using simgear::strutils::unescape;
-FGGeneric::FGGeneric(vector<string> tokens) : exitOnError(false), initOk(false)
+class FGProtocolWrapper {
+public:
+ virtual ~FGProtocolWrapper() {}
+ virtual int wrap( size_t n, uint8_t * buf ) = 0;
+ virtual int unwrap( size_t n, uint8_t * buf ) = 0;
+};
+
+/**
+ * http://www.ka9q.net/papers/kiss.html
+ */
+class FGKissWrapper : public FGProtocolWrapper {
+public:
+ virtual int wrap( size_t n, uint8_t * buf );
+ virtual int unwrap( size_t n, uint8_t * buf );
+private:
+ static const uint8_t FEND;
+ static const uint8_t FESC;
+ static const uint8_t TFEND;
+ static const uint8_t TFESC;
+};
+
+const uint8_t FGKissWrapper::FEND = 0xC0;
+const uint8_t FGKissWrapper::FESC = 0xDB;
+const uint8_t FGKissWrapper::TFEND = 0xDC;
+const uint8_t FGKissWrapper::TFESC = 0xDD;
+
+int FGKissWrapper::wrap( size_t n, uint8_t * buf )
+{
+ std::vector<uint8_t> dest;
+ uint8_t *sp = buf;
+
+ dest.push_back(FEND);
+ dest.push_back(0); // command/channel always zero
+ for( size_t i = 0; i < n; i++ ) {
+ uint8_t c = *sp++;
+ switch( c ) {
+ case FESC:
+ dest.push_back(FESC);
+ dest.push_back(TFESC);
+ break;
+
+ case FEND:
+ dest.push_back(FESC);
+ dest.push_back(TFEND);
+ break;
+
+ default:
+ dest.push_back(c);
+ break;
+ }
+ }
+ dest.push_back(FEND);
+
+ memcpy( buf, dest.data(), dest.size() );
+ return dest.size();
+}
+
+int FGKissWrapper::unwrap( size_t n, uint8_t * buf )
+{
+ uint8_t * sp = buf;
+
+ // look for FEND
+ while( 0 < n && FEND != *sp ) {
+ sp++;
+ n--;
+ }
+
+ // ignore all leading FEND
+ while( 0 < n && FEND == *sp ) {
+ sp++;
+ n--;
+ }
+
+ if( 0 == n ) return 0;
+
+ std::vector<uint8_t> dest;
+ {
+ bool escaped = false;
+
+ while( 0 < n ) {
+
+ n--;
+ uint8_t c = *sp++;
+
+ if( escaped ) {
+ switch( c ) {
+
+ case TFESC:
+ dest.push_back( FESC );
+ break;
+
+ case TFEND:
+ dest.push_back( FEND );
+ break;
+
+ default: // this is an error - ignore and continue
+ break;
+ }
+
+ escaped = false;
+
+ } else {
+
+ switch( c ) {
+ case FESC:
+ escaped = true;
+ break;
+
+ case FEND:
+ if( 0 != n ) {
+ SG_LOG(SG_IO, SG_WARN,
+ "KISS frame detected FEND before end of frame. Trailing data dropped." );
+ }
+ n = 0;
+ break;
+
+ default:
+ dest.push_back( c );
+ break;
+ }
+ }
+ }
+ }
+
+ memcpy( buf, dest.data(), dest.size() );
+ return dest.size();
+}
+
+
+class FGSTXETXWrapper : public FGProtocolWrapper {
+public:
+ virtual int wrap( size_t n, uint8_t * buf );
+ virtual int unwrap( size_t n, uint8_t * buf );
+
+ static const uint8_t STX;
+ static const uint8_t ETX;
+ static const uint8_t DLE;
+};
+
+const uint8_t FGSTXETXWrapper::STX = 0x02;
+const uint8_t FGSTXETXWrapper::ETX = 0x03;
+const uint8_t FGSTXETXWrapper::DLE = 0x00;
+
+int FGSTXETXWrapper::wrap( size_t n, uint8_t * buf )
+{
+ // stuff payload as
+ // <dle><stx>payload<dle><etx>
+ // if payload contains <dle>, stuff <dle> as <dle><dle>
+ std::vector<uint8_t> dest;
+ uint8_t *sp = buf;
+
+ dest.push_back(DLE);
+ dest.push_back(STX);
+
+ while( n > 0 ) {
+ n--;
+
+ if( DLE == *sp )
+ dest.push_back(DLE);
+
+ dest.push_back(*sp++);
+ }
+
+ dest.push_back(DLE);
+ dest.push_back(ETX);
+
+ memcpy( buf, dest.data(), dest.size() );
+ return dest.size();
+}
+
+int FGSTXETXWrapper::unwrap( size_t n, uint8_t * buf )
+{
+ return n;
+}
+
+FGGeneric::FGGeneric(vector<string> tokens) : exitOnError(false), initOk(false), wrapper(NULL)
{
size_t configToken;
if (tokens[1] == "socket") {
}
FGGeneric::~FGGeneric() {
+ delete wrapper;
}
union u32 {
break;
}
+ case FG_BYTE:
+ {
+ val = _out_message[i].offset +
+ _out_message[i].prop->getIntValue() * _out_message[i].factor;
+ int8_t byteVal = val;
+ memcpy(&buf[length], &byteVal, sizeof(int8_t));
+ length += sizeof(int8_t);
+ break;
+ }
+
+ case FG_WORD:
+ {
+ val = _out_message[i].offset +
+ _out_message[i].prop->getIntValue() * _out_message[i].factor;
+ int16_t wordVal = val;
+ memcpy(&buf[length], &wordVal, sizeof(int16_t));
+ length += sizeof(int16_t);
+ break;
+ }
+
default: // SG_STRING
const char *strdata = _out_message[i].prop->getStringValue();
int32_t strlength = strlen(strdata);
* length += (strlength % 4 > 0 ? sizeof(int32_t) - strlength % 4 : 0;
*/
break;
+
}
}
length += sizeof(int32_t);
}
+ if( wrapper ) length = wrapper->wrap( length, reinterpret_cast<uint8_t*>(buf) );
+
return true;
}
if (i > 0) {
generic_sentence += var_separator;
}
+
+ string format = simgear::strutils::sanitizePrintfFormat(_out_message[i].format);
switch (_out_message[i].type) {
+ case FG_BYTE:
+ case FG_WORD:
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);
+ snprintf(tmp, 255, format.c_str(), (int)val);
break;
case FG_BOOL:
- snprintf(tmp, 255, _out_message[i].format.c_str(),
+ snprintf(tmp, 255, 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);
+ snprintf(tmp, 255, 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);
+ snprintf(tmp, 255, 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);
+ snprintf(tmp, 255, format.c_str(), (double)val);
break;
default: // SG_STRING
- snprintf(tmp, 255, _out_message[i].format.c_str(),
+ snprintf(tmp, 255, format.c_str(),
_out_message[i].prop->getStringValue());
}
p1 += sizeof(int64_t);
break;
+ case FG_BYTE:
+ tmp32 = *(int8_t *)p1;
+ updateValue(_in_message[i], (int)tmp32);
+ p1 += sizeof(int8_t);
+ break;
+
+ case FG_WORD:
+ if (binary_byte_order == BYTE_ORDER_NEEDS_CONVERSION) {
+ tmp32 = sg_bswap_16(*(int16_t *)p1);
+ } else {
+ tmp32 = *(int16_t *)p1;
+ }
+ updateValue(_in_message[i], (int)tmp32);
+ p1 += sizeof(int16_t);
+ break;
+
default: // SG_STRING
SG_LOG( SG_IO, SG_ALERT, "Generic protocol: "
"Ignoring unsupported binary input chunk type.");
}
switch (_in_message[i].type) {
+ case FG_BYTE:
+ case FG_WORD:
case FG_INT:
updateValue(_in_message[i], atoi(p1));
break;
// bad configuration
return;
}
- if (!binary_mode && (line_separator.size() == 0 ||
+ if (!binary_mode && (line_separator.empty() ||
*line_separator.rbegin() != '\n')) {
SG_LOG(SG_IO, SG_WARN,
"byte order, using HOST byte order.");
}
}
+
+ if( root->hasValue( "wrapper" ) ) {
+ string w = root->getStringValue( "wrapper" );
+ if( w == "kiss" ) wrapper = new FGKissWrapper();
+ else if( w == "stxetx" ) wrapper = new FGSTXETXWrapper();
+ else SG_LOG(SG_IO, SG_ALERT,
+ "generic protocol: Undefined binary protocol wrapper '" + w + "' ignored" );
+ }
}
int record_length = 0; // Only used for binary protocols.
chunk.wrap = chunks[i]->getBoolValue("wrap");
chunk.rel = chunks[i]->getBoolValue("relative");
- string node = chunks[i]->getStringValue("node", "/null");
- chunk.prop = fgGetNode(node.c_str(), true);
+ if( chunks[i]->hasChild("const") ) {
+ chunk.prop = new SGPropertyNode();
+ chunk.prop->setStringValue( chunks[i]->getStringValue("const", "" ) );
+ } else {
+ string node = chunks[i]->getStringValue("node", "/null");
+ chunk.prop = fgGetNode(node.c_str(), true);
+ }
string type = chunks[i]->getStringValue("type");
} else if (type == "fixed") {
chunk.type = FG_FIXED;
record_length += sizeof(int32_t);
- } else if (type == "string")
+ } else if (type == "string") {
chunk.type = FG_STRING;
- else {
+ } else if (type == "byte") {
+ chunk.type = FG_BYTE;
+ record_length += sizeof(int8_t);
+ } else if (type == "word") {
+ chunk.type = FG_WORD;
+ record_length += sizeof(int16_t);
+ } else {
chunk.type = FG_INT;
record_length += sizeof(int32_t);
}
projects / flightgear.git / blobdiff