-FGGeneric::FGGeneric(string& config) {
+FGGeneric::FGGeneric(vector<string> tokens) : exitOnError(false)
+{
+ size_t configToken;
+ if (tokens[1] == "socket") {
+ configToken = 7;
+ } else if (tokens[1] == "file") {
+ configToken = 5;
+ } else {
+ configToken = 6;
+ }
- string file = config+".xml";
+ if (configToken >= tokens.size()) {
+ SG_LOG(SG_GENERAL, SG_ALERT,
+ "Not enough tokens passed for generic protocol");
+ return;
+ }
- SGPath path( globals->get_fg_root() );
- path.append("Protocol");
- path.append(file.c_str());
- SG_LOG(SG_GENERAL, SG_INFO, "Reading communication protocol from "
- << path.str());
+ string config = tokens[ configToken ];
+ file_name = config+".xml";
+ direction = tokens[2];
- SGPropertyNode root;
- try {
- readProperties(path.str(), &root);
- } catch (const sg_exception &e) {
- SG_LOG(SG_GENERAL, SG_ALERT,
- "Unable to load the protocol configuration file");
- return;
+ if (direction != "in" && direction != "out") {
+ SG_LOG(SG_GENERAL, SG_ALERT, "Unsuported protocol direction: "
+ << direction);
}
- SGPropertyNode *output = root.getNode("generic/output");
- if (output)
- read_config(output, _out_message);
-
- SGPropertyNode *input = root.getNode("generic/input");
- if (input)
- read_config(input, _in_message);
+ reinit();
}
FGGeneric::~FGGeneric() {
}
+union u32 {
+ uint32_t intVal;
+ float floatVal;
+};
+
+union u64 {
+ uint64_t longVal;
+ double doubleVal;
+};
// generate the message
-bool FGGeneric::gen_message() {
+bool FGGeneric::gen_message_binary() {
string generic_sentence;
- char tmp[255];
length = 0;
double val;
-
for (unsigned int i = 0; i < _out_message.size(); i++) {
- 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;
- if (binary_mode) {
+
+ if (binary_byte_order == BYTE_ORDER_MATCHES_NETWORK_ORDER) {
*((int32_t*)&buf[length]) = (int32_t)val;
- length += sizeof(int32_t);
} else {
- snprintf(tmp, 255, _out_message[i].format.c_str(), (int)val);
+ *((uint32_t*)&buf[length]) = sg_bswap_32((uint32_t)val);
}
+ length += sizeof(int32_t);
break;
case FG_BOOL:
- if (binary_mode) {
- *((int8_t*)&buf[length])
- = _out_message[i].prop->getBoolValue() ? true : false;
- length += sizeof(int8_t);
+ *((int8_t*)&buf[length])
+ = _out_message[i].prop->getBoolValue() ? true : false;
+ length += 1;
+ break;
+
+ case FG_FIXED:
+ {
+ val = _out_message[i].offset +
+ _out_message[i].prop->getFloatValue() * _out_message[i].factor;
+
+ 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)fixed);
+ }
+ length += sizeof(int32_t);
+ break;
+ }
+ case FG_FLOAT:
+ val = _out_message[i].offset +
+ _out_message[i].prop->getFloatValue() * _out_message[i].factor;
+
+ if (binary_byte_order == BYTE_ORDER_MATCHES_NETWORK_ORDER) {
+ *((float*)&buf[length]) = val;
} else {
- snprintf(tmp, 255, _out_message[i].format.c_str(),
- _out_message[i].prop->getBoolValue());
+ u32 tmpun32;
+ tmpun32.floatVal = static_cast<float>(val);
+ *((uint32_t*)&buf[length]) = sg_bswap_32(tmpun32.intVal);
}
+ length += sizeof(uint32_t);
break;
case FG_DOUBLE:
val = _out_message[i].offset +
- _out_message[i].prop->getFloatValue() * _out_message[i].factor;
- if (binary_mode) {
+ _out_message[i].prop->getFloatValue() * _out_message[i].factor;
+
+ if (binary_byte_order == BYTE_ORDER_MATCHES_NETWORK_ORDER) {
*((double*)&buf[length]) = val;
- length += sizeof(double);
} else {
- snprintf(tmp, 255, _out_message[i].format.c_str(), (float)val);
+ u64 tmpun64;
+ tmpun64.doubleVal = val;
+ *((uint64_t*)&buf[length]) = sg_bswap_64(tmpun64.longVal);
}
+ length += sizeof(int64_t);
break;
default: // SG_STRING
- if (binary_mode) {
- const char *strdata = _out_message[i].prop->getStringValue();
- int strlength = strlen(strdata);
+ const char *strdata = _out_message[i].prop->getStringValue();
+ int strlength = strlen(strdata);
- /* Format for strings is
- * [length as int, 4 bytes][ASCII data, length bytes]
- */
+ 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;
- 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());
+ *((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;
+ */
}
+ }
- if (!binary_mode) {
- generic_sentence += tmp;
+ // add the footer to the packet ("line")
+ switch (binary_footer_type) {
+ case FOOTER_LENGTH:
+ binary_footer_value = length;
+ break;
+
+ case FOOTER_MAGIC:
+ case FOOTER_NONE:
+ 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);
}
- if (!binary_mode) {
- /* After each lot of variables has been added, put the line separator
- * char/string
- */
- generic_sentence += line_separator;
+ return true;
+}
- 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;
+bool FGGeneric::gen_message_ascii() {
+ 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 (binary_footer_type != FOOTER_NONE) {
- *((int32_t*)&buf[length]) = binary_footer_value;
- length += sizeof(int32_t);
+
+ 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);
+ break;
+
+ case FG_BOOL:
+ 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;
+ 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;
+ snprintf(tmp, 255, _out_message[i].format.c_str(), (float)val);
+ break;
+
+ case FG_DOUBLE:
+ val = _out_message[i].offset +
+ _out_message[i].prop->getDoubleValue() * _out_message[i].factor;
+ snprintf(tmp, 255, _out_message[i].format.c_str(), (double)val);
+ break;
+
+ default: // SG_STRING
+ snprintf(tmp, 255, _out_message[i].format.c_str(),
+ _out_message[i].prop->getStringValue());
}
+
+ 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 );
+
return true;
}
-bool FGGeneric::parse_message() {
+bool FGGeneric::gen_message() {
+ if (binary_mode) {
+ return gen_message_binary();
+ } else {
+ return gen_message_ascii();
+ }
+}
+
+bool FGGeneric::parse_message_binary() {
+ char *p2, *p1 = buf;
+ int32_t tmp32;
+ double val;
+ int i = -1;
+
+ p2 = p1 + FG_MAX_MSG_SIZE;
+ while ((++i < (int)_in_message.size()) && (p1 < p2)) {
+
+ switch (_in_message[i].type) {
+ case FG_INT:
+ if (binary_byte_order == BYTE_ORDER_NEEDS_CONVERSION) {
+ tmp32 = sg_bswap_32(*(int32_t *)p1);
+ } else {
+ tmp32 = *(int32_t *)p1;
+ }
+
+ val = _in_message[i].offset + (double)tmp32 * _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) {
+ tmp32 = sg_bswap_32(*(int32_t *)p1);
+ } else {
+ tmp32 = *(int32_t *)p1;
+ }
+
+ val = _in_message[i].offset +
+ ((double)tmp32 / 65536.0f) * _in_message[i].factor;
+
+ _in_message[i].prop->setFloatValue(val);
+ p1 += sizeof(int32_t);
+ break;
+
+ case FG_FLOAT:
+ u32 tmpun32;
+ if (binary_byte_order == BYTE_ORDER_NEEDS_CONVERSION) {
+ tmpun32.intVal = sg_bswap_32(*(uint32_t *)p1);
+ } else {
+ tmpun32.floatVal = *(float *)p1;
+ }
+
+ val = _in_message[i].offset +
+ tmpun32.floatVal * _in_message[i].factor;
+
+ _in_message[i].prop->setFloatValue(val);
+ p1 += sizeof(int32_t);
+ break;
+
+ case FG_DOUBLE:
+ u64 tmpun64;
+ if (binary_byte_order == BYTE_ORDER_NEEDS_CONVERSION) {
+ tmpun64.longVal = sg_bswap_64(*(uint64_t *)p1);
+ } else {
+ tmpun64.doubleVal = *(double *)p1;
+ }
+
+ val = _in_message[i].offset +
+ tmpun64.doubleVal * _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.");
+ }
+ }
+
+ return true;
+}
+
+bool FGGeneric::parse_message_ascii() {
char *p2, *p1 = buf;
double val;
int i = -1;
- if (binary_mode)
- SG_LOG( SG_IO, SG_ALERT,
- "generic protocol: binary mode input is not yet implemented.");
-
while ((++i < (int)_in_message.size()) &&
- p1 && strcmp(p1, line_separator.c_str())) {
+ p1 && strcmp(p1, line_separator.c_str())) {
p2 = strstr(p1, var_separator.c_str());
if (p2) {
_in_message[i].prop->setBoolValue( atof(p1) != 0.0 );
break;
- case FG_DOUBLE:
+ case FG_FIXED:
+ case FG_FLOAT:
val = _in_message[i].offset + strtod(p1, 0) * _in_message[i].factor;
_in_message[i].prop->setFloatValue((float)val);
break;
+ case FG_DOUBLE:
+ val = _in_message[i].offset + strtod(p1, 0) * _in_message[i].factor;
+ _in_message[i].prop->setDoubleValue(val);
+ break;
+
default: // SG_STRING
- _in_message[i].prop->setStringValue(p1);
+ _in_message[i].prop->setStringValue(p1);
}
p1 = p2;
}
-
+
return true;
}
+bool FGGeneric::parse_message() {
+ if (binary_mode) {
+ return parse_message_binary();
+ } else {
+ return parse_message_ascii();
+ }
+}
// open hailing frequencies
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 ( io->get_type() == sgFileType ) {
+ if (!binary_mode) {
+ length = io->readline( buf, FG_MAX_MSG_SIZE );
+ if ( length > 0 ) {
+ parse_message();
+ } else {
+ SG_LOG( SG_IO, SG_ALERT, "Error reading data." );
+ return false;
+ }
+ } else {
+ length = io->read( buf, binary_record_length );
+ if ( length == binary_record_length ) {
+ parse_message();
+ } else {
+ SG_LOG( SG_IO, SG_ALERT,
+ "Generic protocol: Received binary "
+ "record of unexpected size, expected: "
+ << binary_record_length << " but received: "
+ << length);
+ }
+ }
} else {
- SG_LOG( SG_IO, SG_ALERT, "Error reading data." );
- return false;
+ if (!binary_mode) {
+ while ((length = io->readline( buf, FG_MAX_MSG_SIZE )) > 0 ) {
+ parse_message();
+ }
+ } else {
+ while ((length = io->read( buf, binary_record_length ))
+ == binary_record_length ) {
+ parse_message();
+ }
+
+ if ( length > 0 ) {
+ SG_LOG( SG_IO, SG_ALERT,
+ "Generic protocol: Received binary "
+ "record of unexpected size, expected: "
+ << binary_record_length << " but received: "
+ << length);
+ }
+ }
}
}
-
return true;
+error_out:
+ if (exitOnError) {
+ fgExit(1);
+ return true; // should not get there, but please the compiler
+ } else
+ return false;
}
}
+void
+FGGeneric::reinit()
+{
+ SGPath path( globals->get_fg_root() );
+ path.append("Protocol");
+ path.append(file_name.c_str());
+
+ SG_LOG(SG_GENERAL, SG_INFO, "Reading communication protocol from "
+ << path.str());
+
+ SGPropertyNode root;
+ try {
+ readProperties(path.str(), &root);
+ } catch (const sg_exception &) {
+ SG_LOG(SG_GENERAL, SG_ALERT,
+ "Unable to load the protocol configuration file");
+ return;
+ }
+
+ if (direction == "out") {
+ SGPropertyNode *output = root.getNode("generic/output");
+ if (output) {
+ _out_message.clear();
+ read_config(output, _out_message);
+ }
+ } else if (direction == "in") {
+ SGPropertyNode *input = root.getNode("generic/input");
+ if (input) {
+ _in_message.clear();
+ read_config(input, _in_message);
+ }
+ }
+}
+
+
void
FGGeneric::read_config(SGPropertyNode *root, vector<_serial_prot> &msg)
{
var_sep_string = fgUnescape(root->getStringValue("var_separator"));
line_sep_string = fgUnescape(root->getStringValue("line_separator"));
- if ( var_sep_string == "newline" )
- var_separator = '\n';
- else if ( var_sep_string == "tab" )
- var_separator = '\t';
- else if ( var_sep_string == "space" )
- var_separator = ' ';
- else if ( var_sep_string == "formfeed" )
- var_separator = '\f';
- else if ( var_sep_string == "carriagereturn" )
- var_sep_string = '\r';
- else if ( var_sep_string == "verticaltab" )
- var_separator = '\v';
- else
- var_separator = var_sep_string;
-
- if ( line_sep_string == "newline" )
- line_separator = '\n';
- else if ( line_sep_string == "tab" )
- line_separator = '\t';
- else if ( line_sep_string == "space" )
- line_separator = ' ';
- else if ( line_sep_string == "formfeed" )
- line_separator = '\f';
- else if ( line_sep_string == "carriagereturn" )
- line_separator = '\r';
- else if ( line_sep_string == "verticaltab" )
- line_separator = '\v';
- else
- line_separator = line_sep_string;
+ if ( var_sep_string == "newline" ) {
+ var_separator = '\n';
+ } else if ( var_sep_string == "tab" ) {
+ var_separator = '\t';
+ } else if ( var_sep_string == "space" ) {
+ var_separator = ' ';
+ } else if ( var_sep_string == "formfeed" ) {
+ var_separator = '\f';
+ } else if ( var_sep_string == "carriagereturn" ) {
+ var_sep_string = '\r';
+ } else if ( var_sep_string == "verticaltab" ) {
+ var_separator = '\v';
+ } else {
+ var_separator = var_sep_string;
+ }
+
+ if ( line_sep_string == "newline" ) {
+ line_separator = '\n';
+ } else if ( line_sep_string == "tab" ) {
+ line_separator = '\t';
+ } else if ( line_sep_string == "space" ) {
+ line_separator = ' ';
+ } else if ( line_sep_string == "formfeed" ) {
+ line_separator = '\f';
+ } else if ( line_sep_string == "carriagereturn" ) {
+ line_separator = '\r';
+ } else if ( line_sep_string == "verticaltab" ) {
+ line_separator = '\v';
+ } else {
+ line_separator = line_sep_string;
+ }
} else {
- binary_footer_type = FOOTER_NONE; // default choice
+ // default values: no footer and record_length = sizeof(representation)
+ binary_footer_type = FOOTER_NONE;
+ binary_record_length = -1;
+
+ // 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" )
+ if ( footer_type == "length" ) {
binary_footer_type = FOOTER_LENGTH;
- else if ( footer_type.substr(0, 5) == "magic" ) {
+ } 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" )
+ } else if ( footer_type != "none" ) {
+ SG_LOG(SG_IO, SG_ALERT,
+ "generic protocol: Unknown generic binary protocol "
+ "footer '" << footer_type << "', 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"
- "footer, using no footer.");
+ "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++) {
chunk.prop = fgGetNode(node.c_str(), true);
string type = chunks[i]->getStringValue("type");
- if (type == "bool")
+
+ // Note: officially the type is called 'bool' but for backward
+ // compatibility 'boolean' will also be supported.
+ if (type == "bool" || type == "boolean") {
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_mode ) {
+ 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