DDS_OP_TYPE_UNI | DDS_OP_SUBTYPE_4BY | DDS_OP_FLAG_SGN, offsetof (FG_DDS_PROP, val._d), 9u, (31u << 16) + 4u,
DDS_OP_JEQ | DDS_OP_TYPE_BOO | 0, FG_DDS_BOOL, offsetof (FG_DDS_PROP, val._u.Bool),
DDS_OP_JEQ | DDS_OP_TYPE_4BY | DDS_OP_FLAG_SGN | 0, FG_DDS_NONE, offsetof (FG_DDS_PROP, val._u.Int32),
@@ -29,6 +29,7 @@ static const uint32_t FG_DDS_PROP_ops [] =
DDS_OP_JEQ | DDS_OP_TYPE_STR | 0, FG_DDS_ALIAS, offsetof (FG_DDS_PROP, val._u.String),
DDS_OP_JEQ | DDS_OP_TYPE_STR | 0, FG_DDS_STRING, offsetof (FG_DDS_PROP, val._u.String),
DDS_OP_JEQ | DDS_OP_TYPE_STR | 0, FG_DDS_UNSPECIFIED, offsetof (FG_DDS_PROP, val._u.String),
+ DDS_OP_ADR | DDS_OP_TYPE_ARR | DDS_OP_SUBTYPE_1BY, offsetof (FG_DDS_PROP, guid), 16,
DDS_OP_RTS
};
@@ -40,7 +41,7 @@ const dds_topic_descriptor_t FG_DDS_PROP_desc =
1u,
"FG::DDS_PROP",
FG_DDS_PROP_keys,
- 14,
+ 15,
FG_DDS_PROP_ops,
- "<MetaData version=\"1.0.0\"><Module name=\"FG\"><Enum name=\"propType\"><Element name=\"DDS_NONE\" value=\"0\"/><Element name=\"DDS_ALIAS\" value=\"1\"/><Element name=\"DDS_BOOL\" value=\"2\"/><Element name=\"DDS_INT\" value=\"3\"/><Element name=\"DDS_LONG\" value=\"4\"/><Element name=\"DDS_FLOAT\" value=\"5\"/><Element name=\"DDS_DOUBLE\" value=\"6\"/><Element name=\"DDS_STRING\" value=\"7\"/><Element name=\"DDS_UNSPECIFIED\" value=\"8\"/></Enum><Union name=\"propValue\"><SwitchType><Type name=\"propType\"/></SwitchType><Case name=\"Bool\"><Boolean/><Label value=\"DDS_BOOL\"/></Case><Case name=\"Int32\"><Long/><Label value=\"DDS_NONE\"/><Label value=\"DDS_INT\"/></Case><Case name=\"Int64\"><LongLong/><Label value=\"DDS_LONG\"/></Case><Case name=\"Float32\"><Float/><Label value=\"DDS_FLOAT\"/></Case><Case name=\"Float64\"><Double/><Label value=\"DDS_DOUBLE\"/></Case><Case name=\"String\"><String/><Label value=\"DDS_ALIAS\"/><Label value=\"DDS_STRING\"/><Label value=\"DDS_UNSPECIFIED\"/></Case></Union><Struct name=\"DDS_PROP\"><Member name=\"id\"><Long/></Member><Member name=\"guid\"><Array size=\"16\"><Octet/></Array></Member><Member name=\"type\"><Type name=\"propType\"/></Member><Member name=\"val\"><Type name=\"propValue\"/></Member></Struct></Module></MetaData>"
+ "<MetaData version=\"1.0.0\"><Module name=\"FG\"><Enum name=\"propType\"><Element name=\"DDS_NONE\" value=\"0\"/><Element name=\"DDS_ALIAS\" value=\"1\"/><Element name=\"DDS_BOOL\" value=\"2\"/><Element name=\"DDS_INT\" value=\"3\"/><Element name=\"DDS_LONG\" value=\"4\"/><Element name=\"DDS_FLOAT\" value=\"5\"/><Element name=\"DDS_DOUBLE\" value=\"6\"/><Element name=\"DDS_STRING\" value=\"7\"/><Element name=\"DDS_UNSPECIFIED\" value=\"8\"/></Enum><Union name=\"propValue\"><SwitchType><Type name=\"propType\"/></SwitchType><Case name=\"Bool\"><Boolean/><Label value=\"DDS_BOOL\"/></Case><Case name=\"Int32\"><Long/><Label value=\"DDS_NONE\"/><Label value=\"DDS_INT\"/></Case><Case name=\"Int64\"><LongLong/><Label value=\"DDS_LONG\"/></Case><Case name=\"Float32\"><Float/><Label value=\"DDS_FLOAT\"/></Case><Case name=\"Float64\"><Double/><Label value=\"DDS_DOUBLE\"/></Case><Case name=\"String\"><String/><Label value=\"DDS_ALIAS\"/><Label value=\"DDS_STRING\"/><Label value=\"DDS_UNSPECIFIED\"/></Case></Union><Struct name=\"DDS_PROP\"><Member name=\"id\"><Long/></Member><Member name=\"version\"><Octet/></Member><Member name=\"mode\"><Boolean/></Member><Member name=\"val\"><Type name=\"propValue\"/></Member><Member name=\"guid\"><Array size=\"16\"><Octet/></Array></Member></Struct></Module></MetaData>"
};
diff --git a/src/Network/DDS/dds_props.h b/src/Network/DDS/dds_props.h
index 5985daf1f..38a240299 100644
--- a/src/Network/DDS/dds_props.h
+++ b/src/Network/DDS/dds_props.h
@@ -17,7 +17,10 @@
extern "C" {
#endif
+#define FG_DDS_PROP_VERSION 0
#define FG_DDS_PROP_REQUEST -1
+#define FG_DDS_MODE_READ (0)
+#define FG_DDS_MODE_WRITE (1)
typedef enum FG_propType
{
FG_DDS_NONE,
@@ -56,9 +59,10 @@ typedef struct FG_propValue
typedef struct FG_DDS_PROP
{
int32_t id;
- uint8_t guid[16];
- FG_propType type;
+ uint8_t version;
+ bool mode;
FG_propValue val;
+ uint8_t guid[16];
} FG_DDS_PROP;
extern const dds_topic_descriptor_t FG_DDS_PROP_desc;
diff --git a/src/Network/DDS/dds_props.idl b/src/Network/DDS/dds_props.idl
index dd59a3e18..0b8ac6bf8 100644
--- a/src/Network/DDS/dds_props.idl
+++ b/src/Network/DDS/dds_props.idl
@@ -5,7 +5,10 @@ module FG
{
// defining it this way also generates accompanying #defines in the header file.
+const octet DDS_PROP_VERSION = 0;
const short DDS_PROP_REQUEST = -1;
+const boolean DDS_MODE_READ = 0;
+const boolean DDS_MODE_WRITE = 1;
enum propType
{
@@ -47,38 +50,40 @@ union propValue switch ( propType )
// Initial property request sequence
// for properties where the id is not yet known:
// 1. Set id to FG_DDS_PROP_REQUEST
-// 2. set guid to the 16-byte participants GUID
-// 3. Set type to STRING
-// 4. Set val.String to the propery path
-// 5. Send the package.
+// 2. Set version to FG_DDS_PROP_VERSION
+// 3. Set mode to FG_DDS_MODE_READ
+// 4. set guid to the 16-byte participants GUID
+// 5. Set val type to STRING
+// 6. Set val String to the propery path
+// 7. Send the package.
//
-// 6. wait for an answer
+// 8. Wait for an answer
// * Check whether guid matches the participants GUID.
// * The index of the requested propery path is stored in the id variable
// which should be used by successive request as the id for that property.
-// * The type variable indicates the type of the value of the property.
// * The val union holds the value of the propery.
//
// Successive property request sequence:
-// 1. Set id to the id of the requested property
-// 2. Send the package.
+// 1. Make sure id is to the id of the requested property
+// 2. Make sure version is to FG_DDS_PROP_VERSION
+// 3. Set mode to FG_DDS_MODE_READ or FG_DDS_MODE_WRITE
+// 3a. Optionally set the val union to match the property to overwrite.
+// 4. Send the package.
//
-// 3. wait for an answer
+// 5. Wait for an answer
// * Check whether id matches the requested property id.
-// * The type variable indicates the type of the value of the property.
// * The val union holds the value of the propery.
-//
-// guid is not defined as an array of 16 unsigned characters to keep the
-// sample small for successive requests. This way only a FG_DDS_PROP_REQUEST
-// sample will reserve the full 16-bytes.
struct DDS_PROP
{
- long id; // property index and DDS id
+ long id; // 32-bit property index and DDS id.
+ octet version; // 8-bit sample-type version number.
+ boolean mode; // FG_DDS_MODE_READ or FG_DDS_MODE_WRITE
+ propValue val; // property value or path.
+
+ // A sequence could be used here but unfortunatelly it's initializer
+ // already is 10-bytes in size.
octet guid[16];
-
- propType type;
- propValue val;
};
#pragma keylist DDS_PROP id
diff --git a/src/Network/DDS/fg_dds_log.cpp b/src/Network/DDS/fg_dds_log.cpp
index 0102a05a8..8fe28e17a 100644
--- a/src/Network/DDS/fg_dds_log.cpp
+++ b/src/Network/DDS/fg_dds_log.cpp
@@ -111,11 +111,15 @@ int main()
printf(" rudder: %lf\n", ctrls.rudder);
}
- if (topics["prop"]->read()) {
+ if (topics["prop"]->read() &&
+ prop.version == FG_DDS_PROP_VERSION )
+ {
printf("=== [fg_dds_log] Received : ");
printf("Prop Message:\n");
+ printf(" version: %i\n", prop.version);
+ printf(" mode: %s\n", prop.mode ? "write" : "read");
if (prop.id == FG_DDS_PROP_REQUEST) {
- printf(" request: %s\n", prop.val._u.String);
+ printf(" path: %s\n", prop.val._u.String);
printf("GUID: ");
for(int i=0; i<16; ++i)
printf("%X ", prop.guid[i]);
diff --git a/src/Network/DDS/fg_dds_prop.cpp b/src/Network/DDS/fg_dds_prop.cpp
index 947b3e328..5720463ac 100644
--- a/src/Network/DDS/fg_dds_prop.cpp
+++ b/src/Network/DDS/fg_dds_prop.cpp
@@ -16,7 +16,7 @@ int main()
FG_DDS_PROP prop;
SG_DDS_Topic *topic = new SG_DDS_Topic(prop, &FG_DDS_PROP_desc);
- participant.add(topic, SG_IO_OUT);
+ participant.add(topic, SG_IO_BI);
dds_guid_t guid = topic->get_guid();
memcpy(prop.guid, guid.v, 16);
@@ -25,6 +25,9 @@ int main()
printf("%X ", prop.guid[i]);
printf("\n");
+ prop.version = FG_DDS_PROP_VERSION;
+ prop.mode = FG_DDS_MODE_READ;
+
char path[256];
printf("\nType 'q' to quit\n");
do
@@ -33,7 +36,7 @@ int main()
int len = scanf("%255s", path);
if (len == EOF) continue;
- if (*path == 'q') break;
+ if (*path == 'q') break;
prop.id = FG_DDS_PROP_REQUEST;
prop.val._d = FG_DDS_STRING;
@@ -42,47 +45,51 @@ int main()
topic->write();
participant.wait();
-
- topic->read();
- switch(prop.val._d)
+ if (topic->read() &&
+ prop.version == FG_DDS_PROP_VERSION &&
+ prop.id != FG_DDS_PROP_REQUEST)
{
- case FG_DDS_NONE:
- printf(" type: none");
- break;
- case FG_DDS_ALIAS:
- printf(" type: alias");
- printf(" value: %s\n", prop.val._u.String);
- break;
- case FG_DDS_BOOL:
- printf(" type: bool");
- printf(" value: %i\n", prop.val._u.Bool);
- break;
- case FG_DDS_INT:
- printf(" type: int");
- printf(" value: %i\n", prop.val._u.Int32);
- break;
- case FG_DDS_LONG:
- printf(" type: long");
- printf(" value: %li\n", prop.val._u.Int64);
- break;
- case FG_DDS_FLOAT:
- printf(" type: float");
- printf(" value: %f\n", prop.val._u.Float32);
- break;
- case FG_DDS_DOUBLE:
- printf(" type: double");
- printf(" value: %lf\n", prop.val._u.Float64);
- break;
- case FG_DDS_STRING:
- printf(" type: string");
- printf(" value: %s\n", prop.val._u.String);
- break;
- case FG_DDS_UNSPECIFIED:
- printf(" type: unspecified");
- printf(" value: %s\n", prop.val._u.String);
- break;
- default:
- break;
+ printf("\nReceived:\n");
+ switch(prop.val._d)
+ {
+ case FG_DDS_NONE:
+ printf(" type: none");
+ break;
+ case FG_DDS_ALIAS:
+ printf(" type: alias");
+ printf(" value: %s\n", prop.val._u.String);
+ break;
+ case FG_DDS_BOOL:
+ printf(" type: bool");
+ printf(" value: %i\n", prop.val._u.Bool);
+ break;
+ case FG_DDS_INT:
+ printf(" type: int");
+ printf(" value: %i\n", prop.val._u.Int32);
+ break;
+ case FG_DDS_LONG:
+ printf(" type: long");
+ printf(" value: %li\n", prop.val._u.Int64);
+ break;
+ case FG_DDS_FLOAT:
+ printf(" type: float");
+ printf(" value: %f\n", prop.val._u.Float32);
+ break;
+ case FG_DDS_DOUBLE:
+ printf(" type: double");
+ printf(" value: %lf\n", prop.val._u.Float64);
+ break;
+ case FG_DDS_STRING:
+ printf(" type: string");
+ printf(" value: %s\n", prop.val._u.String);
+ break;
+ case FG_DDS_UNSPECIFIED:
+ printf(" type: unspecified");
+ printf(" value: %s\n", prop.val._u.String);
+ break;
+ default:
+ break;
+ }
}
} while(true);
diff --git a/src/Network/dds_props.cxx b/src/Network/dds_props.cxx
index 72513f825..aacb2ba7b 100644
--- a/src/Network/dds_props.cxx
+++ b/src/Network/dds_props.cxx
@@ -81,7 +81,7 @@ bool FGDDSProps::process() {
{
if (prop.id == FG_DDS_PROP_REQUEST)
{
- if (prop.type == FG_DDS_STRING)
+ if (prop.val._d == FG_DDS_STRING)
{
const char *path = prop.val._u.String;
auto it = path_list.find(path);
@@ -148,31 +148,31 @@ void FGDDSProps::setProp(FG_DDS_PROP& prop, SGPropertyNode_ptr p)
{
simgear::props::Type type = p->getType();
if (type == simgear::props::BOOL) {
- prop.type = FG_DDS_BOOL;
+ prop.val._d = FG_DDS_BOOL;
prop.val._u.Bool = p->getBoolValue();
} else if (type == simgear::props::INT) {
- prop.type = FG_DDS_INT;
+ prop.val._d = FG_DDS_INT;
prop.val._u.Int32 = p->getIntValue();
} else if (type == simgear::props::LONG) {
- prop.type = FG_DDS_LONG;
+ prop.val._d = FG_DDS_LONG;
prop.val._u.Int64 = p->getLongValue();
} else if (type == simgear::props::FLOAT) {
- prop.type = FG_DDS_FLOAT;
+ prop.val._d = FG_DDS_FLOAT;
prop.val._u.Float32 = p->getFloatValue();
} else if (type == simgear::props::DOUBLE) {
- prop.type = FG_DDS_DOUBLE;
+ prop.val._d = FG_DDS_DOUBLE;
prop.val._u.Float64 = p->getDoubleValue();
} else if (type == simgear::props::ALIAS) {
- prop.type = FG_DDS_ALIAS;
+ prop.val._d = FG_DDS_ALIAS;
prop.val._u.String = const_cast<char*>(p->getStringValue());
} else if (type == simgear::props::STRING) {
- prop.type = FG_DDS_STRING;
+ prop.val._d = FG_DDS_STRING;
prop.val._u.String = const_cast<char*>(p->getStringValue());
} else if (type == simgear::props::UNSPECIFIED) {
- prop.type = FG_DDS_UNSPECIFIED;
+ prop.val._d = FG_DDS_UNSPECIFIED;
prop.val._u.String = const_cast<char*>(p->getStringValue());
} else {
- prop.type = FG_DDS_NONE;
+ prop.val._d = FG_DDS_NONE;
prop.val._u.Int32 = 0;
}
}