1 // native_ctrls.cxx -- FGFS "Native" controls I/O class
3 // Written by Curtis Olson, started July 2001.
5 // Copyright (C) 2001 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.
28 #include <simgear/debug/logstream.hxx>
29 #include <simgear/io/iochannel.hxx>
30 #include <simgear/io/lowlevel.hxx> // endian tests
32 #include <Main/fg_props.hxx>
33 #include <Scenery/scenery.hxx> // ground elevation
35 #include "native_ctrls.hxx"
37 // FreeBSD works better with this included last ... (?)
38 #if defined( _MSC_VER )
40 #elif defined( __MINGW32__ )
41 # include <winsock2.h>
43 # include <netinet/in.h> // htonl() ntohl()
47 FGNativeCtrls::FGNativeCtrls() {
50 FGNativeCtrls::~FGNativeCtrls() {
54 // open hailing frequencies
55 bool FGNativeCtrls::open() {
57 SG_LOG( SG_IO, SG_ALERT, "This shouldn't happen, but the channel "
58 << "is already in use, ignoring" );
62 SGIOChannel *io = get_io_channel();
64 if ( ! io->open( get_direction() ) ) {
65 SG_LOG( SG_IO, SG_ALERT, "Error opening channel communication layer." );
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
84 static void htond (double &x)
86 if ( sgIsLittleEndian() ) {
90 Double_Overlay = (int *) &x;
91 Holding_Buffer = Double_Overlay [0];
93 Double_Overlay [0] = htonl (Double_Overlay [1]);
94 Double_Overlay [1] = htonl (Holding_Buffer);
101 // Populate the FGNetCtrls structure from the property tree.
102 void FGProps2NetCtrls( FGNetCtrls *net, bool honor_freezes,
103 bool net_byte_order )
106 SGPropertyNode *node;
107 SGPropertyNode *fuelpump;
108 SGPropertyNode *tempnode;
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" );
121 = fgGetDouble( "/systems/electrical/outputs/flaps", 1.0 ) >= 1.0;
122 net->flap_motor_ok = node->getBoolValue( "flaps-serviceable" );
124 net->num_engines = FGNetCtrls::FG_MAX_ENGINES;
125 for ( i = 0; i < FGNetCtrls::FG_MAX_ENGINES; ++i ) {
127 node = fgGetNode("/controls/engines/engine", i );
128 fuelpump = fgGetNode("/systems/electrical/outputs/fuel-pump", i );
130 tempnode = node->getChild("starter");
131 if ( tempnode != NULL ) {
132 net->starter_power[i] = ( tempnode->getDoubleValue() >= 1.0 );
134 tempnode = node->getChild("master-bat");
135 if ( tempnode != NULL ) {
136 net->master_bat[i] = tempnode->getBoolValue();
138 tempnode = node->getChild("master-alt");
139 if ( tempnode != NULL ) {
140 net->master_alt[i] = tempnode->getBoolValue();
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 );
149 // cout << "Magnetos -> " << node->getIntValue( "magnetos", 0 );
152 // cout << "Starter -> " << node->getIntValue( "starter", false )
156 if ( fuelpump != NULL ) {
157 net->fuel_pump_power[i] = ( fuelpump->getDoubleValue() >= 1.0 );
159 net->fuel_pump_power[i] = 0;
163 SGPropertyNode *faults = node->getChild( "faults", 0, true );
164 net->engine_ok[i] = faults->getBoolValue( "serviceable", true );
166 = faults->getBoolValue( "left-magneto-serviceable", true );
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 );
174 = faults->getBoolValue( "fuel-pump-serviceable", true );
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();
183 net->fuel_selector[i] = false;
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();
195 net->gear_handle = fgGetBool( "/controls/gear/gear-down" );
197 net->master_avionics = fgGetBool("/controls/switches/master-avionics");
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");
204 net->temp_c = fgGetDouble("/environment/temperature-degc");
205 net->press_inhg = fgGetDouble("/environment/pressure-sea-level-inhg");
207 net->hground = fgGetDouble("/position/ground-elev-m");
208 net->magvar = fgGetDouble("/environment/magnetic-variation-deg");
210 net->icing = fgGetBool("/hazards/icing/wing");
212 net->speedup = fgGetInt("/sim/speed-up");
214 if ( honor_freezes ) {
215 if ( fgGetBool("/sim/freeze/master") ) {
218 if ( fgGetBool("/sim/freeze/position") ) {
221 if ( fgGetBool("/sim/freeze/fuel") ) {
226 if ( net_byte_order ) {
227 // convert to network byte order
228 net->version = htonl(net->version);
230 htond(net->elevator);
232 htond(net->aileron_trim);
233 htond(net->elevator_trim);
234 htond(net->rudder_trim);
236 net->flaps_power = htonl(net->flaps_power);
237 net->flap_motor_ok = htonl(net->flap_motor_ok);
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]);
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]);
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);
275 htond(net->press_inhg);
278 net->icing = htonl(net->icing);
279 net->speedup = htonl(net->speedup);
280 net->freeze = htonl(net->freeze);
285 // Update the property tree from the FGNetCtrls structure.
286 void FGNetCtrls2Props( FGNetCtrls *net, bool honor_freezes,
287 bool net_byte_order )
291 SGPropertyNode * node;
293 if ( net_byte_order ) {
294 // convert from network byte order
295 net->version = htonl(net->version);
297 htond(net->elevator);
299 htond(net->aileron_trim);
300 htond(net->elevator_trim);
301 htond(net->rudder_trim);
303 net->flaps_power = htonl(net->flaps_power);
304 net->flap_motor_ok = htonl(net->flap_motor_ok);
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]);
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]);
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);
342 htond(net->press_inhg);
345 net->icing = htonl(net->icing);
346 net->speedup = htonl(net->speedup);
347 net->freeze = htonl(net->freeze);
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 );
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
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 );
372 for ( i = 0; i < FGNetCtrls::FG_MAX_ENGINES; ++i ) {
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] );
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] );
398 fgSetBool( "/systems/electrical/outputs/fuel-pump",
399 net->fuel_pump_power[0] );
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] );
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 );
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 );
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 );
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 );
435 node->setDoubleValue( "/environment/temperature-degc",
437 node->setDoubleValue( "/environment/pressure-sea-level-inhg",
440 // ground elevation ???
442 fgSetDouble("/hazards/icing/wing", net->icing);
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 );
449 fgSetInt( "/sim/speed-up", net->speedup );
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 );
460 // process work for this port
461 bool FGNativeCtrls::process() {
462 SGIOChannel *io = get_io_channel();
463 int length = sizeof(FGNetCtrls);
465 if ( get_direction() == SG_IO_OUT ) {
467 FGProps2NetCtrls( &net_ctrls, true, true );
469 if ( ! io->write( (char *)(& net_ctrls), length ) ) {
470 SG_LOG( SG_IO, SG_ALERT, "Error writing data." );
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 );
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 );
492 bool FGNativeCtrls::close() {
493 SGIOChannel *io = get_io_channel();
495 set_enabled( false );
497 if ( ! io->close() ) {