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