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 ) {
104 SGPropertyNode * node = fgGetNode("/controls", true);
107 net->version = FG_NET_CTRLS_VERSION;
108 net->aileron = node->getDoubleValue( "aileron" );
109 net->elevator = node->getDoubleValue( "elevator" );
110 net->elevator_trim = node->getDoubleValue( "elevator-trim" );
111 net->rudder = node->getDoubleValue( "rudder" );
112 net->flaps = node->getDoubleValue( "flaps" );
114 = node->getDoubleValue( "/systems/electrical/outputs/flaps",
116 net->num_engines = FGNetCtrls::FG_MAX_ENGINES;
117 for ( i = 0; i < FGNetCtrls::FG_MAX_ENGINES; ++i ) {
118 net->throttle[i] = node->getDoubleValue( "throttle", 0.0 );
119 net->mixture[i] = node->getDoubleValue( "mixture", 0.0 );
120 net->fuel_pump_power[i]
121 = node->getDoubleValue( "/systems/electrical/outputs/fuel-pump",
123 net->prop_advance[i] = node->getDoubleValue( "propeller-pitch", 0.0 );
124 net->magnetos[i] = node->getIntValue( "magnetos", 0 );
126 // cout << "Magnetos -> " << node->getIntValue( "magnetos", 0 );
128 net->starter_power[i]
129 = node->getDoubleValue( "/systems/electrical/outputs/starter",
132 // cout << " Starter -> " << node->getIntValue( "stater", false )
136 net->num_tanks = FGNetCtrls::FG_MAX_TANKS;
137 for ( i = 0; i < FGNetCtrls::FG_MAX_TANKS; ++i ) {
138 if ( node->getChild("fuel-selector", i) != 0 ) {
139 net->fuel_selector[i]
140 = node->getChild("fuel-selector", i)->getDoubleValue();
142 net->fuel_selector[i] = false;
145 net->num_wheels = FGNetCtrls::FG_MAX_WHEELS;
146 for ( i = 0; i < FGNetCtrls::FG_MAX_WHEELS; ++i ) {
147 if ( node->getChild("brakes", i) != 0 ) {
148 if ( node->getChild("parking-brake")->getDoubleValue() > 0.0 ) {
152 = node->getChild("brakes", i)->getDoubleValue();
159 node = fgGetNode("/controls/switches", true);
160 net->master_bat = node->getChild("master-bat")->getBoolValue();
161 net->master_alt = node->getChild("master-alt")->getBoolValue();
162 net->master_avionics = node->getChild("master-avionics")->getBoolValue();
164 net->wind_speed_kt = fgGetDouble("/environment/wind-speed-kt");
165 net->wind_dir_deg = fgGetDouble("/environment/wind-from-heading-deg");
167 // cur_fdm_state->get_ground_elev_ft() is what we want ... this
168 // reports the altitude of the aircraft.
169 // "/environment/ground-elevation-m" reports the ground elevation
170 // of the current view point which could change substantially if
171 // the user is switching views.
172 net->hground = cur_fdm_state->get_ground_elev_ft() * SG_FEET_TO_METER;
173 net->magvar = fgGetDouble("/environment/magnetic-variation-deg");
174 net->speedup = fgGetInt("/sim/speed-up");
176 if ( fgGetBool("/sim/freeze/master") ) {
179 if ( fgGetBool("/sim/freeze/position") ) {
182 if ( fgGetBool("/sim/freeze/fuel") ) {
186 // convert to network byte order
187 net->version = htonl(net->version);
189 htond(net->elevator);
190 htond(net->elevator_trim);
193 net->flaps_power = htonl(net->flaps_power);
194 for ( i = 0; i < FGNetCtrls::FG_MAX_ENGINES; ++i ) {
195 htond(net->throttle[i]);
196 htond(net->mixture[i]);
197 net->fuel_pump_power[i] = htonl(net->fuel_pump_power[i]);
198 htond(net->prop_advance[i]);
199 net->magnetos[i] = htonl(net->magnetos[i]);
200 net->starter_power[i] = htonl(net->starter_power[i]);
202 net->num_engines = htonl(net->num_engines);
203 for ( i = 0; i < FGNetCtrls::FG_MAX_TANKS; ++i ) {
204 net->fuel_selector[i] = htonl(net->fuel_selector[i]);
206 net->num_tanks = htonl(net->num_tanks);
207 for ( i = 0; i < FGNetCtrls::FG_MAX_WHEELS; ++i ) {
208 htond(net->brake[i]);
210 net->num_wheels = htonl(net->num_wheels);
211 net->gear_handle = htonl(net->gear_handle);
212 net->master_bat = htonl(net->master_bat);
213 net->master_alt = htonl(net->master_alt);
214 net->master_avionics = htonl(net->master_avionics);
215 htond(net->wind_speed_kt);
216 htond(net->wind_dir_deg);
219 net->speedup = htonl(net->speedup);
220 net->freeze = htonl(net->freeze);
224 // Update the property tree from the FGNetCtrls structure.
225 void FGNetCtrls2Props( FGNetCtrls *net ) {
228 SGPropertyNode * node = fgGetNode("/controls", true);
230 // convert from network byte order
231 net->version = htonl(net->version);
233 htond(net->elevator);
234 htond(net->elevator_trim);
237 net->flaps_power = htonl(net->flaps_power);
238 net->num_engines = htonl(net->num_engines);
239 for ( i = 0; i < net->num_engines; ++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]);
247 net->num_tanks = htonl(net->num_tanks);
248 for ( i = 0; i < net->num_tanks; ++i ) {
249 net->fuel_selector[i] = htonl(net->fuel_selector[i]);
251 net->num_wheels = htonl(net->num_wheels);
252 for ( i = 0; i < net->num_wheels; ++i ) {
253 htond(net->brake[i]);
255 net->gear_handle = htonl(net->gear_handle);
256 net->master_bat = htonl(net->master_bat);
257 net->master_alt = htonl(net->master_alt);
258 net->master_avionics = htonl(net->master_avionics);
259 htond(net->wind_speed_kt);
260 htond(net->wind_dir_deg);
263 net->speedup = htonl(net->speedup);
264 net->freeze = htonl(net->freeze);
266 if ( net->version != FG_NET_CTRLS_VERSION ) {
267 SG_LOG( SG_IO, SG_ALERT,
268 "Version mismatch with raw controls packet format." );
269 SG_LOG( SG_IO, SG_ALERT,
270 "FlightGear needs version = " << FG_NET_CTRLS_VERSION
271 << " but is receiving version = " << net->version );
274 node->setDoubleValue( "aileron", net->aileron );
275 node->setDoubleValue( "elevator", net->elevator );
276 node->setDoubleValue( "elevator-trim", net->elevator_trim );
277 node->setDoubleValue( "rudder", net->rudder );
278 node->setDoubleValue( "flaps", net->flaps );
280 fgSetBool( "/systems/electrical/outputs/flaps", net->flaps_power );
282 for ( i = 0; i < FGNetCtrls::FG_MAX_ENGINES; ++i ) {
283 node->getChild( "throttle", i )->setDoubleValue( net->throttle[i] );
284 node->getChild( "mixture", i )->setDoubleValue( net->mixture[i] );
285 node->getChild( "propeller-pitch", i )
286 ->setDoubleValue( net->prop_advance[i] );
287 node->getChild( "magnetos", i )->setDoubleValue( net->magnetos[i] );
290 fgSetBool( "/systems/electrical/outputs/fuel-pump",
291 net->fuel_pump_power[0] );
292 fgSetBool( "/systems/electrical/outputs/starter",
293 net->starter_power[0] );
295 for ( i = 0; i < FGNetCtrls::FG_MAX_TANKS; ++i ) {
296 node->getChild( "fuel-selector", i )
297 ->setBoolValue( net->fuel_selector[i] );
299 for ( i = 0; i < FGNetCtrls::FG_MAX_WHEELS; ++i ) {
300 node->getChild( "brakes", i )->setDoubleValue( net->brake[i] );
303 node->setBoolValue( "gear-down", net->gear_handle );
305 node = fgGetNode( "/controls/switches", true );
306 node->setBoolValue( "master-bat", net->master_bat );
307 node->setBoolValue( "master-alt", net->master_alt );
308 node->setBoolValue( "master-avionics", net->master_avionics );
310 node = fgGetNode( "/environment", true );
311 node->setBoolValue( "wind-speed-kt", net->wind_speed_kt );
312 node->setBoolValue( "wind-from-heading-deg", net->wind_dir_deg );
313 node->setBoolValue( "magnetic-variation-deg", net->magvar );
315 // ground elevation ???
317 fgSetInt( "/sim/speed-up", net->speedup );
319 node = fgGetNode( "/sim/freeze", true );
320 node->setBoolValue( "master", net->freeze & 0x01 );
321 node->setBoolValue( "position", net->freeze & 0x02 );
322 node->setBoolValue( "fuel", net->freeze & 0x04 );
326 // process work for this port
327 bool FGNativeCtrls::process() {
328 SGIOChannel *io = get_io_channel();
329 int length = sizeof(FGNetCtrls);
331 if ( get_direction() == SG_IO_OUT ) {
332 // cout << "size of cur_fdm_state = " << length << endl;
334 FGProps2NetCtrls( &net_ctrls );
336 if ( ! io->write( (char *)(& net_ctrls), length ) ) {
337 SG_LOG( SG_IO, SG_ALERT, "Error writing data." );
340 } else if ( get_direction() == SG_IO_IN ) {
341 if ( io->get_type() == sgFileType ) {
342 if ( io->read( (char *)(& net_ctrls), length ) == length ) {
343 SG_LOG( SG_IO, SG_DEBUG, "Success reading data." );
344 FGNetCtrls2Props( &net_ctrls );
347 while ( io->read( (char *)(& net_ctrls), length ) == length ) {
348 SG_LOG( SG_IO, SG_DEBUG, "Success reading data." );
349 FGNetCtrls2Props( &net_ctrls );
359 bool FGNativeCtrls::close() {
360 SGIOChannel *io = get_io_channel();
362 set_enabled( false );
364 if ( ! io->close() ) {