// native_ctrls.cxx -- FGFS "Native" controls I/O class // // Written by Curtis Olson, started July 2001. // // Copyright (C) 2001 Curtis L. Olson - http://www.flightgear.org/~curt // // 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., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. // // $Id$ #ifdef HAVE_CONFIG_H # include #endif #include #include #include // endian tests #include #include
#include // ground elevation #include "native_ctrls.hxx" // FreeBSD works better with this included last ... (?) #if defined( _MSC_VER ) # include #elif defined( __MINGW32__ ) # include #else # include // htonl() ntohl() #endif FGNativeCtrls::FGNativeCtrls() { } FGNativeCtrls::~FGNativeCtrls() { } // open hailing frequencies bool FGNativeCtrls::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 ); return true; } // 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; } } // Populate the FGNetCtrls structure from the property tree. void FGProps2NetCtrls( FGNetCtrls *net, bool honor_freezes, bool net_byte_order ) { int i; SGPropertyNode *node; SGPropertyNode *fuelpump; SGPropertyNode *tempnode; // fill in values node = fgGetNode("/controls/flight", true); net->version = FG_NET_CTRLS_VERSION; net->aileron = node->getDoubleValue( "aileron" ); net->elevator = node->getDoubleValue( "elevator" ); net->rudder = node->getDoubleValue( "rudder" ); net->aileron_trim = node->getDoubleValue( "aileron-trim" ); net->elevator_trim = node->getDoubleValue( "elevator-trim" ); net->rudder_trim = node->getDoubleValue( "rudder-trim" ); net->flaps = node->getDoubleValue( "flaps" ); net->flaps_power = fgGetDouble( "/systems/electrical/outputs/flaps", 1.0 ) >= 1.0; net->flap_motor_ok = node->getBoolValue( "flaps-serviceable" ); net->num_engines = FGNetCtrls::FG_MAX_ENGINES; for ( i = 0; i < FGNetCtrls::FG_MAX_ENGINES; ++i ) { // Controls node = fgGetNode("/controls/engines/engine", i ); fuelpump = fgGetNode("/systems/electrical/outputs/fuel-pump", i ); tempnode = node->getChild("starter"); if ( tempnode != NULL ) { net->starter_power[i] = ( tempnode->getDoubleValue() >= 1.0 ); } tempnode = node->getChild("master-bat"); if ( tempnode != NULL ) { net->master_bat[i] = tempnode->getBoolValue(); } tempnode = node->getChild("master-alt"); if ( tempnode != NULL ) { net->master_alt[i] = tempnode->getBoolValue(); } net->throttle[i] = node->getDoubleValue( "throttle", 0.0 ); net->mixture[i] = node->getDoubleValue( "mixture", 0.0 ); net->prop_advance[i] = node->getDoubleValue( "propeller-pitch", 0.0 ); net->condition[i] = node->getDoubleValue( "condition", 0.0 ); net->magnetos[i] = node->getIntValue( "magnetos", 0 ); if ( i == 0 ) { // cout << "Magnetos -> " << node->getIntValue( "magnetos", 0 ); } if ( i == 0 ) { // cout << "Starter -> " << node->getIntValue( "starter", false ) // << endl; } if ( fuelpump != NULL ) { net->fuel_pump_power[i] = ( fuelpump->getDoubleValue() >= 1.0 ); } else { net->fuel_pump_power[i] = 0; } // Faults SGPropertyNode *faults = node->getChild( "faults", 0, true ); net->engine_ok[i] = faults->getBoolValue( "serviceable", true ); net->mag_left_ok[i] = faults->getBoolValue( "left-magneto-serviceable", true ); net->mag_right_ok[i] = faults->getBoolValue( "right-magneto-serviceable", true); net->spark_plugs_ok[i] = faults->getBoolValue( "spark-plugs-serviceable", true ); net->oil_press_status[i] = faults->getIntValue( "oil-pressure-status", 0 ); net->fuel_pump_ok[i] = faults->getBoolValue( "fuel-pump-serviceable", true ); } net->num_tanks = FGNetCtrls::FG_MAX_TANKS; for ( i = 0; i < FGNetCtrls::FG_MAX_TANKS; ++i ) { node = fgGetNode("/controls/fuel/tank", i); if ( node->getChild("fuel_selector") != 0 ) { net->fuel_selector[i] = node->getChild("fuel_selector")->getBoolValue(); } else { net->fuel_selector[i] = false; } } node = fgGetNode("/controls/gear", true); net->brake_left = node->getChild("brake-left")->getDoubleValue(); net->brake_right = node->getChild("brake-right")->getDoubleValue(); net->copilot_brake_left = node->getChild("copilot-brake-left")->getDoubleValue(); net->copilot_brake_right = node->getChild("copilot-brake-right")->getDoubleValue(); net->brake_parking = node->getChild("brake-parking")->getDoubleValue(); net->gear_handle = fgGetBool( "/controls/gear/gear-down" ); net->master_avionics = fgGetBool("/controls/switches/master-avionics"); net->wind_speed_kt = fgGetDouble("/environment/wind-speed-kt"); net->wind_dir_deg = fgGetDouble("/environment/wind-from-heading-deg"); net->turbulence_norm = fgGetDouble("/environment/turbulence/magnitude-norm"); net->temp_c = fgGetDouble("/environment/temperature-degc"); net->press_inhg = fgGetDouble("/environment/pressure-sea-level-inhg"); // cur_fdm_state->get_ground_elev_ft() is what we want ... this // reports the altitude of the aircraft. // "/environment/ground-elevation-m" reports the ground elevation // of the current view point which could change substantially if // the user is switching views. net->hground = cur_fdm_state->get_ground_elev_ft() * SG_FEET_TO_METER; net->magvar = fgGetDouble("/environment/magnetic-variation-deg"); net->icing = fgGetBool("/hazards/icing/wing"); net->speedup = fgGetInt("/sim/speed-up"); net->freeze = 0; if ( honor_freezes ) { if ( fgGetBool("/sim/freeze/master") ) { net->freeze |= 0x01; } if ( fgGetBool("/sim/freeze/position") ) { net->freeze |= 0x02; } if ( fgGetBool("/sim/freeze/fuel") ) { net->freeze |= 0x04; } } if ( net_byte_order ) { // convert to network byte order net->version = htonl(net->version); htond(net->aileron); htond(net->elevator); htond(net->rudder); htond(net->aileron_trim); htond(net->elevator_trim); htond(net->rudder_trim); htond(net->flaps); net->flaps_power = htonl(net->flaps_power); net->flap_motor_ok = htonl(net->flap_motor_ok); net->num_engines = htonl(net->num_engines); for ( i = 0; i < FGNetCtrls::FG_MAX_ENGINES; ++i ) { net->master_bat[i] = htonl(net->master_bat[i]); net->master_alt[i] = htonl(net->master_alt[i]); net->magnetos[i] = htonl(net->magnetos[i]); net->starter_power[i] = htonl(net->starter_power[i]); htond(net->throttle[i]); htond(net->mixture[i]); net->fuel_pump_power[i] = htonl(net->fuel_pump_power[i]); htond(net->prop_advance[i]); htond(net->condition[i]); net->engine_ok[i] = htonl(net->engine_ok[i]); net->mag_left_ok[i] = htonl(net->mag_left_ok[i]); net->mag_right_ok[i] = htonl(net->mag_right_ok[i]); net->spark_plugs_ok[i] = htonl(net->spark_plugs_ok[i]); net->oil_press_status[i] = htonl(net->oil_press_status[i]); net->fuel_pump_ok[i] = htonl(net->fuel_pump_ok[i]); } net->num_tanks = htonl(net->num_tanks); for ( i = 0; i < FGNetCtrls::FG_MAX_TANKS; ++i ) { net->fuel_selector[i] = htonl(net->fuel_selector[i]); } net->cross_feed = htonl(net->cross_feed); htond(net->brake_left); htond(net->brake_right); htond(net->copilot_brake_left); htond(net->copilot_brake_right); htond(net->brake_parking); net->gear_handle = htonl(net->gear_handle); net->master_avionics = htonl(net->master_avionics); htond(net->wind_speed_kt); htond(net->wind_dir_deg); htond(net->turbulence_norm); htond(net->temp_c); htond(net->press_inhg); htond(net->hground); htond(net->magvar); net->icing = htonl(net->icing); net->speedup = htonl(net->speedup); net->freeze = htonl(net->freeze); } } // Update the property tree from the FGNetCtrls structure. void FGNetCtrls2Props( FGNetCtrls *net, bool honor_freezes, bool net_byte_order ) { int i; SGPropertyNode * node; if ( net_byte_order ) { // convert from network byte order net->version = htonl(net->version); htond(net->aileron); htond(net->elevator); htond(net->rudder); htond(net->aileron_trim); htond(net->elevator_trim); htond(net->rudder_trim); htond(net->flaps); net->flaps_power = htonl(net->flaps_power); net->flap_motor_ok = htonl(net->flap_motor_ok); net->num_engines = htonl(net->num_engines); for ( i = 0; i < (int)net->num_engines; ++i ) { net->master_bat[i] = htonl(net->master_bat[i]); net->master_alt[i] = htonl(net->master_alt[i]); net->magnetos[i] = htonl(net->magnetos[i]); net->starter_power[i] = htonl(net->starter_power[i]); htond(net->throttle[i]); htond(net->mixture[i]); net->fuel_pump_power[i] = htonl(net->fuel_pump_power[i]); htond(net->prop_advance[i]); htond(net->condition[i]); net->engine_ok[i] = htonl(net->engine_ok[i]); net->mag_left_ok[i] = htonl(net->mag_left_ok[i]); net->mag_right_ok[i] = htonl(net->mag_right_ok[i]); net->spark_plugs_ok[i] = htonl(net->spark_plugs_ok[i]); net->oil_press_status[i] = htonl(net->oil_press_status[i]); net->fuel_pump_ok[i] = htonl(net->fuel_pump_ok[i]); } net->num_tanks = htonl(net->num_tanks); for ( i = 0; i < FGNetCtrls::FG_MAX_TANKS; ++i ) { net->fuel_selector[i] = htonl(net->fuel_selector[i]); } net->cross_feed = htonl(net->cross_feed); htond(net->brake_left); htond(net->brake_right); htond(net->copilot_brake_left); htond(net->copilot_brake_right); htond(net->brake_parking); net->gear_handle = htonl(net->gear_handle); net->master_avionics = htonl(net->master_avionics); htond(net->wind_speed_kt); htond(net->wind_dir_deg); htond(net->turbulence_norm); htond(net->temp_c); htond(net->press_inhg); htond(net->hground); htond(net->magvar); net->icing = htonl(net->icing); net->speedup = htonl(net->speedup); net->freeze = htonl(net->freeze); } if ( net->version != FG_NET_CTRLS_VERSION ) { SG_LOG( SG_IO, SG_ALERT, "Version mismatch with raw controls packet format." ); SG_LOG( SG_IO, SG_ALERT, "FlightGear needs version = " << FG_NET_CTRLS_VERSION << " but is receiving version = " << net->version ); } node = fgGetNode("/controls/flight", true); node->setDoubleValue( "aileron", net->aileron ); node->setDoubleValue( "elevator", net->elevator ); node->setDoubleValue( "rudder", net->rudder ); node->setDoubleValue( "aileron-trim", net->aileron_trim ); node->setDoubleValue( "elevator-trim", net->elevator_trim ); node->setDoubleValue( "rudder-trim", net->rudder_trim ); node->setDoubleValue( "flaps", net->flaps ); node->setDoubleValue( "speedbrake", net->speedbrake ); //JWW // or node->setDoubleValue( "spoilers", net->spoilers ); //JWW // cout << "NET->Spoilers: " << net->spoilers << endl; fgSetBool( "/systems/electrical/outputs/flaps", net->flaps_power ); node->setBoolValue( "flaps-serviceable", net->flap_motor_ok ); for ( i = 0; i < FGNetCtrls::FG_MAX_ENGINES; ++i ) { // Controls node = fgGetNode("/controls/engines/engine", i); node->getChild( "throttle" )->setDoubleValue( net->throttle[i] ); node->getChild( "mixture" )->setDoubleValue( net->mixture[i] ); node->getChild( "propeller-pitch" ) ->setDoubleValue( net->prop_advance[i] ); node->getChild( "condition" ) ->setDoubleValue( net->condition[i] ); node->getChild( "magnetos" )->setDoubleValue( net->magnetos[i] ); node->getChild( "starter" )->setDoubleValue( net->starter_power[i] ); node->getChild( "feed_tank" )->setIntValue( net->feed_tank_to[i] ); node->getChild( "reverser" )->setBoolValue( net->reverse[i] ); // Faults SGPropertyNode *faults = node->getNode( "faults", true ); faults->setBoolValue( "serviceable", net->engine_ok[i] ); faults->setBoolValue( "left-magneto-serviceable", net->mag_left_ok[i] ); faults->setBoolValue( "right-magneto-serviceable", net->mag_right_ok[i]); faults->setBoolValue( "spark-plugs-serviceable", net->spark_plugs_ok[i] ); faults->setIntValue( "oil-pressure-status", net->oil_press_status[i] ); faults->setBoolValue( "fuel-pump-serviceable", net->fuel_pump_ok[i] ); } fgSetBool( "/systems/electrical/outputs/fuel-pump", net->fuel_pump_power[0] ); for ( i = 0; i < FGNetCtrls::FG_MAX_TANKS; ++i ) { node = fgGetNode( "/controls/fuel/tank", i ); node->getChild( "fuel_selector" ) ->setBoolValue( net->fuel_selector[i] ); // node->getChild( "to_tank" )->xfer_tank( i, net->xfer_to[i] ); } node = fgGetNode( "/controls/gear" ); if ( node != NULL ) { node->getChild( "brake-left" )->setDoubleValue( net->brake_left ); node->getChild( "brake-right" )->setDoubleValue( net->brake_right ); node->getChild( "copilot-brake-left" ) ->setDoubleValue( net->copilot_brake_left ); node->getChild( "copilot-brake-right" ) ->setDoubleValue( net->copilot_brake_right ); node->getChild( "brake-parking" )->setDoubleValue( net->brake_parking ); } node = fgGetNode( "/controls/gear", true ); node->setBoolValue( "gear-down", net->gear_handle ); // node->setDoubleValue( "brake-parking", net->brake_parking ); // node->setDoubleValue( net->brake_left ); // node->setDoubleValue( net->brake_right ); node = fgGetNode( "/controls/switches", true ); node->setBoolValue( "master-bat", net->master_bat ); node->setBoolValue( "master-alt", net->master_alt ); node->setBoolValue( "master-avionics", net->master_avionics ); node = fgGetNode( "/environment", true ); node->setDoubleValue( "wind-speed-kt", net->wind_speed_kt ); node->setDoubleValue( "wind-from-heading-deg", net->wind_dir_deg ); node->setDoubleValue( "turbulence/magnitude-norm", net->turbulence_norm ); node->setDoubleValue( "magnetic-variation-deg", net->magvar ); node->setDoubleValue( "/environment/temperature-degc", net->temp_c ); node->setDoubleValue( "/environment/pressure-sea-level-inhg", net->press_inhg ); // ground elevation ??? fgSetDouble("/hazards/icing/wing", net->icing); node = fgGetNode( "/radios", true ); node->setDoubleValue( "comm/frequencies/selected-mhz[0]", net->comm_1 ); node->setDoubleValue( "nav/frequencies/selected-mhz[0]", net->nav_1 ); node->setDoubleValue( "nav[1]/frequencies/selected-mhz[0]", net->nav_2 ); fgSetInt( "/sim/speed-up", net->speedup ); if ( honor_freezes ) { node = fgGetNode( "/sim/freeze", true ); node->setBoolValue( "master", net->freeze & 0x01 ); node->setBoolValue( "position", net->freeze & 0x02 ); node->setBoolValue( "fuel", net->freeze & 0x04 ); } } // process work for this port bool FGNativeCtrls::process() { SGIOChannel *io = get_io_channel(); int length = sizeof(FGNetCtrls); if ( get_direction() == SG_IO_OUT ) { // cout << "size of cur_fdm_state = " << length << endl; FGProps2NetCtrls( &net_ctrls, true, true ); if ( ! io->write( (char *)(& net_ctrls), 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 *)(& net_ctrls), length ) == length ) { SG_LOG( SG_IO, SG_DEBUG, "Success reading data." ); FGNetCtrls2Props( &net_ctrls, true, true ); } } else { while ( io->read( (char *)(& net_ctrls), length ) == length ) { SG_LOG( SG_IO, SG_DEBUG, "Success reading data." ); FGNetCtrls2Props( &net_ctrls, true, true ); } } } return true; } // close the channel bool FGNativeCtrls::close() { SGIOChannel *io = get_io_channel(); set_enabled( false ); if ( ! io->close() ) { return false; } return true; }