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flightgear/src/Network/native_ctrls.cxx

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// native_ctrls.cxx -- FGFS "Native" controls I/O class
//
// Written by Curtis Olson, started July 2001.
//
// Copyright (C) 2001 Curtis L. Olson - curt@flightgear.org
//
// 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., 675 Mass Ave, Cambridge, MA 02139, USA.
//
// $Id$
#ifdef HAVE_CONFIG_H
# include <config.h>
#endif
#include <simgear/debug/logstream.hxx>
#include <simgear/io/iochannel.hxx>
#include <simgear/io/lowlevel.hxx> // endian tests
#include <FDM/flight.hxx>
#include <Main/fg_props.hxx>
#include <Scenery/scenery.hxx> // ground elevation
#include "native_ctrls.hxx"
// FreeBSD works better with this included last ... (?)
#if defined(WIN32) && !defined(__CYGWIN__)
# include <windows.h>
#else
# include <netinet/in.h> // 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 *starter;
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->elevator_trim = node->getDoubleValue( "elevator-trim" );
net->rudder = node->getDoubleValue( "rudder" );
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 );
starter = fgGetNode("/systems/electrical/outputs/starter", i );
fuelpump = fgGetNode("/systems/electrical/outputs/fuel-pump", i );
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] = 0.0;
}
if ( starter != NULL ) {
net->starter_power[i] = ( starter->getDoubleValue() >= 1.0 );
} else {
net->starter_power[i] = 0.0;
}
// 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->brake_parking = node->getChild("brake-parking")->getDoubleValue();
net->gear_handle = fgGetBool( "controls/gear/gear-down" );
tempnode = node->getChild("master-avionics");
if ( tempnode != NULL ) {
net->master_avionics = tempnode->getBoolValue();
}
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 = fgGetDouble("/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->elevator_trim);
htond(net->rudder);
htond(net->flaps);
net->flaps_power = htonl(net->flaps_power);
net->flap_motor_ok = htonl(net->flap_motor_ok);
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_engines = htonl(net->num_engines);
for ( i = 0; i < FGNetCtrls::FG_MAX_TANKS; ++i ) {
net->fuel_selector[i] = htonl(net->fuel_selector[i]);
}
net->num_tanks = htonl(net->num_tanks);
htond(net->brake_left);
htond(net->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->elevator_trim);
htond(net->rudder);
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 < 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 < net->num_tanks; ++i ) {
net->fuel_selector[i] = htonl(net->fuel_selector[i]);
}
htond(net->brake_left);
htond(net->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( "elevator-trim", net->elevator_trim );
node->setDoubleValue( "rudder", net->rudder );
node->setDoubleValue( "flaps", net->flaps );
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] );
// 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] );
fgSetBool( "/systems/electrical/outputs/starter",
net->starter_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 = fgGetNode( "/controls/gear" );
if ( node != NULL ) {
node->getChild( "brake-left" )->setDoubleValue( net->brake_left );
node->getChild( "brake-right" )->setDoubleValue( net->brake_right );
node->getChild( "brake-parking" )->setDoubleValue( net->brake_parking );
}
node = fgGetNode( "/controls/gear", true );
node->setBoolValue( "gear-down", net->gear_handle );
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->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;
}
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