# include "config.h"
#endif
-#include <string.h> // strstr()
-#include <stdlib.h> // strtod(), atoi()
+#include <string.h> // strstr()
+#include <stdlib.h> // strtod(), atoi()
#include <simgear/debug/logstream.hxx>
#include <simgear/io/iochannel.hxx>
#include <simgear/structure/exception.hxx>
#include <simgear/misc/sg_path.hxx>
+#include <simgear/misc/stdint.hxx>
#include <simgear/props/props.hxx>
#include <simgear/props/props_io.hxx>
#include <Main/globals.hxx>
#include <Main/fg_props.hxx>
+#include <Main/util.hxx>
#include "generic.hxx"
-FGGeneric::FGGeneric(string& config) {
+FGGeneric::FGGeneric(vector<string> tokens) : exitOnError(false)
+{
+ int configToken;
+ if (tokens[1] == "socket") {
+ configToken = 7;
+ } else if (tokens[1] == "file") {
+ configToken = 5;
+ } else {
+ configToken = 6;
+ }
+ string config = tokens[ configToken ];
string file = config+".xml";
SGPath path( globals->get_fg_root() );
SGPropertyNode root;
try {
readProperties(path.str(), &root);
- } catch (const sg_exception &e) {
+ } catch (const sg_exception &e) {
SG_LOG(SG_GENERAL, SG_ALERT,
"Unable to load the protocol configuration file");
return;
}
- _out_message.clear();
- SGPropertyNode *output = root.getNode("generic/output");
- if (output)
- read_config(output, _out_message);
-
- _in_message.clear();
- SGPropertyNode *input = root.getNode("generic/input");
- if (input)
- read_config(input, _in_message);
+ if (tokens[2] == "out") {
+ SGPropertyNode *output = root.getNode("generic/output");
+ if (output) {
+ read_config(output, _out_message);
+ }
+ } else if (tokens[2] == "in") {
+ SGPropertyNode *input = root.getNode("generic/input");
+ if (input) {
+ read_config(input, _in_message);
+ }
+ } else {
+ SG_LOG(SG_GENERAL, SG_ALERT, "Unsuported protocol direction: "
+ << tokens[2]);
+ }
}
FGGeneric::~FGGeneric() {
- _out_message.clear();
- _in_message.clear();
}
// generate the message
bool FGGeneric::gen_message() {
-
string generic_sentence;
char tmp[255];
+ length = 0;
double val;
-
for (unsigned int i = 0; i < _out_message.size(); i++) {
- if (i > 0)
- generic_sentence += var_separator;
+ if (i > 0 && !binary_mode)
+ generic_sentence += var_separator;
switch (_out_message[i].type) {
case FG_INT:
val = _out_message[i].offset +
_out_message[i].prop->getIntValue() * _out_message[i].factor;
- snprintf(tmp, 255, _out_message[i].format.c_str(), (int)val);
+ if (binary_mode) {
+ if (binary_byte_order == BYTE_ORDER_MATCHES_NETWORK_ORDER) {
+ *((int32_t*)&buf[length]) = (int32_t)val;
+ } else {
+ *((uint32_t*)&buf[length]) = sg_bswap_32((uint32_t)val);
+ }
+ length += sizeof(int32_t);
+ } else {
+ snprintf(tmp, 255, _out_message[i].format.c_str(), (int)val);
+ }
break;
case FG_BOOL:
- snprintf(tmp, 255, _out_message[i].format.c_str(),
- _out_message[i].prop->getBoolValue());
+ if (binary_mode) {
+ *((int8_t*)&buf[length])
+ = _out_message[i].prop->getBoolValue() ? true : false;
+ length += 1;
+ } else {
+ snprintf(tmp, 255, _out_message[i].format.c_str(),
+ _out_message[i].prop->getBoolValue());
+ }
+ break;
+
+ case FG_FIXED:
+ val = _out_message[i].offset +
+ _out_message[i].prop->getFloatValue() * _out_message[i].factor;
+ if (binary_mode) {
+ int fixed = (int)(val * 65536.0f);
+ if (binary_byte_order == BYTE_ORDER_MATCHES_NETWORK_ORDER) {
+ *((int32_t*)&buf[length]) = (int32_t)fixed;
+ } else {
+ *((uint32_t*)&buf[length]) = sg_bswap_32((uint32_t)val);
+ }
+ length += sizeof(int32_t);
+ } else {
+ snprintf(tmp, 255, _out_message[i].format.c_str(), (float)val);
+ }
+ break;
+
+ case FG_FLOAT:
+ val = _out_message[i].offset +
+ _out_message[i].prop->getFloatValue() * _out_message[i].factor;
+ if (binary_mode) {
+ if (binary_byte_order == BYTE_ORDER_MATCHES_NETWORK_ORDER) {
+ *((float*)&buf[length]) = val;
+ } else {
+ *((float*)&buf[length]) = sg_bswap_32(*(uint32_t*)&val);
+ }
+ length += sizeof(int32_t);
+ } else {
+ snprintf(tmp, 255, _out_message[i].format.c_str(), (float)val);
+ }
break;
case FG_DOUBLE:
val = _out_message[i].offset +
_out_message[i].prop->getFloatValue() * _out_message[i].factor;
- snprintf(tmp, 255, _out_message[i].format.c_str(), (float)val);
+ if (binary_mode) {
+ if (binary_byte_order == BYTE_ORDER_MATCHES_NETWORK_ORDER) {
+ *((double*)&buf[length]) = val;
+ } else {
+ *((double*)&buf[length]) = sg_bswap_64(*(uint64_t*)&val);
+ }
+ length += sizeof(int64_t);
+ } else {
+ snprintf(tmp, 255, _out_message[i].format.c_str(), (float)val);
+ }
break;
default: // SG_STRING
- snprintf(tmp, 255, _out_message[i].format.c_str(),
- _out_message[i].prop->getStringValue());
+ if (binary_mode) {
+ const char *strdata = _out_message[i].prop->getStringValue();
+ int strlength = strlen(strdata);
+
+ if (binary_byte_order == BYTE_ORDER_NEEDS_CONVERSION) {
+ SG_LOG( SG_IO, SG_ALERT, "Generic protocol: "
+ "FG_STRING will be written in host byte order.");
+ }
+ /* Format for strings is
+ * [length as int, 4 bytes][ASCII data, length bytes]
+ */
+ if (binary_byte_order == BYTE_ORDER_MATCHES_NETWORK_ORDER) {
+ *((int32_t*)&buf[length]) = strlength;
+ } else {
+ *((int32_t*)&buf[length]) = sg_bswap_32(strlength);
+ }
+ length += sizeof(int32_t);
+ strncpy(&buf[length], strdata, strlength);
+ length += strlength;
+ /* FIXME padding for alignment? Something like:
+ * length += (strlength % 4 > 0 ? sizeof(int32_t) - strlength % 4 : 0;
+ */
+ } else {
+ snprintf(tmp, 255, _out_message[i].format.c_str(),
+ _out_message[i].prop->getStringValue());
+ }
}
- generic_sentence += tmp;
+ if (!binary_mode) {
+ generic_sentence += tmp;
+ }
}
- /* After each lot of variables has been added, put the line separator
- * char/string
- */
- generic_sentence += line_separator;
-
-
- length = generic_sentence.length();
- strncpy( buf, generic_sentence.c_str(), length );
+ if (!binary_mode) {
+ /* After each lot of variables has been added, put the line separator
+ * char/string
+ */
+ generic_sentence += line_separator;
+
+ length = generic_sentence.length();
+ strncpy( buf, generic_sentence.c_str(), length );
+ } else {
+ // add the footer to the packet ("line")
+ switch (binary_footer_type) {
+ case FOOTER_LENGTH:
+ binary_footer_value = length;
+ break;
+
+ case FOOTER_MAGIC:
+ break;
+ }
+ if (binary_footer_type != FOOTER_NONE) {
+ if (binary_byte_order == BYTE_ORDER_MATCHES_NETWORK_ORDER) {
+ *((int32_t*)&buf[length]) = binary_footer_value;
+ } else {
+ *((int32_t*)&buf[length]) = sg_bswap_32(binary_footer_value);
+ }
+ length += sizeof(int32_t);
+ }
+ }
return true;
}
double val;
int i = -1;
- while ((++i < (int)_in_message.size()) &&
- p1 && strcmp(p1, line_separator.c_str())) {
-
- p2 = strstr(p1, var_separator.c_str());
- if (p2) {
- *p2 = 0;
- p2 += var_separator.length();
+ if (!binary_mode) {
+ while ((++i < (int)_in_message.size()) &&
+ p1 && strcmp(p1, line_separator.c_str())) {
+
+ p2 = strstr(p1, var_separator.c_str());
+ if (p2) {
+ *p2 = 0;
+ p2 += var_separator.length();
+ }
+
+ switch (_in_message[i].type) {
+ case FG_INT:
+ val = _in_message[i].offset + atoi(p1) * _in_message[i].factor;
+ _in_message[i].prop->setIntValue((int)val);
+ break;
+
+ case FG_BOOL:
+ _in_message[i].prop->setBoolValue( atof(p1) != 0.0 );
+ break;
+
+ case FG_FIXED:
+ case FG_DOUBLE:
+ val = _in_message[i].offset + strtod(p1, 0) * _in_message[i].factor;
+ _in_message[i].prop->setFloatValue((float)val);
+ break;
+
+ default: // SG_STRING
+ _in_message[i].prop->setStringValue(p1);
+ }
+
+ p1 = p2;
}
-
- switch (_in_message[i].type) {
- case FG_INT:
- val = _in_message[i].offset + atoi(p1) * _in_message[i].factor;
- _in_message[i].prop->setIntValue((int)val);
- break;
-
- case FG_BOOL:
- _in_message[i].prop->setBoolValue( atof(p1) != 0.0 );
- break;
-
- case FG_DOUBLE:
- val = _in_message[i].offset + strtod(p1, 0) * _in_message[i].factor;
- _in_message[i].prop->setFloatValue((float)val);
- break;
-
- default: // SG_STRING
- _in_message[i].prop->setStringValue(p1);
+ } else {
+ /* Binary mode */
+ int64_t tmp;
+
+ while ((++i < (int)_in_message.size()) &&
+ (p1 - buf < FG_MAX_MSG_SIZE)) {
+
+ switch (_in_message[i].type) {
+ case FG_INT:
+ if (binary_byte_order == BYTE_ORDER_NEEDS_CONVERSION) {
+ tmp = sg_bswap_32(*(int32_t *)p1);
+ } else {
+ tmp = *(int32_t *)p1;
+ }
+ val = _in_message[i].offset +
+ (double)tmp *
+ _in_message[i].factor;
+ _in_message[i].prop->setIntValue((int)val);
+ p1 += sizeof(int32_t);
+ break;
+
+ case FG_BOOL:
+ _in_message[i].prop->setBoolValue( p1[0] != 0 );
+ p1 += 1;
+ break;
+
+ case FG_FIXED:
+ if (binary_byte_order == BYTE_ORDER_NEEDS_CONVERSION) {
+ tmp = sg_bswap_32(*(int32_t *)p1);
+ } else {
+ tmp = *(int32_t *)p1;
+ }
+ val = _in_message[i].offset +
+ ((double)tmp / 65536.0f) * _in_message[i].factor;
+ _in_message[i].prop->setFloatValue(val);
+ p1 += sizeof(int32_t);
+ break;
+
+ case FG_FLOAT:
+ if (binary_byte_order == BYTE_ORDER_NEEDS_CONVERSION) {
+ tmp = sg_bswap_32(*(int32_t *)p1);
+ } else {
+ tmp = *(int32_t *)p1;
+ }
+ val = _in_message[i].offset +
+ *(float *)&tmp * _in_message[i].factor;
+ _in_message[i].prop->setFloatValue(val);
+ p1 += sizeof(int32_t);
+ break;
+
+ case FG_DOUBLE:
+ if (binary_byte_order == BYTE_ORDER_NEEDS_CONVERSION) {
+ tmp = sg_bswap_64(*(int64_t *)p1);
+ } else {
+ tmp = *(int64_t *)p1;
+ }
+ val = _in_message[i].offset +
+ *(double *)&tmp * _in_message[i].factor;
+ _in_message[i].prop->setDoubleValue(val);
+ p1 += sizeof(int64_t);
+ break;
+
+ default: // SG_STRING
+ SG_LOG( SG_IO, SG_ALERT, "Generic protocol: "
+ "Ignoring unsupported binary input chunk type.");
+ }
}
-
- p1 = p2;
}
return true;
set_enabled( true );
+ if ( get_direction() == SG_IO_OUT && ! preamble.empty() ) {
+ if ( ! io->write( preamble.c_str(), preamble.size() ) ) {
+ SG_LOG( SG_IO, SG_WARN, "Error writing preamble." );
+ return false;
+ }
+ }
+
return true;
}
gen_message();
if ( ! io->write( buf, length ) ) {
SG_LOG( SG_IO, SG_WARN, "Error writing data." );
- return false;
+ goto error_out;
}
} else if ( get_direction() == SG_IO_IN ) {
- if ( (length = io->readline( buf, FG_MAX_MSG_SIZE )) > 0 ) {
- parse_message();
+ if (!binary_mode) {
+ if ( (length = io->readline( buf, FG_MAX_MSG_SIZE )) > 0 ) {
+ parse_message();
+ } else {
+ SG_LOG( SG_IO, SG_ALERT, "Error reading data." );
+ return false;
+ }
} else {
- SG_LOG( SG_IO, SG_ALERT, "Error reading data." );
- return false;
+ if ( (length = io->read( buf, binary_record_length )) > 0 ) {
+ if (length != binary_record_length) {
+ SG_LOG( SG_IO, SG_ALERT,
+ "Generic protocol: Received binary "
+ "record of unexpected size, expected: "
+ << binary_record_length << "received: "
+ << length);
+ } else {
+ SG_LOG( SG_IO, SG_DEBUG,
+ "Generic protocol: received record of " << length <<
+ " bytes.");
+ parse_message();
+ }
+ } else {
+ SG_LOG( SG_IO, SG_INFO,
+ "Generic protocol: Error reading data." );
+ return false;
+ }
}
}
-
return true;
+error_out:
+ if (exitOnError)
+ fgExit(1);
+ else
+ return false;
}
bool FGGeneric::close() {
SGIOChannel *io = get_io_channel();
+ if ( get_direction() == SG_IO_OUT && ! postamble.empty() ) {
+ if ( ! io->write( postamble.c_str(), postamble.size() ) ) {
+ SG_LOG( SG_IO, SG_ALERT, "Error writing postamble." );
+ return false;
+ }
+ }
+
set_enabled( false );
if ( ! io->close() ) {
void
FGGeneric::read_config(SGPropertyNode *root, vector<_serial_prot> &msg)
{
+ binary_mode = root->getBoolValue("binary_mode");
+
+ if (!binary_mode) {
/* These variables specified in the $FG_ROOT/data/Protocol/xxx.xml
* file for each format
*
* line_sep_string = the string/charachter to place at the end of each
* lot of variables
*/
- var_sep_string = root->getStringValue("var_separator");
- line_sep_string = root->getStringValue("line_separator");
+ preamble = fgUnescape(root->getStringValue("preamble"));
+ postamble = fgUnescape(root->getStringValue("postamble"));
+ var_sep_string = fgUnescape(root->getStringValue("var_separator"));
+ line_sep_string = fgUnescape(root->getStringValue("line_separator"));
if ( var_sep_string == "newline" )
var_separator = '\n';
line_separator = '\v';
else
line_separator = line_sep_string;
+ } else {
+ binary_footer_type = FOOTER_NONE; // default choice
+ binary_record_length = -1; // default choice = sizeof(representation)
+ // default choice is network byte order (big endian)
+ if (sgIsLittleEndian()) {
+ binary_byte_order = BYTE_ORDER_NEEDS_CONVERSION;
+ } else {
+ binary_byte_order = BYTE_ORDER_MATCHES_NETWORK_ORDER;
+ }
+
+ if ( root->hasValue("binary_footer") ) {
+ string footer_type = root->getStringValue("binary_footer");
+ if ( footer_type == "length" )
+ binary_footer_type = FOOTER_LENGTH;
+ else if ( footer_type.substr(0, 5) == "magic" ) {
+ binary_footer_type = FOOTER_MAGIC;
+ binary_footer_value = strtol(footer_type.substr(6,
+ footer_type.length() - 6).c_str(), (char**)0, 0);
+ } else if ( footer_type != "none" )
+ SG_LOG(SG_IO, SG_ALERT,
+ "generic protocol: Undefined generic binary protocol"
+ "footer, using no footer.");
+ }
+ if ( root->hasValue("record_length") ) {
+ binary_record_length = root->getIntValue("record_length");
+ }
+ if ( root->hasValue("byte_order") ) {
+ string byte_order = root->getStringValue("byte_order");
+ if (byte_order == "network" ) {
+ if ( sgIsLittleEndian() ) {
+ binary_byte_order = BYTE_ORDER_NEEDS_CONVERSION;
+ } else {
+ binary_byte_order = BYTE_ORDER_MATCHES_NETWORK_ORDER;
+ }
+ } else if ( byte_order == "host" ) {
+ binary_byte_order = BYTE_ORDER_MATCHES_NETWORK_ORDER;
+ } else {
+ SG_LOG(SG_IO, SG_ALERT,
+ "generic protocol: Undefined generic binary protocol"
+ "byte order, using HOST byte order.");
+ }
+ }
+ }
+ int record_length = 0; // Only used for binary protocols.
vector<SGPropertyNode_ptr> chunks = root->getChildren("chunk");
for (unsigned int i = 0; i < chunks.size(); i++) {
_serial_prot chunk;
- // chunk.name = chunks[i]->getStringValue("name");
- chunk.format = chunks[i]->getStringValue("format", "%d");
+ // chunk.name = chunks[i]->getStringValue("name");
+ chunk.format = fgUnescape(chunks[i]->getStringValue("format", "%d"));
chunk.offset = chunks[i]->getDoubleValue("offset");
chunk.factor = chunks[i]->getDoubleValue("factor", 1.0);
- string node = chunks[i]->getStringValue("node");
+ string node = chunks[i]->getStringValue("node", "/null");
chunk.prop = fgGetNode(node.c_str(), true);
string type = chunks[i]->getStringValue("type");
- if (type == "bool")
+ if (type == "bool") {
chunk.type = FG_BOOL;
- else if (type == "float")
+ record_length += 1;
+ } else if (type == "float") {
+ chunk.type = FG_FLOAT;
+ record_length += sizeof(int32_t);
+ } else if (type == "double") {
chunk.type = FG_DOUBLE;
- else if (type == "string")
+ record_length += sizeof(int64_t);
+ } else if (type == "fixed") {
+ chunk.type = FG_FIXED;
+ record_length += sizeof(int32_t);
+ } else if (type == "string")
chunk.type = FG_STRING;
- else
+ else {
chunk.type = FG_INT;
-
+ record_length += sizeof(int32_t);
+ }
msg.push_back(chunk);
}
+ if (binary_record_length == -1) {
+ binary_record_length = record_length;
+ } else if (binary_record_length < record_length) {
+ SG_LOG(SG_IO, SG_ALERT,
+ "generic protocol: Requested binary record length shorter than"
+ " requested record representation.");
+ binary_record_length = record_length;
+ }
}
-
projects / flightgear.git / blobdiff