1 // generic.cxx -- generic protocol 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;
182 // add the footer to the packet ("line")
183 switch (binary_footer_type) {
185 binary_footer_value = length;
193 if (binary_footer_type != FOOTER_NONE) {
194 int32_t intValue = binary_footer_value;
195 if (binary_byte_order != BYTE_ORDER_MATCHES_NETWORK_ORDER) {
196 intValue = sg_bswap_32(binary_footer_value);
198 memcpy(&buf[length], &intValue, sizeof(int32_t));
199 length += sizeof(int32_t);
205 bool FGGeneric::gen_message_ascii() {
206 string generic_sentence;
211 for (unsigned int i = 0; i < _out_message.size(); i++) {
214 generic_sentence += var_separator;
217 switch (_out_message[i].type) {
219 val = _out_message[i].offset +
220 _out_message[i].prop->getIntValue() * _out_message[i].factor;
221 snprintf(tmp, 255, _out_message[i].format.c_str(), (int)val);
225 snprintf(tmp, 255, _out_message[i].format.c_str(),
226 _out_message[i].prop->getBoolValue());
230 val = _out_message[i].offset +
231 _out_message[i].prop->getFloatValue() * _out_message[i].factor;
232 snprintf(tmp, 255, _out_message[i].format.c_str(), (float)val);
236 val = _out_message[i].offset +
237 _out_message[i].prop->getFloatValue() * _out_message[i].factor;
238 snprintf(tmp, 255, _out_message[i].format.c_str(), (float)val);
242 val = _out_message[i].offset +
243 _out_message[i].prop->getDoubleValue() * _out_message[i].factor;
244 snprintf(tmp, 255, _out_message[i].format.c_str(), (double)val);
247 default: // SG_STRING
248 snprintf(tmp, 255, _out_message[i].format.c_str(),
249 _out_message[i].prop->getStringValue());
252 generic_sentence += tmp;
255 /* After each lot of variables has been added, put the line separator
258 generic_sentence += line_separator;
260 length = generic_sentence.length();
261 strncpy( buf, generic_sentence.c_str(), length );
266 bool FGGeneric::gen_message() {
268 return gen_message_binary();
270 return gen_message_ascii();
274 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 updateValue(_in_message[i], 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.");
340 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 updateValue(_in_message[i], 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);
391 bool FGGeneric::parse_message(int length) {
393 return parse_message_binary(length);
395 return parse_message_ascii(length);
400 // open hailing frequencies
401 bool FGGeneric::open() {
402 if ( is_enabled() ) {
403 SG_LOG( SG_IO, SG_ALERT, "This shouldn't happen, but the channel "
404 << "is already in use, ignoring" );
408 SGIOChannel *io = get_io_channel();
410 if ( ! io->open( get_direction() ) ) {
411 SG_LOG( SG_IO, SG_ALERT, "Error opening channel communication layer." );
417 if ( ((get_direction() == SG_IO_OUT )||
418 (get_direction() == SG_IO_BI))
419 && ! preamble.empty() ) {
420 if ( ! io->write( preamble.c_str(), preamble.size() ) ) {
421 SG_LOG( SG_IO, SG_WARN, "Error writing preamble." );
430 // process work for this port
431 bool FGGeneric::process() {
432 SGIOChannel *io = get_io_channel();
434 if ( (get_direction() == SG_IO_OUT) ||
435 (get_direction() == SG_IO_BI) ) {
437 if ( ! io->write( buf, length ) ) {
438 SG_LOG( SG_IO, SG_WARN, "Error writing data." );
443 if (( get_direction() == SG_IO_IN ) ||
444 (get_direction() == SG_IO_BI) ) {
445 if ( io->get_type() == sgFileType ) {
447 length = io->readline( buf, FG_MAX_MSG_SIZE );
449 parse_message( length );
451 SG_LOG( SG_IO, SG_ALERT, "Error reading data." );
455 length = io->read( buf, binary_record_length );
456 if ( length == binary_record_length ) {
457 parse_message( length );
459 SG_LOG( SG_IO, SG_ALERT,
460 "Generic protocol: Received binary "
461 "record of unexpected size, expected: "
462 << binary_record_length << " but received: "
468 while ((length = io->readline( buf, FG_MAX_MSG_SIZE )) > 0 ) {
469 parse_message( length );
472 while ((length = io->read( buf, binary_record_length ))
473 == binary_record_length ) {
474 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: "
491 return true; // should not get there, but please the compiler
498 bool FGGeneric::close() {
499 SGIOChannel *io = get_io_channel();
501 if ( ((get_direction() == SG_IO_OUT)||
502 (get_direction() == SG_IO_BI))
503 && ! postamble.empty() ) {
504 if ( ! io->write( postamble.c_str(), postamble.size() ) ) {
505 SG_LOG( SG_IO, SG_ALERT, "Error writing postamble." );
510 set_enabled( false );
512 if ( ! io->close() ) {
523 SGPath path( globals->get_fg_root() );
524 path.append("Protocol");
525 path.append(file_name.c_str());
527 SG_LOG(SG_NETWORK, SG_INFO, "Reading communication protocol from "
532 readProperties(path.str(), &root);
533 } catch (const sg_exception & ex) {
534 SG_LOG(SG_NETWORK, SG_ALERT,
535 "Unable to load the protocol configuration file: " << ex.getFormattedMessage() );
539 if (direction == "out") {
540 SGPropertyNode *output = root.getNode("generic/output");
542 _out_message.clear();
543 read_config(output, _out_message);
545 } else if (direction == "in") {
546 SGPropertyNode *input = root.getNode("generic/input");
549 read_config(input, _in_message);
550 if (!binary_mode && (line_separator.size() == 0 ||
551 *line_separator.rbegin() != '\n')) {
553 SG_LOG(SG_IO, SG_WARN,
554 "Warning: Appending newline to line separator in generic input.");
555 line_separator.push_back('\n');
563 FGGeneric::read_config(SGPropertyNode *root, vector<_serial_prot> &msg)
565 binary_mode = root->getBoolValue("binary_mode");
568 /* These variables specified in the $FG_ROOT/data/Protocol/xxx.xml
569 * file for each format
571 * var_sep_string = the string/charachter to place between variables
572 * line_sep_string = the string/charachter to place at the end of each
575 preamble = fgUnescape(root->getStringValue("preamble"));
576 postamble = fgUnescape(root->getStringValue("postamble"));
577 var_sep_string = fgUnescape(root->getStringValue("var_separator"));
578 line_sep_string = fgUnescape(root->getStringValue("line_separator"));
580 if ( var_sep_string == "newline" ) {
581 var_separator = '\n';
582 } else if ( var_sep_string == "tab" ) {
583 var_separator = '\t';
584 } else if ( var_sep_string == "space" ) {
586 } else if ( var_sep_string == "formfeed" ) {
587 var_separator = '\f';
588 } else if ( var_sep_string == "carriagereturn" ) {
589 var_sep_string = '\r';
590 } else if ( var_sep_string == "verticaltab" ) {
591 var_separator = '\v';
593 var_separator = var_sep_string;
596 if ( line_sep_string == "newline" ) {
597 line_separator = '\n';
598 } else if ( line_sep_string == "tab" ) {
599 line_separator = '\t';
600 } else if ( line_sep_string == "space" ) {
601 line_separator = ' ';
602 } else if ( line_sep_string == "formfeed" ) {
603 line_separator = '\f';
604 } else if ( line_sep_string == "carriagereturn" ) {
605 line_separator = '\r';
606 } else if ( line_sep_string == "verticaltab" ) {
607 line_separator = '\v';
609 line_separator = line_sep_string;
612 // default values: no footer and record_length = sizeof(representation)
613 binary_footer_type = FOOTER_NONE;
614 binary_record_length = -1;
616 // default choice is network byte order (big endian)
617 if (sgIsLittleEndian()) {
618 binary_byte_order = BYTE_ORDER_NEEDS_CONVERSION;
620 binary_byte_order = BYTE_ORDER_MATCHES_NETWORK_ORDER;
623 if ( root->hasValue("binary_footer") ) {
624 string footer_type = root->getStringValue("binary_footer");
625 if ( footer_type == "length" ) {
626 binary_footer_type = FOOTER_LENGTH;
627 } else if ( footer_type.substr(0, 5) == "magic" ) {
628 binary_footer_type = FOOTER_MAGIC;
629 binary_footer_value = strtol(footer_type.substr(6,
630 footer_type.length() - 6).c_str(), (char**)0, 0);
631 } else if ( footer_type != "none" ) {
632 SG_LOG(SG_IO, SG_ALERT,
633 "generic protocol: Unknown generic binary protocol "
634 "footer '" << footer_type << "', using no footer.");
638 if ( root->hasValue("record_length") ) {
639 binary_record_length = root->getIntValue("record_length");
642 if ( root->hasValue("byte_order") ) {
643 string byte_order = root->getStringValue("byte_order");
644 if (byte_order == "network" ) {
645 if ( sgIsLittleEndian() ) {
646 binary_byte_order = BYTE_ORDER_NEEDS_CONVERSION;
648 binary_byte_order = BYTE_ORDER_MATCHES_NETWORK_ORDER;
650 } else if ( byte_order == "host" ) {
651 binary_byte_order = BYTE_ORDER_MATCHES_NETWORK_ORDER;
653 SG_LOG(SG_IO, SG_ALERT,
654 "generic protocol: Undefined generic binary protocol"
655 "byte order, using HOST byte order.");
660 int record_length = 0; // Only used for binary protocols.
661 vector<SGPropertyNode_ptr> chunks = root->getChildren("chunk");
662 for (unsigned int i = 0; i < chunks.size(); i++) {
666 // chunk.name = chunks[i]->getStringValue("name");
667 chunk.format = fgUnescape(chunks[i]->getStringValue("format", "%d"));
668 chunk.offset = chunks[i]->getDoubleValue("offset");
669 chunk.factor = chunks[i]->getDoubleValue("factor", 1.0);
670 chunk.min = chunks[i]->getDoubleValue("min");
671 chunk.max = chunks[i]->getDoubleValue("max");
672 chunk.wrap = chunks[i]->getBoolValue("wrap");
673 chunk.rel = chunks[i]->getBoolValue("relative");
675 string node = chunks[i]->getStringValue("node", "/null");
676 chunk.prop = fgGetNode(node.c_str(), true);
678 string type = chunks[i]->getStringValue("type");
680 // Note: officially the type is called 'bool' but for backward
681 // compatibility 'boolean' will also be supported.
682 if (type == "bool" || type == "boolean") {
683 chunk.type = FG_BOOL;
685 } else if (type == "float") {
686 chunk.type = FG_FLOAT;
687 record_length += sizeof(int32_t);
688 } else if (type == "double") {
689 chunk.type = FG_DOUBLE;
690 record_length += sizeof(int64_t);
691 } else if (type == "fixed") {
692 chunk.type = FG_FIXED;
693 record_length += sizeof(int32_t);
694 } else if (type == "string")
695 chunk.type = FG_STRING;
698 record_length += sizeof(int32_t);
700 msg.push_back(chunk);
705 if (binary_record_length == -1) {
706 binary_record_length = record_length;
707 } else if (binary_record_length < record_length) {
708 SG_LOG(SG_IO, SG_ALERT,
709 "generic protocol: Requested binary record length shorter than "
710 " requested record representation.");
711 binary_record_length = record_length;
716 void FGGeneric::updateValue(FGGeneric::_serial_prot& prot, bool val)
720 // value inverted if received true, otherwise leave unchanged
722 setValue(prot.prop, !getValue<bool>(prot.prop));
726 setValue(prot.prop, val);