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"
46 FGGeneric::FGGeneric(vector<string> tokens) : exitOnError(false)
49 if (tokens[1] == "socket") {
51 } else if (tokens[1] == "file") {
57 if (configToken >= tokens.size()) {
58 SG_LOG(SG_NETWORK, SG_ALERT,
59 "Not enough tokens passed for generic protocol");
63 string config = tokens[ configToken ];
64 file_name = config+".xml";
65 direction = tokens[2];
67 if (direction != "in" && direction != "out" && direction != "bi") {
68 SG_LOG(SG_NETWORK, SG_ALERT, "Unsuported protocol direction: "
75 FGGeneric::~FGGeneric() {
88 // generate the message
89 bool FGGeneric::gen_message_binary() {
90 string generic_sentence;
94 for (unsigned int i = 0; i < _out_message.size(); i++) {
96 switch (_out_message[i].type) {
99 val = _out_message[i].offset +
100 _out_message[i].prop->getIntValue() * _out_message[i].factor;
101 int32_t intVal = val;
102 if (binary_byte_order != BYTE_ORDER_MATCHES_NETWORK_ORDER) {
103 intVal = (int32_t) sg_bswap_32((uint32_t)intVal);
105 memcpy(&buf[length], &intVal, sizeof(int32_t));
106 length += sizeof(int32_t);
111 buf[length] = (char) (_out_message[i].prop->getBoolValue() ? true : false);
117 val = _out_message[i].offset +
118 _out_message[i].prop->getFloatValue() * _out_message[i].factor;
120 int32_t fixed = (int)(val * 65536.0f);
121 if (binary_byte_order != BYTE_ORDER_MATCHES_NETWORK_ORDER) {
122 fixed = (int32_t) sg_bswap_32((uint32_t)fixed);
124 memcpy(&buf[length], &fixed, sizeof(int32_t));
125 length += sizeof(int32_t);
131 val = _out_message[i].offset +
132 _out_message[i].prop->getFloatValue() * _out_message[i].factor;
134 tmpun32.floatVal = static_cast<float>(val);
136 if (binary_byte_order != BYTE_ORDER_MATCHES_NETWORK_ORDER) {
137 tmpun32.intVal = sg_bswap_32(tmpun32.intVal);
139 memcpy(&buf[length], &tmpun32.intVal, sizeof(uint32_t));
140 length += sizeof(uint32_t);
146 val = _out_message[i].offset +
147 _out_message[i].prop->getFloatValue() * _out_message[i].factor;
149 tmpun64.doubleVal = val;
151 if (binary_byte_order != BYTE_ORDER_MATCHES_NETWORK_ORDER) {
152 tmpun64.longVal = sg_bswap_64(tmpun64.longVal);
154 memcpy(&buf[length], &tmpun64.longVal, sizeof(uint64_t));
155 length += sizeof(uint64_t);
159 default: // SG_STRING
160 const char *strdata = _out_message[i].prop->getStringValue();
161 int32_t strlength = strlen(strdata);
163 if (binary_byte_order == BYTE_ORDER_NEEDS_CONVERSION) {
164 SG_LOG( SG_IO, SG_ALERT, "Generic protocol: "
165 "FG_STRING will be written in host byte order.");
167 /* Format for strings is
168 * [length as int, 4 bytes][ASCII data, length bytes]
170 if (binary_byte_order != BYTE_ORDER_MATCHES_NETWORK_ORDER) {
171 strlength = sg_bswap_32(strlength);
173 memcpy(&buf[length], &strlength, sizeof(int32_t));
174 length += sizeof(int32_t);
175 strncpy(&buf[length], strdata, strlength);
177 /* FIXME padding for alignment? Something like:
178 * length += (strlength % 4 > 0 ? sizeof(int32_t) - strlength % 4 : 0;
183 // add the footer to the packet ("line")
184 switch (binary_footer_type) {
186 binary_footer_value = length;
194 if (binary_footer_type != FOOTER_NONE) {
195 int32_t intValue = binary_footer_value;
196 if (binary_byte_order != BYTE_ORDER_MATCHES_NETWORK_ORDER) {
197 intValue = sg_bswap_32(binary_footer_value);
199 memcpy(&buf[length], &intValue, sizeof(int32_t));
200 length += sizeof(int32_t);
206 bool FGGeneric::gen_message_ascii() {
207 string generic_sentence;
212 for (unsigned int i = 0; i < _out_message.size(); i++) {
215 generic_sentence += var_separator;
218 switch (_out_message[i].type) {
220 val = _out_message[i].offset +
221 _out_message[i].prop->getIntValue() * _out_message[i].factor;
222 snprintf(tmp, 255, _out_message[i].format.c_str(), (int)val);
226 snprintf(tmp, 255, _out_message[i].format.c_str(),
227 _out_message[i].prop->getBoolValue());
231 val = _out_message[i].offset +
232 _out_message[i].prop->getFloatValue() * _out_message[i].factor;
233 snprintf(tmp, 255, _out_message[i].format.c_str(), (float)val);
237 val = _out_message[i].offset +
238 _out_message[i].prop->getFloatValue() * _out_message[i].factor;
239 snprintf(tmp, 255, _out_message[i].format.c_str(), (float)val);
243 val = _out_message[i].offset +
244 _out_message[i].prop->getDoubleValue() * _out_message[i].factor;
245 snprintf(tmp, 255, _out_message[i].format.c_str(), (double)val);
248 default: // SG_STRING
249 snprintf(tmp, 255, _out_message[i].format.c_str(),
250 _out_message[i].prop->getStringValue());
253 generic_sentence += tmp;
256 /* After each lot of variables has been added, put the line separator
259 generic_sentence += line_separator;
261 length = generic_sentence.length();
262 strncpy( buf, generic_sentence.c_str(), length );
267 bool FGGeneric::gen_message() {
269 return gen_message_binary();
271 return gen_message_ascii();
275 bool FGGeneric::parse_message_binary(int length) {
282 while ((++i < (int)_in_message.size()) && (p1 < p2)) {
284 switch (_in_message[i].type) {
286 if (binary_byte_order == BYTE_ORDER_NEEDS_CONVERSION) {
287 tmp32 = sg_bswap_32(*(int32_t *)p1);
289 tmp32 = *(int32_t *)p1;
292 val = _in_message[i].offset + (double)tmp32 * _in_message[i].factor;
294 _in_message[i].prop->setIntValue((int)val);
295 p1 += sizeof(int32_t);
299 _in_message[i].prop->setBoolValue( p1[0] != 0 );
304 if (binary_byte_order == BYTE_ORDER_NEEDS_CONVERSION) {
305 tmp32 = sg_bswap_32(*(int32_t *)p1);
307 tmp32 = *(int32_t *)p1;
310 val = _in_message[i].offset +
311 ((double)tmp32 / 65536.0f) * _in_message[i].factor;
313 _in_message[i].prop->setFloatValue(val);
314 p1 += sizeof(int32_t);
319 if (binary_byte_order == BYTE_ORDER_NEEDS_CONVERSION) {
320 tmpun32.intVal = sg_bswap_32(*(uint32_t *)p1);
322 tmpun32.floatVal = *(float *)p1;
325 val = _in_message[i].offset +
326 tmpun32.floatVal * _in_message[i].factor;
328 _in_message[i].prop->setFloatValue(val);
329 p1 += sizeof(int32_t);
334 if (binary_byte_order == BYTE_ORDER_NEEDS_CONVERSION) {
335 tmpun64.longVal = sg_bswap_64(*(uint64_t *)p1);
337 tmpun64.doubleVal = *(double *)p1;
340 val = _in_message[i].offset +
341 tmpun64.doubleVal * _in_message[i].factor;
343 _in_message[i].prop->setDoubleValue(val);
344 p1 += sizeof(int64_t);
347 default: // SG_STRING
348 SG_LOG( SG_IO, SG_ALERT, "Generic protocol: "
349 "Ignoring unsupported binary input chunk type.");
356 bool FGGeneric::parse_message_ascii(int length) {
360 int chunks = _in_message.size();
361 int line_separator_size = line_separator.size();
363 if (length < line_separator_size ||
364 line_separator.compare(buf + length - line_separator_size) != 0) {
366 SG_LOG(SG_IO, SG_WARN,
367 "Input line does not end with expected line separator." );
369 buf[length - line_separator_size] = 0;
372 while ((++i < chunks) && p1) {
373 p2 = strstr(p1, var_separator.c_str());
376 p2 += var_separator.length();
379 switch (_in_message[i].type) {
381 val = _in_message[i].offset + atoi(p1) * _in_message[i].factor;
382 _in_message[i].prop->setIntValue((int)val);
386 _in_message[i].prop->setBoolValue( atof(p1) != 0.0 );
391 val = _in_message[i].offset + strtod(p1, 0) * _in_message[i].factor;
392 _in_message[i].prop->setFloatValue((float)val);
396 val = _in_message[i].offset + strtod(p1, 0) * _in_message[i].factor;
397 _in_message[i].prop->setDoubleValue(val);
400 default: // SG_STRING
401 _in_message[i].prop->setStringValue(p1);
410 bool FGGeneric::parse_message(int length) {
412 return parse_message_binary(length);
414 return parse_message_ascii(length);
419 // open hailing frequencies
420 bool FGGeneric::open() {
421 if ( is_enabled() ) {
422 SG_LOG( SG_IO, SG_ALERT, "This shouldn't happen, but the channel "
423 << "is already in use, ignoring" );
427 SGIOChannel *io = get_io_channel();
429 if ( ! io->open( get_direction() ) ) {
430 SG_LOG( SG_IO, SG_ALERT, "Error opening channel communication layer." );
436 if ( ((get_direction() == SG_IO_OUT )||
437 (get_direction() == SG_IO_BI))
438 && ! preamble.empty() ) {
439 if ( ! io->write( preamble.c_str(), preamble.size() ) ) {
440 SG_LOG( SG_IO, SG_WARN, "Error writing preamble." );
449 // process work for this port
450 bool FGGeneric::process() {
451 SGIOChannel *io = get_io_channel();
453 if ( (get_direction() == SG_IO_OUT) ||
454 (get_direction() == SG_IO_BI) ) {
456 if ( ! io->write( buf, length ) ) {
457 SG_LOG( SG_IO, SG_WARN, "Error writing data." );
462 if (( get_direction() == SG_IO_IN ) ||
463 (get_direction() == SG_IO_BI) ) {
464 if ( io->get_type() == sgFileType ) {
466 length = io->readline( buf, FG_MAX_MSG_SIZE );
468 parse_message( length );
470 SG_LOG( SG_IO, SG_ALERT, "Error reading data." );
474 length = io->read( buf, binary_record_length );
475 if ( length == binary_record_length ) {
476 parse_message( length );
478 SG_LOG( SG_IO, SG_ALERT,
479 "Generic protocol: Received binary "
480 "record of unexpected size, expected: "
481 << binary_record_length << " but received: "
487 while ((length = io->readline( buf, FG_MAX_MSG_SIZE )) > 0 ) {
488 parse_message( length );
491 while ((length = io->read( buf, binary_record_length ))
492 == binary_record_length ) {
493 parse_message( length );
497 SG_LOG( SG_IO, SG_ALERT,
498 "Generic protocol: Received binary "
499 "record of unexpected size, expected: "
500 << binary_record_length << " but received: "
510 return true; // should not get there, but please the compiler
517 bool FGGeneric::close() {
518 SGIOChannel *io = get_io_channel();
520 if ( ((get_direction() == SG_IO_OUT)||
521 (get_direction() == SG_IO_BI))
522 && ! postamble.empty() ) {
523 if ( ! io->write( postamble.c_str(), postamble.size() ) ) {
524 SG_LOG( SG_IO, SG_ALERT, "Error writing postamble." );
529 set_enabled( false );
531 if ( ! io->close() ) {
542 SGPath path( globals->get_fg_root() );
543 path.append("Protocol");
544 path.append(file_name.c_str());
546 SG_LOG(SG_NETWORK, SG_INFO, "Reading communication protocol from "
551 readProperties(path.str(), &root);
552 } catch (const sg_exception & ex) {
553 SG_LOG(SG_NETWORK, SG_ALERT,
554 "Unable to load the protocol configuration file: " << ex.getFormattedMessage() );
558 if (direction == "out") {
559 SGPropertyNode *output = root.getNode("generic/output");
561 _out_message.clear();
562 read_config(output, _out_message);
564 } else if (direction == "in") {
565 SGPropertyNode *input = root.getNode("generic/input");
568 read_config(input, _in_message);
569 if (!binary_mode && (line_separator.size() == 0 ||
570 *line_separator.rbegin() != '\n')) {
572 SG_LOG(SG_IO, SG_WARN,
573 "Warning: Appending newline to line separator in generic input.");
574 line_separator.push_back('\n');
582 FGGeneric::read_config(SGPropertyNode *root, vector<_serial_prot> &msg)
584 binary_mode = root->getBoolValue("binary_mode");
587 /* These variables specified in the $FG_ROOT/data/Protocol/xxx.xml
588 * file for each format
590 * var_sep_string = the string/charachter to place between variables
591 * line_sep_string = the string/charachter to place at the end of each
594 preamble = fgUnescape(root->getStringValue("preamble"));
595 postamble = fgUnescape(root->getStringValue("postamble"));
596 var_sep_string = fgUnescape(root->getStringValue("var_separator"));
597 line_sep_string = fgUnescape(root->getStringValue("line_separator"));
599 if ( var_sep_string == "newline" ) {
600 var_separator = '\n';
601 } else if ( var_sep_string == "tab" ) {
602 var_separator = '\t';
603 } else if ( var_sep_string == "space" ) {
605 } else if ( var_sep_string == "formfeed" ) {
606 var_separator = '\f';
607 } else if ( var_sep_string == "carriagereturn" ) {
608 var_sep_string = '\r';
609 } else if ( var_sep_string == "verticaltab" ) {
610 var_separator = '\v';
612 var_separator = var_sep_string;
615 if ( line_sep_string == "newline" ) {
616 line_separator = '\n';
617 } else if ( line_sep_string == "tab" ) {
618 line_separator = '\t';
619 } else if ( line_sep_string == "space" ) {
620 line_separator = ' ';
621 } else if ( line_sep_string == "formfeed" ) {
622 line_separator = '\f';
623 } else if ( line_sep_string == "carriagereturn" ) {
624 line_separator = '\r';
625 } else if ( line_sep_string == "verticaltab" ) {
626 line_separator = '\v';
628 line_separator = line_sep_string;
631 // default values: no footer and record_length = sizeof(representation)
632 binary_footer_type = FOOTER_NONE;
633 binary_record_length = -1;
635 // default choice is network byte order (big endian)
636 if (sgIsLittleEndian()) {
637 binary_byte_order = BYTE_ORDER_NEEDS_CONVERSION;
639 binary_byte_order = BYTE_ORDER_MATCHES_NETWORK_ORDER;
642 if ( root->hasValue("binary_footer") ) {
643 string footer_type = root->getStringValue("binary_footer");
644 if ( footer_type == "length" ) {
645 binary_footer_type = FOOTER_LENGTH;
646 } else if ( footer_type.substr(0, 5) == "magic" ) {
647 binary_footer_type = FOOTER_MAGIC;
648 binary_footer_value = strtol(footer_type.substr(6,
649 footer_type.length() - 6).c_str(), (char**)0, 0);
650 } else if ( footer_type != "none" ) {
651 SG_LOG(SG_IO, SG_ALERT,
652 "generic protocol: Unknown generic binary protocol "
653 "footer '" << footer_type << "', using no footer.");
657 if ( root->hasValue("record_length") ) {
658 binary_record_length = root->getIntValue("record_length");
661 if ( root->hasValue("byte_order") ) {
662 string byte_order = root->getStringValue("byte_order");
663 if (byte_order == "network" ) {
664 if ( sgIsLittleEndian() ) {
665 binary_byte_order = BYTE_ORDER_NEEDS_CONVERSION;
667 binary_byte_order = BYTE_ORDER_MATCHES_NETWORK_ORDER;
669 } else if ( byte_order == "host" ) {
670 binary_byte_order = BYTE_ORDER_MATCHES_NETWORK_ORDER;
672 SG_LOG(SG_IO, SG_ALERT,
673 "generic protocol: Undefined generic binary protocol"
674 "byte order, using HOST byte order.");
679 int record_length = 0; // Only used for binary protocols.
680 vector<SGPropertyNode_ptr> chunks = root->getChildren("chunk");
681 for (unsigned int i = 0; i < chunks.size(); i++) {
685 // chunk.name = chunks[i]->getStringValue("name");
686 chunk.format = fgUnescape(chunks[i]->getStringValue("format", "%d"));
687 chunk.offset = chunks[i]->getDoubleValue("offset");
688 chunk.factor = chunks[i]->getDoubleValue("factor", 1.0);
690 string node = chunks[i]->getStringValue("node", "/null");
691 chunk.prop = fgGetNode(node.c_str(), true);
693 string type = chunks[i]->getStringValue("type");
695 // Note: officially the type is called 'bool' but for backward
696 // compatibility 'boolean' will also be supported.
697 if (type == "bool" || type == "boolean") {
698 chunk.type = FG_BOOL;
700 } else if (type == "float") {
701 chunk.type = FG_FLOAT;
702 record_length += sizeof(int32_t);
703 } else if (type == "double") {
704 chunk.type = FG_DOUBLE;
705 record_length += sizeof(int64_t);
706 } else if (type == "fixed") {
707 chunk.type = FG_FIXED;
708 record_length += sizeof(int32_t);
709 } else if (type == "string")
710 chunk.type = FG_STRING;
713 record_length += sizeof(int32_t);
715 msg.push_back(chunk);
720 if (binary_record_length == -1) {
721 binary_record_length = record_length;
722 } else if (binary_record_length < record_length) {
723 SG_LOG(SG_IO, SG_ALERT,
724 "generic protocol: Requested binary record length shorter than "
725 " requested record representation.");
726 binary_record_length = record_length;