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/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_GENERAL, SG_ALERT,
59 "Not enough tokens passed for generic protocol");
63 string config = tokens[ configToken ];
64 string file = config+".xml";
66 SGPath path( globals->get_fg_root() );
67 path.append("Protocol");
68 path.append(file.c_str());
69 SG_LOG(SG_GENERAL, SG_INFO, "Reading communication protocol from "
74 readProperties(path.str(), &root);
75 } catch (const sg_exception &) {
76 SG_LOG(SG_GENERAL, SG_ALERT,
77 "Unable to load the protocol configuration file");
81 if (tokens[2] == "out") {
82 SGPropertyNode *output = root.getNode("generic/output");
84 read_config(output, _out_message);
86 } else if (tokens[2] == "in") {
87 SGPropertyNode *input = root.getNode("generic/input");
89 read_config(input, _in_message);
92 SG_LOG(SG_GENERAL, SG_ALERT, "Unsuported protocol direction: "
97 FGGeneric::~FGGeneric() {
101 // generate the message
102 bool FGGeneric::gen_message_binary() {
103 string generic_sentence;
107 for (unsigned int i = 0; i < _out_message.size(); i++) {
109 switch (_out_message[i].type) {
111 val = _out_message[i].offset +
112 _out_message[i].prop->getIntValue() * _out_message[i].factor;
114 if (binary_byte_order == BYTE_ORDER_MATCHES_NETWORK_ORDER) {
115 *((int32_t*)&buf[length]) = (int32_t)val;
117 *((uint32_t*)&buf[length]) = sg_bswap_32((uint32_t)val);
119 length += sizeof(int32_t);
123 *((int8_t*)&buf[length])
124 = _out_message[i].prop->getBoolValue() ? true : false;
130 val = _out_message[i].offset +
131 _out_message[i].prop->getFloatValue() * _out_message[i].factor;
133 int fixed = (int)(val * 65536.0f);
134 if (binary_byte_order == BYTE_ORDER_MATCHES_NETWORK_ORDER) {
135 *((int32_t*)&buf[length]) = (int32_t)fixed;
137 *((uint32_t*)&buf[length]) = sg_bswap_32((uint32_t)val);
139 length += sizeof(int32_t);
143 val = _out_message[i].offset +
144 _out_message[i].prop->getFloatValue() * _out_message[i].factor;
146 if (binary_byte_order == BYTE_ORDER_MATCHES_NETWORK_ORDER) {
147 *((float*)&buf[length]) = val;
149 *((float*)&buf[length]) = sg_bswap_32(*(uint32_t*)&val);
151 length += sizeof(int32_t);
155 val = _out_message[i].offset +
156 _out_message[i].prop->getFloatValue() * _out_message[i].factor;
158 if (binary_byte_order == BYTE_ORDER_MATCHES_NETWORK_ORDER) {
159 *((double*)&buf[length]) = val;
161 *((double*)&buf[length]) = sg_bswap_64(*(uint64_t*)&val);
163 length += sizeof(int64_t);
166 default: // SG_STRING
167 const char *strdata = _out_message[i].prop->getStringValue();
168 int strlength = strlen(strdata);
170 if (binary_byte_order == BYTE_ORDER_NEEDS_CONVERSION) {
171 SG_LOG( SG_IO, SG_ALERT, "Generic protocol: "
172 "FG_STRING will be written in host byte order.");
174 /* Format for strings is
175 * [length as int, 4 bytes][ASCII data, length bytes]
177 if (binary_byte_order == BYTE_ORDER_MATCHES_NETWORK_ORDER) {
178 *((int32_t*)&buf[length]) = strlength;
180 *((int32_t*)&buf[length]) = sg_bswap_32(strlength);
182 length += sizeof(int32_t);
183 strncpy(&buf[length], strdata, strlength);
185 /* FIXME padding for alignment? Something like:
186 * length += (strlength % 4 > 0 ? sizeof(int32_t) - strlength % 4 : 0;
191 // add the footer to the packet ("line")
192 switch (binary_footer_type) {
194 binary_footer_value = length;
201 if (binary_footer_type != FOOTER_NONE) {
202 if (binary_byte_order == BYTE_ORDER_MATCHES_NETWORK_ORDER) {
203 *((int32_t*)&buf[length]) = binary_footer_value;
205 *((int32_t*)&buf[length]) = sg_bswap_32(binary_footer_value);
207 length += sizeof(int32_t);
213 bool FGGeneric::gen_message_ascii() {
214 string generic_sentence;
219 for (unsigned int i = 0; i < _out_message.size(); i++) {
222 generic_sentence += var_separator;
225 switch (_out_message[i].type) {
227 val = _out_message[i].offset +
228 _out_message[i].prop->getIntValue() * _out_message[i].factor;
229 snprintf(tmp, 255, _out_message[i].format.c_str(), (int)val);
233 snprintf(tmp, 255, _out_message[i].format.c_str(),
234 _out_message[i].prop->getBoolValue());
238 val = _out_message[i].offset +
239 _out_message[i].prop->getFloatValue() * _out_message[i].factor;
240 snprintf(tmp, 255, _out_message[i].format.c_str(), (float)val);
244 val = _out_message[i].offset +
245 _out_message[i].prop->getFloatValue() * _out_message[i].factor;
246 snprintf(tmp, 255, _out_message[i].format.c_str(), (float)val);
250 val = _out_message[i].offset +
251 _out_message[i].prop->getFloatValue() * _out_message[i].factor;
252 snprintf(tmp, 255, _out_message[i].format.c_str(), (float)val);
255 default: // SG_STRING
256 snprintf(tmp, 255, _out_message[i].format.c_str(),
257 _out_message[i].prop->getStringValue());
260 generic_sentence += tmp;
263 /* After each lot of variables has been added, put the line separator
266 generic_sentence += line_separator;
268 length = generic_sentence.length();
269 strncpy( buf, generic_sentence.c_str(), length );
274 bool FGGeneric::gen_message() {
276 return gen_message_binary();
278 return gen_message_ascii();
282 bool FGGeneric::parse_message_binary() {
288 p2 = p1 + FG_MAX_MSG_SIZE;
289 while ((++i < (int)_in_message.size()) && (p1 < p2)) {
291 switch (_in_message[i].type) {
293 if (binary_byte_order == BYTE_ORDER_NEEDS_CONVERSION) {
294 tmp = sg_bswap_32(*(int32_t *)p1);
296 tmp = *(int32_t *)p1;
299 val = _in_message[i].offset + (double)tmp * _in_message[i].factor;
301 _in_message[i].prop->setIntValue((int)val);
302 p1 += sizeof(int32_t);
306 _in_message[i].prop->setBoolValue( p1[0] != 0 );
311 if (binary_byte_order == BYTE_ORDER_NEEDS_CONVERSION) {
312 tmp = sg_bswap_32(*(int32_t *)p1);
314 tmp = *(int32_t *)p1;
317 val = _in_message[i].offset +
318 ((double)tmp / 65536.0f) * _in_message[i].factor;
320 _in_message[i].prop->setFloatValue(val);
321 p1 += sizeof(int32_t);
325 if (binary_byte_order == BYTE_ORDER_NEEDS_CONVERSION) {
326 tmp = sg_bswap_32(*(int32_t *)p1);
328 tmp = *(int32_t *)p1;
331 val = _in_message[i].offset +
332 *(float *)&tmp * _in_message[i].factor;
334 _in_message[i].prop->setFloatValue(val);
335 p1 += sizeof(int32_t);
339 if (binary_byte_order == BYTE_ORDER_NEEDS_CONVERSION) {
340 tmp = sg_bswap_64(*(int64_t *)p1);
342 tmp = *(int64_t *)p1;
345 val = _in_message[i].offset +
346 *(double *)&tmp * _in_message[i].factor;
348 _in_message[i].prop->setDoubleValue(val);
349 p1 += sizeof(int64_t);
352 default: // SG_STRING
353 SG_LOG( SG_IO, SG_ALERT, "Generic protocol: "
354 "Ignoring unsupported binary input chunk type.");
361 bool FGGeneric::parse_message_ascii() {
366 while ((++i < (int)_in_message.size()) &&
367 p1 && strcmp(p1, line_separator.c_str())) {
369 p2 = strstr(p1, var_separator.c_str());
372 p2 += var_separator.length();
375 switch (_in_message[i].type) {
377 val = _in_message[i].offset + atoi(p1) * _in_message[i].factor;
378 _in_message[i].prop->setIntValue((int)val);
382 _in_message[i].prop->setBoolValue( atof(p1) != 0.0 );
387 val = _in_message[i].offset + strtod(p1, 0) * _in_message[i].factor;
388 _in_message[i].prop->setFloatValue((float)val);
391 default: // SG_STRING
392 _in_message[i].prop->setStringValue(p1);
401 bool FGGeneric::parse_message() {
403 return parse_message_binary();
405 return parse_message_ascii();
410 // open hailing frequencies
411 bool FGGeneric::open() {
412 if ( is_enabled() ) {
413 SG_LOG( SG_IO, SG_ALERT, "This shouldn't happen, but the channel "
414 << "is already in use, ignoring" );
418 SGIOChannel *io = get_io_channel();
420 if ( ! io->open( get_direction() ) ) {
421 SG_LOG( SG_IO, SG_ALERT, "Error opening channel communication layer." );
427 if ( get_direction() == SG_IO_OUT && ! preamble.empty() ) {
428 if ( ! io->write( preamble.c_str(), preamble.size() ) ) {
429 SG_LOG( SG_IO, SG_WARN, "Error writing preamble." );
438 // process work for this port
439 bool FGGeneric::process() {
440 SGIOChannel *io = get_io_channel();
442 if ( get_direction() == SG_IO_OUT ) {
444 if ( ! io->write( buf, length ) ) {
445 SG_LOG( SG_IO, SG_WARN, "Error writing data." );
448 } else if ( get_direction() == SG_IO_IN ) {
449 if ( io->get_type() == sgFileType ) {
451 length = io->readline( buf, FG_MAX_MSG_SIZE );
455 SG_LOG( SG_IO, SG_ALERT, "Error reading data." );
459 length = io->read( buf, binary_record_length );
460 if ( length == binary_record_length ) {
463 SG_LOG( SG_IO, SG_ALERT,
464 "Generic protocol: Received binary "
465 "record of unexpected size, expected: "
466 << binary_record_length << " but received: "
473 length = io->readline( buf, FG_MAX_MSG_SIZE );
478 length = io->read( buf, binary_record_length );
479 if ( length == binary_record_length ) {
481 } else if ( length > 0 ) {
482 SG_LOG( SG_IO, SG_ALERT,
483 "Generic protocol: Received binary "
484 "record of unexpected size, expected: "
485 << binary_record_length << " but received: "
489 } while ( length == binary_record_length );
496 return true; // should not get there, but please the compiler
503 bool FGGeneric::close() {
504 SGIOChannel *io = get_io_channel();
506 if ( get_direction() == SG_IO_OUT && ! postamble.empty() ) {
507 if ( ! io->write( postamble.c_str(), postamble.size() ) ) {
508 SG_LOG( SG_IO, SG_ALERT, "Error writing postamble." );
513 set_enabled( false );
515 if ( ! io->close() ) {
524 FGGeneric::read_config(SGPropertyNode *root, vector<_serial_prot> &msg)
526 binary_mode = root->getBoolValue("binary_mode");
529 /* These variables specified in the $FG_ROOT/data/Protocol/xxx.xml
530 * file for each format
532 * var_sep_string = the string/charachter to place between variables
533 * line_sep_string = the string/charachter to place at the end of each
536 preamble = fgUnescape(root->getStringValue("preamble"));
537 postamble = fgUnescape(root->getStringValue("postamble"));
538 var_sep_string = fgUnescape(root->getStringValue("var_separator"));
539 line_sep_string = fgUnescape(root->getStringValue("line_separator"));
541 if ( var_sep_string == "newline" ) {
542 var_separator = '\n';
543 } else if ( var_sep_string == "tab" ) {
544 var_separator = '\t';
545 } else if ( var_sep_string == "space" ) {
547 } else if ( var_sep_string == "formfeed" ) {
548 var_separator = '\f';
549 } else if ( var_sep_string == "carriagereturn" ) {
550 var_sep_string = '\r';
551 } else if ( var_sep_string == "verticaltab" ) {
552 var_separator = '\v';
554 var_separator = var_sep_string;
557 if ( line_sep_string == "newline" ) {
558 line_separator = '\n';
559 } else if ( line_sep_string == "tab" ) {
560 line_separator = '\t';
561 } else if ( line_sep_string == "space" ) {
562 line_separator = ' ';
563 } else if ( line_sep_string == "formfeed" ) {
564 line_separator = '\f';
565 } else if ( line_sep_string == "carriagereturn" ) {
566 line_separator = '\r';
567 } else if ( line_sep_string == "verticaltab" ) {
568 line_separator = '\v';
570 line_separator = line_sep_string;
573 // default values: no footer and record_length = sizeof(representation)
574 binary_footer_type = FOOTER_NONE;
575 binary_record_length = -1;
577 // default choice is network byte order (big endian)
578 if (sgIsLittleEndian()) {
579 binary_byte_order = BYTE_ORDER_NEEDS_CONVERSION;
581 binary_byte_order = BYTE_ORDER_MATCHES_NETWORK_ORDER;
584 if ( root->hasValue("binary_footer") ) {
585 string footer_type = root->getStringValue("binary_footer");
586 if ( footer_type == "length" ) {
587 binary_footer_type = FOOTER_LENGTH;
588 } else if ( footer_type.substr(0, 5) == "magic" ) {
589 binary_footer_type = FOOTER_MAGIC;
590 binary_footer_value = strtol(footer_type.substr(6,
591 footer_type.length() - 6).c_str(), (char**)0, 0);
592 } else if ( footer_type != "none" ) {
593 SG_LOG(SG_IO, SG_ALERT,
594 "generic protocol: Unknown generic binary protocol "
595 "footer '" << footer_type << "', using no footer.");
599 if ( root->hasValue("record_length") ) {
600 binary_record_length = root->getIntValue("record_length");
603 if ( root->hasValue("byte_order") ) {
604 string byte_order = root->getStringValue("byte_order");
605 if (byte_order == "network" ) {
606 if ( sgIsLittleEndian() ) {
607 binary_byte_order = BYTE_ORDER_NEEDS_CONVERSION;
609 binary_byte_order = BYTE_ORDER_MATCHES_NETWORK_ORDER;
611 } else if ( byte_order == "host" ) {
612 binary_byte_order = BYTE_ORDER_MATCHES_NETWORK_ORDER;
614 SG_LOG(SG_IO, SG_ALERT,
615 "generic protocol: Undefined generic binary protocol"
616 "byte order, using HOST byte order.");
621 int record_length = 0; // Only used for binary protocols.
622 vector<SGPropertyNode_ptr> chunks = root->getChildren("chunk");
623 for (unsigned int i = 0; i < chunks.size(); i++) {
627 // chunk.name = chunks[i]->getStringValue("name");
628 chunk.format = fgUnescape(chunks[i]->getStringValue("format", "%d"));
629 chunk.offset = chunks[i]->getDoubleValue("offset");
630 chunk.factor = chunks[i]->getDoubleValue("factor", 1.0);
632 string node = chunks[i]->getStringValue("node", "/null");
633 chunk.prop = fgGetNode(node.c_str(), true);
635 string type = chunks[i]->getStringValue("type");
636 if (type == "bool") {
637 chunk.type = FG_BOOL;
639 } else if (type == "float") {
640 chunk.type = FG_FLOAT;
641 record_length += sizeof(int32_t);
642 } else if (type == "double") {
643 chunk.type = FG_DOUBLE;
644 record_length += sizeof(int64_t);
645 } else if (type == "fixed") {
646 chunk.type = FG_FIXED;
647 record_length += sizeof(int32_t);
648 } else if (type == "string")
649 chunk.type = FG_STRING;
652 record_length += sizeof(int32_t);
654 msg.push_back(chunk);
658 if (binary_record_length == -1) {
659 binary_record_length = record_length;
660 } else if (binary_record_length < record_length) {
661 SG_LOG(SG_IO, SG_ALERT,
662 "generic protocol: Requested binary record length shorter than "
663 " requested record representation.");
664 binary_record_length = record_length;