488 lines
17 KiB
C++
488 lines
17 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 - http://www.flightgear.org/~curt
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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, bool honor_freezes,
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bool net_byte_order )
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{
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int i;
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SGPropertyNode *node;
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SGPropertyNode *fuelpump;
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SGPropertyNode *tempnode;
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// fill in values
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node = fgGetNode("/controls/flight", true);
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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->rudder = node->getDoubleValue( "rudder" );
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net->aileron_trim = node->getDoubleValue( "aileron-trim" );
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net->elevator_trim = node->getDoubleValue( "elevator-trim" );
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net->rudder_trim = node->getDoubleValue( "rudder-trim" );
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net->flaps = node->getDoubleValue( "flaps" );
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net->flaps_power
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= fgGetDouble( "/systems/electrical/outputs/flaps", 1.0 ) >= 1.0;
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net->flap_motor_ok = node->getBoolValue( "flaps-serviceable" );
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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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// Controls
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node = fgGetNode("/controls/engines/engine", i );
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fuelpump = fgGetNode("/systems/electrical/outputs/fuel-pump", i );
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tempnode = node->getChild("starter");
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if ( tempnode != NULL ) {
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net->starter_power[i] = ( tempnode->getDoubleValue() >= 1.0 );
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}
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tempnode = node->getChild("master-bat");
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if ( tempnode != NULL ) {
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net->master_bat[i] = tempnode->getBoolValue();
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}
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tempnode = node->getChild("master-alt");
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if ( tempnode != NULL ) {
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net->master_alt[i] = tempnode->getBoolValue();
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}
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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->prop_advance[i] = node->getDoubleValue( "propeller-pitch", 0.0 );
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net->condition[i] = node->getDoubleValue( "condition", 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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if ( i == 0 ) {
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// cout << "Starter -> " << node->getIntValue( "starter", false )
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// << endl;
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}
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if ( fuelpump != NULL ) {
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net->fuel_pump_power[i] = ( fuelpump->getDoubleValue() >= 1.0 );
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} else {
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net->fuel_pump_power[i] = 0.0;
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}
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// Faults
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SGPropertyNode *faults = node->getChild( "faults", 0, true );
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net->engine_ok[i] = faults->getBoolValue( "serviceable", true );
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net->mag_left_ok[i]
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= faults->getBoolValue( "left-magneto-serviceable", true );
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net->mag_right_ok[i]
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= faults->getBoolValue( "right-magneto-serviceable", true);
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net->spark_plugs_ok[i]
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= faults->getBoolValue( "spark-plugs-serviceable", true );
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net->oil_press_status[i]
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= faults->getIntValue( "oil-pressure-status", 0 );
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net->fuel_pump_ok[i]
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= faults->getBoolValue( "fuel-pump-serviceable", true );
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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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node = fgGetNode("/controls/fuel/tank", i);
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if ( node->getChild("fuel_selector") != 0 ) {
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net->fuel_selector[i]
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= node->getChild("fuel_selector")->getBoolValue();
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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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node = fgGetNode("/controls/gear", true);
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net->brake_left = node->getChild("brake-left")->getDoubleValue();
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net->brake_right = node->getChild("brake-right")->getDoubleValue();
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net->copilot_brake_left
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= node->getChild("copilot-brake-left")->getDoubleValue();
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net->copilot_brake_right
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= node->getChild("copilot-brake-right")->getDoubleValue();
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net->brake_parking = node->getChild("brake-parking")->getDoubleValue();
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net->gear_handle = fgGetBool( "controls/gear/gear-down" );
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tempnode = node->getChild("master-avionics");
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if ( tempnode != NULL ) {
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net->master_avionics = tempnode->getBoolValue();
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}
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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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net->turbulence_norm =
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fgGetDouble("/environment/turbulence/magnitude-norm");
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net->temp_c = fgGetDouble("/environment/temperature-degc");
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net->press_inhg = fgGetDouble("/environment/pressure-sea-level-inhg");
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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->icing = fgGetDouble("/hazards/icing/wing");
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net->speedup = fgGetInt("/sim/speed-up");
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net->freeze = 0;
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if ( honor_freezes ) {
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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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}
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if ( net_byte_order ) {
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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->rudder);
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htond(net->aileron_trim);
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htond(net->elevator_trim);
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htond(net->rudder_trim);
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htond(net->flaps);
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net->flaps_power = htonl(net->flaps_power);
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net->flap_motor_ok = htonl(net->flap_motor_ok);
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for ( i = 0; i < FGNetCtrls::FG_MAX_ENGINES; ++i ) {
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net->master_bat[i] = htonl(net->master_bat[i]);
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net->master_alt[i] = htonl(net->master_alt[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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htond(net->condition[i]);
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net->engine_ok[i] = htonl(net->engine_ok[i]);
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net->mag_left_ok[i] = htonl(net->mag_left_ok[i]);
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net->mag_right_ok[i] = htonl(net->mag_right_ok[i]);
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net->spark_plugs_ok[i] = htonl(net->spark_plugs_ok[i]);
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net->oil_press_status[i] = htonl(net->oil_press_status[i]);
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net->fuel_pump_ok[i] = htonl(net->fuel_pump_ok[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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htond(net->brake_left);
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htond(net->brake_right);
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htond(net->copilot_brake_left);
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htond(net->copilot_brake_right);
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htond(net->brake_parking);
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net->gear_handle = htonl(net->gear_handle);
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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->turbulence_norm);
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htond(net->temp_c);
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htond(net->press_inhg);
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htond(net->hground);
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htond(net->magvar);
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net->icing = htonl(net->icing);
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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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}
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// Update the property tree from the FGNetCtrls structure.
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void FGNetCtrls2Props( FGNetCtrls *net, bool honor_freezes,
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bool net_byte_order )
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{
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int i;
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SGPropertyNode * node;
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if ( net_byte_order ) {
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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->rudder);
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htond(net->aileron_trim);
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htond(net->elevator_trim);
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htond(net->rudder_trim);
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htond(net->flaps);
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net->flaps_power = htonl(net->flaps_power);
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net->flap_motor_ok = htonl(net->flap_motor_ok);
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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->master_bat[i] = htonl(net->master_bat[i]);
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net->master_alt[i] = htonl(net->master_alt[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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htond(net->condition[i]);
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net->engine_ok[i] = htonl(net->engine_ok[i]);
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net->mag_left_ok[i] = htonl(net->mag_left_ok[i]);
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net->mag_right_ok[i] = htonl(net->mag_right_ok[i]);
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net->spark_plugs_ok[i] = htonl(net->spark_plugs_ok[i]);
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net->oil_press_status[i] = htonl(net->oil_press_status[i]);
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net->fuel_pump_ok[i] = htonl(net->fuel_pump_ok[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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htond(net->brake_left);
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htond(net->brake_right);
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htond(net->copilot_brake_left);
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htond(net->copilot_brake_right);
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htond(net->brake_parking);
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net->gear_handle = htonl(net->gear_handle);
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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->turbulence_norm);
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htond(net->temp_c);
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htond(net->press_inhg);
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htond(net->hground);
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htond(net->magvar);
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net->icing = htonl(net->icing);
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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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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 = fgGetNode("/controls/flight", true);
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node->setDoubleValue( "aileron", net->aileron );
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node->setDoubleValue( "elevator", net->elevator );
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node->setDoubleValue( "rudder", net->rudder );
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node->setDoubleValue( "aileron-trim", net->aileron_trim );
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node->setDoubleValue( "elevator-trim", net->elevator_trim );
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node->setDoubleValue( "rudder-trim", net->rudder_trim );
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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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node->setBoolValue( "flaps-serviceable", net->flap_motor_ok );
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for ( i = 0; i < FGNetCtrls::FG_MAX_ENGINES; ++i ) {
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// Controls
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node = fgGetNode("/controls/engines/engine", i);
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node->getChild( "throttle" )->setDoubleValue( net->throttle[i] );
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node->getChild( "mixture" )->setDoubleValue( net->mixture[i] );
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node->getChild( "propeller-pitch" )
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->setDoubleValue( net->prop_advance[i] );
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node->getChild( "condition" )
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->setDoubleValue( net->condition[i] );
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node->getChild( "magnetos" )->setDoubleValue( net->magnetos[i] );
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node->getChild( "starter" )->setDoubleValue( net->starter_power[i] );
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// Faults
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SGPropertyNode *faults = node->getNode( "faults", true );
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faults->setBoolValue( "serviceable", net->engine_ok[i] );
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faults->setBoolValue( "left-magneto-serviceable",
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net->mag_left_ok[i] );
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faults->setBoolValue( "right-magneto-serviceable",
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net->mag_right_ok[i]);
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faults->setBoolValue( "spark-plugs-serviceable",
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net->spark_plugs_ok[i] );
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faults->setIntValue( "oil-pressure-status", net->oil_press_status[i] );
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faults->setBoolValue( "fuel-pump-serviceable", net->fuel_pump_ok[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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for ( i = 0; i < FGNetCtrls::FG_MAX_TANKS; ++i ) {
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node = fgGetNode( "/controls/fuel/tank", i );
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node->getChild( "fuel_selector" )
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->setBoolValue( net->fuel_selector[i] );
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}
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node = fgGetNode( "/controls/gear" );
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if ( node != NULL ) {
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node->getChild( "brake-left" )->setDoubleValue( net->brake_left );
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node->getChild( "brake-right" )->setDoubleValue( net->brake_right );
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node->getChild( "copilot-brake-left" )
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->setDoubleValue( net->copilot_brake_left );
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node->getChild( "copilot-brake-right" )
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->setDoubleValue( net->copilot_brake_right );
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node->getChild( "brake-parking" )->setDoubleValue( net->brake_parking );
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}
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node = fgGetNode( "/controls/gear", true );
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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->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->setBoolValue( "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);
|
|
|
|
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;
|
|
}
|