src/Network/native_ctrls.cxx

   1 // native_ctrls.cxx -- FGFS "Native" controls I/O class
   2 //
   3 // Written by Curtis Olson, started July 2001.
   4 //
   5 // Copyright (C) 2001  Curtis L. Olson - curt@flightgear.org
   6 //
   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.
  11 //
  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.
  16 //
  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., 675 Mass Ave, Cambridge, MA 02139, USA.
  20 //
  21 // $Id$
  22
  23
  24 #ifdef HAVE_CONFIG_H
  25 #  include <config.h>
  26 #endif
  27
  28 #include <simgear/debug/logstream.hxx>
  29 #include <simgear/io/iochannel.hxx>
  30 #include <simgear/io/lowlevel.hxx> // endian tests
  31
  32 #include <FDM/flight.hxx>
  33 #include <Main/fg_props.hxx>
  34 #include <Scenery/scenery.hxx>  // ground elevation
  35
  36 #include "native_ctrls.hxx"
  37
  38 // FreeBSD works better with this included last ... (?)
  39 #if defined(WIN32) && !defined(__CYGWIN__)
  40 #  include <windows.h>
  41 #else
  42 #  include <netinet/in.h>       // htonl() ntohl()
  43 #endif
  44
  45
  46 FGNativeCtrls::FGNativeCtrls() {
  47 }
  48
  49 FGNativeCtrls::~FGNativeCtrls() {
  50 }
  51
  52
  53 // open hailing frequencies
  54 bool FGNativeCtrls::open() {
  55     if ( is_enabled() ) {
  56         SG_LOG( SG_IO, SG_ALERT, "This shouldn't happen, but the channel "
  57                 << "is already in use, ignoring" );
  58         return false;
  59     }
  60
  61     SGIOChannel *io = get_io_channel();
  62
  63     if ( ! io->open( get_direction() ) ) {
  64         SG_LOG( SG_IO, SG_ALERT, "Error opening channel communication layer." );
  65         return false;
  66     }
  67
  68     set_enabled( true );
  69
  70     return true;
  71 }
  72
  73
  74 // The function htond is defined this way due to the way some
  75 // processors and OSes treat floating point values.  Some will raise
  76 // an exception whenever a "bad" floating point value is loaded into a
  77 // floating point register.  Solaris is notorious for this, but then
  78 // so is LynxOS on the PowerPC.  By translating the data in place,
  79 // there is no need to load a FP register with the "corruped" floating
  80 // point value.  By doing the BIG_ENDIAN test, I can optimize the
  81 // routine for big-endian processors so it can be as efficient as
  82 // possible
  83 static void htond (double &x)
  84 {
  85     if ( sgIsLittleEndian() ) {
  86         int    *Double_Overlay;
  87         int     Holding_Buffer;
  88
  89         Double_Overlay = (int *) &x;
  90         Holding_Buffer = Double_Overlay [0];
  91
  92         Double_Overlay [0] = htonl (Double_Overlay [1]);
  93         Double_Overlay [1] = htonl (Holding_Buffer);
  94     } else {
  95         return;
  96     }
  97 }
  98
  99
 100 // Populate the FGNetCtrls structure from the property tree.
 101 void FGProps2NetCtrls( FGNetCtrls *net, bool honor_freezes,
 102                        bool net_byte_order )
 103 {
 104     int i;
 105     SGPropertyNode *node;
 106     SGPropertyNode *starter;
 107     SGPropertyNode *fuelpump;
 108     SGPropertyNode *tempnode;
 109
 110     // fill in values
 111     node  = fgGetNode("/controls/flight", true);
 112     net->version = FG_NET_CTRLS_VERSION;
 113     net->aileron = node->getDoubleValue( "aileron" );
 114     net->elevator = node->getDoubleValue( "elevator" );
 115     net->elevator_trim = node->getDoubleValue( "elevator-trim" );
 116     net->rudder = node->getDoubleValue( "rudder" );
 117     net->flaps = node->getDoubleValue( "flaps" );
 118     net->flaps_power
 119         = fgGetDouble( "/systems/electrical/outputs/flaps", 1.0 ) >= 1.0;
 120     net->flap_motor_ok = node->getBoolValue( "flaps-serviceable" );
 121
 122     net->num_engines = FGNetCtrls::FG_MAX_ENGINES;
 123     for ( i = 0; i < FGNetCtrls::FG_MAX_ENGINES; ++i ) {
 124         // Controls
 125         node = fgGetNode("/controls/engines/engine", i );
 126         starter = fgGetNode("/systems/electrical/outputs/starter", i );
 127         fuelpump = fgGetNode("/systems/electrical/outputs/fuel-pump", i );
 128
 129         tempnode = node->getChild("master-bat");
 130         if ( tempnode != NULL ) {
 131             net->master_bat[i] = tempnode->getBoolValue();
 132         }
 133         tempnode = node->getChild("master-alt");
 134         if ( tempnode != NULL ) {
 135             net->master_alt[i] = tempnode->getBoolValue();
 136         }
 137
 138         net->throttle[i] = node->getDoubleValue( "throttle", 0.0 );
 139         net->mixture[i] = node->getDoubleValue( "mixture", 0.0 );
 140         net->prop_advance[i] = node->getDoubleValue( "propeller-pitch", 0.0 );
 141         net->magnetos[i] = node->getIntValue( "magnetos", 0 );
 142         if ( i == 0 ) {
 143           // cout << "Magnetos -> " << node->getIntValue( "magnetos", 0 );
 144         }
 145         if ( i == 0 ) {
 146           // cout << "Starter -> " << node->getIntValue( "starter", false )
 147           //      << endl;
 148         }
 149
 150         if ( fuelpump != NULL ) {
 151             net->fuel_pump_power[i] = ( fuelpump->getDoubleValue() >= 1.0 );
 152         } else {
 153             net->fuel_pump_power[i] = 0.0;
 154         }
 155
 156         if ( starter != NULL ) {
 157             net->starter_power[i] = ( starter->getDoubleValue() >= 1.0 );
 158         } else {
 159             net->starter_power[i] = 0.0;
 160         }
 161
 162         // Faults
 163         SGPropertyNode *faults = node->getChild( "faults", 0, true );
 164         net->engine_ok[i] = faults->getBoolValue( "serviceable", true );
 165         net->mag_left_ok[i]
 166           = faults->getBoolValue( "left-magneto-serviceable", true );
 167         net->mag_right_ok[i]
 168           = faults->getBoolValue( "right-magneto-serviceable", true);
 169         net->spark_plugs_ok[i]
 170           = faults->getBoolValue( "spark-plugs-serviceable", true );
 171         net->oil_press_status[i]
 172           = faults->getIntValue( "oil-pressure-status", 0 );
 173         net->fuel_pump_ok[i]
 174           = faults->getBoolValue( "fuel-pump-serviceable", true );
 175     }
 176     net->num_tanks = FGNetCtrls::FG_MAX_TANKS;
 177     for ( i = 0; i < FGNetCtrls::FG_MAX_TANKS; ++i ) {
 178         node = fgGetNode("/controls/fuel/tank", i);
 179         if ( node->getChild("fuel_selector") != 0 ) {
 180             net->fuel_selector[i]
 181                 = node->getChild("fuel_selector")->getBoolValue();
 182         } else {
 183             net->fuel_selector[i] = false;
 184         }
 185     }
 186     node = fgGetNode("/controls/gear", true);
 187     net->brake_left = node->getChild("brake-left")->getDoubleValue();
 188     net->brake_right = node->getChild("brake-right")->getDoubleValue();
 189     net->brake_parking = node->getChild("brake-parking")->getDoubleValue();
 190
 191     net->gear_handle = fgGetBool( "controls/gear/gear-down" );
 192
 193     tempnode = node->getChild("master-avionics");
 194     if ( tempnode != NULL ) {
 195         net->master_avionics = tempnode->getBoolValue();
 196     }
 197
 198     net->wind_speed_kt = fgGetDouble("/environment/wind-speed-kt");
 199     net->wind_dir_deg = fgGetDouble("/environment/wind-from-heading-deg");
 200     net->turbulence_norm =
 201         fgGetDouble("/environment/turbulence/magnitude-norm");
 202
 203     net->temp_c = fgGetDouble("/environment/temperature-degc");
 204     net->press_inhg = fgGetDouble("/environment/pressure-sea-level-inhg");
 205
 206     // cur_fdm_state->get_ground_elev_ft() is what we want ... this
 207     // reports the altitude of the aircraft.
 208     // "/environment/ground-elevation-m" reports the ground elevation
 209     // of the current view point which could change substantially if
 210     // the user is switching views.
 211     net->hground = cur_fdm_state->get_ground_elev_ft() * SG_FEET_TO_METER;
 212     net->magvar = fgGetDouble("/environment/magnetic-variation-deg");
 213     net->speedup = fgGetInt("/sim/speed-up");
 214     net->freeze = 0;
 215     if ( honor_freezes ) {
 216         if ( fgGetBool("/sim/freeze/master") ) {
 217             net->freeze |= 0x01;
 218         }
 219         if ( fgGetBool("/sim/freeze/position") ) {
 220             net->freeze |= 0x02;
 221         }
 222         if ( fgGetBool("/sim/freeze/fuel") ) {
 223             net->freeze |= 0x04;
 224         }
 225     }
 226
 227     if ( net_byte_order ) {
 228         // convert to network byte order
 229         net->version = htonl(net->version);
 230         htond(net->aileron);
 231         htond(net->elevator);
 232         htond(net->elevator_trim);
 233         htond(net->rudder);
 234         htond(net->flaps);
 235         net->flaps_power = htonl(net->flaps_power);
 236         net->flap_motor_ok = htonl(net->flap_motor_ok);
 237         for ( i = 0; i < FGNetCtrls::FG_MAX_ENGINES; ++i ) {
 238             net->master_bat[i] = htonl(net->master_bat[i]);
 239             net->master_alt[i] = htonl(net->master_alt[i]);
 240             net->magnetos[i] = htonl(net->magnetos[i]);
 241             net->starter_power[i] = htonl(net->starter_power[i]);
 242             htond(net->throttle[i]);
 243             htond(net->mixture[i]);
 244             net->fuel_pump_power[i] = htonl(net->fuel_pump_power[i]);
 245             htond(net->prop_advance[i]);
 246             net->engine_ok[i] = htonl(net->engine_ok[i]);
 247             net->mag_left_ok[i] = htonl(net->mag_left_ok[i]);
 248             net->mag_right_ok[i] = htonl(net->mag_right_ok[i]);
 249             net->spark_plugs_ok[i] = htonl(net->spark_plugs_ok[i]);
 250             net->oil_press_status[i] = htonl(net->oil_press_status[i]);
 251             net->fuel_pump_ok[i] = htonl(net->fuel_pump_ok[i]);
 252         }
 253         net->num_engines = htonl(net->num_engines);
 254         for ( i = 0; i < FGNetCtrls::FG_MAX_TANKS; ++i ) {
 255             net->fuel_selector[i] = htonl(net->fuel_selector[i]);
 256         }
 257         net->num_tanks = htonl(net->num_tanks);
 258         htond(net->brake_left);
 259         htond(net->brake_right);
 260         htond(net->brake_parking);
 261         net->gear_handle = htonl(net->gear_handle);
 262         net->master_avionics = htonl(net->master_avionics);
 263         htond(net->wind_speed_kt);
 264         htond(net->wind_dir_deg);
 265         htond(net->turbulence_norm);
 266         htond(net->temp_c);
 267         htond(net->press_inhg);
 268         htond(net->hground);
 269         htond(net->magvar);
 270         net->speedup = htonl(net->speedup);
 271         net->freeze = htonl(net->freeze);
 272     }
 273 }
 274
 275
 276 // Update the property tree from the FGNetCtrls structure.
 277 void FGNetCtrls2Props( FGNetCtrls *net, bool honor_freezes,
 278                        bool net_byte_order )
 279 {
 280     int i;
 281
 282     SGPropertyNode * node;
 283
 284     if ( net_byte_order ) {
 285         // convert from network byte order
 286         net->version = htonl(net->version);
 287         htond(net->aileron);
 288         htond(net->elevator);
 289         htond(net->elevator_trim);
 290         htond(net->rudder);
 291         htond(net->flaps);
 292         net->flaps_power = htonl(net->flaps_power);
 293         net->flap_motor_ok = htonl(net->flap_motor_ok);
 294         net->num_engines = htonl(net->num_engines);
 295         for ( i = 0; i < net->num_engines; ++i ) {
 296             net->master_bat[i] = htonl(net->master_bat[i]);
 297             net->master_alt[i] = htonl(net->master_alt[i]);
 298             net->magnetos[i] = htonl(net->magnetos[i]);
 299             net->starter_power[i] = htonl(net->starter_power[i]);
 300             htond(net->throttle[i]);
 301             htond(net->mixture[i]);
 302             net->fuel_pump_power[i] = htonl(net->fuel_pump_power[i]);
 303             htond(net->prop_advance[i]);
 304             net->engine_ok[i] = htonl(net->engine_ok[i]);
 305             net->mag_left_ok[i] = htonl(net->mag_left_ok[i]);
 306             net->mag_right_ok[i] = htonl(net->mag_right_ok[i]);
 307             net->spark_plugs_ok[i] = htonl(net->spark_plugs_ok[i]);
 308             net->oil_press_status[i] = htonl(net->oil_press_status[i]);
 309             net->fuel_pump_ok[i] = htonl(net->fuel_pump_ok[i]);
 310         }
 311         net->num_tanks = htonl(net->num_tanks);
 312         for ( i = 0; i < net->num_tanks; ++i ) {
 313             net->fuel_selector[i] = htonl(net->fuel_selector[i]);
 314         }
 315         htond(net->brake_left);
 316         htond(net->brake_right);
 317         htond(net->brake_parking);
 318         net->gear_handle = htonl(net->gear_handle);
 319         net->master_avionics = htonl(net->master_avionics);
 320         htond(net->wind_speed_kt);
 321         htond(net->wind_dir_deg);
 322         htond(net->turbulence_norm);
 323         htond(net->temp_c);
 324         htond(net->press_inhg);
 325         htond(net->hground);
 326         htond(net->magvar);
 327         net->speedup = htonl(net->speedup);
 328         net->freeze = htonl(net->freeze);
 329     }
 330
 331     if ( net->version != FG_NET_CTRLS_VERSION ) {
 332         SG_LOG( SG_IO, SG_ALERT,
 333                 "Version mismatch with raw controls packet format." );
 334         SG_LOG( SG_IO, SG_ALERT,
 335                 "FlightGear needs version = " << FG_NET_CTRLS_VERSION
 336                 << " but is receiving version = "  << net->version );
 337     }
 338     node = fgGetNode("/controls/flight", true);
 339     node->setDoubleValue( "aileron", net->aileron );
 340     node->setDoubleValue( "elevator", net->elevator );
 341     node->setDoubleValue( "elevator-trim", net->elevator_trim );
 342     node->setDoubleValue( "rudder", net->rudder );
 343     node->setDoubleValue( "flaps", net->flaps );
 344     fgSetBool( "/systems/electrical/outputs/flaps", net->flaps_power );
 345     node->setBoolValue( "flaps-serviceable", net->flap_motor_ok );
 346
 347     for ( i = 0; i < FGNetCtrls::FG_MAX_ENGINES; ++i ) {
 348         // Controls
 349         node = fgGetNode("/controls/engines/engine", i);
 350         node->getChild( "throttle" )->setDoubleValue( net->throttle[i] );
 351         node->getChild( "mixture" )->setDoubleValue( net->mixture[i] );
 352         node->getChild( "propeller-pitch" )
 353             ->setDoubleValue( net->prop_advance[i] );
 354         node->getChild( "magnetos" )->setDoubleValue( net->magnetos[i] );
 355
 356         // Faults
 357         SGPropertyNode *faults = node->getNode( "faults", true );
 358         faults->setBoolValue( "serviceable", net->engine_ok[i] );
 359         faults->setBoolValue( "left-magneto-serviceable",
 360                               net->mag_left_ok[i] );
 361         faults->setBoolValue( "right-magneto-serviceable",
 362                               net->mag_right_ok[i]);
 363         faults->setBoolValue( "spark-plugs-serviceable",
 364                               net->spark_plugs_ok[i] );
 365         faults->setIntValue( "oil-pressure-status", net->oil_press_status[i] );
 366         faults->setBoolValue( "fuel-pump-serviceable", net->fuel_pump_ok[i] );
 367     }
 368
 369     fgSetBool( "/systems/electrical/outputs/fuel-pump",
 370                net->fuel_pump_power[0] );
 371     fgSetBool( "/systems/electrical/outputs/starter",
 372                net->starter_power[0] );
 373
 374     for ( i = 0; i < FGNetCtrls::FG_MAX_TANKS; ++i ) {
 375         node = fgGetNode( "/controls/fuel/tank", i );
 376         node->getChild( "fuel_selector" )
 377             ->setBoolValue( net->fuel_selector[i] );
 378     }
 379     node = fgGetNode( "/controls/gear" );
 380     if ( node != NULL ) {
 381         node->getChild( "brake-left" )->setDoubleValue( net->brake_left );
 382         node->getChild( "brake-right" )->setDoubleValue( net->brake_right );
 383         node->getChild( "brake-parking" )->setDoubleValue( net->brake_parking );
 384     }
 385
 386     node = fgGetNode( "/controls/gear", true );
 387     node->setBoolValue( "gear-down", net->gear_handle );
 388
 389     node = fgGetNode( "/controls/switches", true );
 390     node->setBoolValue( "master-bat", net->master_bat );
 391     node->setBoolValue( "master-alt", net->master_alt );
 392     node->setBoolValue( "master-avionics", net->master_avionics );
 393
 394     node = fgGetNode( "/environment", true );
 395     node->setDoubleValue( "wind-speed-kt", net->wind_speed_kt );
 396     node->setDoubleValue( "wind-from-heading-deg", net->wind_dir_deg );
 397     node->setDoubleValue( "turbulence/magnitude-norm", net->turbulence_norm );
 398     node->setBoolValue( "magnetic-variation-deg", net->magvar );
 399
 400     node->setDoubleValue( "/environment/temperature-degc",
 401                           net->temp_c );
 402     node->setDoubleValue( "/environment/pressure-sea-level-inhg",
 403                           net->press_inhg );
 404
 405     // ground elevation ???
 406
 407     fgSetInt( "/sim/speed-up", net->speedup );
 408
 409     if ( honor_freezes ) {
 410         node = fgGetNode( "/sim/freeze", true );
 411         node->setBoolValue( "master", net->freeze & 0x01 );
 412         node->setBoolValue( "position", net->freeze & 0x02 );
 413         node->setBoolValue( "fuel", net->freeze & 0x04 );
 414     }
 415 }
 416
 417
 418 // process work for this port
 419 bool FGNativeCtrls::process() {
 420     SGIOChannel *io = get_io_channel();
 421     int length = sizeof(FGNetCtrls);
 422
 423     if ( get_direction() == SG_IO_OUT ) {
 424         // cout << "size of cur_fdm_state = " << length << endl;
 425
 426         FGProps2NetCtrls( &net_ctrls, true, true );
 427
 428         if ( ! io->write( (char *)(& net_ctrls), length ) ) {
 429             SG_LOG( SG_IO, SG_ALERT, "Error writing data." );
 430             return false;
 431         }
 432     } else if ( get_direction() == SG_IO_IN ) {
 433         if ( io->get_type() == sgFileType ) {
 434             if ( io->read( (char *)(& net_ctrls), length ) == length ) {
 435                 SG_LOG( SG_IO, SG_DEBUG, "Success reading data." );
 436                 FGNetCtrls2Props( &net_ctrls, true, true );
 437             }
 438         } else {
 439             while ( io->read( (char *)(& net_ctrls), length ) == length ) {
 440                 SG_LOG( SG_IO, SG_DEBUG, "Success reading data." );
 441                 FGNetCtrls2Props( &net_ctrls, true, true );
 442             }
 443         }
 444     }
 445
 446     return true;
 447 }
 448
 449
 450 // close the channel
 451 bool FGNativeCtrls::close() {
 452     SGIOChannel *io = get_io_channel();
 453
 454     set_enabled( false );
 455
 456     if ( ! io->close() ) {
 457         return false;
 458     }
 459
 460     return true;
 461 }