1 // generic.cxx -- generic protocal class
3 // Written by Curtis Olson, started November 1999.
5 // Copyright (C) 1999 Curtis L. Olson - http://www.flightgear.org/~curt
7 // This program is free software; you can redistribute it and/or
8 // modify it under the terms of the GNU General Public License as
9 // published by the Free Software Foundation; either version 2 of the
10 // License, or (at your option) any later version.
12 // This program is distributed in the hope that it will be useful, but
13 // WITHOUT ANY WARRANTY; without even the implied warranty of
14 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
15 // General Public License for more details.
17 // You should have received a copy of the GNU General Public License
18 // along with this program; if not, write to the Free Software
19 // Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
27 #include <string.h> // strstr()
28 #include <stdlib.h> // strtod(), atoi()
30 #include <simgear/debug/logstream.hxx>
31 #include <simgear/io/iochannel.hxx>
32 #include <simgear/structure/exception.hxx>
33 #include <simgear/misc/sg_path.hxx>
34 #include <simgear/misc/stdint.hxx>
35 #include <simgear/props/props.hxx>
36 #include <simgear/props/props_io.hxx>
38 #include <Main/globals.hxx>
39 #include <Main/fg_props.hxx>
40 #include <Main/fg_os.hxx>
41 #include <Main/util.hxx>
42 #include "generic.hxx"
44 FGGeneric::FGGeneric(vector<string> tokens) : exitOnError(false)
47 if (tokens[1] == "socket") {
49 } else if (tokens[1] == "file") {
55 if (configToken >= tokens.size()) {
56 SG_LOG(SG_NETWORK, SG_ALERT,
57 "Not enough tokens passed for generic protocol");
61 string config = tokens[ configToken ];
62 file_name = config+".xml";
63 direction = tokens[2];
65 if (direction != "in" && direction != "out" && direction != "bi") {
66 SG_LOG(SG_NETWORK, SG_ALERT, "Unsuported protocol direction: "
73 FGGeneric::~FGGeneric() {
86 // generate the message
87 bool FGGeneric::gen_message_binary() {
88 string generic_sentence;
92 for (unsigned int i = 0; i < _out_message.size(); i++) {
94 switch (_out_message[i].type) {
97 val = _out_message[i].offset +
98 _out_message[i].prop->getIntValue() * _out_message[i].factor;
100 if (binary_byte_order != BYTE_ORDER_MATCHES_NETWORK_ORDER) {
101 intVal = (int32_t) sg_bswap_32((uint32_t)intVal);
103 memcpy(&buf[length], &intVal, sizeof(int32_t));
104 length += sizeof(int32_t);
109 buf[length] = (char) (_out_message[i].prop->getBoolValue() ? true : false);
115 val = _out_message[i].offset +
116 _out_message[i].prop->getFloatValue() * _out_message[i].factor;
118 int32_t fixed = (int)(val * 65536.0f);
119 if (binary_byte_order != BYTE_ORDER_MATCHES_NETWORK_ORDER) {
120 fixed = (int32_t) sg_bswap_32((uint32_t)fixed);
122 memcpy(&buf[length], &fixed, sizeof(int32_t));
123 length += sizeof(int32_t);
129 val = _out_message[i].offset +
130 _out_message[i].prop->getFloatValue() * _out_message[i].factor;
132 tmpun32.floatVal = static_cast<float>(val);
134 if (binary_byte_order != BYTE_ORDER_MATCHES_NETWORK_ORDER) {
135 tmpun32.intVal = sg_bswap_32(tmpun32.intVal);
137 memcpy(&buf[length], &tmpun32.intVal, sizeof(uint32_t));
138 length += sizeof(uint32_t);
144 val = _out_message[i].offset +
145 _out_message[i].prop->getFloatValue() * _out_message[i].factor;
147 tmpun64.doubleVal = val;
149 if (binary_byte_order != BYTE_ORDER_MATCHES_NETWORK_ORDER) {
150 tmpun64.longVal = sg_bswap_64(tmpun64.longVal);
152 memcpy(&buf[length], &tmpun64.longVal, sizeof(uint64_t));
153 length += sizeof(uint64_t);
157 default: // SG_STRING
158 const char *strdata = _out_message[i].prop->getStringValue();
159 int32_t strlength = strlen(strdata);
161 if (binary_byte_order == BYTE_ORDER_NEEDS_CONVERSION) {
162 SG_LOG( SG_IO, SG_ALERT, "Generic protocol: "
163 "FG_STRING will be written in host byte order.");
165 /* Format for strings is
166 * [length as int, 4 bytes][ASCII data, length bytes]
168 if (binary_byte_order != BYTE_ORDER_MATCHES_NETWORK_ORDER) {
169 strlength = sg_bswap_32(strlength);
171 memcpy(&buf[length], &strlength, sizeof(int32_t));
172 length += sizeof(int32_t);
173 strncpy(&buf[length], strdata, strlength);
175 /* FIXME padding for alignment? Something like:
176 * length += (strlength % 4 > 0 ? sizeof(int32_t) - strlength % 4 : 0;
181 // add the footer to the packet ("line")
182 switch (binary_footer_type) {
184 binary_footer_value = length;
192 if (binary_footer_type != FOOTER_NONE) {
193 int32_t intValue = binary_footer_value;
194 if (binary_byte_order != BYTE_ORDER_MATCHES_NETWORK_ORDER) {
195 intValue = sg_bswap_32(binary_footer_value);
197 memcpy(&buf[length], &intValue, sizeof(int32_t));
198 length += sizeof(int32_t);
204 bool FGGeneric::gen_message_ascii() {
205 string generic_sentence;
210 for (unsigned int i = 0; i < _out_message.size(); i++) {
213 generic_sentence += var_separator;
216 switch (_out_message[i].type) {
218 val = _out_message[i].offset +
219 _out_message[i].prop->getIntValue() * _out_message[i].factor;
220 snprintf(tmp, 255, _out_message[i].format.c_str(), (int)val);
224 snprintf(tmp, 255, _out_message[i].format.c_str(),
225 _out_message[i].prop->getBoolValue());
229 val = _out_message[i].offset +
230 _out_message[i].prop->getFloatValue() * _out_message[i].factor;
231 snprintf(tmp, 255, _out_message[i].format.c_str(), (float)val);
235 val = _out_message[i].offset +
236 _out_message[i].prop->getFloatValue() * _out_message[i].factor;
237 snprintf(tmp, 255, _out_message[i].format.c_str(), (float)val);
241 val = _out_message[i].offset +
242 _out_message[i].prop->getDoubleValue() * _out_message[i].factor;
243 snprintf(tmp, 255, _out_message[i].format.c_str(), (double)val);
246 default: // SG_STRING
247 snprintf(tmp, 255, _out_message[i].format.c_str(),
248 _out_message[i].prop->getStringValue());
251 generic_sentence += tmp;
254 /* After each lot of variables has been added, put the line separator
257 generic_sentence += line_separator;
259 length = generic_sentence.length();
260 strncpy( buf, generic_sentence.c_str(), length );
265 bool FGGeneric::gen_message() {
267 return gen_message_binary();
269 return gen_message_ascii();
273 bool FGGeneric::parse_message_binary(int length) {
280 while ((++i < (int)_in_message.size()) && (p1 < p2)) {
282 switch (_in_message[i].type) {
284 if (binary_byte_order == BYTE_ORDER_NEEDS_CONVERSION) {
285 tmp32 = sg_bswap_32(*(int32_t *)p1);
287 tmp32 = *(int32_t *)p1;
289 updateValue(_in_message[i], (int)tmp32);
290 p1 += sizeof(int32_t);
294 _in_message[i].prop->setBoolValue( p1[0] != 0 );
299 if (binary_byte_order == BYTE_ORDER_NEEDS_CONVERSION) {
300 tmp32 = sg_bswap_32(*(int32_t *)p1);
302 tmp32 = *(int32_t *)p1;
304 updateValue(_in_message[i], (float)tmp32 / 65536.0f);
305 p1 += sizeof(int32_t);
310 if (binary_byte_order == BYTE_ORDER_NEEDS_CONVERSION) {
311 tmpun32.intVal = sg_bswap_32(*(uint32_t *)p1);
313 tmpun32.floatVal = *(float *)p1;
315 updateValue(_in_message[i], tmpun32.floatVal);
316 p1 += sizeof(int32_t);
321 if (binary_byte_order == BYTE_ORDER_NEEDS_CONVERSION) {
322 tmpun64.longVal = sg_bswap_64(*(uint64_t *)p1);
324 tmpun64.doubleVal = *(double *)p1;
326 updateValue(_in_message[i], tmpun64.doubleVal);
327 p1 += sizeof(int64_t);
330 default: // SG_STRING
331 SG_LOG( SG_IO, SG_ALERT, "Generic protocol: "
332 "Ignoring unsupported binary input chunk type.");
339 bool FGGeneric::parse_message_ascii(int length) {
343 int chunks = _in_message.size();
344 int line_separator_size = line_separator.size();
346 if (length < line_separator_size ||
347 line_separator.compare(buf + length - line_separator_size) != 0) {
349 SG_LOG(SG_IO, SG_WARN,
350 "Input line does not end with expected line separator." );
352 buf[length - line_separator_size] = 0;
355 while ((++i < chunks) && p1) {
356 p2 = strstr(p1, var_separator.c_str());
359 p2 += var_separator.length();
362 switch (_in_message[i].type) {
364 updateValue(_in_message[i], atoi(p1));
368 _in_message[i].prop->setBoolValue( atof(p1) != 0.0 );
373 updateValue(_in_message[i], (float)strtod(p1, 0));
377 updateValue(_in_message[i], (double)strtod(p1, 0));
380 default: // SG_STRING
381 _in_message[i].prop->setStringValue(p1);
390 bool FGGeneric::parse_message(int length) {
392 return parse_message_binary(length);
394 return parse_message_ascii(length);
399 // open hailing frequencies
400 bool FGGeneric::open() {
401 if ( is_enabled() ) {
402 SG_LOG( SG_IO, SG_ALERT, "This shouldn't happen, but the channel "
403 << "is already in use, ignoring" );
407 SGIOChannel *io = get_io_channel();
409 if ( ! io->open( get_direction() ) ) {
410 SG_LOG( SG_IO, SG_ALERT, "Error opening channel communication layer." );
416 if ( ((get_direction() == SG_IO_OUT )||
417 (get_direction() == SG_IO_BI))
418 && ! preamble.empty() ) {
419 if ( ! io->write( preamble.c_str(), preamble.size() ) ) {
420 SG_LOG( SG_IO, SG_WARN, "Error writing preamble." );
429 // process work for this port
430 bool FGGeneric::process() {
431 SGIOChannel *io = get_io_channel();
433 if ( (get_direction() == SG_IO_OUT) ||
434 (get_direction() == SG_IO_BI) ) {
436 if ( ! io->write( buf, length ) ) {
437 SG_LOG( SG_IO, SG_WARN, "Error writing data." );
442 if (( get_direction() == SG_IO_IN ) ||
443 (get_direction() == SG_IO_BI) ) {
444 if ( io->get_type() == sgFileType ) {
446 length = io->readline( buf, FG_MAX_MSG_SIZE );
448 parse_message( length );
450 SG_LOG( SG_IO, SG_ALERT, "Error reading data." );
454 length = io->read( buf, binary_record_length );
455 if ( length == binary_record_length ) {
456 parse_message( length );
458 SG_LOG( SG_IO, SG_ALERT,
459 "Generic protocol: Received binary "
460 "record of unexpected size, expected: "
461 << binary_record_length << " but received: "
467 while ((length = io->readline( buf, FG_MAX_MSG_SIZE )) > 0 ) {
468 parse_message( length );
471 while ((length = io->read( buf, binary_record_length ))
472 == binary_record_length ) {
473 parse_message( length );
477 SG_LOG( SG_IO, SG_ALERT,
478 "Generic protocol: Received binary "
479 "record of unexpected size, expected: "
480 << binary_record_length << " but received: "
490 return true; // should not get there, but please the compiler
497 bool FGGeneric::close() {
498 SGIOChannel *io = get_io_channel();
500 if ( ((get_direction() == SG_IO_OUT)||
501 (get_direction() == SG_IO_BI))
502 && ! postamble.empty() ) {
503 if ( ! io->write( postamble.c_str(), postamble.size() ) ) {
504 SG_LOG( SG_IO, SG_ALERT, "Error writing postamble." );
509 set_enabled( false );
511 if ( ! io->close() ) {
522 SGPath path( globals->get_fg_root() );
523 path.append("Protocol");
524 path.append(file_name.c_str());
526 SG_LOG(SG_NETWORK, SG_INFO, "Reading communication protocol from "
531 readProperties(path.str(), &root);
532 } catch (const sg_exception & ex) {
533 SG_LOG(SG_NETWORK, SG_ALERT,
534 "Unable to load the protocol configuration file: " << ex.getFormattedMessage() );
538 if (direction == "out") {
539 SGPropertyNode *output = root.getNode("generic/output");
541 _out_message.clear();
542 read_config(output, _out_message);
544 } else if (direction == "in") {
545 SGPropertyNode *input = root.getNode("generic/input");
548 read_config(input, _in_message);
549 if (!binary_mode && (line_separator.size() == 0 ||
550 *line_separator.rbegin() != '\n')) {
552 SG_LOG(SG_IO, SG_WARN,
553 "Warning: Appending newline to line separator in generic input.");
554 line_separator.push_back('\n');
562 FGGeneric::read_config(SGPropertyNode *root, vector<_serial_prot> &msg)
564 binary_mode = root->getBoolValue("binary_mode");
567 /* These variables specified in the $FG_ROOT/data/Protocol/xxx.xml
568 * file for each format
570 * var_sep_string = the string/charachter to place between variables
571 * line_sep_string = the string/charachter to place at the end of each
574 preamble = fgUnescape(root->getStringValue("preamble"));
575 postamble = fgUnescape(root->getStringValue("postamble"));
576 var_sep_string = fgUnescape(root->getStringValue("var_separator"));
577 line_sep_string = fgUnescape(root->getStringValue("line_separator"));
579 if ( var_sep_string == "newline" ) {
580 var_separator = '\n';
581 } else if ( var_sep_string == "tab" ) {
582 var_separator = '\t';
583 } else if ( var_sep_string == "space" ) {
585 } else if ( var_sep_string == "formfeed" ) {
586 var_separator = '\f';
587 } else if ( var_sep_string == "carriagereturn" ) {
588 var_sep_string = '\r';
589 } else if ( var_sep_string == "verticaltab" ) {
590 var_separator = '\v';
592 var_separator = var_sep_string;
595 if ( line_sep_string == "newline" ) {
596 line_separator = '\n';
597 } else if ( line_sep_string == "tab" ) {
598 line_separator = '\t';
599 } else if ( line_sep_string == "space" ) {
600 line_separator = ' ';
601 } else if ( line_sep_string == "formfeed" ) {
602 line_separator = '\f';
603 } else if ( line_sep_string == "carriagereturn" ) {
604 line_separator = '\r';
605 } else if ( line_sep_string == "verticaltab" ) {
606 line_separator = '\v';
608 line_separator = line_sep_string;
611 // default values: no footer and record_length = sizeof(representation)
612 binary_footer_type = FOOTER_NONE;
613 binary_record_length = -1;
615 // default choice is network byte order (big endian)
616 if (sgIsLittleEndian()) {
617 binary_byte_order = BYTE_ORDER_NEEDS_CONVERSION;
619 binary_byte_order = BYTE_ORDER_MATCHES_NETWORK_ORDER;
622 if ( root->hasValue("binary_footer") ) {
623 string footer_type = root->getStringValue("binary_footer");
624 if ( footer_type == "length" ) {
625 binary_footer_type = FOOTER_LENGTH;
626 } else if ( footer_type.substr(0, 5) == "magic" ) {
627 binary_footer_type = FOOTER_MAGIC;
628 binary_footer_value = strtol(footer_type.substr(6,
629 footer_type.length() - 6).c_str(), (char**)0, 0);
630 } else if ( footer_type != "none" ) {
631 SG_LOG(SG_IO, SG_ALERT,
632 "generic protocol: Unknown generic binary protocol "
633 "footer '" << footer_type << "', using no footer.");
637 if ( root->hasValue("record_length") ) {
638 binary_record_length = root->getIntValue("record_length");
641 if ( root->hasValue("byte_order") ) {
642 string byte_order = root->getStringValue("byte_order");
643 if (byte_order == "network" ) {
644 if ( sgIsLittleEndian() ) {
645 binary_byte_order = BYTE_ORDER_NEEDS_CONVERSION;
647 binary_byte_order = BYTE_ORDER_MATCHES_NETWORK_ORDER;
649 } else if ( byte_order == "host" ) {
650 binary_byte_order = BYTE_ORDER_MATCHES_NETWORK_ORDER;
652 SG_LOG(SG_IO, SG_ALERT,
653 "generic protocol: Undefined generic binary protocol"
654 "byte order, using HOST byte order.");
659 int record_length = 0; // Only used for binary protocols.
660 vector<SGPropertyNode_ptr> chunks = root->getChildren("chunk");
661 for (unsigned int i = 0; i < chunks.size(); i++) {
665 // chunk.name = chunks[i]->getStringValue("name");
666 chunk.format = fgUnescape(chunks[i]->getStringValue("format", "%d"));
667 chunk.offset = chunks[i]->getDoubleValue("offset");
668 chunk.factor = chunks[i]->getDoubleValue("factor", 1.0);
669 chunk.min = chunks[i]->getDoubleValue("min");
670 chunk.max = chunks[i]->getDoubleValue("max");
671 chunk.wrap = chunks[i]->getBoolValue("wrap");
672 chunk.rel = chunks[i]->getBoolValue("relative");
674 string node = chunks[i]->getStringValue("node", "/null");
675 chunk.prop = fgGetNode(node.c_str(), true);
677 string type = chunks[i]->getStringValue("type");
679 // Note: officially the type is called 'bool' but for backward
680 // compatibility 'boolean' will also be supported.
681 if (type == "bool" || type == "boolean") {
682 chunk.type = FG_BOOL;
684 } else if (type == "float") {
685 chunk.type = FG_FLOAT;
686 record_length += sizeof(int32_t);
687 } else if (type == "double") {
688 chunk.type = FG_DOUBLE;
689 record_length += sizeof(int64_t);
690 } else if (type == "fixed") {
691 chunk.type = FG_FIXED;
692 record_length += sizeof(int32_t);
693 } else if (type == "string")
694 chunk.type = FG_STRING;
697 record_length += sizeof(int32_t);
699 msg.push_back(chunk);
704 if (binary_record_length == -1) {
705 binary_record_length = record_length;
706 } else if (binary_record_length < record_length) {
707 SG_LOG(SG_IO, SG_ALERT,
708 "generic protocol: Requested binary record length shorter than "
709 " requested record representation.");
710 binary_record_length = record_length;
716 set/getValue: Implementations for supported datatypes
718 #define DEF_DATA_ACCESS(type, method)\
720 const type FGGeneric::getValue(SGPropertyNode_ptr& prop)\
722 return prop->get##method##Value();\
726 void FGGeneric::setValue(SGPropertyNode_ptr& prop, const type& val)\
728 prop->set##method##Value(val);\
731 DEF_DATA_ACCESS(int, Int)
732 DEF_DATA_ACCESS(float, Float)
733 DEF_DATA_ACCESS(double, Double)