// $Id$
-#include <Include/compiler.h>
+#include <simgear/compiler.h>
-// #ifdef FG_HAVE_STD_INCLUDES
-// # include <cmath>
-// # include <cstdlib> // atoi()
-// #else
-// # include <math.h>
-// # include <stdlib.h> // atoi()
-// #endif
+#include <stdlib.h> // atoi()
#include STL_STRING
-// #include STL_IOSTREAM
-// #include <vector>
-#include <Debug/logstream.hxx>
-// #include <Aircraft/aircraft.hxx>
-// #include <Include/fg_constants.h>
-#include <Include/fg_types.hxx>
-#include <Main/options.hxx>
-
-#include <Network/iochannel.hxx>
-#include <Network/fg_file.hxx>
-#include <Network/fg_serial.hxx>
+#include <simgear/debug/logstream.hxx>
+#include <simgear/io/iochannel.hxx>
+#include <simgear/io/sg_file.hxx>
+#include <simgear/io/sg_serial.hxx>
+#include <simgear/io/sg_socket.hxx>
+#include <simgear/io/sg_socket_udp.hxx>
+#include <simgear/math/sg_types.hxx>
+#include <simgear/timing/timestamp.hxx>
#include <Network/protocol.hxx>
+#include <Network/atlas.hxx>
#include <Network/garmin.hxx>
+#include <Network/httpd.hxx>
+#include <Network/joyclient.hxx>
+#include <Network/native.hxx>
+#include <Network/native_ctrls.hxx>
+#include <Network/native_fdm.hxx>
+#include <Network/opengc.hxx>
#include <Network/nmea.hxx>
+#include <Network/props.hxx>
+#include <Network/pve.hxx>
+#include <Network/ray.hxx>
+#include <Network/rul.hxx>
-// #include <Time/fg_time.hxx>
-#include <Time/timestamp.hxx>
+#include "globals.hxx"
-FG_USING_STD(string);
+SG_USING_STD(string);
// define the global I/O channel list
// configure a port based on the config string
static FGProtocol *parse_port_config( const string& config )
{
+ bool short_circuit = false;
+
string::size_type begin, end;
begin = 0;
- FG_LOG( FG_IO, FG_INFO, "Parse I/O channel request: " << config );
+ SG_LOG( SG_IO, SG_INFO, "Parse I/O channel request: " << config );
// determine protocol
end = config.find(",", begin);
string protocol = config.substr(begin, end - begin);
begin = end + 1;
- FG_LOG( FG_IO, FG_INFO, " protocol = " << protocol );
+ SG_LOG( SG_IO, SG_INFO, " protocol = " << protocol );
FGProtocol *io;
- if ( protocol == "nmea" ) {
- FGNMEA *nmea = new FGNMEA;
- io = nmea;
+ if ( protocol == "atlas" ) {
+ FGAtlas *atlas = new FGAtlas;
+ io = atlas;
+ } else if ( protocol == "opengc" ) {
+ // char wait;
+ // printf("Parsed opengc\n"); cin >> wait;
+ FGOpenGC *opengc = new FGOpenGC;
+ io = opengc;
} else if ( protocol == "garmin" ) {
FGGarmin *garmin = new FGGarmin;
io = garmin;
+ } else if ( protocol == "httpd" ) {
+ // determine port
+ string port = config.substr(begin);
+ FGHttpd *httpd = new FGHttpd( atoi(port.c_str()) );
+ io = httpd;
+ short_circuit = true;
+ } else if ( protocol == "joyclient" ) {
+ FGJoyClient *joyclient = new FGJoyClient;
+ io = joyclient;
+ } else if ( protocol == "native" ) {
+ FGNative *native = new FGNative;
+ io = native;
+ } else if ( protocol == "native_ctrls" ) {
+ FGNativeCtrls *native_ctrls = new FGNativeCtrls;
+ io = native_ctrls;
+ } else if ( protocol == "native_fdm" ) {
+ FGNativeFDM *native_fdm = new FGNativeFDM;
+ io = native_fdm;
+ } else if ( protocol == "nmea" ) {
+ FGNMEA *nmea = new FGNMEA;
+ io = nmea;
+ } else if ( protocol == "props" ) {
+ FGProps *props = new FGProps;
+ io = props;
+ } else if ( protocol == "pve" ) {
+ FGPVE *pve = new FGPVE;
+ io = pve;
+ } else if ( protocol == "ray" ) {
+ FGRAY *ray = new FGRAY;
+ io = ray;
+ } else if ( protocol == "rul" ) {
+ FGRUL *rul = new FGRUL;
+ io = rul;
} else {
return NULL;
}
- // determine medium
- end = config.find(",", begin);
- if ( end == string::npos ) {
- return NULL; // dummy
- }
+ if ( ! short_circuit ) {
+ // determine medium
+ end = config.find(",", begin);
+ if ( end == string::npos ) {
+ return NULL; // dummy
+ }
- string medium = config.substr(begin, end - begin);
- begin = end + 1;
- FG_LOG( FG_IO, FG_INFO, " medium = " << medium );
-
- // determine direction
- end = config.find(",", begin);
- if ( end == string::npos ) {
- return NULL; // dummy
- }
+ string medium = config.substr(begin, end - begin);
+ begin = end + 1;
+ SG_LOG( SG_IO, SG_INFO, " medium = " << medium );
+
+ // determine direction
+ end = config.find(",", begin);
+ if ( end == string::npos ) {
+ return NULL; // dummy
+ }
- string direction = config.substr(begin, end - begin);
- begin = end + 1;
- io->set_direction( direction );
- FG_LOG( FG_IO, FG_INFO, " direction = " << direction );
-
- // determine hertz
- end = config.find(",", begin);
- if ( end == string::npos ) {
- return NULL; // dummy
- }
+ string direction = config.substr(begin, end - begin);
+ begin = end + 1;
+ io->set_direction( direction );
+ SG_LOG( SG_IO, SG_INFO, " direction = " << direction );
+
+ // determine hertz
+ end = config.find(",", begin);
+ if ( end == string::npos ) {
+ return NULL; // dummy
+ }
- string hertz_str = config.substr(begin, end - begin);
- begin = end + 1;
- double hertz = atof( hertz_str.c_str() );
- io->set_hz( hertz );
- FG_LOG( FG_IO, FG_INFO, " hertz = " << hertz );
-
- if ( medium == "serial" ) {
- FGSerial *ch = new FGSerial;
- io->set_io_channel( ch );
-
- // device name
- end = config.find(",", begin);
- if ( end == string::npos ) {
- return NULL;
- }
+ string hertz_str = config.substr(begin, end - begin);
+ begin = end + 1;
+ double hertz = atof( hertz_str.c_str() );
+ io->set_hz( hertz );
+ SG_LOG( SG_IO, SG_INFO, " hertz = " << hertz );
+
+ if ( medium == "serial" ) {
+ // device name
+ end = config.find(",", begin);
+ if ( end == string::npos ) {
+ return NULL;
+ }
- ch->set_device( config.substr(begin, end - begin) );
- begin = end + 1;
- FG_LOG( FG_IO, FG_INFO, " device = " << ch->get_device() );
-
- // baud
- ch->set_baud( config.substr(begin) );
- FG_LOG( FG_IO, FG_INFO, " baud = " << ch->get_baud() );
-
- io->set_io_channel( ch );
- } else if ( medium == "file" ) {
- FGFile *ch = new FGFile;
-
- // file name
- ch->set_file_name( config.substr(begin) );
- FG_LOG( FG_IO, FG_INFO, " file name = " << ch->get_file_name() );
-
- io->set_io_channel( ch );
- } else if ( medium == "socket" ) {
- // ch = new FGSocket;
+ string device = config.substr(begin, end - begin);
+ begin = end + 1;
+ SG_LOG( SG_IO, SG_INFO, " device = " << device );
+
+ // baud
+ string baud = config.substr(begin);
+ SG_LOG( SG_IO, SG_INFO, " baud = " << baud );
+
+ SGSerial *ch = new SGSerial( device, baud );
+ io->set_io_channel( ch );
+ } else if ( medium == "file" ) {
+ // file name
+ string file = config.substr(begin);
+ SG_LOG( SG_IO, SG_INFO, " file name = " << file );
+
+ SGFile *ch = new SGFile( file );
+ io->set_io_channel( ch );
+ } else if ( medium == "socket" ) {
+ // hostname
+ end = config.find(",", begin);
+ if ( end == string::npos ) {
+ return NULL;
+ }
+
+ string hostname = config.substr(begin, end - begin);
+ begin = end + 1;
+ SG_LOG( SG_IO, SG_INFO, " hostname = " << hostname );
+
+ // port string
+ end = config.find(",", begin);
+ if ( end == string::npos ) {
+ return NULL;
+ }
+
+ string port = config.substr(begin, end - begin);
+ begin = end + 1;
+ SG_LOG( SG_IO, SG_INFO, " port string = " << port );
+
+ // socket style
+ string style_str = config.substr(begin);
+ SG_LOG( SG_IO, SG_INFO, " style string = " << style_str );
+
+ SGSocket *ch = new SGSocket( hostname, port, style_str );
+ io->set_io_channel( ch );
+ }
}
return io;
// step through the port config streams (from fgOPTIONS) and setup
// serial port channels for each
void fgIOInit() {
+ // SG_LOG( SG_IO, SG_INFO, "I/O Channel initialization, " <<
+ // globals->get_channel_options_list()->size() << " requests." );
+
FGProtocol *p;
- string_list channel_options_list =
- current_options.get_channel_options_list();
+ string_list *channel_options_list = globals->get_channel_options_list();
// we could almost do this in a single step except pushing a valid
// port onto the port list copies the structure and destroys the
// parse the configuration strings and store the results in the
// appropriate FGIOChannel structures
- for ( int i = 0; i < (int)channel_options_list.size(); ++i ) {
- p = parse_port_config( channel_options_list[i] );
+ for ( int i = 0; i < (int)channel_options_list->size(); ++i ) {
+ p = parse_port_config( (*channel_options_list)[i] );
if ( p != NULL ) {
p->open();
global_io_list.push_back( p );
if ( !p->is_enabled() ) {
- FG_LOG( FG_IO, FG_INFO, "I/O Channel config failed." );
+ SG_LOG( SG_IO, SG_ALERT, "I/O Channel config failed." );
+ exit(-1);
}
} else {
- FG_LOG( FG_IO, FG_INFO, "I/O Channel parse failed." );
+ SG_LOG( SG_IO, SG_INFO, "I/O Channel parse failed." );
}
}
}
-static void send_fgfs_out( FGIOChannel *p ) {
-}
-
-static void read_fgfs_in( FGIOChannel *p ) {
-}
-
-
-// "RUL" output format (for some sort of motion platform)
-//
-// The Baud rate is 2400 , one start bit, eight data bits, 1 stop bit,
-// no parity.
-//
-// For position it requires a 3-byte data packet defined as follows:
-//
-// First bite: ascII character "P" ( 0x50 or 80 decimal )
-// Second byte X pos. (1-255) 1 being 0* and 255 being 359*
-// Third byte Y pos.( 1-255) 1 being 0* and 255 359*
-//
-// So sending 80 127 127 to the two axis motors will position on 180*
-// The RS- 232 port is a nine pin connector and the only pins used are
-// 3&5.
-
-static void send_rul_out( FGIOChannel *p ) {
-#if 0
- char rul[256];
-
- FGInterface *f;
- FGTime *t;
-
- f = current_aircraft.fdm_state;
- t = FGTime::cur_time_params;
-
- // run as often as possibleonce per second
-
- // this runs once per second
- // if ( p->last_time == t->get_cur_time() ) {
- // return;
- // }
- // p->last_time = t->get_cur_time();
- // if ( t->get_cur_time() % 2 != 0 ) {
- // return;
- // }
-
- // get roll and pitch, convert to degrees
- double roll_deg = f->get_Phi() * RAD_TO_DEG;
- while ( roll_deg < -180.0 ) {
- roll_deg += 360.0;
- }
- while ( roll_deg > 180.0 ) {
- roll_deg -= 360.0;
- }
-
- double pitch_deg = f->get_Theta() * RAD_TO_DEG;
- while ( pitch_deg < -180.0 ) {
- pitch_deg += 360.0;
- }
- while ( pitch_deg > 180.0 ) {
- pitch_deg -= 360.0;
- }
-
- // scale roll and pitch to output format (1 - 255)
- // straight && level == (128, 128)
-
- int roll = (int)( (roll_deg+180.0) * 255.0 / 360.0) + 1;
- int pitch = (int)( (pitch_deg+180.0) * 255.0 / 360.0) + 1;
-
- sprintf( rul, "p%c%c\n", roll, pitch);
-
- FG_LOG( FG_IO, FG_INFO, "p " << roll << " " << pitch );
-
- string rul_sentence = rul;
- p->port.write_port(rul_sentence);
-#endif
-}
-
-
-// "PVE" (ProVision Entertainment) output format (for some sort of
-// motion platform)
-//
-// Outputs a 5-byte data packet defined as follows:
-//
-// First bite: ASCII character "P" ( 0x50 or 80 decimal )
-// Second byte: "roll" value (1-255) 1 being 0* and 255 being 359*
-// Third byte: "pitch" value (1-255) 1 being 0* and 255 being 359*
-// Fourth byte: "heave" value (or vertical acceleration?)
-//
-// So sending 80 127 127 to the two axis motors will position on 180*
-// The RS- 232 port is a nine pin connector and the only pins used are
-// 3&5.
-
-static void send_pve_out( FGIOChannel *p ) {
-#if 0
- char pve[256];
-
- FGInterface *f;
- FGTime *t;
-
-
- f = current_aircraft.fdm_state;
- t = FGTime::cur_time_params;
-
- // run as often as possibleonce per second
-
- // this runs once per second
- // if ( p->last_time == t->get_cur_time() ) {
- // return;
- // }
- // p->last_time = t->get_cur_time();
- // if ( t->get_cur_time() % 2 != 0 ) {
- // return;
- // }
-
- // get roll and pitch, convert to degrees
- double roll_deg = f->get_Phi() * RAD_TO_DEG;
- while ( roll_deg <= -180.0 ) {
- roll_deg += 360.0;
- }
- while ( roll_deg > 180.0 ) {
- roll_deg -= 360.0;
- }
-
- double pitch_deg = f->get_Theta() * RAD_TO_DEG;
- while ( pitch_deg <= -180.0 ) {
- pitch_deg += 360.0;
- }
- while ( pitch_deg > 180.0 ) {
- pitch_deg -= 360.0;
- }
-
- short int heave = (int)(f->get_W_body() * 128.0);
-
- // scale roll and pitch to output format (1 - 255)
- // straight && level == (128, 128)
-
- short int roll = (int)(roll_deg * 32768 / 180.0);
- short int pitch = (int)(pitch_deg * 32768 / 180.0);
-
- unsigned char roll_b1, roll_b2, pitch_b1, pitch_b2, heave_b1, heave_b2;
- roll_b1 = roll >> 8;
- roll_b2 = roll & 0x00ff;
- pitch_b1 = pitch >> 8;
- pitch_b2 = pitch & 0x00ff;
- heave_b1 = heave >> 8;
- heave_b2 = heave & 0x00ff;
-
- sprintf( pve, "p%c%c%c%c%c%c\n",
- roll_b1, roll_b2, pitch_b1, pitch_b2, heave_b1, heave_b2 );
-
- // printf( "p [ %u %u ] [ %u %u ] [ %u %u ]\n",
- // roll_b1, roll_b2, pitch_b1, pitch_b2, heave_b1, heave_b2 );
-
- FG_LOG( FG_IO, FG_INFO, "roll=" << roll << " pitch=" << pitch <<
- " heave=" << heave );
-
- string pve_sentence = pve;
- p->port.write_port(pve_sentence);
-#endif
-}
-
-
-// one more level of indirection ...
-static void process_port( FGIOChannel *p ) {
-#if 0
- if ( p->kind == fgIOCHANNEL::FG_SERIAL_NMEA_OUT ) {
- send_nmea_out(p);
- } else if ( p->kind == fgIOCHANNEL::FG_SERIAL_NMEA_IN ) {
- read_nmea_in(p);
- } else if ( p->kind == fgIOCHANNEL::FG_SERIAL_GARMIN_OUT ) {
- send_garmin_out(p);
- } else if ( p->kind == fgIOCHANNEL::FG_SERIAL_GARMIN_IN ) {
- read_garmin_in(p);
- } else if ( p->kind == fgIOCHANNEL::FG_SERIAL_FGFS_OUT ) {
- send_fgfs_out(p);
- } else if ( p->kind == fgIOCHANNEL::FG_SERIAL_FGFS_IN ) {
- read_fgfs_in(p);
- } else if ( p->kind == fgIOCHANNEL::FG_SERIAL_RUL_OUT ) {
- send_rul_out(p);
- } else if ( p->kind == fgIOCHANNEL::FG_SERIAL_PVE_OUT ) {
- send_pve_out(p);
- }
-#endif
-}
-
-
// process any serial port work
void fgIOProcess() {
FGProtocol *p;
static int inited = 0;
int interval;
- static FGTimeStamp last;
- FGTimeStamp current;
+ static SGTimeStamp last;
+ SGTimeStamp current;
if ( ! inited ) {
inited = 1;
if ( p->is_enabled() ) {
p->dec_count_down( interval );
- if ( p->get_count_down() < 0 ) {
+ while ( p->get_count_down() < 0 ) {
p->process();
- p->set_count_down( 1000000.0 / p->get_hz() );
+ p->dec_count_down( -1000000.0 / p->get_hz() );
}
}
}
}
+
+
+// shutdown all I/O connections
+void fgIOShutdownAll() {
+ FGProtocol *p;
+
+ // cout << "processing I/O channels" << endl;
+
+ for ( int i = 0; i < (int)global_io_list.size(); ++i ) {
+ // cout << " channel = " << i << endl;
+ p = global_io_list[i];
+
+ if ( p->is_enabled() ) {
+ p->close();
+ }
+ }
+}
projects / flightgear.git / blobdiff