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., 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 *fuelpump;
 107     SGPropertyNode *tempnode;
 108
 109     // fill in values
 110     node  = fgGetNode("/controls/flight", true);
 111     net->version = FG_NET_CTRLS_VERSION;
 112     net->aileron = node->getDoubleValue( "aileron" );
 113     net->elevator = node->getDoubleValue( "elevator" );
 114     net->rudder = node->getDoubleValue( "rudder" );
 115     net->aileron_trim = node->getDoubleValue( "aileron-trim" );
 116     net->elevator_trim = node->getDoubleValue( "elevator-trim" );
 117     net->rudder_trim = node->getDoubleValue( "rudder-trim" );
 118     net->flaps = node->getDoubleValue( "flaps" );
 119     net->flaps_power
 120         = fgGetDouble( "/systems/electrical/outputs/flaps", 1.0 ) >= 1.0;
 121     net->flap_motor_ok = node->getBoolValue( "flaps-serviceable" );
 122
 123     net->num_engines = FGNetCtrls::FG_MAX_ENGINES;
 124     for ( i = 0; i < FGNetCtrls::FG_MAX_ENGINES; ++i ) {
 125         // Controls
 126         node = fgGetNode("/controls/engines/engine", i );
 127         fuelpump = fgGetNode("/systems/electrical/outputs/fuel-pump", i );
 128
 129         tempnode = node->getChild("starter");
 130         if ( tempnode != NULL ) {
 131             net->starter_power[i] = ( tempnode->getDoubleValue() >= 1.0 );
 132         }
 133         tempnode = node->getChild("master-bat");
 134         if ( tempnode != NULL ) {
 135             net->master_bat[i] = tempnode->getBoolValue();
 136         }
 137         tempnode = node->getChild("master-alt");
 138         if ( tempnode != NULL ) {
 139             net->master_alt[i] = tempnode->getBoolValue();
 140         }
 141
 142         net->throttle[i] = node->getDoubleValue( "throttle", 0.0 );
 143         net->mixture[i] = node->getDoubleValue( "mixture", 0.0 );
 144         net->prop_advance[i] = node->getDoubleValue( "propeller-pitch", 0.0 );
 145         net->condition[i] = node->getDoubleValue( "condition", 0.0 );
 146         net->magnetos[i] = node->getIntValue( "magnetos", 0 );
 147         if ( i == 0 ) {
 148           // cout << "Magnetos -> " << node->getIntValue( "magnetos", 0 );
 149         }
 150         if ( i == 0 ) {
 151           // cout << "Starter -> " << node->getIntValue( "starter", false )
 152           //      << endl;
 153         }
 154
 155         if ( fuelpump != NULL ) {
 156             net->fuel_pump_power[i] = ( fuelpump->getDoubleValue() >= 1.0 );
 157         } else {
 158             net->fuel_pump_power[i] = 0.0;
 159         }
 160
 161         // Faults
 162         SGPropertyNode *faults = node->getChild( "faults", 0, true );
 163         net->engine_ok[i] = faults->getBoolValue( "serviceable", true );
 164         net->mag_left_ok[i]
 165           = faults->getBoolValue( "left-magneto-serviceable", true );
 166         net->mag_right_ok[i]
 167           = faults->getBoolValue( "right-magneto-serviceable", true);
 168         net->spark_plugs_ok[i]
 169           = faults->getBoolValue( "spark-plugs-serviceable", true );
 170         net->oil_press_status[i]
 171           = faults->getIntValue( "oil-pressure-status", 0 );
 172         net->fuel_pump_ok[i]
 173           = faults->getBoolValue( "fuel-pump-serviceable", true );
 174     }
 175     net->num_tanks = FGNetCtrls::FG_MAX_TANKS;
 176     for ( i = 0; i < FGNetCtrls::FG_MAX_TANKS; ++i ) {
 177         node = fgGetNode("/controls/fuel/tank", i);
 178         if ( node->getChild("fuel_selector") != 0 ) {
 179             net->fuel_selector[i]
 180                 = node->getChild("fuel_selector")->getBoolValue();
 181         } else {
 182             net->fuel_selector[i] = false;
 183         }
 184     }
 185     node = fgGetNode("/controls/gear", true);
 186     net->brake_left = node->getChild("brake-left")->getDoubleValue();
 187     net->brake_right = node->getChild("brake-right")->getDoubleValue();
 188     net->copilot_brake_left
 189         = node->getChild("copilot-brake-left")->getDoubleValue();
 190     net->copilot_brake_right
 191         = node->getChild("copilot-brake-right")->getDoubleValue();
 192     net->brake_parking = node->getChild("brake-parking")->getDoubleValue();
 193
 194     net->gear_handle = fgGetBool( "controls/gear/gear-down" );
 195
 196     tempnode = node->getChild("master-avionics");
 197     if ( tempnode != NULL ) {
 198         net->master_avionics = tempnode->getBoolValue();
 199     }
 200
 201     net->wind_speed_kt = fgGetDouble("/environment/wind-speed-kt");
 202     net->wind_dir_deg = fgGetDouble("/environment/wind-from-heading-deg");
 203     net->turbulence_norm =
 204         fgGetDouble("/environment/turbulence/magnitude-norm");
 205
 206     net->temp_c = fgGetDouble("/environment/temperature-degc");
 207     net->press_inhg = fgGetDouble("/environment/pressure-sea-level-inhg");
 208
 209     // cur_fdm_state->get_ground_elev_ft() is what we want ... this
 210     // reports the altitude of the aircraft.
 211     // "/environment/ground-elevation-m" reports the ground elevation
 212     // of the current view point which could change substantially if
 213     // the user is switching views.
 214     net->hground = cur_fdm_state->get_ground_elev_ft() * SG_FEET_TO_METER;
 215     net->magvar = fgGetDouble("/environment/magnetic-variation-deg");
 216
 217     net->icing = fgGetDouble("/hazards/icing/wing");
 218
 219     net->speedup = fgGetInt("/sim/speed-up");
 220     net->freeze = 0;
 221     if ( honor_freezes ) {
 222         if ( fgGetBool("/sim/freeze/master") ) {
 223             net->freeze |= 0x01;
 224         }
 225         if ( fgGetBool("/sim/freeze/position") ) {
 226             net->freeze |= 0x02;
 227         }
 228         if ( fgGetBool("/sim/freeze/fuel") ) {
 229             net->freeze |= 0x04;
 230         }
 231     }
 232
 233     if ( net_byte_order ) {
 234         // convert to network byte order
 235         net->version = htonl(net->version);
 236         htond(net->aileron);
 237         htond(net->elevator);
 238         htond(net->rudder);
 239         htond(net->aileron_trim);
 240         htond(net->elevator_trim);
 241         htond(net->rudder_trim);
 242         htond(net->flaps);
 243         net->flaps_power = htonl(net->flaps_power);
 244         net->flap_motor_ok = htonl(net->flap_motor_ok);
 245         for ( i = 0; i < FGNetCtrls::FG_MAX_ENGINES; ++i ) {
 246             net->master_bat[i] = htonl(net->master_bat[i]);
 247             net->master_alt[i] = htonl(net->master_alt[i]);
 248             net->magnetos[i] = htonl(net->magnetos[i]);
 249             net->starter_power[i] = htonl(net->starter_power[i]);
 250             htond(net->throttle[i]);
 251             htond(net->mixture[i]);
 252             net->fuel_pump_power[i] = htonl(net->fuel_pump_power[i]);
 253             htond(net->prop_advance[i]);
 254             htond(net->condition[i]);
 255             net->engine_ok[i] = htonl(net->engine_ok[i]);
 256             net->mag_left_ok[i] = htonl(net->mag_left_ok[i]);
 257             net->mag_right_ok[i] = htonl(net->mag_right_ok[i]);
 258             net->spark_plugs_ok[i] = htonl(net->spark_plugs_ok[i]);
 259             net->oil_press_status[i] = htonl(net->oil_press_status[i]);
 260             net->fuel_pump_ok[i] = htonl(net->fuel_pump_ok[i]);
 261         }
 262         net->num_engines = htonl(net->num_engines);
 263         for ( i = 0; i < FGNetCtrls::FG_MAX_TANKS; ++i ) {
 264             net->fuel_selector[i] = htonl(net->fuel_selector[i]);
 265         }
 266         net->num_tanks = htonl(net->num_tanks);
 267         htond(net->brake_left);
 268         htond(net->brake_right);
 269         htond(net->copilot_brake_left);
 270         htond(net->copilot_brake_right);
 271         htond(net->brake_parking);
 272         net->gear_handle = htonl(net->gear_handle);
 273         net->master_avionics = htonl(net->master_avionics);
 274         htond(net->wind_speed_kt);
 275         htond(net->wind_dir_deg);
 276         htond(net->turbulence_norm);
 277         htond(net->temp_c);
 278         htond(net->press_inhg);
 279         htond(net->hground);
 280         htond(net->magvar);
 281         net->icing = htonl(net->icing);
 282         net->speedup = htonl(net->speedup);
 283         net->freeze = htonl(net->freeze);
 284     }
 285 }
 286
 287
 288 // Update the property tree from the FGNetCtrls structure.
 289 void FGNetCtrls2Props( FGNetCtrls *net, bool honor_freezes,
 290                        bool net_byte_order )
 291 {
 292     int i;
 293
 294     SGPropertyNode * node;
 295
 296     if ( net_byte_order ) {
 297         // convert from network byte order
 298         net->version = htonl(net->version);
 299         htond(net->aileron);
 300         htond(net->elevator);
 301         htond(net->rudder);
 302         htond(net->aileron_trim);
 303         htond(net->elevator_trim);
 304         htond(net->rudder_trim);
 305         htond(net->flaps);
 306         net->flaps_power = htonl(net->flaps_power);
 307         net->flap_motor_ok = htonl(net->flap_motor_ok);
 308         net->num_engines = htonl(net->num_engines);
 309         for ( i = 0; i < net->num_engines; ++i ) {
 310             net->master_bat[i] = htonl(net->master_bat[i]);
 311             net->master_alt[i] = htonl(net->master_alt[i]);
 312             net->magnetos[i] = htonl(net->magnetos[i]);
 313             net->starter_power[i] = htonl(net->starter_power[i]);
 314             htond(net->throttle[i]);
 315             htond(net->mixture[i]);
 316             net->fuel_pump_power[i] = htonl(net->fuel_pump_power[i]);
 317             htond(net->prop_advance[i]);
 318             htond(net->condition[i]);
 319             net->engine_ok[i] = htonl(net->engine_ok[i]);
 320             net->mag_left_ok[i] = htonl(net->mag_left_ok[i]);
 321             net->mag_right_ok[i] = htonl(net->mag_right_ok[i]);
 322             net->spark_plugs_ok[i] = htonl(net->spark_plugs_ok[i]);
 323             net->oil_press_status[i] = htonl(net->oil_press_status[i]);
 324             net->fuel_pump_ok[i] = htonl(net->fuel_pump_ok[i]);
 325         }
 326         net->num_tanks = htonl(net->num_tanks);
 327         for ( i = 0; i < net->num_tanks; ++i ) {
 328             net->fuel_selector[i] = htonl(net->fuel_selector[i]);
 329         }
 330         htond(net->brake_left);
 331         htond(net->brake_right);
 332         htond(net->copilot_brake_left);
 333         htond(net->copilot_brake_right);
 334         htond(net->brake_parking);
 335         net->gear_handle = htonl(net->gear_handle);
 336         net->master_avionics = htonl(net->master_avionics);
 337         htond(net->wind_speed_kt);
 338         htond(net->wind_dir_deg);
 339         htond(net->turbulence_norm);
 340         htond(net->temp_c);
 341         htond(net->press_inhg);
 342         htond(net->hground);
 343         htond(net->magvar);
 344         net->icing = htonl(net->icing);
 345         net->speedup = htonl(net->speedup);
 346         net->freeze = htonl(net->freeze);
 347     }
 348
 349     if ( net->version != FG_NET_CTRLS_VERSION ) {
 350         SG_LOG( SG_IO, SG_ALERT,
 351                 "Version mismatch with raw controls packet format." );
 352         SG_LOG( SG_IO, SG_ALERT,
 353                 "FlightGear needs version = " << FG_NET_CTRLS_VERSION
 354                 << " but is receiving version = "  << net->version );
 355     }
 356     node = fgGetNode("/controls/flight", true);
 357     node->setDoubleValue( "aileron", net->aileron );
 358     node->setDoubleValue( "elevator", net->elevator );
 359     node->setDoubleValue( "rudder", net->rudder );
 360     node->setDoubleValue( "aileron-trim", net->aileron_trim );
 361     node->setDoubleValue( "elevator-trim", net->elevator_trim );
 362     node->setDoubleValue( "rudder-trim", net->rudder_trim );
 363     node->setDoubleValue( "flaps", net->flaps );
 364     fgSetBool( "/systems/electrical/outputs/flaps", net->flaps_power );
 365     node->setBoolValue( "flaps-serviceable", net->flap_motor_ok );
 366
 367     for ( i = 0; i < FGNetCtrls::FG_MAX_ENGINES; ++i ) {
 368         // Controls
 369         node = fgGetNode("/controls/engines/engine", i);
 370         node->getChild( "throttle" )->setDoubleValue( net->throttle[i] );
 371         node->getChild( "mixture" )->setDoubleValue( net->mixture[i] );
 372         node->getChild( "propeller-pitch" )
 373             ->setDoubleValue( net->prop_advance[i] );
 374         node->getChild( "condition" )
 375             ->setDoubleValue( net->condition[i] );
 376         node->getChild( "magnetos" )->setDoubleValue( net->magnetos[i] );
 377         node->getChild( "starter" )->setDoubleValue( net->starter_power[i] );
 378
 379         // Faults
 380         SGPropertyNode *faults = node->getNode( "faults", true );
 381         faults->setBoolValue( "serviceable", net->engine_ok[i] );
 382         faults->setBoolValue( "left-magneto-serviceable",
 383                               net->mag_left_ok[i] );
 384         faults->setBoolValue( "right-magneto-serviceable",
 385                               net->mag_right_ok[i]);
 386         faults->setBoolValue( "spark-plugs-serviceable",
 387                               net->spark_plugs_ok[i] );
 388         faults->setIntValue( "oil-pressure-status", net->oil_press_status[i] );
 389         faults->setBoolValue( "fuel-pump-serviceable", net->fuel_pump_ok[i] );
 390     }
 391
 392     fgSetBool( "/systems/electrical/outputs/fuel-pump",
 393                net->fuel_pump_power[0] );
 394
 395     for ( i = 0; i < FGNetCtrls::FG_MAX_TANKS; ++i ) {
 396         node = fgGetNode( "/controls/fuel/tank", i );
 397         node->getChild( "fuel_selector" )
 398             ->setBoolValue( net->fuel_selector[i] );
 399     }
 400     node = fgGetNode( "/controls/gear" );
 401     if ( node != NULL ) {
 402         node->getChild( "brake-left" )->setDoubleValue( net->brake_left );
 403         node->getChild( "brake-right" )->setDoubleValue( net->brake_right );
 404         node->getChild( "copilot-brake-left" )
 405             ->setDoubleValue( net->copilot_brake_left );
 406         node->getChild( "copilot-brake-right" )
 407             ->setDoubleValue( net->copilot_brake_right );
 408         node->getChild( "brake-parking" )->setDoubleValue( net->brake_parking );
 409     }
 410
 411     node = fgGetNode( "/controls/gear", true );
 412     node->setBoolValue( "gear-down", net->gear_handle );
 413
 414     node = fgGetNode( "/controls/switches", true );
 415     node->setBoolValue( "master-bat", net->master_bat );
 416     node->setBoolValue( "master-alt", net->master_alt );
 417     node->setBoolValue( "master-avionics", net->master_avionics );
 418
 419     node = fgGetNode( "/environment", true );
 420     node->setDoubleValue( "wind-speed-kt", net->wind_speed_kt );
 421     node->setDoubleValue( "wind-from-heading-deg", net->wind_dir_deg );
 422     node->setDoubleValue( "turbulence/magnitude-norm", net->turbulence_norm );
 423     node->setBoolValue( "magnetic-variation-deg", net->magvar );
 424
 425     node->setDoubleValue( "/environment/temperature-degc",
 426                           net->temp_c );
 427     node->setDoubleValue( "/environment/pressure-sea-level-inhg",
 428                           net->press_inhg );
 429
 430     // ground elevation ???
 431
 432     fgSetDouble("/hazards/icing/wing", net->icing);
 433
 434     fgSetInt( "/sim/speed-up", net->speedup );
 435
 436     if ( honor_freezes ) {
 437         node = fgGetNode( "/sim/freeze", true );
 438         node->setBoolValue( "master", net->freeze & 0x01 );
 439         node->setBoolValue( "position", net->freeze & 0x02 );
 440         node->setBoolValue( "fuel", net->freeze & 0x04 );
 441     }
 442 }
 443
 444
 445 // process work for this port
 446 bool FGNativeCtrls::process() {
 447     SGIOChannel *io = get_io_channel();
 448     int length = sizeof(FGNetCtrls);
 449
 450     if ( get_direction() == SG_IO_OUT ) {
 451         // cout << "size of cur_fdm_state = " << length << endl;
 452
 453         FGProps2NetCtrls( &net_ctrls, true, true );
 454
 455         if ( ! io->write( (char *)(& net_ctrls), length ) ) {
 456             SG_LOG( SG_IO, SG_ALERT, "Error writing data." );
 457             return false;
 458         }
 459     } else if ( get_direction() == SG_IO_IN ) {
 460         if ( io->get_type() == sgFileType ) {
 461             if ( io->read( (char *)(& net_ctrls), length ) == length ) {
 462                 SG_LOG( SG_IO, SG_DEBUG, "Success reading data." );
 463                 FGNetCtrls2Props( &net_ctrls, true, true );
 464             }
 465         } else {
 466             while ( io->read( (char *)(& net_ctrls), length ) == length ) {
 467                 SG_LOG( SG_IO, SG_DEBUG, "Success reading data." );
 468                 FGNetCtrls2Props( &net_ctrls, true, true );
 469             }
 470         }
 471     }
 472
 473     return true;
 474 }
 475
 476
 477 // close the channel
 478 bool FGNativeCtrls::close() {
 479     SGIOChannel *io = get_io_channel();
 480
 481     set_enabled( false );
 482
 483     if ( ! io->close() ) {
 484         return false;
 485     }
 486
 487     return true;
 488 }