//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
-// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
//
// $Id$
# 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(string& config) : exitOnError(false)
+{
string file = config+".xml";
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);
}
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) {
+ *((int32_t*)&buf[length]) = (int32_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 += sizeof(int8_t);
+ } else {
+ snprintf(tmp, 255, _out_message[i].format.c_str(),
+ _out_message[i].prop->getBoolValue());
+ }
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) {
+ *((double*)&buf[length]) = val;
+ length += sizeof(double);
+ } 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);
+
+ /* Format for strings is
+ * [length as int, 4 bytes][ASCII data, length bytes]
+ */
+ *((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());
+ }
}
- 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) {
+ *((int32_t*)&buf[length]) = binary_footer_value;
+ length += sizeof(int32_t);
+ }
+ }
return true;
}
double val;
int i = -1;
- while ((++i < _in_message.size()) &&
- p1 && strcmp(p1, line_separator.c_str())) {
+ 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())) {
p2 = strstr(p1, var_separator.c_str());
if (p2) {
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();
} else {
SG_LOG( SG_IO, SG_ALERT, "Error reading data." );
- return false;
+ goto error_out;
}
}
-
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
+ 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.");
+ }
+ }
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");
projects / flightgear.git / blobdiff