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) {
279 while ((++i < (int)_in_message.size()) && (p1 < p2)) {
281 switch (_in_message[i].type) {
283 if (binary_byte_order == BYTE_ORDER_NEEDS_CONVERSION) {
284 tmp32 = sg_bswap_32(*(int32_t *)p1);
286 tmp32 = *(int32_t *)p1;
288 updateValue(_in_message[i], (int)tmp32);
289 p1 += sizeof(int32_t);
293 updateValue(_in_message[i], p1[0] != 0);
298 if (binary_byte_order == BYTE_ORDER_NEEDS_CONVERSION) {
299 tmp32 = sg_bswap_32(*(int32_t *)p1);
301 tmp32 = *(int32_t *)p1;
303 updateValue(_in_message[i], (float)tmp32 / 65536.0f);
304 p1 += sizeof(int32_t);
309 if (binary_byte_order == BYTE_ORDER_NEEDS_CONVERSION) {
310 tmpun32.intVal = sg_bswap_32(*(uint32_t *)p1);
312 tmpun32.floatVal = *(float *)p1;
314 updateValue(_in_message[i], tmpun32.floatVal);
315 p1 += sizeof(int32_t);
320 if (binary_byte_order == BYTE_ORDER_NEEDS_CONVERSION) {
321 tmpun64.longVal = sg_bswap_64(*(uint64_t *)p1);
323 tmpun64.doubleVal = *(double *)p1;
325 updateValue(_in_message[i], tmpun64.doubleVal);
326 p1 += sizeof(int64_t);
329 default: // SG_STRING
330 SG_LOG( SG_IO, SG_ALERT, "Generic protocol: "
331 "Ignoring unsupported binary input chunk type.");
338 bool FGGeneric::parse_message_ascii(int length) {
341 int chunks = _in_message.size();
342 int line_separator_size = line_separator.size();
344 if (length < line_separator_size ||
345 line_separator.compare(buf + length - line_separator_size) != 0) {
347 SG_LOG(SG_IO, SG_WARN,
348 "Input line does not end with expected line separator." );
350 buf[length - line_separator_size] = 0;
353 while ((++i < chunks) && p1) {
354 p2 = strstr(p1, var_separator.c_str());
357 p2 += var_separator.length();
360 switch (_in_message[i].type) {
362 updateValue(_in_message[i], atoi(p1));
366 updateValue(_in_message[i], atof(p1) != 0.0);
371 updateValue(_in_message[i], (float)strtod(p1, 0));
375 updateValue(_in_message[i], (double)strtod(p1, 0));
378 default: // SG_STRING
379 _in_message[i].prop->setStringValue(p1);
388 bool FGGeneric::parse_message(int length) {
390 return parse_message_binary(length);
392 return parse_message_ascii(length);
397 // open hailing frequencies
398 bool FGGeneric::open() {
399 if ( is_enabled() ) {
400 SG_LOG( SG_IO, SG_ALERT, "This shouldn't happen, but the channel "
401 << "is already in use, ignoring" );
405 SGIOChannel *io = get_io_channel();
407 if ( ! io->open( get_direction() ) ) {
408 SG_LOG( SG_IO, SG_ALERT, "Error opening channel communication layer." );
414 if ( ((get_direction() == SG_IO_OUT )||
415 (get_direction() == SG_IO_BI))
416 && ! preamble.empty() ) {
417 if ( ! io->write( preamble.c_str(), preamble.size() ) ) {
418 SG_LOG( SG_IO, SG_WARN, "Error writing preamble." );
427 // process work for this port
428 bool FGGeneric::process() {
429 SGIOChannel *io = get_io_channel();
431 if ( (get_direction() == SG_IO_OUT) ||
432 (get_direction() == SG_IO_BI) ) {
434 if ( ! io->write( buf, length ) ) {
435 SG_LOG( SG_IO, SG_WARN, "Error writing data." );
440 if (( get_direction() == SG_IO_IN ) ||
441 (get_direction() == SG_IO_BI) ) {
442 if ( io->get_type() == sgFileType ) {
444 length = io->readline( buf, FG_MAX_MSG_SIZE );
446 parse_message( length );
448 SG_LOG( SG_IO, SG_ALERT, "Error reading data." );
452 length = io->read( buf, binary_record_length );
453 if ( length == binary_record_length ) {
454 parse_message( length );
456 SG_LOG( SG_IO, SG_ALERT,
457 "Generic protocol: Received binary "
458 "record of unexpected size, expected: "
459 << binary_record_length << " but received: "
465 while ((length = io->readline( buf, FG_MAX_MSG_SIZE )) > 0 ) {
466 parse_message( length );
469 while ((length = io->read( buf, binary_record_length ))
470 == binary_record_length ) {
471 parse_message( length );
475 SG_LOG( SG_IO, SG_ALERT,
476 "Generic protocol: Received binary "
477 "record of unexpected size, expected: "
478 << binary_record_length << " but received: "
488 return true; // should not get there, but please the compiler
495 bool FGGeneric::close() {
496 SGIOChannel *io = get_io_channel();
498 if ( ((get_direction() == SG_IO_OUT)||
499 (get_direction() == SG_IO_BI))
500 && ! postamble.empty() ) {
501 if ( ! io->write( postamble.c_str(), postamble.size() ) ) {
502 SG_LOG( SG_IO, SG_ALERT, "Error writing postamble." );
507 set_enabled( false );
509 if ( ! io->close() ) {
520 SGPath path( globals->get_fg_root() );
521 path.append("Protocol");
522 path.append(file_name.c_str());
524 SG_LOG(SG_NETWORK, SG_INFO, "Reading communication protocol from "
529 readProperties(path.str(), &root);
530 } catch (const sg_exception & ex) {
531 SG_LOG(SG_NETWORK, SG_ALERT,
532 "Unable to load the protocol configuration file: " << ex.getFormattedMessage() );
536 if (direction == "out") {
537 SGPropertyNode *output = root.getNode("generic/output");
539 _out_message.clear();
540 read_config(output, _out_message);
542 } else if (direction == "in") {
543 SGPropertyNode *input = root.getNode("generic/input");
546 read_config(input, _in_message);
547 if (!binary_mode && (line_separator.size() == 0 ||
548 *line_separator.rbegin() != '\n')) {
550 SG_LOG(SG_IO, SG_WARN,
551 "Warning: Appending newline to line separator in generic input.");
552 line_separator.push_back('\n');
560 FGGeneric::read_config(SGPropertyNode *root, vector<_serial_prot> &msg)
562 binary_mode = root->getBoolValue("binary_mode");
565 /* These variables specified in the $FG_ROOT/data/Protocol/xxx.xml
566 * file for each format
568 * var_sep_string = the string/charachter to place between variables
569 * line_sep_string = the string/charachter to place at the end of each
572 preamble = fgUnescape(root->getStringValue("preamble"));
573 postamble = fgUnescape(root->getStringValue("postamble"));
574 var_sep_string = fgUnescape(root->getStringValue("var_separator"));
575 line_sep_string = fgUnescape(root->getStringValue("line_separator"));
577 if ( var_sep_string == "newline" ) {
578 var_separator = '\n';
579 } else if ( var_sep_string == "tab" ) {
580 var_separator = '\t';
581 } else if ( var_sep_string == "space" ) {
583 } else if ( var_sep_string == "formfeed" ) {
584 var_separator = '\f';
585 } else if ( var_sep_string == "carriagereturn" ) {
586 var_sep_string = '\r';
587 } else if ( var_sep_string == "verticaltab" ) {
588 var_separator = '\v';
590 var_separator = var_sep_string;
593 if ( line_sep_string == "newline" ) {
594 line_separator = '\n';
595 } else if ( line_sep_string == "tab" ) {
596 line_separator = '\t';
597 } else if ( line_sep_string == "space" ) {
598 line_separator = ' ';
599 } else if ( line_sep_string == "formfeed" ) {
600 line_separator = '\f';
601 } else if ( line_sep_string == "carriagereturn" ) {
602 line_separator = '\r';
603 } else if ( line_sep_string == "verticaltab" ) {
604 line_separator = '\v';
606 line_separator = line_sep_string;
609 // default values: no footer and record_length = sizeof(representation)
610 binary_footer_type = FOOTER_NONE;
611 binary_record_length = -1;
613 // default choice is network byte order (big endian)
614 if (sgIsLittleEndian()) {
615 binary_byte_order = BYTE_ORDER_NEEDS_CONVERSION;
617 binary_byte_order = BYTE_ORDER_MATCHES_NETWORK_ORDER;
620 if ( root->hasValue("binary_footer") ) {
621 string footer_type = root->getStringValue("binary_footer");
622 if ( footer_type == "length" ) {
623 binary_footer_type = FOOTER_LENGTH;
624 } else if ( footer_type.substr(0, 5) == "magic" ) {
625 binary_footer_type = FOOTER_MAGIC;
626 binary_footer_value = strtol(footer_type.substr(6,
627 footer_type.length() - 6).c_str(), (char**)0, 0);
628 } else if ( footer_type != "none" ) {
629 SG_LOG(SG_IO, SG_ALERT,
630 "generic protocol: Unknown generic binary protocol "
631 "footer '" << footer_type << "', using no footer.");
635 if ( root->hasValue("record_length") ) {
636 binary_record_length = root->getIntValue("record_length");
639 if ( root->hasValue("byte_order") ) {
640 string byte_order = root->getStringValue("byte_order");
641 if (byte_order == "network" ) {
642 if ( sgIsLittleEndian() ) {
643 binary_byte_order = BYTE_ORDER_NEEDS_CONVERSION;
645 binary_byte_order = BYTE_ORDER_MATCHES_NETWORK_ORDER;
647 } else if ( byte_order == "host" ) {
648 binary_byte_order = BYTE_ORDER_MATCHES_NETWORK_ORDER;
650 SG_LOG(SG_IO, SG_ALERT,
651 "generic protocol: Undefined generic binary protocol"
652 "byte order, using HOST byte order.");
657 int record_length = 0; // Only used for binary protocols.
658 vector<SGPropertyNode_ptr> chunks = root->getChildren("chunk");
659 for (unsigned int i = 0; i < chunks.size(); i++) {
663 // chunk.name = chunks[i]->getStringValue("name");
664 chunk.format = fgUnescape(chunks[i]->getStringValue("format", "%d"));
665 chunk.offset = chunks[i]->getDoubleValue("offset");
666 chunk.factor = chunks[i]->getDoubleValue("factor", 1.0);
667 chunk.min = chunks[i]->getDoubleValue("min");
668 chunk.max = chunks[i]->getDoubleValue("max");
669 chunk.wrap = chunks[i]->getBoolValue("wrap");
670 chunk.rel = chunks[i]->getBoolValue("relative");
672 string node = chunks[i]->getStringValue("node", "/null");
673 chunk.prop = fgGetNode(node.c_str(), true);
675 string type = chunks[i]->getStringValue("type");
677 // Note: officially the type is called 'bool' but for backward
678 // compatibility 'boolean' will also be supported.
679 if (type == "bool" || type == "boolean") {
680 chunk.type = FG_BOOL;
682 } else if (type == "float") {
683 chunk.type = FG_FLOAT;
684 record_length += sizeof(int32_t);
685 } else if (type == "double") {
686 chunk.type = FG_DOUBLE;
687 record_length += sizeof(int64_t);
688 } else if (type == "fixed") {
689 chunk.type = FG_FIXED;
690 record_length += sizeof(int32_t);
691 } else if (type == "string")
692 chunk.type = FG_STRING;
695 record_length += sizeof(int32_t);
697 msg.push_back(chunk);
702 if (binary_record_length == -1) {
703 binary_record_length = record_length;
704 } else if (binary_record_length < record_length) {
705 SG_LOG(SG_IO, SG_ALERT,
706 "generic protocol: Requested binary record length shorter than "
707 " requested record representation.");
708 binary_record_length = record_length;
713 void FGGeneric::updateValue(FGGeneric::_serial_prot& prot, bool val)
717 // value inverted if received true, otherwise leave unchanged
719 setValue(prot.prop, !getValue<bool>(prot.prop));
723 setValue(prot.prop, val);