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 - curt@flightgear.org
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., 675 Mass Ave, Cambridge, MA 02139, 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(WIN32) && !defined(__CYGWIN__)
42 # include <netinet/in.h> // htonl() ntohl()
46 FGNativeCtrls::FGNativeCtrls() {
49 FGNativeCtrls::~FGNativeCtrls() {
53 // open hailing frequencies
54 bool FGNativeCtrls::open() {
56 SG_LOG( SG_IO, SG_ALERT, "This shouldn't happen, but the channel "
57 << "is already in use, ignoring" );
61 SGIOChannel *io = get_io_channel();
63 if ( ! io->open( get_direction() ) ) {
64 SG_LOG( SG_IO, SG_ALERT, "Error opening channel communication layer." );
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
83 static void htond (double &x)
85 if ( sgIsLittleEndian() ) {
89 Double_Overlay = (int *) &x;
90 Holding_Buffer = Double_Overlay [0];
92 Double_Overlay [0] = htonl (Double_Overlay [1]);
93 Double_Overlay [1] = htonl (Holding_Buffer);
100 // Populate the FGNetCtrls structure from the property tree.
101 void FGProps2NetCtrls( FGNetCtrls *net, bool honor_freezes,
102 bool net_byte_order )
105 SGPropertyNode * node;
106 SGPropertyNode * tempnode;
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 node = fgGetNode("/controls", true);
118 = node->getDoubleValue( "/systems/electrical/outputs/flaps",
120 net->num_engines = FGNetCtrls::FG_MAX_ENGINES;
121 for ( i = 0; i < FGNetCtrls::FG_MAX_ENGINES; ++i ) {
122 node = fgGetNode("/controls/engines/engine", i );
123 net->throttle[i] = node->getDoubleValue( "throttle", 0.0 );
124 net->mixture[i] = node->getDoubleValue( "mixture", 0.0 );
125 net->prop_advance[i] = node->getDoubleValue( "propeller-pitch", 0.0 );
126 net->magnetos[i] = node->getIntValue( "magnetos", 0 );
128 // cout << "Magnetos -> " << node->getIntValue( "magnetos", 0 );
131 // cout << "Starter -> " << node->getIntValue( "starter", false )
134 node = fgGetNode("/controls", true);
135 net->fuel_pump_power[i]
136 = node->getDoubleValue( "/systems/electrical/outputs/fuel-pump",
139 net->starter_power[i]
140 = node->getDoubleValue( "/systems/electrical/outputs/starter",
143 net->num_tanks = FGNetCtrls::FG_MAX_TANKS;
144 for ( i = 0; i < FGNetCtrls::FG_MAX_TANKS; ++i ) {
145 node = fgGetNode("/controls/fuel/tank", i);
146 if ( node->getChild("fuel_selector") != 0 ) {
147 net->fuel_selector[i]
148 = node->getChild("fuel_selector")->getBoolValue();
150 net->fuel_selector[i] = false;
153 net->num_wheels = FGNetCtrls::FG_MAX_WHEELS;
154 tempnode = fgGetNode("/controls/gear", true);
155 for ( i = 0; i < FGNetCtrls::FG_MAX_WHEELS; ++i ) {
156 node = fgGetNode("/controls/gear/wheel", i);
157 if ( node->getChild("brake") != NULL ) {
158 if ( tempnode->getChild("parking-brake")->getDoubleValue() > 0.0 ) {
162 = node->getChild("brake")->getDoubleValue();
169 node = fgGetNode("/controls/switches", true);
170 tempnode = node->getChild("master-bat");
171 if ( tempnode != NULL ) {
172 net->master_bat = tempnode->getBoolValue();
174 tempnode = node->getChild("master-alt");
175 if ( tempnode != NULL ) {
176 net->master_alt = tempnode->getBoolValue();
178 tempnode = node->getChild("master-avionics");
179 if ( tempnode != NULL ) {
180 net->master_avionics = tempnode->getBoolValue();
183 net->wind_speed_kt = fgGetDouble("/environment/wind-speed-kt");
184 net->wind_dir_deg = fgGetDouble("/environment/wind-from-heading-deg");
185 net->turbulence_norm =
186 fgGetDouble("/environment/turbulence/magnitude-norm");
188 // cur_fdm_state->get_ground_elev_ft() is what we want ... this
189 // reports the altitude of the aircraft.
190 // "/environment/ground-elevation-m" reports the ground elevation
191 // of the current view point which could change substantially if
192 // the user is switching views.
193 net->hground = cur_fdm_state->get_ground_elev_ft() * SG_FEET_TO_METER;
194 net->magvar = fgGetDouble("/environment/magnetic-variation-deg");
195 net->speedup = fgGetInt("/sim/speed-up");
197 if ( honor_freezes ) {
198 if ( fgGetBool("/sim/freeze/master") ) {
201 if ( fgGetBool("/sim/freeze/position") ) {
204 if ( fgGetBool("/sim/freeze/fuel") ) {
209 if ( net_byte_order ) {
210 // convert to network byte order
211 net->version = htonl(net->version);
213 htond(net->elevator);
214 htond(net->elevator_trim);
217 net->flaps_power = htonl(net->flaps_power);
218 for ( i = 0; i < FGNetCtrls::FG_MAX_ENGINES; ++i ) {
219 htond(net->throttle[i]);
220 htond(net->mixture[i]);
221 net->fuel_pump_power[i] = htonl(net->fuel_pump_power[i]);
222 htond(net->prop_advance[i]);
223 net->magnetos[i] = htonl(net->magnetos[i]);
224 net->starter_power[i] = htonl(net->starter_power[i]);
226 net->num_engines = htonl(net->num_engines);
227 for ( i = 0; i < FGNetCtrls::FG_MAX_TANKS; ++i ) {
228 net->fuel_selector[i] = htonl(net->fuel_selector[i]);
230 net->num_tanks = htonl(net->num_tanks);
231 for ( i = 0; i < FGNetCtrls::FG_MAX_WHEELS; ++i ) {
232 htond(net->brake[i]);
234 net->num_wheels = htonl(net->num_wheels);
235 net->gear_handle = htonl(net->gear_handle);
236 net->master_bat = htonl(net->master_bat);
237 net->master_alt = htonl(net->master_alt);
238 net->master_avionics = htonl(net->master_avionics);
239 htond(net->wind_speed_kt);
240 htond(net->wind_dir_deg);
241 htond(net->turbulence_norm);
244 net->speedup = htonl(net->speedup);
245 net->freeze = htonl(net->freeze);
250 // Update the property tree from the FGNetCtrls structure.
251 void FGNetCtrls2Props( FGNetCtrls *net, bool honor_freezes,
252 bool net_byte_order )
256 SGPropertyNode * node;
258 if ( net_byte_order ) {
259 // convert from network byte order
260 net->version = htonl(net->version);
262 htond(net->elevator);
263 htond(net->elevator_trim);
266 net->flaps_power = htonl(net->flaps_power);
267 net->num_engines = htonl(net->num_engines);
268 for ( i = 0; i < net->num_engines; ++i ) {
269 net->magnetos[i] = htonl(net->magnetos[i]);
270 net->starter_power[i] = htonl(net->starter_power[i]);
271 htond(net->throttle[i]);
272 htond(net->mixture[i]);
273 net->fuel_pump_power[i] = htonl(net->fuel_pump_power[i]);
274 htond(net->prop_advance[i]);
276 net->num_tanks = htonl(net->num_tanks);
277 for ( i = 0; i < net->num_tanks; ++i ) {
278 net->fuel_selector[i] = htonl(net->fuel_selector[i]);
280 net->num_wheels = htonl(net->num_wheels);
281 for ( i = 0; i < net->num_wheels; ++i ) {
282 htond(net->brake[i]);
284 net->gear_handle = htonl(net->gear_handle);
285 net->master_bat = htonl(net->master_bat);
286 net->master_alt = htonl(net->master_alt);
287 net->master_avionics = htonl(net->master_avionics);
288 htond(net->wind_speed_kt);
289 htond(net->wind_dir_deg);
290 htond(net->turbulence_norm);
293 net->speedup = htonl(net->speedup);
294 net->freeze = htonl(net->freeze);
297 if ( net->version != FG_NET_CTRLS_VERSION ) {
298 SG_LOG( SG_IO, SG_ALERT,
299 "Version mismatch with raw controls packet format." );
300 SG_LOG( SG_IO, SG_ALERT,
301 "FlightGear needs version = " << FG_NET_CTRLS_VERSION
302 << " but is receiving version = " << net->version );
304 node = fgGetNode("/controls/flight", true);
305 node->setDoubleValue( "aileron", net->aileron );
306 node->setDoubleValue( "elevator", net->elevator );
307 node->setDoubleValue( "elevator-trim", net->elevator_trim );
308 node->setDoubleValue( "rudder", net->rudder );
309 node->setDoubleValue( "flaps", net->flaps );
311 fgSetBool( "/systems/electrical/outputs/flaps", net->flaps_power );
313 for ( i = 0; i < FGNetCtrls::FG_MAX_ENGINES; ++i ) {
314 node = fgGetNode("/controls/engines/engine", i);
315 node->getChild( "throttle" )->setDoubleValue( net->throttle[i] );
316 node->getChild( "mixture" )->setDoubleValue( net->mixture[i] );
317 node->getChild( "propeller-pitch" )
318 ->setDoubleValue( net->prop_advance[i] );
319 node->getChild( "magnetos" )->setDoubleValue( net->magnetos[i] );
322 fgSetBool( "/systems/electrical/outputs/fuel-pump",
323 net->fuel_pump_power[0] );
324 fgSetBool( "/systems/electrical/outputs/starter",
325 net->starter_power[0] );
327 for ( i = 0; i < FGNetCtrls::FG_MAX_TANKS; ++i ) {
328 node = fgGetNode( "/controls/fuel/tank", i );
329 node->getChild( "fuel_selector" )
330 ->setBoolValue( net->fuel_selector[i] );
332 for ( i = 0; i < FGNetCtrls::FG_MAX_WHEELS; ++i ) {
333 node = fgGetNode( "/controls/gear/wheel", i );
334 node->getChild( "brake" )->setDoubleValue( net->brake[i] );
337 node = fgGetNode( "/controls/gear", true );
338 node->setBoolValue( "gear-down", net->gear_handle );
340 node = fgGetNode( "/controls/switches", true );
341 node->setBoolValue( "master-bat", net->master_bat );
342 node->setBoolValue( "master-alt", net->master_alt );
343 node->setBoolValue( "master-avionics", net->master_avionics );
345 node = fgGetNode( "/environment", true );
346 node->setDoubleValue( "wind-speed-kt", net->wind_speed_kt );
347 node->setDoubleValue( "wind-from-heading-deg", net->wind_dir_deg );
348 node->setDoubleValue( "turbulence/magnitude-norm", net->turbulence_norm );
349 node->setBoolValue( "magnetic-variation-deg", net->magvar );
351 // ground elevation ???
353 fgSetInt( "/sim/speed-up", net->speedup );
355 if ( honor_freezes ) {
356 node = fgGetNode( "/sim/freeze", true );
357 node->setBoolValue( "master", net->freeze & 0x01 );
358 node->setBoolValue( "position", net->freeze & 0x02 );
359 node->setBoolValue( "fuel", net->freeze & 0x04 );
364 // process work for this port
365 bool FGNativeCtrls::process() {
366 SGIOChannel *io = get_io_channel();
367 int length = sizeof(FGNetCtrls);
369 if ( get_direction() == SG_IO_OUT ) {
370 // cout << "size of cur_fdm_state = " << length << endl;
372 FGProps2NetCtrls( &net_ctrls, true, true );
374 if ( ! io->write( (char *)(& net_ctrls), length ) ) {
375 SG_LOG( SG_IO, SG_ALERT, "Error writing data." );
378 } else if ( get_direction() == SG_IO_IN ) {
379 if ( io->get_type() == sgFileType ) {
380 if ( io->read( (char *)(& net_ctrls), length ) == length ) {
381 SG_LOG( SG_IO, SG_DEBUG, "Success reading data." );
382 FGNetCtrls2Props( &net_ctrls, true, true );
385 while ( io->read( (char *)(& net_ctrls), length ) == length ) {
386 SG_LOG( SG_IO, SG_DEBUG, "Success reading data." );
387 FGNetCtrls2Props( &net_ctrls, true, true );
397 bool FGNativeCtrls::close() {
398 SGIOChannel *io = get_io_channel();
400 set_enabled( false );
402 if ( ! io->close() ) {