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 - curt@flightgear.org
   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 net_byte_order ) {
 102     int i;
 103     SGPropertyNode * node;
 104     SGPropertyNode * tempnode;
 105
 106     // fill in values
 107     node  = fgGetNode("/controls/flight", true);
 108     net->version = FG_NET_CTRLS_VERSION;
 109     net->aileron = node->getDoubleValue( "aileron" );
 110     net->elevator = node->getDoubleValue( "elevator" );
 111     net->elevator_trim = node->getDoubleValue( "elevator-trim" );
 112     net->rudder = node->getDoubleValue( "rudder" );
 113     net->flaps = node->getDoubleValue( "flaps" );
 114     node = fgGetNode("/controls", true);
 115     net->flaps_power
 116             = node->getDoubleValue( "/systems/electrical/outputs/flaps",
 117                                     1.0 ) >= 1.0;
 118     net->num_engines = FGNetCtrls::FG_MAX_ENGINES;
 119     for ( i = 0; i < FGNetCtrls::FG_MAX_ENGINES; ++i ) {
 120         node = fgGetNode("/controls/engines/engine", i );
 121         net->throttle[i] = node->getDoubleValue( "throttle", 0.0 );
 122         net->mixture[i] = node->getDoubleValue( "mixture", 0.0 );
 123         net->prop_advance[i] = node->getDoubleValue( "propeller-pitch", 0.0 );
 124         net->magnetos[i] = node->getIntValue( "magnetos", 0 );
 125         if ( i == 0 ) {
 126           // cout << "Magnetos -> " << node->getIntValue( "magnetos", 0 );
 127         }
 128         if ( i == 0 ) {
 129           // cout << "Starter -> " << node->getIntValue( "starter", false )
 130           //      << endl;
 131         }
 132         node = fgGetNode("/controls", true);
 133         net->fuel_pump_power[i]
 134             = node->getDoubleValue( "/systems/electrical/outputs/fuel-pump",
 135                                     1.0 ) >= 1.0;
 136
 137         net->starter_power[i]
 138             = node->getDoubleValue( "/systems/electrical/outputs/starter",
 139                                     1.0 ) >= 1.0;
 140     }
 141     net->num_tanks = FGNetCtrls::FG_MAX_TANKS;
 142     for ( i = 0; i < FGNetCtrls::FG_MAX_TANKS; ++i ) {
 143         node = fgGetNode("/controls/fuel/tank", i);
 144         if ( node->getChild("fuel_selector") != 0 ) {
 145             net->fuel_selector[i]
 146                 = node->getChild("fuel_selector")->getBoolValue();
 147         } else {
 148             net->fuel_selector[i] = false;
 149         }
 150     }
 151     net->num_wheels = FGNetCtrls::FG_MAX_WHEELS;
 152     tempnode = fgGetNode("/controls/gear", true);
 153     for ( i = 0; i < FGNetCtrls::FG_MAX_WHEELS; ++i ) {
 154         node = fgGetNode("/controls/gear/wheel", i);
 155         if ( node->getChild("brake") != NULL ) {
 156             if ( tempnode->getChild("parking-brake")->getDoubleValue() > 0.0 ) {
 157                 net->brake[i] = 1.0;
 158            } else {
 159                 net->brake[i]
 160                     = node->getChild("brake")->getDoubleValue();
 161             }
 162         } else {
 163             net->brake[i] = 0.0;
 164         }
 165     }
 166
 167     node = fgGetNode("/controls/switches", true);
 168     tempnode = node->getChild("master-bat");
 169     if ( tempnode != NULL ) {
 170         net->master_bat = tempnode->getBoolValue();
 171     }
 172     tempnode = node->getChild("master-alt");
 173     if ( tempnode != NULL ) {
 174         net->master_alt = tempnode->getBoolValue();
 175     }
 176     tempnode = node->getChild("master-avionics");
 177     if ( tempnode != NULL ) {
 178         net->master_avionics = tempnode->getBoolValue();
 179     }
 180
 181     net->wind_speed_kt = fgGetDouble("/environment/wind-speed-kt");
 182     net->wind_dir_deg = fgGetDouble("/environment/wind-from-heading-deg");
 183     net->turbulence_norm =
 184         fgGetDouble("/environment/turbulence/magnitude-norm");
 185
 186     // cur_fdm_state->get_ground_elev_ft() is what we want ... this
 187     // reports the altitude of the aircraft.
 188     // "/environment/ground-elevation-m" reports the ground elevation
 189     // of the current view point which could change substantially if
 190     // the user is switching views.
 191     net->hground = cur_fdm_state->get_ground_elev_ft() * SG_FEET_TO_METER;
 192     net->magvar = fgGetDouble("/environment/magnetic-variation-deg");
 193     net->speedup = fgGetInt("/sim/speed-up");
 194     net->freeze = 0;
 195     if ( fgGetBool("/sim/freeze/master") ) {
 196         net->freeze |= 0x01;
 197     }
 198     if ( fgGetBool("/sim/freeze/position") ) {
 199         net->freeze |= 0x02;
 200     }
 201     if ( fgGetBool("/sim/freeze/fuel") ) {
 202         net->freeze |= 0x04;
 203     }
 204
 205     if ( net_byte_order ) {
 206         // convert to network byte order
 207         net->version = htonl(net->version);
 208         htond(net->aileron);
 209         htond(net->elevator);
 210         htond(net->elevator_trim);
 211         htond(net->rudder);
 212         htond(net->flaps);
 213         net->flaps_power = htonl(net->flaps_power);
 214         for ( i = 0; i < FGNetCtrls::FG_MAX_ENGINES; ++i ) {
 215             htond(net->throttle[i]);
 216             htond(net->mixture[i]);
 217             net->fuel_pump_power[i] = htonl(net->fuel_pump_power[i]);
 218             htond(net->prop_advance[i]);
 219             net->magnetos[i] = htonl(net->magnetos[i]);
 220             net->starter_power[i] = htonl(net->starter_power[i]);
 221         }
 222         net->num_engines = htonl(net->num_engines);
 223         for ( i = 0; i < FGNetCtrls::FG_MAX_TANKS; ++i ) {
 224             net->fuel_selector[i] = htonl(net->fuel_selector[i]);
 225         }
 226         net->num_tanks = htonl(net->num_tanks);
 227         for ( i = 0; i < FGNetCtrls::FG_MAX_WHEELS; ++i ) {
 228             htond(net->brake[i]);
 229         }
 230         net->num_wheels = htonl(net->num_wheels);
 231         net->gear_handle = htonl(net->gear_handle);
 232         net->master_bat = htonl(net->master_bat);
 233         net->master_alt = htonl(net->master_alt);
 234         net->master_avionics = htonl(net->master_avionics);
 235         htond(net->wind_speed_kt);
 236         htond(net->wind_dir_deg);
 237         htond(net->turbulence_norm);
 238         htond(net->hground);
 239         htond(net->magvar);
 240         net->speedup = htonl(net->speedup);
 241         net->freeze = htonl(net->freeze);
 242     }
 243 }
 244
 245
 246 // Update the property tree from the FGNetCtrls structure.
 247 void FGNetCtrls2Props( FGNetCtrls *net, bool net_byte_order ) {
 248     int i;
 249
 250     SGPropertyNode * node;
 251
 252     if ( net_byte_order ) {
 253         // convert from network byte order
 254         net->version = htonl(net->version);
 255         htond(net->aileron);
 256         htond(net->elevator);
 257         htond(net->elevator_trim);
 258         htond(net->rudder);
 259         htond(net->flaps);
 260         net->flaps_power = htonl(net->flaps_power);
 261         net->num_engines = htonl(net->num_engines);
 262         for ( i = 0; i < net->num_engines; ++i ) {
 263             net->magnetos[i] = htonl(net->magnetos[i]);
 264             net->starter_power[i] = htonl(net->starter_power[i]);
 265             htond(net->throttle[i]);
 266             htond(net->mixture[i]);
 267             net->fuel_pump_power[i] = htonl(net->fuel_pump_power[i]);
 268             htond(net->prop_advance[i]);
 269         }
 270         net->num_tanks = htonl(net->num_tanks);
 271         for ( i = 0; i < net->num_tanks; ++i ) {
 272             net->fuel_selector[i] = htonl(net->fuel_selector[i]);
 273         }
 274         net->num_wheels = htonl(net->num_wheels);
 275         for ( i = 0; i < net->num_wheels; ++i ) {
 276             htond(net->brake[i]);
 277         }
 278         net->gear_handle = htonl(net->gear_handle);
 279         net->master_bat = htonl(net->master_bat);
 280         net->master_alt = htonl(net->master_alt);
 281         net->master_avionics = htonl(net->master_avionics);
 282         htond(net->wind_speed_kt);
 283         htond(net->wind_dir_deg);
 284         htond(net->turbulence_norm);
 285         htond(net->hground);
 286         htond(net->magvar);
 287         net->speedup = htonl(net->speedup);
 288         net->freeze = htonl(net->freeze);
 289     }
 290
 291     if ( net->version != FG_NET_CTRLS_VERSION ) {
 292         SG_LOG( SG_IO, SG_ALERT,
 293                 "Version mismatch with raw controls packet format." );
 294         SG_LOG( SG_IO, SG_ALERT,
 295                 "FlightGear needs version = " << FG_NET_CTRLS_VERSION
 296                 << " but is receiving version = "  << net->version );
 297     }
 298     node = fgGetNode("/controls/flight", true);
 299     node->setDoubleValue( "aileron", net->aileron );
 300     node->setDoubleValue( "elevator", net->elevator );
 301     node->setDoubleValue( "elevator-trim", net->elevator_trim );
 302     node->setDoubleValue( "rudder", net->rudder );
 303     node->setDoubleValue( "flaps", net->flaps );
 304
 305     fgSetBool( "/systems/electrical/outputs/flaps", net->flaps_power );
 306
 307     for ( i = 0; i < FGNetCtrls::FG_MAX_ENGINES; ++i ) {
 308         node = fgGetNode("/controls/engines/engine", i);
 309         node->getChild( "throttle" )->setDoubleValue( net->throttle[i] );
 310         node->getChild( "mixture" )->setDoubleValue( net->mixture[i] );
 311         node->getChild( "propeller-pitch" )
 312             ->setDoubleValue( net->prop_advance[i] );
 313         node->getChild( "magnetos" )->setDoubleValue( net->magnetos[i] );
 314     }
 315
 316     fgSetBool( "/systems/electrical/outputs/fuel-pump",
 317                net->fuel_pump_power[0] );
 318     fgSetBool( "/systems/electrical/outputs/starter",
 319                net->starter_power[0] );
 320
 321     for ( i = 0; i < FGNetCtrls::FG_MAX_TANKS; ++i ) {
 322         node = fgGetNode( "/controls/fuel/tank", i );
 323         node->getChild( "fuel_selector" )
 324             ->setBoolValue( net->fuel_selector[i] );
 325     }
 326     for ( i = 0; i < FGNetCtrls::FG_MAX_WHEELS; ++i ) {
 327         node = fgGetNode( "/controls/gear/wheel", i );
 328         node->getChild( "brake" )->setDoubleValue( net->brake[i] );
 329     }
 330
 331     node = fgGetNode( "/controls/gear", true );
 332     node->setBoolValue( "gear-down", net->gear_handle );
 333
 334     node = fgGetNode( "/controls/switches", true );
 335     node->setBoolValue( "master-bat", net->master_bat );
 336     node->setBoolValue( "master-alt", net->master_alt );
 337     node->setBoolValue( "master-avionics", net->master_avionics );
 338
 339     node = fgGetNode( "/environment", true );
 340     node->setDoubleValue( "wind-speed-kt", net->wind_speed_kt );
 341     node->setDoubleValue( "wind-from-heading-deg", net->wind_dir_deg );
 342     node->setDoubleValue( "turbulence/magnitude-norm", net->turbulence_norm );
 343     node->setBoolValue( "magnetic-variation-deg", net->magvar );
 344
 345     // ground elevation ???
 346
 347     fgSetInt( "/sim/speed-up", net->speedup );
 348
 349     node = fgGetNode( "/sim/freeze", true );
 350     node->setBoolValue( "master", net->freeze & 0x01 );
 351     node->setBoolValue( "position", net->freeze & 0x02 );
 352     node->setBoolValue( "fuel", net->freeze & 0x04 );
 353 }
 354
 355
 356 // process work for this port
 357 bool FGNativeCtrls::process() {
 358     SGIOChannel *io = get_io_channel();
 359     int length = sizeof(FGNetCtrls);
 360
 361     if ( get_direction() == SG_IO_OUT ) {
 362         // cout << "size of cur_fdm_state = " << length << endl;
 363
 364         FGProps2NetCtrls( &net_ctrls );
 365
 366         if ( ! io->write( (char *)(& net_ctrls), length ) ) {
 367             SG_LOG( SG_IO, SG_ALERT, "Error writing data." );
 368             return false;
 369         }
 370     } else if ( get_direction() == SG_IO_IN ) {
 371         if ( io->get_type() == sgFileType ) {
 372             if ( io->read( (char *)(& net_ctrls), length ) == length ) {
 373                 SG_LOG( SG_IO, SG_DEBUG, "Success reading data." );
 374                 FGNetCtrls2Props( &net_ctrls );
 375             }
 376         } else {
 377             while ( io->read( (char *)(& net_ctrls), length ) == length ) {
 378                 SG_LOG( SG_IO, SG_DEBUG, "Success reading data." );
 379                 FGNetCtrls2Props( &net_ctrls );
 380             }
 381         }
 382     }
 383
 384     return true;
 385 }
 386
 387
 388 // close the channel
 389 bool FGNativeCtrls::close() {
 390     SGIOChannel *io = get_io_channel();
 391
 392     set_enabled( false );
 393
 394     if ( ! io->close() ) {
 395         return false;
 396     }
 397
 398     return true;
 399 }