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     node = fgGetNode("/controls", true);
 117     net->flaps_power
 118             = node->getDoubleValue( "/systems/electrical/outputs/flaps",
 119                                     1.0 ) >= 1.0;
 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 );
 127         if ( i == 0 ) {
 128           // cout << "Magnetos -> " << node->getIntValue( "magnetos", 0 );
 129         }
 130         if ( i == 0 ) {
 131           // cout << "Starter -> " << node->getIntValue( "starter", false )
 132           //      << endl;
 133         }
 134         node = fgGetNode("/controls", true);
 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     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();
 149         } else {
 150             net->fuel_selector[i] = false;
 151         }
 152     }
 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 ) {
 159                 net->brake[i] = 1.0;
 160            } else {
 161                 net->brake[i]
 162                     = node->getChild("brake")->getDoubleValue();
 163             }
 164         } else {
 165             net->brake[i] = 0.0;
 166         }
 167     }
 168
 169     node = fgGetNode("/controls/switches", true);
 170     tempnode = node->getChild("master-bat");
 171     if ( tempnode != NULL ) {
 172         net->master_bat = tempnode->getBoolValue();
 173     }
 174     tempnode = node->getChild("master-alt");
 175     if ( tempnode != NULL ) {
 176         net->master_alt = tempnode->getBoolValue();
 177     }
 178     tempnode = node->getChild("master-avionics");
 179     if ( tempnode != NULL ) {
 180         net->master_avionics = tempnode->getBoolValue();
 181     }
 182
 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");
 187
 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");
 196     net->freeze = 0;
 197     if ( honor_freezes ) {
 198         if ( fgGetBool("/sim/freeze/master") ) {
 199             net->freeze |= 0x01;
 200         }
 201         if ( fgGetBool("/sim/freeze/position") ) {
 202             net->freeze |= 0x02;
 203         }
 204         if ( fgGetBool("/sim/freeze/fuel") ) {
 205             net->freeze |= 0x04;
 206         }
 207     }
 208
 209     if ( net_byte_order ) {
 210         // convert to network byte order
 211         net->version = htonl(net->version);
 212         htond(net->aileron);
 213         htond(net->elevator);
 214         htond(net->elevator_trim);
 215         htond(net->rudder);
 216         htond(net->flaps);
 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]);
 225         }
 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]);
 229         }
 230         net->num_tanks = htonl(net->num_tanks);
 231         for ( i = 0; i < FGNetCtrls::FG_MAX_WHEELS; ++i ) {
 232             htond(net->brake[i]);
 233         }
 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);
 242         htond(net->hground);
 243         htond(net->magvar);
 244         net->speedup = htonl(net->speedup);
 245         net->freeze = htonl(net->freeze);
 246     }
 247 }
 248
 249
 250 // Update the property tree from the FGNetCtrls structure.
 251 void FGNetCtrls2Props( FGNetCtrls *net, bool honor_freezes,
 252                        bool net_byte_order )
 253 {
 254     int i;
 255
 256     SGPropertyNode * node;
 257
 258     if ( net_byte_order ) {
 259         // convert from network byte order
 260         net->version = htonl(net->version);
 261         htond(net->aileron);
 262         htond(net->elevator);
 263         htond(net->elevator_trim);
 264         htond(net->rudder);
 265         htond(net->flaps);
 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]);
 275         }
 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]);
 279         }
 280         net->num_wheels = htonl(net->num_wheels);
 281         for ( i = 0; i < net->num_wheels; ++i ) {
 282             htond(net->brake[i]);
 283         }
 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);
 291         htond(net->hground);
 292         htond(net->magvar);
 293         net->speedup = htonl(net->speedup);
 294         net->freeze = htonl(net->freeze);
 295     }
 296
 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 );
 303     }
 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 );
 310
 311     fgSetBool( "/systems/electrical/outputs/flaps", net->flaps_power );
 312
 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] );
 320     }
 321
 322     fgSetBool( "/systems/electrical/outputs/fuel-pump",
 323                net->fuel_pump_power[0] );
 324     fgSetBool( "/systems/electrical/outputs/starter",
 325                net->starter_power[0] );
 326
 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] );
 331     }
 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] );
 335     }
 336
 337     node = fgGetNode( "/controls/gear", true );
 338     node->setBoolValue( "gear-down", net->gear_handle );
 339
 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 );
 344
 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 );
 350
 351     // ground elevation ???
 352
 353     fgSetInt( "/sim/speed-up", net->speedup );
 354
 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 );
 360     }
 361 }
 362
 363
 364 // process work for this port
 365 bool FGNativeCtrls::process() {
 366     SGIOChannel *io = get_io_channel();
 367     int length = sizeof(FGNetCtrls);
 368
 369     if ( get_direction() == SG_IO_OUT ) {
 370         // cout << "size of cur_fdm_state = " << length << endl;
 371
 372         FGProps2NetCtrls( &net_ctrls, true, true );
 373
 374         if ( ! io->write( (char *)(& net_ctrls), length ) ) {
 375             SG_LOG( SG_IO, SG_ALERT, "Error writing data." );
 376             return false;
 377         }
 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 );
 383             }
 384         } else {
 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 );
 388             }
 389         }
 390     }
 391
 392     return true;
 393 }
 394
 395
 396 // close the channel
 397 bool FGNativeCtrls::close() {
 398     SGIOChannel *io = get_io_channel();
 399
 400     set_enabled( false );
 401
 402     if ( ! io->close() ) {
 403         return false;
 404     }
 405
 406     return true;
 407 }