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 honor_freezes,
 102                        bool net_byte_order )
 103 {
 104     int i;
 105     SGPropertyNode *node;
 106     SGPropertyNode *starter;
 107     SGPropertyNode *fuelpump;
 108     SGPropertyNode *tempnode;
 109
 110     // fill in values
 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" );
 118     net->flaps_power
 119         = fgGetDouble( "/systems/electrical/outputs/flaps", 1.0 ) >= 1.0;
 120     net->flap_motor_ok = node->getBoolValue( "flaps-serviceable" );
 121
 122     net->num_engines = FGNetCtrls::FG_MAX_ENGINES;
 123     for ( i = 0; i < FGNetCtrls::FG_MAX_ENGINES; ++i ) {
 124         // Controls
 125         node = fgGetNode("/controls/engines/engine", i );
 126         starter = fgGetNode("/systems/electrical/outputs/starter", i );
 127         fuelpump = fgGetNode("/systems/electrical/outputs/fuel-pump", i );
 128         net->throttle[i] = node->getDoubleValue( "throttle", 0.0 );
 129         net->mixture[i] = node->getDoubleValue( "mixture", 0.0 );
 130         net->prop_advance[i] = node->getDoubleValue( "propeller-pitch", 0.0 );
 131         net->magnetos[i] = node->getIntValue( "magnetos", 0 );
 132         if ( i == 0 ) {
 133           // cout << "Magnetos -> " << node->getIntValue( "magnetos", 0 );
 134         }
 135         if ( i == 0 ) {
 136           // cout << "Starter -> " << node->getIntValue( "starter", false )
 137           //      << endl;
 138         }
 139
 140         if ( fuelpump != NULL ) {
 141             net->fuel_pump_power[i] = ( fuelpump->getDoubleValue() >= 1.0 );
 142         } else {
 143             net->fuel_pump_power[i] = 0.0;
 144         }
 145
 146         if ( starter != NULL ) {
 147             net->starter_power[i] = ( starter->getDoubleValue() >= 1.0 );
 148         } else {
 149             net->starter_power[i] = 0.0;
 150         }
 151
 152         // Faults
 153         SGPropertyNode *faults = node->getChild( "faults", 0, true );
 154         net->engine_ok[i] = faults->getBoolValue( "serviceable", true );
 155         net->mag_left_ok[i]
 156           = faults->getBoolValue( "left-magneto-serviceable", true );
 157         net->mag_right_ok[i]
 158           = faults->getBoolValue( "right-magneto-serviceable", true);
 159         net->spark_plugs_ok[i]
 160           = faults->getBoolValue( "spark-plugs-serviceable", true );
 161         net->oil_press_status[i]
 162           = faults->getIntValue( "oil-pressure-status", 0 );
 163         net->fuel_pump_ok[i]
 164           = faults->getBoolValue( "fuel-pump-serviceable", true );
 165     }
 166     net->num_tanks = FGNetCtrls::FG_MAX_TANKS;
 167     for ( i = 0; i < FGNetCtrls::FG_MAX_TANKS; ++i ) {
 168         node = fgGetNode("/controls/fuel/tank", i);
 169         if ( node->getChild("fuel_selector") != 0 ) {
 170             net->fuel_selector[i]
 171                 = node->getChild("fuel_selector")->getBoolValue();
 172         } else {
 173             net->fuel_selector[i] = false;
 174         }
 175     }
 176     node = fgGetNode("/controls/gear", true);
 177     net->brake_left = node->getChild("brake-left")->getDoubleValue();
 178     net->brake_right = node->getChild("brake-right")->getDoubleValue();
 179     net->brake_parking = node->getChild("brake-parking")->getDoubleValue();
 180
 181     node = fgGetNode("/controls/switches", true);
 182     tempnode = node->getChild("master-bat");
 183     if ( tempnode != NULL ) {
 184         net->master_bat = tempnode->getBoolValue();
 185     }
 186     tempnode = node->getChild("master-alt");
 187     if ( tempnode != NULL ) {
 188         net->master_alt = tempnode->getBoolValue();
 189     }
 190     tempnode = node->getChild("master-avionics");
 191     if ( tempnode != NULL ) {
 192         net->master_avionics = tempnode->getBoolValue();
 193     }
 194
 195     net->wind_speed_kt = fgGetDouble("/environment/wind-speed-kt");
 196     net->wind_dir_deg = fgGetDouble("/environment/wind-from-heading-deg");
 197     net->turbulence_norm =
 198         fgGetDouble("/environment/turbulence/magnitude-norm");
 199
 200     net->temp_c = fgGetDouble("/environment/temperature-degc");
 201     net->press_inhg = fgGetDouble("/environment/pressure-sea-level-inhg");
 202
 203     // cur_fdm_state->get_ground_elev_ft() is what we want ... this
 204     // reports the altitude of the aircraft.
 205     // "/environment/ground-elevation-m" reports the ground elevation
 206     // of the current view point which could change substantially if
 207     // the user is switching views.
 208     net->hground = cur_fdm_state->get_ground_elev_ft() * SG_FEET_TO_METER;
 209     net->magvar = fgGetDouble("/environment/magnetic-variation-deg");
 210     net->speedup = fgGetInt("/sim/speed-up");
 211     net->freeze = 0;
 212     if ( honor_freezes ) {
 213         if ( fgGetBool("/sim/freeze/master") ) {
 214             net->freeze |= 0x01;
 215         }
 216         if ( fgGetBool("/sim/freeze/position") ) {
 217             net->freeze |= 0x02;
 218         }
 219         if ( fgGetBool("/sim/freeze/fuel") ) {
 220             net->freeze |= 0x04;
 221         }
 222     }
 223
 224     if ( net_byte_order ) {
 225         // convert to network byte order
 226         net->version = htonl(net->version);
 227         htond(net->aileron);
 228         htond(net->elevator);
 229         htond(net->elevator_trim);
 230         htond(net->rudder);
 231         htond(net->flaps);
 232         net->flaps_power = htonl(net->flaps_power);
 233         net->flap_motor_ok = htonl(net->flap_motor_ok);
 234         for ( i = 0; i < FGNetCtrls::FG_MAX_ENGINES; ++i ) {
 235             net->magnetos[i] = htonl(net->magnetos[i]);
 236             net->starter_power[i] = htonl(net->starter_power[i]);
 237             htond(net->throttle[i]);
 238             htond(net->mixture[i]);
 239             net->fuel_pump_power[i] = htonl(net->fuel_pump_power[i]);
 240             htond(net->prop_advance[i]);
 241             net->engine_ok[i] = htonl(net->engine_ok[i]);
 242             net->mag_left_ok[i] = htonl(net->mag_left_ok[i]);
 243             net->mag_right_ok[i] = htonl(net->mag_right_ok[i]);
 244             net->spark_plugs_ok[i] = htonl(net->spark_plugs_ok[i]);
 245             net->oil_press_status[i] = htonl(net->oil_press_status[i]);
 246             net->fuel_pump_ok[i] = htonl(net->fuel_pump_ok[i]);
 247         }
 248         net->num_engines = htonl(net->num_engines);
 249         for ( i = 0; i < FGNetCtrls::FG_MAX_TANKS; ++i ) {
 250             net->fuel_selector[i] = htonl(net->fuel_selector[i]);
 251         }
 252         net->num_tanks = htonl(net->num_tanks);
 253         htond(net->brake_left);
 254         htond(net->brake_right);
 255         htond(net->brake_parking);
 256         net->gear_handle = htonl(net->gear_handle);
 257         net->master_bat = htonl(net->master_bat);
 258         net->master_alt = htonl(net->master_alt);
 259         net->master_avionics = htonl(net->master_avionics);
 260         htond(net->wind_speed_kt);
 261         htond(net->wind_dir_deg);
 262         htond(net->turbulence_norm);
 263         htond(net->temp_c);
 264         htond(net->press_inhg);
 265         htond(net->hground);
 266         htond(net->magvar);
 267         net->speedup = htonl(net->speedup);
 268         net->freeze = htonl(net->freeze);
 269     }
 270 }
 271
 272
 273 // Update the property tree from the FGNetCtrls structure.
 274 void FGNetCtrls2Props( FGNetCtrls *net, bool honor_freezes,
 275                        bool net_byte_order )
 276 {
 277     int i;
 278
 279     SGPropertyNode * node;
 280
 281     if ( net_byte_order ) {
 282         // convert from network byte order
 283         net->version = htonl(net->version);
 284         htond(net->aileron);
 285         htond(net->elevator);
 286         htond(net->elevator_trim);
 287         htond(net->rudder);
 288         htond(net->flaps);
 289         net->flaps_power = htonl(net->flaps_power);
 290         net->flap_motor_ok = htonl(net->flap_motor_ok);
 291         net->num_engines = htonl(net->num_engines);
 292         for ( i = 0; i < net->num_engines; ++i ) {
 293             net->magnetos[i] = htonl(net->magnetos[i]);
 294             net->starter_power[i] = htonl(net->starter_power[i]);
 295             htond(net->throttle[i]);
 296             htond(net->mixture[i]);
 297             net->fuel_pump_power[i] = htonl(net->fuel_pump_power[i]);
 298             htond(net->prop_advance[i]);
 299             net->engine_ok[i] = htonl(net->engine_ok[i]);
 300             net->mag_left_ok[i] = htonl(net->mag_left_ok[i]);
 301             net->mag_right_ok[i] = htonl(net->mag_right_ok[i]);
 302             net->spark_plugs_ok[i] = htonl(net->spark_plugs_ok[i]);
 303             net->oil_press_status[i] = htonl(net->oil_press_status[i]);
 304             net->fuel_pump_ok[i] = htonl(net->fuel_pump_ok[i]);
 305         }
 306         net->num_tanks = htonl(net->num_tanks);
 307         for ( i = 0; i < net->num_tanks; ++i ) {
 308             net->fuel_selector[i] = htonl(net->fuel_selector[i]);
 309         }
 310         htond(net->brake_left);
 311         htond(net->brake_right);
 312         htond(net->brake_parking);
 313         net->gear_handle = htonl(net->gear_handle);
 314         net->master_bat = htonl(net->master_bat);
 315         net->master_alt = htonl(net->master_alt);
 316         net->master_avionics = htonl(net->master_avionics);
 317         htond(net->wind_speed_kt);
 318         htond(net->wind_dir_deg);
 319         htond(net->turbulence_norm);
 320         htond(net->temp_c);
 321         htond(net->press_inhg);
 322         htond(net->hground);
 323         htond(net->magvar);
 324         net->speedup = htonl(net->speedup);
 325         net->freeze = htonl(net->freeze);
 326     }
 327
 328     if ( net->version != FG_NET_CTRLS_VERSION ) {
 329         SG_LOG( SG_IO, SG_ALERT,
 330                 "Version mismatch with raw controls packet format." );
 331         SG_LOG( SG_IO, SG_ALERT,
 332                 "FlightGear needs version = " << FG_NET_CTRLS_VERSION
 333                 << " but is receiving version = "  << net->version );
 334     }
 335     node = fgGetNode("/controls/flight", true);
 336     node->setDoubleValue( "aileron", net->aileron );
 337     node->setDoubleValue( "elevator", net->elevator );
 338     node->setDoubleValue( "elevator-trim", net->elevator_trim );
 339     node->setDoubleValue( "rudder", net->rudder );
 340     node->setDoubleValue( "flaps", net->flaps );
 341     fgSetBool( "/systems/electrical/outputs/flaps", net->flaps_power );
 342     node->setBoolValue( "flaps-serviceable", net->flap_motor_ok );
 343
 344     for ( i = 0; i < FGNetCtrls::FG_MAX_ENGINES; ++i ) {
 345         // Controls
 346         node = fgGetNode("/controls/engines/engine", i);
 347         node->getChild( "throttle" )->setDoubleValue( net->throttle[i] );
 348         node->getChild( "mixture" )->setDoubleValue( net->mixture[i] );
 349         node->getChild( "propeller-pitch" )
 350             ->setDoubleValue( net->prop_advance[i] );
 351         node->getChild( "magnetos" )->setDoubleValue( net->magnetos[i] );
 352
 353         // Faults
 354         SGPropertyNode *faults = node->getNode( "faults", true );
 355         faults->setBoolValue( "serviceable", net->engine_ok[i] );
 356         faults->setBoolValue( "left-magneto-serviceable",
 357                               net->mag_left_ok[i] );
 358         faults->setBoolValue( "right-magneto-serviceable",
 359                               net->mag_right_ok[i]);
 360         faults->setBoolValue( "spark-plugs-serviceable",
 361                               net->spark_plugs_ok[i] );
 362         faults->setIntValue( "oil-pressure-status", net->oil_press_status[i] );
 363         faults->setBoolValue( "fuel-pump-serviceable", net->fuel_pump_ok[i] );
 364     }
 365
 366     fgSetBool( "/systems/electrical/outputs/fuel-pump",
 367                net->fuel_pump_power[0] );
 368     fgSetBool( "/systems/electrical/outputs/starter",
 369                net->starter_power[0] );
 370
 371     for ( i = 0; i < FGNetCtrls::FG_MAX_TANKS; ++i ) {
 372         node = fgGetNode( "/controls/fuel/tank", i );
 373         node->getChild( "fuel_selector" )
 374             ->setBoolValue( net->fuel_selector[i] );
 375     }
 376     node = fgGetNode( "/controls/gear" );
 377     if ( node != NULL ) {
 378         node->getChild( "brake-left" )->setDoubleValue( net->brake_left );
 379         node->getChild( "brake-right" )->setDoubleValue( net->brake_right );
 380         node->getChild( "brake-parking" )->setDoubleValue( net->brake_parking );
 381     }
 382
 383     node = fgGetNode( "/controls/gear", true );
 384     node->setBoolValue( "gear-down", net->gear_handle );
 385
 386     node = fgGetNode( "/controls/switches", true );
 387     node->setBoolValue( "master-bat", net->master_bat );
 388     node->setBoolValue( "master-alt", net->master_alt );
 389     node->setBoolValue( "master-avionics", net->master_avionics );
 390
 391     node = fgGetNode( "/environment", true );
 392     node->setDoubleValue( "wind-speed-kt", net->wind_speed_kt );
 393     node->setDoubleValue( "wind-from-heading-deg", net->wind_dir_deg );
 394     node->setDoubleValue( "turbulence/magnitude-norm", net->turbulence_norm );
 395     node->setBoolValue( "magnetic-variation-deg", net->magvar );
 396
 397     node->setDoubleValue( "/environment/temperature-degc",
 398                           net->temp_c );
 399     node->setDoubleValue( "/environment/pressure-sea-level-inhg",
 400                           net->press_inhg );
 401
 402     // ground elevation ???
 403
 404     fgSetInt( "/sim/speed-up", net->speedup );
 405
 406     if ( honor_freezes ) {
 407         node = fgGetNode( "/sim/freeze", true );
 408         node->setBoolValue( "master", net->freeze & 0x01 );
 409         node->setBoolValue( "position", net->freeze & 0x02 );
 410         node->setBoolValue( "fuel", net->freeze & 0x04 );
 411     }
 412 }
 413
 414
 415 // process work for this port
 416 bool FGNativeCtrls::process() {
 417     SGIOChannel *io = get_io_channel();
 418     int length = sizeof(FGNetCtrls);
 419
 420     if ( get_direction() == SG_IO_OUT ) {
 421         // cout << "size of cur_fdm_state = " << length << endl;
 422
 423         FGProps2NetCtrls( &net_ctrls, true, true );
 424
 425         if ( ! io->write( (char *)(& net_ctrls), length ) ) {
 426             SG_LOG( SG_IO, SG_ALERT, "Error writing data." );
 427             return false;
 428         }
 429     } else if ( get_direction() == SG_IO_IN ) {
 430         if ( io->get_type() == sgFileType ) {
 431             if ( io->read( (char *)(& net_ctrls), length ) == length ) {
 432                 SG_LOG( SG_IO, SG_DEBUG, "Success reading data." );
 433                 FGNetCtrls2Props( &net_ctrls, true, true );
 434             }
 435         } else {
 436             while ( io->read( (char *)(& net_ctrls), length ) == length ) {
 437                 SG_LOG( SG_IO, SG_DEBUG, "Success reading data." );
 438                 FGNetCtrls2Props( &net_ctrls, true, true );
 439             }
 440         }
 441     }
 442
 443     return true;
 444 }
 445
 446
 447 // close the channel
 448 bool FGNativeCtrls::close() {
 449     SGIOChannel *io = get_io_channel();
 450
 451     set_enabled( false );
 452
 453     if ( ! io->close() ) {
 454         return false;
 455     }
 456
 457     return true;
 458 }