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