369 lines
12 KiB
C++
369 lines
12 KiB
C++
// native_ctrls.cxx -- FGFS "Native" controls I/O class
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//
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// Written by Curtis Olson, started July 2001.
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//
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// Copyright (C) 2001 Curtis L. Olson - curt@flightgear.org
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//
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// This program is free software; you can redistribute it and/or
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// modify it under the terms of the GNU General Public License as
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// published by the Free Software Foundation; either version 2 of the
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// License, or (at your option) any later version.
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//
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// This program is distributed in the hope that it will be useful, but
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// WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// General Public License for more details.
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//
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// You should have received a copy of the GNU General Public License
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// along with this program; if not, write to the Free Software
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// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
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//
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// $Id$
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#ifdef HAVE_CONFIG_H
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# include <config.h>
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#endif
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#include <simgear/debug/logstream.hxx>
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#include <simgear/io/iochannel.hxx>
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#include <simgear/io/lowlevel.hxx> // endian tests
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#include <FDM/flight.hxx>
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#include <Main/fg_props.hxx>
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#include <Scenery/scenery.hxx> // ground elevation
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#include "native_ctrls.hxx"
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// FreeBSD works better with this included last ... (?)
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#if defined(WIN32) && !defined(__CYGWIN__)
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# include <windows.h>
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#else
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# include <netinet/in.h> // htonl() ntohl()
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#endif
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FGNativeCtrls::FGNativeCtrls() {
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}
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FGNativeCtrls::~FGNativeCtrls() {
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}
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// open hailing frequencies
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bool FGNativeCtrls::open() {
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if ( is_enabled() ) {
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SG_LOG( SG_IO, SG_ALERT, "This shouldn't happen, but the channel "
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<< "is already in use, ignoring" );
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return false;
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}
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SGIOChannel *io = get_io_channel();
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if ( ! io->open( get_direction() ) ) {
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SG_LOG( SG_IO, SG_ALERT, "Error opening channel communication layer." );
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return false;
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}
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set_enabled( true );
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return true;
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}
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// The function htond is defined this way due to the way some
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// processors and OSes treat floating point values. Some will raise
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// an exception whenever a "bad" floating point value is loaded into a
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// floating point register. Solaris is notorious for this, but then
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// so is LynxOS on the PowerPC. By translating the data in place,
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// there is no need to load a FP register with the "corruped" floating
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// point value. By doing the BIG_ENDIAN test, I can optimize the
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// routine for big-endian processors so it can be as efficient as
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// possible
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static void htond (double &x)
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{
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if ( sgIsLittleEndian() ) {
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int *Double_Overlay;
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int Holding_Buffer;
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Double_Overlay = (int *) &x;
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Holding_Buffer = Double_Overlay [0];
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Double_Overlay [0] = htonl (Double_Overlay [1]);
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Double_Overlay [1] = htonl (Holding_Buffer);
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} else {
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return;
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}
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}
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// Populate the FGNetCtrls structure from the property tree.
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void FGProps2NetCtrls( FGNetCtrls *net ) {
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int i;
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SGPropertyNode * node = fgGetNode("/controls", true);
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// fill in values
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net->version = FG_NET_CTRLS_VERSION;
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net->aileron = node->getDoubleValue( "aileron" );
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net->elevator = node->getDoubleValue( "elevator" );
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net->elevator_trim = node->getDoubleValue( "elevator-trim" );
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net->rudder = node->getDoubleValue( "rudder" );
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net->flaps = node->getDoubleValue( "flaps" );
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net->flaps_power
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= node->getDoubleValue( "/systems/electrical/outputs/flaps",
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1.0 ) >= 1.0;
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net->num_engines = FGNetCtrls::FG_MAX_ENGINES;
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for ( i = 0; i < FGNetCtrls::FG_MAX_ENGINES; ++i ) {
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net->throttle[i] = node->getDoubleValue( "throttle", 0.0 );
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net->mixture[i] = node->getDoubleValue( "mixture", 0.0 );
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net->fuel_pump_power[i]
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= node->getDoubleValue( "/systems/electrical/outputs/fuel-pump",
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1.0 ) >= 1.0;
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net->prop_advance[i] = node->getDoubleValue( "propeller-pitch", 0.0 );
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net->magnetos[i] = node->getIntValue( "magnetos", 0 );
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if ( i == 0 ) {
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// cout << "Magnetos -> " << node->getIntValue( "magnetos", 0 );
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}
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net->starter_power[i]
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= node->getDoubleValue( "/systems/electrical/outputs/starter",
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1.0 ) >= 1.0;
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if ( i == 0 ) {
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// cout << " Starter -> " << node->getIntValue( "stater", false )
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// << endl;
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}
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}
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net->num_tanks = FGNetCtrls::FG_MAX_TANKS;
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for ( i = 0; i < FGNetCtrls::FG_MAX_TANKS; ++i ) {
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if ( node->getChild("fuel-selector", i) != 0 ) {
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net->fuel_selector[i]
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= node->getChild("fuel-selector", i)->getDoubleValue();
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} else {
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net->fuel_selector[i] = false;
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}
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}
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net->num_wheels = FGNetCtrls::FG_MAX_WHEELS;
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for ( i = 0; i < FGNetCtrls::FG_MAX_WHEELS; ++i ) {
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if ( node->getChild("brakes", i) != 0 ) {
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if ( node->getChild("parking-brake")->getDoubleValue() > 0.0 ) {
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net->brake[i] = 1.0;
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} else {
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net->brake[i]
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= node->getChild("brakes", i)->getDoubleValue();
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}
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} else {
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net->brake[i] = 0.0;
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}
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}
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node = fgGetNode("/controls/switches", true);
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net->master_bat = node->getChild("master-bat")->getBoolValue();
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net->master_alt = node->getChild("master-alt")->getBoolValue();
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net->master_avionics = node->getChild("master-avionics")->getBoolValue();
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net->wind_speed_kt = fgGetDouble("/environment/wind-speed-kt");
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net->wind_dir_deg = fgGetDouble("/environment/wind-from-heading-deg");
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// cur_fdm_state->get_ground_elev_ft() is what we want ... this
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// reports the altitude of the aircraft.
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// "/environment/ground-elevation-m" reports the ground elevation
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// of the current view point which could change substantially if
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// the user is switching views.
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net->hground = cur_fdm_state->get_ground_elev_ft() * SG_FEET_TO_METER;
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net->magvar = fgGetDouble("/environment/magnetic-variation-deg");
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net->speedup = fgGetInt("/sim/speed-up");
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net->freeze = 0;
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if ( fgGetBool("/sim/freeze/master") ) {
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net->freeze |= 0x01;
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}
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if ( fgGetBool("/sim/freeze/position") ) {
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net->freeze |= 0x02;
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}
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if ( fgGetBool("/sim/freeze/fuel") ) {
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net->freeze |= 0x04;
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}
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// convert to network byte order
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net->version = htonl(net->version);
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htond(net->aileron);
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htond(net->elevator);
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htond(net->elevator_trim);
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htond(net->rudder);
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htond(net->flaps);
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net->flaps_power = htonl(net->flaps_power);
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for ( i = 0; i < FGNetCtrls::FG_MAX_ENGINES; ++i ) {
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htond(net->throttle[i]);
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htond(net->mixture[i]);
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net->fuel_pump_power[i] = htonl(net->fuel_pump_power[i]);
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htond(net->prop_advance[i]);
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net->magnetos[i] = htonl(net->magnetos[i]);
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net->starter_power[i] = htonl(net->starter_power[i]);
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}
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net->num_engines = htonl(net->num_engines);
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for ( i = 0; i < FGNetCtrls::FG_MAX_TANKS; ++i ) {
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net->fuel_selector[i] = htonl(net->fuel_selector[i]);
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}
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net->num_tanks = htonl(net->num_tanks);
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for ( i = 0; i < FGNetCtrls::FG_MAX_WHEELS; ++i ) {
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htond(net->brake[i]);
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}
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net->num_wheels = htonl(net->num_wheels);
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net->gear_handle = htonl(net->gear_handle);
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net->master_bat = htonl(net->master_bat);
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net->master_alt = htonl(net->master_alt);
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net->master_avionics = htonl(net->master_avionics);
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htond(net->wind_speed_kt);
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htond(net->wind_dir_deg);
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htond(net->hground);
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htond(net->magvar);
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net->speedup = htonl(net->speedup);
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net->freeze = htonl(net->freeze);
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}
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// Update the property tree from the FGNetCtrls structure.
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void FGNetCtrls2Props( FGNetCtrls *net ) {
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int i;
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SGPropertyNode * node = fgGetNode("/controls", true);
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// convert from network byte order
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net->version = htonl(net->version);
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htond(net->aileron);
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htond(net->elevator);
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htond(net->elevator_trim);
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htond(net->rudder);
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htond(net->flaps);
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net->flaps_power = htonl(net->flaps_power);
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net->num_engines = htonl(net->num_engines);
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for ( i = 0; i < net->num_engines; ++i ) {
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net->magnetos[i] = htonl(net->magnetos[i]);
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net->starter_power[i] = htonl(net->starter_power[i]);
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htond(net->throttle[i]);
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htond(net->mixture[i]);
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net->fuel_pump_power[i] = htonl(net->fuel_pump_power[i]);
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htond(net->prop_advance[i]);
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}
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net->num_tanks = htonl(net->num_tanks);
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for ( i = 0; i < net->num_tanks; ++i ) {
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net->fuel_selector[i] = htonl(net->fuel_selector[i]);
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}
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net->num_wheels = htonl(net->num_wheels);
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for ( i = 0; i < net->num_wheels; ++i ) {
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htond(net->brake[i]);
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}
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net->gear_handle = htonl(net->gear_handle);
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net->master_bat = htonl(net->master_bat);
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net->master_alt = htonl(net->master_alt);
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net->master_avionics = htonl(net->master_avionics);
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htond(net->wind_speed_kt);
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htond(net->wind_dir_deg);
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htond(net->hground);
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htond(net->magvar);
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net->speedup = htonl(net->speedup);
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net->freeze = htonl(net->freeze);
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if ( net->version != FG_NET_CTRLS_VERSION ) {
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SG_LOG( SG_IO, SG_ALERT,
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"Version mismatch with raw controls packet format." );
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SG_LOG( SG_IO, SG_ALERT,
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"FlightGear needs version = " << FG_NET_CTRLS_VERSION
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<< " but is receiving version = " << net->version );
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}
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node->setDoubleValue( "aileron", net->aileron );
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node->setDoubleValue( "elevator", net->elevator );
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node->setDoubleValue( "elevator-trim", net->elevator_trim );
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node->setDoubleValue( "rudder", net->rudder );
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node->setDoubleValue( "flaps", net->flaps );
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fgSetBool( "/systems/electrical/outputs/flaps", net->flaps_power );
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for ( i = 0; i < FGNetCtrls::FG_MAX_ENGINES; ++i ) {
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node->getChild( "throttle", i )->setDoubleValue( net->throttle[i] );
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node->getChild( "mixture", i )->setDoubleValue( net->mixture[i] );
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node->getChild( "propeller-pitch", i )
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->setDoubleValue( net->prop_advance[i] );
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node->getChild( "magnetos", i )->setDoubleValue( net->magnetos[i] );
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}
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fgSetBool( "/systems/electrical/outputs/fuel-pump",
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net->fuel_pump_power[0] );
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fgSetBool( "/systems/electrical/outputs/starter",
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net->starter_power[0] );
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for ( i = 0; i < FGNetCtrls::FG_MAX_TANKS; ++i ) {
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node->getChild( "fuel-selector", i )
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->setBoolValue( net->fuel_selector[i] );
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}
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for ( i = 0; i < FGNetCtrls::FG_MAX_WHEELS; ++i ) {
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node->getChild( "brakes", i )->setDoubleValue( net->brake[i] );
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}
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node->setBoolValue( "gear-down", net->gear_handle );
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node = fgGetNode( "/controls/switches", true );
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node->setBoolValue( "master-bat", net->master_bat );
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node->setBoolValue( "master-alt", net->master_alt );
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node->setBoolValue( "master-avionics", net->master_avionics );
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node = fgGetNode( "/environment", true );
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node->setBoolValue( "wind-speed-kt", net->wind_speed_kt );
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node->setBoolValue( "wind-from-heading-deg", net->wind_dir_deg );
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node->setBoolValue( "magnetic-variation-deg", net->magvar );
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// ground elevation ???
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fgSetInt( "/sim/speed-up", net->speedup );
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node = fgGetNode( "/sim/freeze", true );
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node->setBoolValue( "master", net->freeze & 0x01 );
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node->setBoolValue( "position", net->freeze & 0x02 );
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node->setBoolValue( "fuel", net->freeze & 0x04 );
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}
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// process work for this port
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bool FGNativeCtrls::process() {
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SGIOChannel *io = get_io_channel();
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int length = sizeof(FGNetCtrls);
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if ( get_direction() == SG_IO_OUT ) {
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// cout << "size of cur_fdm_state = " << length << endl;
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FGProps2NetCtrls( &net_ctrls );
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if ( ! io->write( (char *)(& net_ctrls), length ) ) {
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SG_LOG( SG_IO, SG_ALERT, "Error writing data." );
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return false;
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}
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} else if ( get_direction() == SG_IO_IN ) {
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if ( io->get_type() == sgFileType ) {
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if ( io->read( (char *)(& net_ctrls), length ) == length ) {
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SG_LOG( SG_IO, SG_DEBUG, "Success reading data." );
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FGNetCtrls2Props( &net_ctrls );
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}
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} else {
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while ( io->read( (char *)(& net_ctrls), length ) == length ) {
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SG_LOG( SG_IO, SG_DEBUG, "Success reading data." );
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FGNetCtrls2Props( &net_ctrls );
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}
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}
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}
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return true;
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}
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// close the channel
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bool FGNativeCtrls::close() {
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SGIOChannel *io = get_io_channel();
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set_enabled( false );
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if ( ! io->close() ) {
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return false;
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}
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return true;
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}
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