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 - http://www.flightgear.org/~curt
   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., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, 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 <Main/fg_props.hxx>
  33 #include <Scenery/scenery.hxx>  // ground elevation
  34
  35 #include "native_ctrls.hxx"
  36
  37 // FreeBSD works better with this included last ... (?)
  38 #if defined( _MSC_VER )
  39 #  include <windows.h>
  40 #elif defined( __MINGW32__ )
  41 #  include <winsock2.h>
  42 #else
  43 #  include <netinet/in.h>       // htonl() ntohl()
  44 #endif
  45
  46
  47 FGNativeCtrls::FGNativeCtrls() {
  48 }
  49
  50 FGNativeCtrls::~FGNativeCtrls() {
  51 }
  52
  53
  54 // open hailing frequencies
  55 bool FGNativeCtrls::open() {
  56     if ( is_enabled() ) {
  57         SG_LOG( SG_IO, SG_ALERT, "This shouldn't happen, but the channel "
  58                 << "is already in use, ignoring" );
  59         return false;
  60     }
  61
  62     SGIOChannel *io = get_io_channel();
  63
  64     if ( ! io->open( get_direction() ) ) {
  65         SG_LOG( SG_IO, SG_ALERT, "Error opening channel communication layer." );
  66         return false;
  67     }
  68
  69     set_enabled( true );
  70
  71     return true;
  72 }
  73
  74
  75 // The function htond is defined this way due to the way some
  76 // processors and OSes treat floating point values.  Some will raise
  77 // an exception whenever a "bad" floating point value is loaded into a
  78 // floating point register.  Solaris is notorious for this, but then
  79 // so is LynxOS on the PowerPC.  By translating the data in place,
  80 // there is no need to load a FP register with the "corruped" floating
  81 // point value.  By doing the BIG_ENDIAN test, I can optimize the
  82 // routine for big-endian processors so it can be as efficient as
  83 // possible
  84 static void htond (double &x)
  85 {
  86     if ( sgIsLittleEndian() ) {
  87         int    *Double_Overlay;
  88         int     Holding_Buffer;
  89
  90         Double_Overlay = (int *) &x;
  91         Holding_Buffer = Double_Overlay [0];
  92
  93         Double_Overlay [0] = htonl (Double_Overlay [1]);
  94         Double_Overlay [1] = htonl (Holding_Buffer);
  95     } else {
  96         return;
  97     }
  98 }
  99
 100
 101 // Populate the FGNetCtrls structure from the property tree.
 102 void FGProps2NetCtrls( FGNetCtrls *net, bool honor_freezes,
 103                        bool net_byte_order )
 104 {
 105     int i;
 106     SGPropertyNode *node;
 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->rudder = node->getDoubleValue( "rudder" );
 116     net->aileron_trim = node->getDoubleValue( "aileron-trim" );
 117     net->elevator_trim = node->getDoubleValue( "elevator-trim" );
 118     net->rudder_trim = node->getDoubleValue( "rudder-trim" );
 119     net->flaps = node->getDoubleValue( "flaps" );
 120     net->flaps_power
 121         = fgGetDouble( "/systems/electrical/outputs/flaps", 1.0 ) >= 1.0;
 122     net->flap_motor_ok = node->getBoolValue( "flaps-serviceable" );
 123
 124     net->num_engines = FGNetCtrls::FG_MAX_ENGINES;
 125     for ( i = 0; i < FGNetCtrls::FG_MAX_ENGINES; ++i ) {
 126         // Controls
 127         node = fgGetNode("/controls/engines/engine", i );
 128         fuelpump = fgGetNode("/systems/electrical/outputs/fuel-pump", i );
 129
 130         tempnode = node->getChild("starter");
 131         if ( tempnode != NULL ) {
 132             net->starter_power[i] = ( tempnode->getDoubleValue() >= 1.0 );
 133         }
 134         tempnode = node->getChild("master-bat");
 135         if ( tempnode != NULL ) {
 136             net->master_bat[i] = tempnode->getBoolValue();
 137         }
 138         tempnode = node->getChild("master-alt");
 139         if ( tempnode != NULL ) {
 140             net->master_alt[i] = tempnode->getBoolValue();
 141         }
 142
 143         net->throttle[i] = node->getDoubleValue( "throttle", 0.0 );
 144         net->mixture[i] = node->getDoubleValue( "mixture", 0.0 );
 145         net->prop_advance[i] = node->getDoubleValue( "propeller-pitch", 0.0 );
 146         net->condition[i] = node->getDoubleValue( "condition", 0.0 );
 147         net->magnetos[i] = node->getIntValue( "magnetos", 0 );
 148         if ( i == 0 ) {
 149           // cout << "Magnetos -> " << node->getIntValue( "magnetos", 0 );
 150         }
 151         if ( i == 0 ) {
 152           // cout << "Starter -> " << node->getIntValue( "starter", false )
 153           //      << endl;
 154         }
 155
 156         if ( fuelpump != NULL ) {
 157             net->fuel_pump_power[i] = ( fuelpump->getDoubleValue() >= 1.0 );
 158         } else {
 159             net->fuel_pump_power[i] = 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->copilot_brake_left
 190         = node->getChild("copilot-brake-left")->getDoubleValue();
 191     net->copilot_brake_right
 192         = node->getChild("copilot-brake-right")->getDoubleValue();
 193     net->brake_parking = node->getChild("brake-parking")->getDoubleValue();
 194
 195     net->gear_handle = fgGetBool( "/controls/gear/gear-down" );
 196
 197     net->master_avionics = fgGetBool("/controls/switches/master-avionics");
 198
 199     net->wind_speed_kt = fgGetDouble("/environment/wind-speed-kt");
 200     net->wind_dir_deg = fgGetDouble("/environment/wind-from-heading-deg");
 201     net->turbulence_norm =
 202         fgGetDouble("/environment/turbulence/magnitude-norm");
 203
 204     net->temp_c = fgGetDouble("/environment/temperature-degc");
 205     net->press_inhg = fgGetDouble("/environment/pressure-sea-level-inhg");
 206
 207     net->hground = fgGetDouble("/position/ground-elev-m");
 208     net->magvar = fgGetDouble("/environment/magnetic-variation-deg");
 209
 210     net->icing = fgGetBool("/hazards/icing/wing");
 211
 212     net->speedup = fgGetInt("/sim/speed-up");
 213     net->freeze = 0;
 214     if ( honor_freezes ) {
 215         if ( fgGetBool("/sim/freeze/master") ) {
 216             net->freeze |= 0x01;
 217         }
 218         if ( fgGetBool("/sim/freeze/position") ) {
 219             net->freeze |= 0x02;
 220         }
 221         if ( fgGetBool("/sim/freeze/fuel") ) {
 222             net->freeze |= 0x04;
 223         }
 224     }
 225
 226     if ( net_byte_order ) {
 227         // convert to network byte order
 228         net->version = htonl(net->version);
 229         htond(net->aileron);
 230         htond(net->elevator);
 231         htond(net->rudder);
 232         htond(net->aileron_trim);
 233         htond(net->elevator_trim);
 234         htond(net->rudder_trim);
 235         htond(net->flaps);
 236         net->flaps_power = htonl(net->flaps_power);
 237         net->flap_motor_ok = htonl(net->flap_motor_ok);
 238
 239         net->num_engines = htonl(net->num_engines);
 240         for ( i = 0; i < FGNetCtrls::FG_MAX_ENGINES; ++i ) {
 241             net->master_bat[i] = htonl(net->master_bat[i]);
 242             net->master_alt[i] = htonl(net->master_alt[i]);
 243             net->magnetos[i] = htonl(net->magnetos[i]);
 244             net->starter_power[i] = htonl(net->starter_power[i]);
 245             htond(net->throttle[i]);
 246             htond(net->mixture[i]);
 247             net->fuel_pump_power[i] = htonl(net->fuel_pump_power[i]);
 248             htond(net->prop_advance[i]);
 249             htond(net->condition[i]);
 250             net->engine_ok[i] = htonl(net->engine_ok[i]);
 251             net->mag_left_ok[i] = htonl(net->mag_left_ok[i]);
 252             net->mag_right_ok[i] = htonl(net->mag_right_ok[i]);
 253             net->spark_plugs_ok[i] = htonl(net->spark_plugs_ok[i]);
 254             net->oil_press_status[i] = htonl(net->oil_press_status[i]);
 255             net->fuel_pump_ok[i] = htonl(net->fuel_pump_ok[i]);
 256         }
 257
 258         net->num_tanks = htonl(net->num_tanks);
 259         for ( i = 0; i < FGNetCtrls::FG_MAX_TANKS; ++i ) {
 260             net->fuel_selector[i] = htonl(net->fuel_selector[i]);
 261         }
 262
 263         net->cross_feed = htonl(net->cross_feed);
 264         htond(net->brake_left);
 265         htond(net->brake_right);
 266         htond(net->copilot_brake_left);
 267         htond(net->copilot_brake_right);
 268         htond(net->brake_parking);
 269         net->gear_handle = htonl(net->gear_handle);
 270         net->master_avionics = htonl(net->master_avionics);
 271         htond(net->wind_speed_kt);
 272         htond(net->wind_dir_deg);
 273         htond(net->turbulence_norm);
 274         htond(net->temp_c);
 275         htond(net->press_inhg);
 276         htond(net->hground);
 277         htond(net->magvar);
 278         net->icing = htonl(net->icing);
 279         net->speedup = htonl(net->speedup);
 280         net->freeze = htonl(net->freeze);
 281     }
 282 }
 283
 284
 285 // Update the property tree from the FGNetCtrls structure.
 286 void FGNetCtrls2Props( FGNetCtrls *net, bool honor_freezes,
 287                        bool net_byte_order )
 288 {
 289     int i;
 290
 291     SGPropertyNode * node;
 292
 293     if ( net_byte_order ) {
 294         // convert from network byte order
 295         net->version = htonl(net->version);
 296         htond(net->aileron);
 297         htond(net->elevator);
 298         htond(net->rudder);
 299         htond(net->aileron_trim);
 300         htond(net->elevator_trim);
 301         htond(net->rudder_trim);
 302         htond(net->flaps);
 303         net->flaps_power = htonl(net->flaps_power);
 304         net->flap_motor_ok = htonl(net->flap_motor_ok);
 305
 306         net->num_engines = htonl(net->num_engines);
 307         for ( i = 0; i < (int)net->num_engines; ++i ) {
 308             net->master_bat[i] = htonl(net->master_bat[i]);
 309             net->master_alt[i] = htonl(net->master_alt[i]);
 310             net->magnetos[i] = htonl(net->magnetos[i]);
 311             net->starter_power[i] = htonl(net->starter_power[i]);
 312             htond(net->throttle[i]);
 313             htond(net->mixture[i]);
 314             net->fuel_pump_power[i] = htonl(net->fuel_pump_power[i]);
 315             htond(net->prop_advance[i]);
 316             htond(net->condition[i]);
 317             net->engine_ok[i] = htonl(net->engine_ok[i]);
 318             net->mag_left_ok[i] = htonl(net->mag_left_ok[i]);
 319             net->mag_right_ok[i] = htonl(net->mag_right_ok[i]);
 320             net->spark_plugs_ok[i] = htonl(net->spark_plugs_ok[i]);
 321             net->oil_press_status[i] = htonl(net->oil_press_status[i]);
 322             net->fuel_pump_ok[i] = htonl(net->fuel_pump_ok[i]);
 323         }
 324
 325         net->num_tanks = htonl(net->num_tanks);
 326         for ( i = 0; i < FGNetCtrls::FG_MAX_TANKS; ++i ) {
 327             net->fuel_selector[i] = htonl(net->fuel_selector[i]);
 328         }
 329
 330         net->cross_feed = htonl(net->cross_feed);
 331         htond(net->brake_left);
 332         htond(net->brake_right);
 333         htond(net->copilot_brake_left);
 334         htond(net->copilot_brake_right);
 335         htond(net->brake_parking);
 336         net->gear_handle = htonl(net->gear_handle);
 337         net->master_avionics = htonl(net->master_avionics);
 338         htond(net->wind_speed_kt);
 339         htond(net->wind_dir_deg);
 340         htond(net->turbulence_norm);
 341         htond(net->temp_c);
 342         htond(net->press_inhg);
 343         htond(net->hground);
 344         htond(net->magvar);
 345         net->icing = htonl(net->icing);
 346         net->speedup = htonl(net->speedup);
 347         net->freeze = htonl(net->freeze);
 348     }
 349
 350     if ( net->version != FG_NET_CTRLS_VERSION ) {
 351         SG_LOG( SG_IO, SG_ALERT,
 352                 "Version mismatch with raw controls packet format." );
 353         SG_LOG( SG_IO, SG_ALERT,
 354                 "FlightGear needs version = " << FG_NET_CTRLS_VERSION
 355                 << " but is receiving version = "  << net->version );
 356     }
 357     node = fgGetNode("/controls/flight", true);
 358     node->setDoubleValue( "aileron", net->aileron );
 359     node->setDoubleValue( "elevator", net->elevator );
 360     node->setDoubleValue( "rudder", net->rudder );
 361     node->setDoubleValue( "aileron-trim", net->aileron_trim );
 362     node->setDoubleValue( "elevator-trim", net->elevator_trim );
 363     node->setDoubleValue( "rudder-trim", net->rudder_trim );
 364     node->setDoubleValue( "flaps", net->flaps );
 365     node->setDoubleValue( "speedbrake", net->speedbrake );  //JWW
 366     // or
 367     node->setDoubleValue( "spoilers", net->spoilers );  //JWW
 368 //    cout << "NET->Spoilers: " << net->spoilers << endl;
 369     fgSetBool( "/systems/electrical/outputs/flaps", net->flaps_power );
 370     node->setBoolValue( "flaps-serviceable", net->flap_motor_ok );
 371
 372     for ( i = 0; i < FGNetCtrls::FG_MAX_ENGINES; ++i ) {
 373         // Controls
 374         node = fgGetNode("/controls/engines/engine", i);
 375         node->getChild( "throttle" )->setDoubleValue( net->throttle[i] );
 376         node->getChild( "mixture" )->setDoubleValue( net->mixture[i] );
 377         node->getChild( "propeller-pitch" )
 378             ->setDoubleValue( net->prop_advance[i] );
 379         node->getChild( "condition" )
 380             ->setDoubleValue( net->condition[i] );
 381         node->getChild( "magnetos" )->setDoubleValue( net->magnetos[i] );
 382         node->getChild( "starter" )->setDoubleValue( net->starter_power[i] );
 383         node->getChild( "feed_tank" )->setIntValue( net->feed_tank_to[i] );
 384         node->getChild( "reverser" )->setBoolValue( net->reverse[i] );
 385         // Faults
 386         SGPropertyNode *faults = node->getNode( "faults", true );
 387         faults->setBoolValue( "serviceable", net->engine_ok[i] );
 388         faults->setBoolValue( "left-magneto-serviceable",
 389                               net->mag_left_ok[i] );
 390         faults->setBoolValue( "right-magneto-serviceable",
 391                               net->mag_right_ok[i]);
 392         faults->setBoolValue( "spark-plugs-serviceable",
 393                               net->spark_plugs_ok[i] );
 394         faults->setIntValue( "oil-pressure-status", net->oil_press_status[i] );
 395         faults->setBoolValue( "fuel-pump-serviceable", net->fuel_pump_ok[i] );
 396     }
 397
 398     fgSetBool( "/systems/electrical/outputs/fuel-pump",
 399                net->fuel_pump_power[0] );
 400
 401     for ( i = 0; i < FGNetCtrls::FG_MAX_TANKS; ++i ) {
 402         node = fgGetNode( "/controls/fuel/tank", i );
 403         node->getChild( "fuel_selector" )
 404             ->setBoolValue( net->fuel_selector[i] );
 405 //        node->getChild( "to_tank" )->xfer_tank( i, net->xfer_to[i] );
 406     }
 407     node = fgGetNode( "/controls/gear" );
 408     if ( node != NULL ) {
 409         node->getChild( "brake-left" )->setDoubleValue( net->brake_left );
 410         node->getChild( "brake-right" )->setDoubleValue( net->brake_right );
 411         node->getChild( "copilot-brake-left" )
 412             ->setDoubleValue( net->copilot_brake_left );
 413         node->getChild( "copilot-brake-right" )
 414             ->setDoubleValue( net->copilot_brake_right );
 415         node->getChild( "brake-parking" )->setDoubleValue( net->brake_parking );
 416     }
 417
 418     node = fgGetNode( "/controls/gear", true );
 419     node->setBoolValue( "gear-down", net->gear_handle );
 420 //    node->setDoubleValue( "brake-parking", net->brake_parking );
 421 //    node->setDoubleValue( net->brake_left );
 422 //    node->setDoubleValue( net->brake_right );
 423
 424     node = fgGetNode( "/controls/switches", true );
 425     node->setBoolValue( "master-bat", net->master_bat );
 426     node->setBoolValue( "master-alt", net->master_alt );
 427     node->setBoolValue( "master-avionics", net->master_avionics );
 428
 429     node = fgGetNode( "/environment", true );
 430     node->setDoubleValue( "wind-speed-kt", net->wind_speed_kt );
 431     node->setDoubleValue( "wind-from-heading-deg", net->wind_dir_deg );
 432     node->setDoubleValue( "turbulence/magnitude-norm", net->turbulence_norm );
 433     node->setDoubleValue( "magnetic-variation-deg", net->magvar );
 434
 435     node->setDoubleValue( "/environment/temperature-degc",
 436                           net->temp_c );
 437     node->setDoubleValue( "/environment/pressure-sea-level-inhg",
 438                           net->press_inhg );
 439
 440     // ground elevation ???
 441
 442     fgSetDouble("/hazards/icing/wing", net->icing);
 443
 444     node = fgGetNode( "/radios", true );
 445     node->setDoubleValue( "comm/frequencies/selected-mhz[0]", net->comm_1 );
 446     node->setDoubleValue( "nav/frequencies/selected-mhz[0]", net->nav_1 );
 447     node->setDoubleValue( "nav[1]/frequencies/selected-mhz[0]", net->nav_2 );
 448
 449     fgSetInt( "/sim/speed-up", net->speedup );
 450
 451     if ( honor_freezes ) {
 452         node = fgGetNode( "/sim/freeze", true );
 453         node->setBoolValue( "master", net->freeze & 0x01 );
 454         node->setBoolValue( "position", net->freeze & 0x02 );
 455         node->setBoolValue( "fuel", net->freeze & 0x04 );
 456     }
 457 }
 458
 459
 460 // process work for this port
 461 bool FGNativeCtrls::process() {
 462     SGIOChannel *io = get_io_channel();
 463     int length = sizeof(FGNetCtrls);
 464
 465     if ( get_direction() == SG_IO_OUT ) {
 466
 467         FGProps2NetCtrls( &net_ctrls, true, true );
 468
 469         if ( ! io->write( (char *)(& net_ctrls), length ) ) {
 470             SG_LOG( SG_IO, SG_ALERT, "Error writing data." );
 471             return false;
 472         }
 473     } else if ( get_direction() == SG_IO_IN ) {
 474         if ( io->get_type() == sgFileType ) {
 475             if ( io->read( (char *)(& net_ctrls), length ) == length ) {
 476                 SG_LOG( SG_IO, SG_DEBUG, "Success reading data." );
 477                 FGNetCtrls2Props( &net_ctrls, true, true );
 478             }
 479         } else {
 480             while ( io->read( (char *)(& net_ctrls), length ) == length ) {
 481                 SG_LOG( SG_IO, SG_DEBUG, "Success reading data." );
 482                 FGNetCtrls2Props( &net_ctrls, true, true );
 483             }
 484         }
 485     }
 486
 487     return true;
 488 }
 489
 490
 491 // close the channel
 492 bool FGNativeCtrls::close() {
 493     SGIOChannel *io = get_io_channel();
 494
 495     set_enabled( false );
 496
 497     if ( ! io->close() ) {
 498         return false;
 499     }
 500
 501     return true;
 502 }