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 - http://www.flightgear.org/~curt
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., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, 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( _MSC_VER )
41 #elif defined( __MINGW32__ )
42 # include <winsock2.h>
44 # include <netinet/in.h> // htonl() ntohl()
48 FGNativeCtrls::FGNativeCtrls() {
51 FGNativeCtrls::~FGNativeCtrls() {
55 // open hailing frequencies
56 bool FGNativeCtrls::open() {
58 SG_LOG( SG_IO, SG_ALERT, "This shouldn't happen, but the channel "
59 << "is already in use, ignoring" );
63 SGIOChannel *io = get_io_channel();
65 if ( ! io->open( get_direction() ) ) {
66 SG_LOG( SG_IO, SG_ALERT, "Error opening channel communication layer." );
76 // The function htond is defined this way due to the way some
77 // processors and OSes treat floating point values. Some will raise
78 // an exception whenever a "bad" floating point value is loaded into a
79 // floating point register. Solaris is notorious for this, but then
80 // so is LynxOS on the PowerPC. By translating the data in place,
81 // there is no need to load a FP register with the "corruped" floating
82 // point value. By doing the BIG_ENDIAN test, I can optimize the
83 // routine for big-endian processors so it can be as efficient as
85 static void htond (double &x)
87 if ( sgIsLittleEndian() ) {
91 Double_Overlay = (int *) &x;
92 Holding_Buffer = Double_Overlay [0];
94 Double_Overlay [0] = htonl (Double_Overlay [1]);
95 Double_Overlay [1] = htonl (Holding_Buffer);
102 // Populate the FGNetCtrls structure from the property tree.
103 void FGProps2NetCtrls( FGNetCtrls *net, bool honor_freezes,
104 bool net_byte_order )
107 SGPropertyNode *node;
108 SGPropertyNode *fuelpump;
109 SGPropertyNode *tempnode;
112 node = fgGetNode("/controls/flight", true);
113 net->version = FG_NET_CTRLS_VERSION;
114 net->aileron = node->getDoubleValue( "aileron" );
115 net->elevator = node->getDoubleValue( "elevator" );
116 net->rudder = node->getDoubleValue( "rudder" );
117 net->aileron_trim = node->getDoubleValue( "aileron-trim" );
118 net->elevator_trim = node->getDoubleValue( "elevator-trim" );
119 net->rudder_trim = node->getDoubleValue( "rudder-trim" );
120 net->flaps = node->getDoubleValue( "flaps" );
122 = fgGetDouble( "/systems/electrical/outputs/flaps", 1.0 ) >= 1.0;
123 net->flap_motor_ok = node->getBoolValue( "flaps-serviceable" );
125 net->num_engines = FGNetCtrls::FG_MAX_ENGINES;
126 for ( i = 0; i < FGNetCtrls::FG_MAX_ENGINES; ++i ) {
128 node = fgGetNode("/controls/engines/engine", i );
129 fuelpump = fgGetNode("/systems/electrical/outputs/fuel-pump", i );
131 tempnode = node->getChild("starter");
132 if ( tempnode != NULL ) {
133 net->starter_power[i] = ( tempnode->getDoubleValue() >= 1.0 );
135 tempnode = node->getChild("master-bat");
136 if ( tempnode != NULL ) {
137 net->master_bat[i] = tempnode->getBoolValue();
139 tempnode = node->getChild("master-alt");
140 if ( tempnode != NULL ) {
141 net->master_alt[i] = tempnode->getBoolValue();
144 net->throttle[i] = node->getDoubleValue( "throttle", 0.0 );
145 net->mixture[i] = node->getDoubleValue( "mixture", 0.0 );
146 net->prop_advance[i] = node->getDoubleValue( "propeller-pitch", 0.0 );
147 net->condition[i] = node->getDoubleValue( "condition", 0.0 );
148 net->magnetos[i] = node->getIntValue( "magnetos", 0 );
150 // cout << "Magnetos -> " << node->getIntValue( "magnetos", 0 );
153 // cout << "Starter -> " << node->getIntValue( "starter", false )
157 if ( fuelpump != NULL ) {
158 net->fuel_pump_power[i] = ( fuelpump->getDoubleValue() >= 1.0 );
160 net->fuel_pump_power[i] = 0;
164 SGPropertyNode *faults = node->getChild( "faults", 0, true );
165 net->engine_ok[i] = faults->getBoolValue( "serviceable", true );
167 = faults->getBoolValue( "left-magneto-serviceable", true );
169 = faults->getBoolValue( "right-magneto-serviceable", true);
170 net->spark_plugs_ok[i]
171 = faults->getBoolValue( "spark-plugs-serviceable", true );
172 net->oil_press_status[i]
173 = faults->getIntValue( "oil-pressure-status", 0 );
175 = faults->getBoolValue( "fuel-pump-serviceable", true );
177 net->num_tanks = FGNetCtrls::FG_MAX_TANKS;
178 for ( i = 0; i < FGNetCtrls::FG_MAX_TANKS; ++i ) {
179 node = fgGetNode("/controls/fuel/tank", i);
180 if ( node->getChild("fuel_selector") != 0 ) {
181 net->fuel_selector[i]
182 = node->getChild("fuel_selector")->getBoolValue();
184 net->fuel_selector[i] = false;
187 node = fgGetNode("/controls/gear", true);
188 net->brake_left = node->getChild("brake-left")->getDoubleValue();
189 net->brake_right = node->getChild("brake-right")->getDoubleValue();
190 net->copilot_brake_left
191 = node->getChild("copilot-brake-left")->getDoubleValue();
192 net->copilot_brake_right
193 = node->getChild("copilot-brake-right")->getDoubleValue();
194 net->brake_parking = node->getChild("brake-parking")->getDoubleValue();
196 net->gear_handle = fgGetBool( "/controls/gear/gear-down" );
198 net->master_avionics = fgGetBool("/controls/switches/master-avionics");
200 net->wind_speed_kt = fgGetDouble("/environment/wind-speed-kt");
201 net->wind_dir_deg = fgGetDouble("/environment/wind-from-heading-deg");
202 net->turbulence_norm =
203 fgGetDouble("/environment/turbulence/magnitude-norm");
205 net->temp_c = fgGetDouble("/environment/temperature-degc");
206 net->press_inhg = fgGetDouble("/environment/pressure-sea-level-inhg");
208 // cur_fdm_state->get_ground_elev_ft() is what we want ... this
209 // reports the altitude of the aircraft.
210 // "/environment/ground-elevation-m" reports the ground elevation
211 // of the current view point which could change substantially if
212 // the user is switching views.
213 net->hground = cur_fdm_state->get_ground_elev_ft() * SG_FEET_TO_METER;
214 net->magvar = fgGetDouble("/environment/magnetic-variation-deg");
216 net->icing = fgGetBool("/hazards/icing/wing");
218 net->speedup = fgGetInt("/sim/speed-up");
220 if ( honor_freezes ) {
221 if ( fgGetBool("/sim/freeze/master") ) {
224 if ( fgGetBool("/sim/freeze/position") ) {
227 if ( fgGetBool("/sim/freeze/fuel") ) {
232 if ( net_byte_order ) {
233 // convert to network byte order
234 net->version = htonl(net->version);
236 htond(net->elevator);
238 htond(net->aileron_trim);
239 htond(net->elevator_trim);
240 htond(net->rudder_trim);
242 net->flaps_power = htonl(net->flaps_power);
243 net->flap_motor_ok = htonl(net->flap_motor_ok);
245 net->num_engines = htonl(net->num_engines);
246 for ( i = 0; i < FGNetCtrls::FG_MAX_ENGINES; ++i ) {
247 net->master_bat[i] = htonl(net->master_bat[i]);
248 net->master_alt[i] = htonl(net->master_alt[i]);
249 net->magnetos[i] = htonl(net->magnetos[i]);
250 net->starter_power[i] = htonl(net->starter_power[i]);
251 htond(net->throttle[i]);
252 htond(net->mixture[i]);
253 net->fuel_pump_power[i] = htonl(net->fuel_pump_power[i]);
254 htond(net->prop_advance[i]);
255 htond(net->condition[i]);
256 net->engine_ok[i] = htonl(net->engine_ok[i]);
257 net->mag_left_ok[i] = htonl(net->mag_left_ok[i]);
258 net->mag_right_ok[i] = htonl(net->mag_right_ok[i]);
259 net->spark_plugs_ok[i] = htonl(net->spark_plugs_ok[i]);
260 net->oil_press_status[i] = htonl(net->oil_press_status[i]);
261 net->fuel_pump_ok[i] = htonl(net->fuel_pump_ok[i]);
264 net->num_tanks = htonl(net->num_tanks);
265 for ( i = 0; i < FGNetCtrls::FG_MAX_TANKS; ++i ) {
266 net->fuel_selector[i] = htonl(net->fuel_selector[i]);
269 net->cross_feed = htonl(net->cross_feed);
270 htond(net->brake_left);
271 htond(net->brake_right);
272 htond(net->copilot_brake_left);
273 htond(net->copilot_brake_right);
274 htond(net->brake_parking);
275 net->gear_handle = htonl(net->gear_handle);
276 net->master_avionics = htonl(net->master_avionics);
277 htond(net->wind_speed_kt);
278 htond(net->wind_dir_deg);
279 htond(net->turbulence_norm);
281 htond(net->press_inhg);
284 net->icing = htonl(net->icing);
285 net->speedup = htonl(net->speedup);
286 net->freeze = htonl(net->freeze);
291 // Update the property tree from the FGNetCtrls structure.
292 void FGNetCtrls2Props( FGNetCtrls *net, bool honor_freezes,
293 bool net_byte_order )
297 SGPropertyNode * node;
299 if ( net_byte_order ) {
300 // convert from network byte order
301 net->version = htonl(net->version);
303 htond(net->elevator);
305 htond(net->aileron_trim);
306 htond(net->elevator_trim);
307 htond(net->rudder_trim);
309 net->flaps_power = htonl(net->flaps_power);
310 net->flap_motor_ok = htonl(net->flap_motor_ok);
312 net->num_engines = htonl(net->num_engines);
313 for ( i = 0; i < (int)net->num_engines; ++i ) {
314 net->master_bat[i] = htonl(net->master_bat[i]);
315 net->master_alt[i] = htonl(net->master_alt[i]);
316 net->magnetos[i] = htonl(net->magnetos[i]);
317 net->starter_power[i] = htonl(net->starter_power[i]);
318 htond(net->throttle[i]);
319 htond(net->mixture[i]);
320 net->fuel_pump_power[i] = htonl(net->fuel_pump_power[i]);
321 htond(net->prop_advance[i]);
322 htond(net->condition[i]);
323 net->engine_ok[i] = htonl(net->engine_ok[i]);
324 net->mag_left_ok[i] = htonl(net->mag_left_ok[i]);
325 net->mag_right_ok[i] = htonl(net->mag_right_ok[i]);
326 net->spark_plugs_ok[i] = htonl(net->spark_plugs_ok[i]);
327 net->oil_press_status[i] = htonl(net->oil_press_status[i]);
328 net->fuel_pump_ok[i] = htonl(net->fuel_pump_ok[i]);
331 net->num_tanks = htonl(net->num_tanks);
332 for ( i = 0; i < FGNetCtrls::FG_MAX_TANKS; ++i ) {
333 net->fuel_selector[i] = htonl(net->fuel_selector[i]);
336 net->cross_feed = htonl(net->cross_feed);
337 htond(net->brake_left);
338 htond(net->brake_right);
339 htond(net->copilot_brake_left);
340 htond(net->copilot_brake_right);
341 htond(net->brake_parking);
342 net->gear_handle = htonl(net->gear_handle);
343 net->master_avionics = htonl(net->master_avionics);
344 htond(net->wind_speed_kt);
345 htond(net->wind_dir_deg);
346 htond(net->turbulence_norm);
348 htond(net->press_inhg);
351 net->icing = htonl(net->icing);
352 net->speedup = htonl(net->speedup);
353 net->freeze = htonl(net->freeze);
356 if ( net->version != FG_NET_CTRLS_VERSION ) {
357 SG_LOG( SG_IO, SG_ALERT,
358 "Version mismatch with raw controls packet format." );
359 SG_LOG( SG_IO, SG_ALERT,
360 "FlightGear needs version = " << FG_NET_CTRLS_VERSION
361 << " but is receiving version = " << net->version );
363 node = fgGetNode("/controls/flight", true);
364 node->setDoubleValue( "aileron", net->aileron );
365 node->setDoubleValue( "elevator", net->elevator );
366 node->setDoubleValue( "rudder", net->rudder );
367 node->setDoubleValue( "aileron-trim", net->aileron_trim );
368 node->setDoubleValue( "elevator-trim", net->elevator_trim );
369 node->setDoubleValue( "rudder-trim", net->rudder_trim );
370 node->setDoubleValue( "flaps", net->flaps );
371 node->setDoubleValue( "speedbrake", net->speedbrake ); //JWW
373 node->setDoubleValue( "spoilers", net->spoilers ); //JWW
374 // cout << "NET->Spoilers: " << net->spoilers << endl;
375 fgSetBool( "/systems/electrical/outputs/flaps", net->flaps_power );
376 node->setBoolValue( "flaps-serviceable", net->flap_motor_ok );
378 for ( i = 0; i < FGNetCtrls::FG_MAX_ENGINES; ++i ) {
380 node = fgGetNode("/controls/engines/engine", i);
381 node->getChild( "throttle" )->setDoubleValue( net->throttle[i] );
382 node->getChild( "mixture" )->setDoubleValue( net->mixture[i] );
383 node->getChild( "propeller-pitch" )
384 ->setDoubleValue( net->prop_advance[i] );
385 node->getChild( "condition" )
386 ->setDoubleValue( net->condition[i] );
387 node->getChild( "magnetos" )->setDoubleValue( net->magnetos[i] );
388 node->getChild( "starter" )->setDoubleValue( net->starter_power[i] );
389 node->getChild( "feed_tank" )->setIntValue( net->feed_tank_to[i] );
390 node->getChild( "reverser" )->setBoolValue( net->reverse[i] );
392 SGPropertyNode *faults = node->getNode( "faults", true );
393 faults->setBoolValue( "serviceable", net->engine_ok[i] );
394 faults->setBoolValue( "left-magneto-serviceable",
395 net->mag_left_ok[i] );
396 faults->setBoolValue( "right-magneto-serviceable",
397 net->mag_right_ok[i]);
398 faults->setBoolValue( "spark-plugs-serviceable",
399 net->spark_plugs_ok[i] );
400 faults->setIntValue( "oil-pressure-status", net->oil_press_status[i] );
401 faults->setBoolValue( "fuel-pump-serviceable", net->fuel_pump_ok[i] );
404 fgSetBool( "/systems/electrical/outputs/fuel-pump",
405 net->fuel_pump_power[0] );
407 for ( i = 0; i < FGNetCtrls::FG_MAX_TANKS; ++i ) {
408 node = fgGetNode( "/controls/fuel/tank", i );
409 node->getChild( "fuel_selector" )
410 ->setBoolValue( net->fuel_selector[i] );
411 // node->getChild( "to_tank" )->xfer_tank( i, net->xfer_to[i] );
413 node = fgGetNode( "/controls/gear" );
414 if ( node != NULL ) {
415 node->getChild( "brake-left" )->setDoubleValue( net->brake_left );
416 node->getChild( "brake-right" )->setDoubleValue( net->brake_right );
417 node->getChild( "copilot-brake-left" )
418 ->setDoubleValue( net->copilot_brake_left );
419 node->getChild( "copilot-brake-right" )
420 ->setDoubleValue( net->copilot_brake_right );
421 node->getChild( "brake-parking" )->setDoubleValue( net->brake_parking );
424 node = fgGetNode( "/controls/gear", true );
425 node->setBoolValue( "gear-down", net->gear_handle );
426 // node->setDoubleValue( "brake-parking", net->brake_parking );
427 // node->setDoubleValue( net->brake_left );
428 // node->setDoubleValue( net->brake_right );
430 node = fgGetNode( "/controls/switches", true );
431 node->setBoolValue( "master-bat", net->master_bat );
432 node->setBoolValue( "master-alt", net->master_alt );
433 node->setBoolValue( "master-avionics", net->master_avionics );
435 node = fgGetNode( "/environment", true );
436 node->setDoubleValue( "wind-speed-kt", net->wind_speed_kt );
437 node->setDoubleValue( "wind-from-heading-deg", net->wind_dir_deg );
438 node->setDoubleValue( "turbulence/magnitude-norm", net->turbulence_norm );
439 node->setDoubleValue( "magnetic-variation-deg", net->magvar );
441 node->setDoubleValue( "/environment/temperature-degc",
443 node->setDoubleValue( "/environment/pressure-sea-level-inhg",
446 // ground elevation ???
448 fgSetDouble("/hazards/icing/wing", net->icing);
450 node = fgGetNode( "/radios", true );
451 node->setDoubleValue( "comm/frequencies/selected-mhz[0]", net->comm_1 );
452 node->setDoubleValue( "nav/frequencies/selected-mhz[0]", net->nav_1 );
453 node->setDoubleValue( "nav[1]/frequencies/selected-mhz[0]", net->nav_2 );
455 fgSetInt( "/sim/speed-up", net->speedup );
457 if ( honor_freezes ) {
458 node = fgGetNode( "/sim/freeze", true );
459 node->setBoolValue( "master", net->freeze & 0x01 );
460 node->setBoolValue( "position", net->freeze & 0x02 );
461 node->setBoolValue( "fuel", net->freeze & 0x04 );
466 // process work for this port
467 bool FGNativeCtrls::process() {
468 SGIOChannel *io = get_io_channel();
469 int length = sizeof(FGNetCtrls);
471 if ( get_direction() == SG_IO_OUT ) {
472 // cout << "size of cur_fdm_state = " << length << endl;
474 FGProps2NetCtrls( &net_ctrls, true, true );
476 if ( ! io->write( (char *)(& net_ctrls), length ) ) {
477 SG_LOG( SG_IO, SG_ALERT, "Error writing data." );
480 } else if ( get_direction() == SG_IO_IN ) {
481 if ( io->get_type() == sgFileType ) {
482 if ( io->read( (char *)(& net_ctrls), length ) == length ) {
483 SG_LOG( SG_IO, SG_DEBUG, "Success reading data." );
484 FGNetCtrls2Props( &net_ctrls, true, true );
487 while ( io->read( (char *)(& net_ctrls), length ) == length ) {
488 SG_LOG( SG_IO, SG_DEBUG, "Success reading data." );
489 FGNetCtrls2Props( &net_ctrls, true, true );
499 bool FGNativeCtrls::close() {
500 SGIOChannel *io = get_io_channel();
502 set_enabled( false );
504 if ( ! io->close() ) {