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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(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 *fuelpump;
107     SGPropertyNode *tempnode;
108
109     // fill in values
110     node  = fgGetNode("/controls/flight", true);
111     net->version = FG_NET_CTRLS_VERSION;
112     net->aileron = node->getDoubleValue( "aileron" );
113     net->elevator = node->getDoubleValue( "elevator" );
114     net->rudder = node->getDoubleValue( "rudder" );
115     net->aileron_trim = node->getDoubleValue( "aileron-trim" );
116     net->elevator_trim = node->getDoubleValue( "elevator-trim" );
117     net->rudder_trim = node->getDoubleValue( "rudder-trim" );
118     net->flaps = node->getDoubleValue( "flaps" );
119     net->flaps_power
120         = fgGetDouble( "/systems/electrical/outputs/flaps", 1.0 ) >= 1.0;
121     net->flap_motor_ok = node->getBoolValue( "flaps-serviceable" );
122
123     net->num_engines = FGNetCtrls::FG_MAX_ENGINES;
124     for ( i = 0; i < FGNetCtrls::FG_MAX_ENGINES; ++i ) {
125         // Controls
126         node = fgGetNode("/controls/engines/engine", i );
127         fuelpump = fgGetNode("/systems/electrical/outputs/fuel-pump", i );
128
129         tempnode = node->getChild("starter");
130         if ( tempnode != NULL ) {
131             net->starter_power[i] = ( tempnode->getDoubleValue() >= 1.0 );
132         }
133         tempnode = node->getChild("master-bat");
134         if ( tempnode != NULL ) {
135             net->master_bat[i] = tempnode->getBoolValue();
136         }
137         tempnode = node->getChild("master-alt");
138         if ( tempnode != NULL ) {
139             net->master_alt[i] = tempnode->getBoolValue();
140         }
141
142         net->throttle[i] = node->getDoubleValue( "throttle", 0.0 );
143         net->mixture[i] = node->getDoubleValue( "mixture", 0.0 );
144         net->prop_advance[i] = node->getDoubleValue( "propeller-pitch", 0.0 );
145         net->condition[i] = node->getDoubleValue( "condition", 0.0 );
146         net->magnetos[i] = node->getIntValue( "magnetos", 0 );
147         if ( i == 0 ) {
148           // cout << "Magnetos -> " << node->getIntValue( "magnetos", 0 );
149         }
150         if ( i == 0 ) {
151           // cout << "Starter -> " << node->getIntValue( "starter", false )
152           //      << endl;
153         }
154
155         if ( fuelpump != NULL ) {
156             net->fuel_pump_power[i] = ( fuelpump->getDoubleValue() >= 1.0 );
157         } else {
158             net->fuel_pump_power[i] = 0;
159         }
160
161         // Faults
162         SGPropertyNode *faults = node->getChild( "faults", 0, true );
163         net->engine_ok[i] = faults->getBoolValue( "serviceable", true );
164         net->mag_left_ok[i]
165           = faults->getBoolValue( "left-magneto-serviceable", true );
166         net->mag_right_ok[i]
167           = faults->getBoolValue( "right-magneto-serviceable", true);
168         net->spark_plugs_ok[i]
169           = faults->getBoolValue( "spark-plugs-serviceable", true );
170         net->oil_press_status[i]
171           = faults->getIntValue( "oil-pressure-status", 0 );
172         net->fuel_pump_ok[i]
173           = faults->getBoolValue( "fuel-pump-serviceable", true );
174     }
175     net->num_tanks = FGNetCtrls::FG_MAX_TANKS;
176     for ( i = 0; i < FGNetCtrls::FG_MAX_TANKS; ++i ) {
177         node = fgGetNode("/controls/fuel/tank", i);
178         if ( node->getChild("fuel_selector") != 0 ) {
179             net->fuel_selector[i]
180                 = node->getChild("fuel_selector")->getBoolValue();
181         } else {
182             net->fuel_selector[i] = false;
183         }
184     }
185     node = fgGetNode("/controls/gear", true);
186     net->brake_left = node->getChild("brake-left")->getDoubleValue();
187     net->brake_right = node->getChild("brake-right")->getDoubleValue();
188     net->copilot_brake_left
189         = node->getChild("copilot-brake-left")->getDoubleValue();
190     net->copilot_brake_right
191         = node->getChild("copilot-brake-right")->getDoubleValue();
192     net->brake_parking = node->getChild("brake-parking")->getDoubleValue();
193
194     net->gear_handle = fgGetBool( "/controls/gear/gear-down" );
195
196     net->master_avionics = fgGetBool("/controls/switches/master-avionics");
197
198     net->wind_speed_kt = fgGetDouble("/environment/wind-speed-kt");
199     net->wind_dir_deg = fgGetDouble("/environment/wind-from-heading-deg");
200     net->turbulence_norm =
201         fgGetDouble("/environment/turbulence/magnitude-norm");
202
203     net->temp_c = fgGetDouble("/environment/temperature-degc");
204     net->press_inhg = fgGetDouble("/environment/pressure-sea-level-inhg");
205
206     // cur_fdm_state->get_ground_elev_ft() is what we want ... this
207     // reports the altitude of the aircraft.
208     // "/environment/ground-elevation-m" reports the ground elevation
209     // of the current view point which could change substantially if
210     // the user is switching views.
211     net->hground = cur_fdm_state->get_ground_elev_ft() * SG_FEET_TO_METER;
212     net->magvar = fgGetDouble("/environment/magnetic-variation-deg");
213
214     net->icing = fgGetBool("/hazards/icing/wing");
215
216     net->speedup = fgGetInt("/sim/speed-up");
217     net->freeze = 0;
218     if ( honor_freezes ) {
219         if ( fgGetBool("/sim/freeze/master") ) {
220             net->freeze |= 0x01;
221         }
222         if ( fgGetBool("/sim/freeze/position") ) {
223             net->freeze |= 0x02;
224         }
225         if ( fgGetBool("/sim/freeze/fuel") ) {
226             net->freeze |= 0x04;
227         }
228     }
229
230     if ( net_byte_order ) {
231         // convert to network byte order
232         net->version = htonl(net->version);
233         htond(net->aileron);
234         htond(net->elevator);
235         htond(net->rudder);
236         htond(net->aileron_trim);
237         htond(net->elevator_trim);
238         htond(net->rudder_trim);
239         htond(net->flaps);
240         net->flaps_power = htonl(net->flaps_power);
241         net->flap_motor_ok = htonl(net->flap_motor_ok);
242
243         net->num_engines = htonl(net->num_engines);
244         for ( i = 0; i < FGNetCtrls::FG_MAX_ENGINES; ++i ) {
245             net->master_bat[i] = htonl(net->master_bat[i]);
246             net->master_alt[i] = htonl(net->master_alt[i]);
247             net->magnetos[i] = htonl(net->magnetos[i]);
248             net->starter_power[i] = htonl(net->starter_power[i]);
249             htond(net->throttle[i]);
250             htond(net->mixture[i]);
251             net->fuel_pump_power[i] = htonl(net->fuel_pump_power[i]);
252             htond(net->prop_advance[i]);
253             htond(net->condition[i]);
254             net->engine_ok[i] = htonl(net->engine_ok[i]);
255             net->mag_left_ok[i] = htonl(net->mag_left_ok[i]);
256             net->mag_right_ok[i] = htonl(net->mag_right_ok[i]);
257             net->spark_plugs_ok[i] = htonl(net->spark_plugs_ok[i]);
258             net->oil_press_status[i] = htonl(net->oil_press_status[i]);
259             net->fuel_pump_ok[i] = htonl(net->fuel_pump_ok[i]);
260         }
261
262         net->num_tanks = htonl(net->num_tanks);
263         for ( i = 0; i < FGNetCtrls::FG_MAX_TANKS; ++i ) {
264             net->fuel_selector[i] = htonl(net->fuel_selector[i]);
265         }
266
267         net->cross_feed = htonl(net->cross_feed);
268         htond(net->brake_left);
269         htond(net->brake_right);
270         htond(net->copilot_brake_left);
271         htond(net->copilot_brake_right);
272         htond(net->brake_parking);
273         net->gear_handle = htonl(net->gear_handle);
274         net->master_avionics = htonl(net->master_avionics);
275         htond(net->wind_speed_kt);
276         htond(net->wind_dir_deg);
277         htond(net->turbulence_norm);
278         htond(net->temp_c);
279         htond(net->press_inhg);
280         htond(net->hground);
281         htond(net->magvar);
282         net->icing = htonl(net->icing);
283         net->speedup = htonl(net->speedup);
284         net->freeze = htonl(net->freeze);
285     }
286 }
287
288
289 // Update the property tree from the FGNetCtrls structure.
290 void FGNetCtrls2Props( FGNetCtrls *net, bool honor_freezes,
291                        bool net_byte_order )
292 {
293     int i;
294
295     SGPropertyNode * node;
296 /***************
297     if ( net_byte_order ) {
298         // convert from network byte order
299         net->version = htonl(net->version);
300         htond(net->aileron);
301         htond(net->elevator);
302         htond(net->rudder);
303         htond(net->aileron_trim);
304         htond(net->elevator_trim);
305         htond(net->rudder_trim);
306         htond(net->flaps);
307         net->flaps_power = htonl(net->flaps_power);
308         net->flap_motor_ok = htonl(net->flap_motor_ok);
309
310         net->num_engines = htonl(net->num_engines);
311         for ( i = 0; i < (int)net->num_engines; ++i ) {
312             net->master_bat[i] = htonl(net->master_bat[i]);
313             net->master_alt[i] = htonl(net->master_alt[i]);
314             net->magnetos[i] = htonl(net->magnetos[i]);
315             net->starter_power[i] = htonl(net->starter_power[i]);
316             htond(net->throttle[i]);
317             htond(net->mixture[i]);
318             net->fuel_pump_power[i] = htonl(net->fuel_pump_power[i]);
319             htond(net->prop_advance[i]);
320             htond(net->condition[i]);
321             net->engine_ok[i] = htonl(net->engine_ok[i]);
322             net->mag_left_ok[i] = htonl(net->mag_left_ok[i]);
323             net->mag_right_ok[i] = htonl(net->mag_right_ok[i]);
324             net->spark_plugs_ok[i] = htonl(net->spark_plugs_ok[i]);
325             net->oil_press_status[i] = htonl(net->oil_press_status[i]);
326             net->fuel_pump_ok[i] = htonl(net->fuel_pump_ok[i]);
327         }
328
329         net->num_tanks = htonl(net->num_tanks);
330         for ( i = 0; i < FGNetCtrls::FG_MAX_TANKS; ++i ) {
331             net->fuel_selector[i] = htonl(net->fuel_selector[i]);
332         }
333
334         net->cross_feed = htonl(net->cross_feed);
335         htond(net->brake_left);
336         htond(net->brake_right);
337         htond(net->copilot_brake_left);
338         htond(net->copilot_brake_right);
339         htond(net->brake_parking);
340         net->gear_handle = htonl(net->gear_handle);
341         net->master_avionics = htonl(net->master_avionics);
342         htond(net->wind_speed_kt);
343         htond(net->wind_dir_deg);
344         htond(net->turbulence_norm);
345         htond(net->temp_c);
346         htond(net->press_inhg);
347         htond(net->hground);
348         htond(net->magvar);
349         net->icing = htonl(net->icing);
350         net->speedup = htonl(net->speedup);
351         net->freeze = htonl(net->freeze);
352     }
353 *************/
354     if ( net->version != FG_NET_CTRLS_VERSION ) {
355         SG_LOG( SG_IO, SG_ALERT,
356                 "Version mismatch with raw controls packet format." );
357         SG_LOG( SG_IO, SG_ALERT,
358                 "FlightGear needs version = " << FG_NET_CTRLS_VERSION
359                 << " but is receiving version = "  << net->version );
360     }
361     node = fgGetNode("/controls/flight", true);
362     node->setDoubleValue( "aileron", net->aileron );
363     node->setDoubleValue( "elevator", net->elevator );
364     node->setDoubleValue( "rudder", net->rudder );
365     node->setDoubleValue( "aileron-trim", net->aileron_trim );
366     node->setDoubleValue( "elevator-trim", net->elevator_trim );
367     node->setDoubleValue( "rudder-trim", net->rudder_trim );
368     node->setDoubleValue( "flaps", net->flaps );
369     node->setDoubleValue( "speedbrake", net->speedbrake );  //JWW
370     // or
371     node->setDoubleValue( "spoilers", net->spoilers );  //JWW
372 //    cout << "NET->Spoilers: " << net->spoilers << endl;
373     fgSetBool( "/systems/electrical/outputs/flaps", net->flaps_power );
374     node->setBoolValue( "flaps-serviceable", net->flap_motor_ok );
375
376     for ( i = 0; i < FGNetCtrls::FG_MAX_ENGINES; ++i ) {
377         // Controls
378         node = fgGetNode("/controls/engines/engine", i);
379         node->getChild( "throttle" )->setDoubleValue( net->throttle[i] );
380         node->getChild( "mixture" )->setDoubleValue( net->mixture[i] );
381         node->getChild( "propeller-pitch" )
382             ->setDoubleValue( net->prop_advance[i] );
383         node->getChild( "condition" )
384             ->setDoubleValue( net->condition[i] );
385         node->getChild( "magnetos" )->setDoubleValue( net->magnetos[i] );
386         node->getChild( "starter" )->setDoubleValue( net->starter_power[i] );
387         node->getChild( "feed_tank" )->setIntValue( net->feed_tank_to[i] );
388         node->getChild( "reverser" )->setBoolValue( net->reverse[i] );
389         // Faults
390         SGPropertyNode *faults = node->getNode( "faults", true );
391         faults->setBoolValue( "serviceable", net->engine_ok[i] );
392         faults->setBoolValue( "left-magneto-serviceable",
393                               net->mag_left_ok[i] );
394         faults->setBoolValue( "right-magneto-serviceable",
395                               net->mag_right_ok[i]);
396         faults->setBoolValue( "spark-plugs-serviceable",
397                               net->spark_plugs_ok[i] );
398         faults->setIntValue( "oil-pressure-status", net->oil_press_status[i] );
399         faults->setBoolValue( "fuel-pump-serviceable", net->fuel_pump_ok[i] );
400     }
401
402     fgSetBool( "/systems/electrical/outputs/fuel-pump",
403                net->fuel_pump_power[0] );
404
405     for ( i = 0; i < FGNetCtrls::FG_MAX_TANKS; ++i ) {
406         node = fgGetNode( "/controls/fuel/tank", i );
407         node->getChild( "fuel_selector" )
408             ->setBoolValue( net->fuel_selector[i] );
409 //        node->getChild( "to_tank" )->xfer_tank( i, net->xfer_to[i] );
410     }
411     node = fgGetNode( "/controls/gear" );
412     if ( node != NULL ) {
413         node->getChild( "brake-left" )->setDoubleValue( net->brake_left );
414         node->getChild( "brake-right" )->setDoubleValue( net->brake_right );
415         node->getChild( "copilot-brake-left" )
416             ->setDoubleValue( net->copilot_brake_left );
417         node->getChild( "copilot-brake-right" )
418             ->setDoubleValue( net->copilot_brake_right );
419         node->getChild( "brake-parking" )->setDoubleValue( net->brake_parking );
420     }
421
422     node = fgGetNode( "/controls/gear", true );
423     node->setBoolValue( "gear-down", net->gear_handle );
424 //    node->setDoubleValue( "brake-parking", net->brake_parking );
425 //    node->setDoubleValue( net->brake_left );
426 //    node->setDoubleValue( net->brake_right );
427
428     node = fgGetNode( "/controls/switches", true );
429     node->setBoolValue( "master-bat", net->master_bat );
430     node->setBoolValue( "master-alt", net->master_alt );
431     node->setBoolValue( "master-avionics", net->master_avionics );
432     
433     node = fgGetNode( "/environment", true );
434     node->setDoubleValue( "wind-speed-kt", net->wind_speed_kt );
435     node->setDoubleValue( "wind-from-heading-deg", net->wind_dir_deg );
436     node->setDoubleValue( "turbulence/magnitude-norm", net->turbulence_norm );
437     node->setBoolValue( "magnetic-variation-deg", net->magvar );
438
439     node->setDoubleValue( "/environment/temperature-degc",
440                           net->temp_c );
441     node->setDoubleValue( "/environment/pressure-sea-level-inhg",
442                           net->press_inhg );
443
444     // ground elevation ???
445
446     fgSetDouble("/hazards/icing/wing", net->icing);
447     
448     node = fgGetNode( "/radios", true );
449     node->setDoubleValue( "comm/frequencies/selected-mhz[0]", net->comm_1 );
450     node->setDoubleValue( "nav/frequencies/selected-mhz[0]", net->nav_1 );
451     node->setDoubleValue( "nav[1]/frequencies/selected-mhz[0]", net->nav_2 );
452
453     fgSetInt( "/sim/speed-up", net->speedup );
454
455     if ( honor_freezes ) {
456         node = fgGetNode( "/sim/freeze", true );
457         node->setBoolValue( "master", net->freeze & 0x01 );
458         node->setBoolValue( "position", net->freeze & 0x02 );
459         node->setBoolValue( "fuel", net->freeze & 0x04 );
460     }
461 }
462
463
464 // process work for this port
465 bool FGNativeCtrls::process() {
466     SGIOChannel *io = get_io_channel();
467     int length = sizeof(FGNetCtrls);
468
469     if ( get_direction() == SG_IO_OUT ) {
470         // cout << "size of cur_fdm_state = " << length << endl;
471
472         FGProps2NetCtrls( &net_ctrls, true, true );
473
474         if ( ! io->write( (char *)(& net_ctrls), length ) ) {
475             SG_LOG( SG_IO, SG_ALERT, "Error writing data." );
476             return false;
477         }
478     } else if ( get_direction() == SG_IO_IN ) {
479         if ( io->get_type() == sgFileType ) {
480             if ( io->read( (char *)(& net_ctrls), length ) == length ) {
481                 SG_LOG( SG_IO, SG_DEBUG, "Success reading data." );
482                 FGNetCtrls2Props( &net_ctrls, true, true );
483             }
484         } else {
485             while ( io->read( (char *)(& net_ctrls), length ) == length ) {
486                 SG_LOG( SG_IO, SG_DEBUG, "Success reading data." );
487                 FGNetCtrls2Props( &net_ctrls, true, true );
488             }
489         }
490     }
491
492     return true;
493 }
494
495
496 // close the channel
497 bool FGNativeCtrls::close() {
498     SGIOChannel *io = get_io_channel();
499
500     set_enabled( false );
501
502     if ( ! io->close() ) {
503         return false;
504     }
505
506     return true;
507 }