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., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, 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( _MSC_VER )
  40 #  include <windows.h>
  41 #elif defined( __MINGW32__ )
  42 #  include <winsock2.h>
  43 #else
  44 #  include <netinet/in.h>       // htonl() ntohl()
  45 #endif
  46
  47
  48 FGNativeCtrls::FGNativeCtrls() {
  49 }
  50
  51 FGNativeCtrls::~FGNativeCtrls() {
  52 }
  53
  54
  55 // open hailing frequencies
  56 bool FGNativeCtrls::open() {
  57     if ( is_enabled() ) {
  58         SG_LOG( SG_IO, SG_ALERT, "This shouldn't happen, but the channel "
  59                 << "is already in use, ignoring" );
  60         return false;
  61     }
  62
  63     SGIOChannel *io = get_io_channel();
  64
  65     if ( ! io->open( get_direction() ) ) {
  66         SG_LOG( SG_IO, SG_ALERT, "Error opening channel communication layer." );
  67         return false;
  68     }
  69
  70     set_enabled( true );
  71
  72     return true;
  73 }
  74
  75
  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
  84 // possible
  85 static void htond (double &x)
  86 {
  87     if ( sgIsLittleEndian() ) {
  88         int    *Double_Overlay;
  89         int     Holding_Buffer;
  90
  91         Double_Overlay = (int *) &x;
  92         Holding_Buffer = Double_Overlay [0];
  93
  94         Double_Overlay [0] = htonl (Double_Overlay [1]);
  95         Double_Overlay [1] = htonl (Holding_Buffer);
  96     } else {
  97         return;
  98     }
  99 }
 100
 101
 102 // Populate the FGNetCtrls structure from the property tree.
 103 void FGProps2NetCtrls( FGNetCtrls *net, bool honor_freezes,
 104                        bool net_byte_order )
 105 {
 106     int i;
 107     SGPropertyNode *node;
 108     SGPropertyNode *fuelpump;
 109     SGPropertyNode *tempnode;
 110
 111     // fill in values
 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" );
 121     net->flaps_power
 122         = fgGetDouble( "/systems/electrical/outputs/flaps", 1.0 ) >= 1.0;
 123     net->flap_motor_ok = node->getBoolValue( "flaps-serviceable" );
 124
 125     net->num_engines = FGNetCtrls::FG_MAX_ENGINES;
 126     for ( i = 0; i < FGNetCtrls::FG_MAX_ENGINES; ++i ) {
 127         // Controls
 128         node = fgGetNode("/controls/engines/engine", i );
 129         fuelpump = fgGetNode("/systems/electrical/outputs/fuel-pump", i );
 130
 131         tempnode = node->getChild("starter");
 132         if ( tempnode != NULL ) {
 133             net->starter_power[i] = ( tempnode->getDoubleValue() >= 1.0 );
 134         }
 135         tempnode = node->getChild("master-bat");
 136         if ( tempnode != NULL ) {
 137             net->master_bat[i] = tempnode->getBoolValue();
 138         }
 139         tempnode = node->getChild("master-alt");
 140         if ( tempnode != NULL ) {
 141             net->master_alt[i] = tempnode->getBoolValue();
 142         }
 143
 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 );
 149         if ( i == 0 ) {
 150           // cout << "Magnetos -> " << node->getIntValue( "magnetos", 0 );
 151         }
 152         if ( i == 0 ) {
 153           // cout << "Starter -> " << node->getIntValue( "starter", false )
 154           //      << endl;
 155         }
 156
 157         if ( fuelpump != NULL ) {
 158             net->fuel_pump_power[i] = ( fuelpump->getDoubleValue() >= 1.0 );
 159         } else {
 160             net->fuel_pump_power[i] = 0;
 161         }
 162
 163         // Faults
 164         SGPropertyNode *faults = node->getChild( "faults", 0, true );
 165         net->engine_ok[i] = faults->getBoolValue( "serviceable", true );
 166         net->mag_left_ok[i]
 167           = faults->getBoolValue( "left-magneto-serviceable", true );
 168         net->mag_right_ok[i]
 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 );
 174         net->fuel_pump_ok[i]
 175           = faults->getBoolValue( "fuel-pump-serviceable", true );
 176     }
 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();
 183         } else {
 184             net->fuel_selector[i] = false;
 185         }
 186     }
 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();
 195
 196     net->gear_handle = fgGetBool( "/controls/gear/gear-down" );
 197
 198     net->master_avionics = fgGetBool("/controls/switches/master-avionics");
 199
 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");
 204
 205     net->temp_c = fgGetDouble("/environment/temperature-degc");
 206     net->press_inhg = fgGetDouble("/environment/pressure-sea-level-inhg");
 207
 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");
 215
 216     net->icing = fgGetBool("/hazards/icing/wing");
 217
 218     net->speedup = fgGetInt("/sim/speed-up");
 219     net->freeze = 0;
 220     if ( honor_freezes ) {
 221         if ( fgGetBool("/sim/freeze/master") ) {
 222             net->freeze |= 0x01;
 223         }
 224         if ( fgGetBool("/sim/freeze/position") ) {
 225             net->freeze |= 0x02;
 226         }
 227         if ( fgGetBool("/sim/freeze/fuel") ) {
 228             net->freeze |= 0x04;
 229         }
 230     }
 231
 232     if ( net_byte_order ) {
 233         // convert to network byte order
 234         net->version = htonl(net->version);
 235         htond(net->aileron);
 236         htond(net->elevator);
 237         htond(net->rudder);
 238         htond(net->aileron_trim);
 239         htond(net->elevator_trim);
 240         htond(net->rudder_trim);
 241         htond(net->flaps);
 242         net->flaps_power = htonl(net->flaps_power);
 243         net->flap_motor_ok = htonl(net->flap_motor_ok);
 244
 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]);
 262         }
 263
 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]);
 267         }
 268
 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);
 280         htond(net->temp_c);
 281         htond(net->press_inhg);
 282         htond(net->hground);
 283         htond(net->magvar);
 284         net->icing = htonl(net->icing);
 285         net->speedup = htonl(net->speedup);
 286         net->freeze = htonl(net->freeze);
 287     }
 288 }
 289
 290
 291 // Update the property tree from the FGNetCtrls structure.
 292 void FGNetCtrls2Props( FGNetCtrls *net, bool honor_freezes,
 293                        bool net_byte_order )
 294 {
 295     int i;
 296
 297     SGPropertyNode * node;
 298
 299     if ( net_byte_order ) {
 300         // convert from network byte order
 301         net->version = htonl(net->version);
 302         htond(net->aileron);
 303         htond(net->elevator);
 304         htond(net->rudder);
 305         htond(net->aileron_trim);
 306         htond(net->elevator_trim);
 307         htond(net->rudder_trim);
 308         htond(net->flaps);
 309         net->flaps_power = htonl(net->flaps_power);
 310         net->flap_motor_ok = htonl(net->flap_motor_ok);
 311
 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]);
 329         }
 330
 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]);
 334         }
 335
 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);
 347         htond(net->temp_c);
 348         htond(net->press_inhg);
 349         htond(net->hground);
 350         htond(net->magvar);
 351         net->icing = htonl(net->icing);
 352         net->speedup = htonl(net->speedup);
 353         net->freeze = htonl(net->freeze);
 354     }
 355
 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 );
 362     }
 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
 372     // or
 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 );
 377
 378     for ( i = 0; i < FGNetCtrls::FG_MAX_ENGINES; ++i ) {
 379         // Controls
 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] );
 391         // Faults
 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] );
 402     }
 403
 404     fgSetBool( "/systems/electrical/outputs/fuel-pump",
 405                net->fuel_pump_power[0] );
 406
 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] );
 412     }
 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 );
 422     }
 423
 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 );
 429
 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 );
 434
 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 );
 440
 441     node->setDoubleValue( "/environment/temperature-degc",
 442                           net->temp_c );
 443     node->setDoubleValue( "/environment/pressure-sea-level-inhg",
 444                           net->press_inhg );
 445
 446     // ground elevation ???
 447
 448     fgSetDouble("/hazards/icing/wing", net->icing);
 449
 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 );
 454
 455     fgSetInt( "/sim/speed-up", net->speedup );
 456
 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 );
 462     }
 463 }
 464
 465
 466 // process work for this port
 467 bool FGNativeCtrls::process() {
 468     SGIOChannel *io = get_io_channel();
 469     int length = sizeof(FGNetCtrls);
 470
 471     if ( get_direction() == SG_IO_OUT ) {
 472         // cout << "size of cur_fdm_state = " << length << endl;
 473
 474         FGProps2NetCtrls( &net_ctrls, true, true );
 475
 476         if ( ! io->write( (char *)(& net_ctrls), length ) ) {
 477             SG_LOG( SG_IO, SG_ALERT, "Error writing data." );
 478             return false;
 479         }
 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 );
 485             }
 486         } else {
 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 );
 490             }
 491         }
 492     }
 493
 494     return true;
 495 }
 496
 497
 498 // close the channel
 499 bool FGNativeCtrls::close() {
 500     SGIOChannel *io = get_io_channel();
 501
 502     set_enabled( false );
 503
 504     if ( ! io->close() ) {
 505         return false;
 506     }
 507
 508     return true;
 509 }