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 - curt@flightgear.org
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., 675 Mass Ave, Cambridge, MA 02139, USA.
28 #include <simgear/debug/logstream.hxx>
29 #include <simgear/io/iochannel.hxx>
30 #include <simgear/io/lowlevel.hxx> // endian tests
32 #include <FDM/flight.hxx>
33 #include <Main/fg_props.hxx>
34 #include <Scenery/scenery.hxx> // ground elevation
36 #include "native_ctrls.hxx"
38 // FreeBSD works better with this included last ... (?)
39 #if defined(WIN32) && !defined(__CYGWIN__)
42 # include <netinet/in.h> // htonl() ntohl()
46 FGNativeCtrls::FGNativeCtrls() {
49 FGNativeCtrls::~FGNativeCtrls() {
53 // open hailing frequencies
54 bool FGNativeCtrls::open() {
56 SG_LOG( SG_IO, SG_ALERT, "This shouldn't happen, but the channel "
57 << "is already in use, ignoring" );
61 SGIOChannel *io = get_io_channel();
63 if ( ! io->open( get_direction() ) ) {
64 SG_LOG( SG_IO, SG_ALERT, "Error opening channel communication layer." );
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
83 static void htond (double &x)
85 if ( sgIsLittleEndian() ) {
89 Double_Overlay = (int *) &x;
90 Holding_Buffer = Double_Overlay [0];
92 Double_Overlay [0] = htonl (Double_Overlay [1]);
93 Double_Overlay [1] = htonl (Holding_Buffer);
100 // Populate the FGNetCtrls structure from the property tree.
101 void FGProps2NetCtrls( FGNetCtrls *net, bool honor_freezes,
102 bool net_byte_order )
105 SGPropertyNode *node;
106 SGPropertyNode *starter;
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->elevator_trim = node->getDoubleValue( "elevator-trim" );
116 net->rudder = node->getDoubleValue( "rudder" );
117 net->flaps = node->getDoubleValue( "flaps" );
119 = fgGetDouble( "/systems/electrical/outputs/flaps", 1.0 ) >= 1.0;
120 net->flap_motor_ok = node->getBoolValue( "flaps-serviceable" );
122 net->num_engines = FGNetCtrls::FG_MAX_ENGINES;
123 for ( i = 0; i < FGNetCtrls::FG_MAX_ENGINES; ++i ) {
125 node = fgGetNode("/controls/engines/engine", i );
126 starter = fgGetNode("/systems/electrical/outputs/starter", i );
127 fuelpump = fgGetNode("/systems/electrical/outputs/fuel-pump", i );
129 tempnode = node->getChild("master-bat");
130 if ( tempnode != NULL ) {
131 net->master_bat[i] = tempnode->getBoolValue();
133 tempnode = node->getChild("master-alt");
134 if ( tempnode != NULL ) {
135 net->master_alt[i] = tempnode->getBoolValue();
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 );
143 // cout << "Magnetos -> " << node->getIntValue( "magnetos", 0 );
146 // cout << "Starter -> " << node->getIntValue( "starter", false )
150 if ( fuelpump != NULL ) {
151 net->fuel_pump_power[i] = ( fuelpump->getDoubleValue() >= 1.0 );
153 net->fuel_pump_power[i] = 0.0;
156 if ( starter != NULL ) {
157 net->starter_power[i] = ( starter->getDoubleValue() >= 1.0 );
159 net->starter_power[i] = 0.0;
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->brake_parking = node->getChild("brake-parking")->getDoubleValue();
191 net->gear_handle = fgGetBool( "controls/gear/gear-down" );
193 tempnode = node->getChild("master-avionics");
194 if ( tempnode != NULL ) {
195 net->master_avionics = tempnode->getBoolValue();
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");
203 net->temp_c = fgGetDouble("/environment/temperature-degc");
204 net->press_inhg = fgGetDouble("/environment/pressure-sea-level-inhg");
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");
214 net->icing = fgGetDouble("/hazards/icing/wing");
216 net->speedup = fgGetInt("/sim/speed-up");
218 if ( honor_freezes ) {
219 if ( fgGetBool("/sim/freeze/master") ) {
222 if ( fgGetBool("/sim/freeze/position") ) {
225 if ( fgGetBool("/sim/freeze/fuel") ) {
230 if ( net_byte_order ) {
231 // convert to network byte order
232 net->version = htonl(net->version);
234 htond(net->elevator);
235 htond(net->elevator_trim);
238 net->flaps_power = htonl(net->flaps_power);
239 net->flap_motor_ok = htonl(net->flap_motor_ok);
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 net->engine_ok[i] = htonl(net->engine_ok[i]);
250 net->mag_left_ok[i] = htonl(net->mag_left_ok[i]);
251 net->mag_right_ok[i] = htonl(net->mag_right_ok[i]);
252 net->spark_plugs_ok[i] = htonl(net->spark_plugs_ok[i]);
253 net->oil_press_status[i] = htonl(net->oil_press_status[i]);
254 net->fuel_pump_ok[i] = htonl(net->fuel_pump_ok[i]);
256 net->num_engines = htonl(net->num_engines);
257 for ( i = 0; i < FGNetCtrls::FG_MAX_TANKS; ++i ) {
258 net->fuel_selector[i] = htonl(net->fuel_selector[i]);
260 net->num_tanks = htonl(net->num_tanks);
261 htond(net->brake_left);
262 htond(net->brake_right);
263 htond(net->brake_parking);
264 net->gear_handle = htonl(net->gear_handle);
265 net->master_avionics = htonl(net->master_avionics);
266 htond(net->wind_speed_kt);
267 htond(net->wind_dir_deg);
268 htond(net->turbulence_norm);
270 htond(net->press_inhg);
273 net->icing = htonl(net->icing);
274 net->speedup = htonl(net->speedup);
275 net->freeze = htonl(net->freeze);
280 // Update the property tree from the FGNetCtrls structure.
281 void FGNetCtrls2Props( FGNetCtrls *net, bool honor_freezes,
282 bool net_byte_order )
286 SGPropertyNode * node;
288 if ( net_byte_order ) {
289 // convert from network byte order
290 net->version = htonl(net->version);
292 htond(net->elevator);
293 htond(net->elevator_trim);
296 net->flaps_power = htonl(net->flaps_power);
297 net->flap_motor_ok = htonl(net->flap_motor_ok);
298 net->num_engines = htonl(net->num_engines);
299 for ( i = 0; i < net->num_engines; ++i ) {
300 net->master_bat[i] = htonl(net->master_bat[i]);
301 net->master_alt[i] = htonl(net->master_alt[i]);
302 net->magnetos[i] = htonl(net->magnetos[i]);
303 net->starter_power[i] = htonl(net->starter_power[i]);
304 htond(net->throttle[i]);
305 htond(net->mixture[i]);
306 net->fuel_pump_power[i] = htonl(net->fuel_pump_power[i]);
307 htond(net->prop_advance[i]);
308 net->engine_ok[i] = htonl(net->engine_ok[i]);
309 net->mag_left_ok[i] = htonl(net->mag_left_ok[i]);
310 net->mag_right_ok[i] = htonl(net->mag_right_ok[i]);
311 net->spark_plugs_ok[i] = htonl(net->spark_plugs_ok[i]);
312 net->oil_press_status[i] = htonl(net->oil_press_status[i]);
313 net->fuel_pump_ok[i] = htonl(net->fuel_pump_ok[i]);
315 net->num_tanks = htonl(net->num_tanks);
316 for ( i = 0; i < net->num_tanks; ++i ) {
317 net->fuel_selector[i] = htonl(net->fuel_selector[i]);
319 htond(net->brake_left);
320 htond(net->brake_right);
321 htond(net->brake_parking);
322 net->gear_handle = htonl(net->gear_handle);
323 net->master_avionics = htonl(net->master_avionics);
324 htond(net->wind_speed_kt);
325 htond(net->wind_dir_deg);
326 htond(net->turbulence_norm);
328 htond(net->press_inhg);
331 net->icing = htonl(net->icing);
332 net->speedup = htonl(net->speedup);
333 net->freeze = htonl(net->freeze);
336 if ( net->version != FG_NET_CTRLS_VERSION ) {
337 SG_LOG( SG_IO, SG_ALERT,
338 "Version mismatch with raw controls packet format." );
339 SG_LOG( SG_IO, SG_ALERT,
340 "FlightGear needs version = " << FG_NET_CTRLS_VERSION
341 << " but is receiving version = " << net->version );
343 node = fgGetNode("/controls/flight", true);
344 node->setDoubleValue( "aileron", net->aileron );
345 node->setDoubleValue( "elevator", net->elevator );
346 node->setDoubleValue( "elevator-trim", net->elevator_trim );
347 node->setDoubleValue( "rudder", net->rudder );
348 node->setDoubleValue( "flaps", net->flaps );
349 fgSetBool( "/systems/electrical/outputs/flaps", net->flaps_power );
350 node->setBoolValue( "flaps-serviceable", net->flap_motor_ok );
352 for ( i = 0; i < FGNetCtrls::FG_MAX_ENGINES; ++i ) {
354 node = fgGetNode("/controls/engines/engine", i);
355 node->getChild( "throttle" )->setDoubleValue( net->throttle[i] );
356 node->getChild( "mixture" )->setDoubleValue( net->mixture[i] );
357 node->getChild( "propeller-pitch" )
358 ->setDoubleValue( net->prop_advance[i] );
359 node->getChild( "magnetos" )->setDoubleValue( net->magnetos[i] );
362 SGPropertyNode *faults = node->getNode( "faults", true );
363 faults->setBoolValue( "serviceable", net->engine_ok[i] );
364 faults->setBoolValue( "left-magneto-serviceable",
365 net->mag_left_ok[i] );
366 faults->setBoolValue( "right-magneto-serviceable",
367 net->mag_right_ok[i]);
368 faults->setBoolValue( "spark-plugs-serviceable",
369 net->spark_plugs_ok[i] );
370 faults->setIntValue( "oil-pressure-status", net->oil_press_status[i] );
371 faults->setBoolValue( "fuel-pump-serviceable", net->fuel_pump_ok[i] );
374 fgSetBool( "/systems/electrical/outputs/fuel-pump",
375 net->fuel_pump_power[0] );
376 fgSetBool( "/systems/electrical/outputs/starter",
377 net->starter_power[0] );
379 for ( i = 0; i < FGNetCtrls::FG_MAX_TANKS; ++i ) {
380 node = fgGetNode( "/controls/fuel/tank", i );
381 node->getChild( "fuel_selector" )
382 ->setBoolValue( net->fuel_selector[i] );
384 node = fgGetNode( "/controls/gear" );
385 if ( node != NULL ) {
386 node->getChild( "brake-left" )->setDoubleValue( net->brake_left );
387 node->getChild( "brake-right" )->setDoubleValue( net->brake_right );
388 node->getChild( "brake-parking" )->setDoubleValue( net->brake_parking );
391 node = fgGetNode( "/controls/gear", true );
392 node->setBoolValue( "gear-down", net->gear_handle );
394 node = fgGetNode( "/controls/switches", true );
395 node->setBoolValue( "master-bat", net->master_bat );
396 node->setBoolValue( "master-alt", net->master_alt );
397 node->setBoolValue( "master-avionics", net->master_avionics );
399 node = fgGetNode( "/environment", true );
400 node->setDoubleValue( "wind-speed-kt", net->wind_speed_kt );
401 node->setDoubleValue( "wind-from-heading-deg", net->wind_dir_deg );
402 node->setDoubleValue( "turbulence/magnitude-norm", net->turbulence_norm );
403 node->setBoolValue( "magnetic-variation-deg", net->magvar );
405 node->setDoubleValue( "/environment/temperature-degc",
407 node->setDoubleValue( "/environment/pressure-sea-level-inhg",
410 // ground elevation ???
412 fgSetDouble("/hazards/icing/wing", net->icing);
414 fgSetInt( "/sim/speed-up", net->speedup );
416 if ( honor_freezes ) {
417 node = fgGetNode( "/sim/freeze", true );
418 node->setBoolValue( "master", net->freeze & 0x01 );
419 node->setBoolValue( "position", net->freeze & 0x02 );
420 node->setBoolValue( "fuel", net->freeze & 0x04 );
425 // process work for this port
426 bool FGNativeCtrls::process() {
427 SGIOChannel *io = get_io_channel();
428 int length = sizeof(FGNetCtrls);
430 if ( get_direction() == SG_IO_OUT ) {
431 // cout << "size of cur_fdm_state = " << length << endl;
433 FGProps2NetCtrls( &net_ctrls, true, true );
435 if ( ! io->write( (char *)(& net_ctrls), length ) ) {
436 SG_LOG( SG_IO, SG_ALERT, "Error writing data." );
439 } else if ( get_direction() == SG_IO_IN ) {
440 if ( io->get_type() == sgFileType ) {
441 if ( io->read( (char *)(& net_ctrls), length ) == length ) {
442 SG_LOG( SG_IO, SG_DEBUG, "Success reading data." );
443 FGNetCtrls2Props( &net_ctrls, true, true );
446 while ( io->read( (char *)(& net_ctrls), length ) == length ) {
447 SG_LOG( SG_IO, SG_DEBUG, "Success reading data." );
448 FGNetCtrls2Props( &net_ctrls, true, true );
458 bool FGNativeCtrls::close() {
459 SGIOChannel *io = get_io_channel();
461 set_enabled( false );
463 if ( ! io->close() ) {