-// generic.cxx -- generic protocal class
+// generic.cxx -- generic protocol class
//
// Written by Curtis Olson, started November 1999.
//
#include <simgear/misc/stdint.hxx>
#include <simgear/props/props.hxx>
#include <simgear/props/props_io.hxx>
+#include <simgear/math/SGMath.hxx>
#include <Main/globals.hxx>
#include <Main/fg_props.hxx>
+#include <Main/fg_os.hxx>
#include <Main/util.hxx>
-
#include "generic.hxx"
-
-
-FGGeneric::FGGeneric(vector<string> tokens) : exitOnError(false)
+FGGeneric::FGGeneric(vector<string> tokens) : exitOnError(false), initOk(false)
{
- int configToken;
+ size_t configToken;
if (tokens[1] == "socket") {
configToken = 7;
} else if (tokens[1] == "file") {
configToken = 6;
}
- if (configToken >= tokens.size()) {
- SG_LOG(SG_GENERAL, SG_ALERT,
- "Not enough tokens passed for generic protocol");
+ if ((configToken >= tokens.size())||(tokens[ configToken ] == "")) {
+ SG_LOG(SG_NETWORK, SG_ALERT,
+ "Not enough tokens passed for generic '" << tokens[1] << "' protocol. ");
return;
}
string config = tokens[ configToken ];
- string file = config+".xml";
-
- 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());
+ 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" && direction != "bi") {
+ SG_LOG(SG_NETWORK, SG_ALERT, "Unsuported protocol direction: "
+ << direction);
+ return;
}
- 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]);
- }
+ reinit();
}
FGGeneric::~FGGeneric() {
}
+union u32 {
+ uint32_t intVal;
+ float floatVal;
+};
+
+union u64 {
+ uint64_t longVal;
+ double doubleVal;
+};
// generate the message
bool FGGeneric::gen_message_binary() {
string generic_sentence;
- char tmp[255];
length = 0;
double val;
switch (_out_message[i].type) {
case FG_INT:
+ {
val = _out_message[i].offset +
_out_message[i].prop->getIntValue() * _out_message[i].factor;
-
- 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);
+ int32_t intVal = val;
+ if (binary_byte_order != BYTE_ORDER_MATCHES_NETWORK_ORDER) {
+ intVal = (int32_t) sg_bswap_32((uint32_t)intVal);
}
+ memcpy(&buf[length], &intVal, sizeof(int32_t));
length += sizeof(int32_t);
break;
+ }
case FG_BOOL:
- *((int8_t*)&buf[length])
- = _out_message[i].prop->getBoolValue() ? true : false;
+ buf[length] = (char) (_out_message[i].prop->getBoolValue() ? true : false);
length += 1;
break;
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)val);
+ int32_t fixed = (int)(val * 65536.0f);
+ if (binary_byte_order != BYTE_ORDER_MATCHES_NETWORK_ORDER) {
+ fixed = (int32_t) sg_bswap_32((uint32_t)fixed);
}
+ memcpy(&buf[length], &fixed, sizeof(int32_t));
length += sizeof(int32_t);
break;
}
+
case FG_FLOAT:
+ {
val = _out_message[i].offset +
_out_message[i].prop->getFloatValue() * _out_message[i].factor;
+ u32 tmpun32;
+ tmpun32.floatVal = static_cast<float>(val);
- if (binary_byte_order == BYTE_ORDER_MATCHES_NETWORK_ORDER) {
- *((float*)&buf[length]) = val;
- } else {
- *((float*)&buf[length]) = sg_bswap_32(*(uint32_t*)&val);
+ if (binary_byte_order != BYTE_ORDER_MATCHES_NETWORK_ORDER) {
+ tmpun32.intVal = sg_bswap_32(tmpun32.intVal);
}
- length += sizeof(int32_t);
+ memcpy(&buf[length], &tmpun32.intVal, sizeof(uint32_t));
+ length += sizeof(uint32_t);
break;
+ }
case FG_DOUBLE:
+ {
val = _out_message[i].offset +
_out_message[i].prop->getFloatValue() * _out_message[i].factor;
+ u64 tmpun64;
+ tmpun64.doubleVal = val;
- if (binary_byte_order == BYTE_ORDER_MATCHES_NETWORK_ORDER) {
- *((double*)&buf[length]) = val;
- } else {
- *((double*)&buf[length]) = sg_bswap_64(*(uint64_t*)&val);
+ if (binary_byte_order != BYTE_ORDER_MATCHES_NETWORK_ORDER) {
+ tmpun64.longVal = sg_bswap_64(tmpun64.longVal);
}
- length += sizeof(int64_t);
+ memcpy(&buf[length], &tmpun64.longVal, sizeof(uint64_t));
+ length += sizeof(uint64_t);
break;
+ }
default: // SG_STRING
const char *strdata = _out_message[i].prop->getStringValue();
- int strlength = strlen(strdata);
+ int32_t strlength = strlen(strdata);
if (binary_byte_order == BYTE_ORDER_NEEDS_CONVERSION) {
SG_LOG( SG_IO, SG_ALERT, "Generic protocol: "
/* 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);
+ if (binary_byte_order != BYTE_ORDER_MATCHES_NETWORK_ORDER) {
+ strlength = sg_bswap_32(strlength);
}
+ memcpy(&buf[length], &strlength, sizeof(int32_t));
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;
*/
+ break;
}
}
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);
+ int32_t intValue = binary_footer_value;
+ if (binary_byte_order != BYTE_ORDER_MATCHES_NETWORK_ORDER) {
+ intValue = sg_bswap_32(binary_footer_value);
}
+ memcpy(&buf[length], &intValue, sizeof(int32_t));
length += sizeof(int32_t);
}
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);
+ _out_message[i].prop->getDoubleValue() * _out_message[i].factor;
+ snprintf(tmp, 255, _out_message[i].format.c_str(), (double)val);
break;
default: // SG_STRING
}
}
-bool FGGeneric::parse_message_binary() {
+bool FGGeneric::parse_message_binary(int length) {
char *p2, *p1 = buf;
- int64_t tmp;
- double val;
+ int32_t tmp32;
int i = -1;
- p2 = p1 + FG_MAX_MSG_SIZE;
+ p2 = p1 + length;
while ((++i < (int)_in_message.size()) && (p1 < p2)) {
switch (_in_message[i].type) {
case FG_INT:
if (binary_byte_order == BYTE_ORDER_NEEDS_CONVERSION) {
- tmp = sg_bswap_32(*(int32_t *)p1);
+ tmp32 = sg_bswap_32(*(int32_t *)p1);
} else {
- tmp = *(int32_t *)p1;
+ tmp32 = *(int32_t *)p1;
}
-
- val = _in_message[i].offset + (double)tmp * _in_message[i].factor;
-
- _in_message[i].prop->setIntValue((int)val);
+ updateValue(_in_message[i], (int)tmp32);
p1 += sizeof(int32_t);
break;
case FG_BOOL:
- _in_message[i].prop->setBoolValue( p1[0] != 0 );
+ updateValue(_in_message[i], p1[0] != 0);
p1 += 1;
break;
case FG_FIXED:
if (binary_byte_order == BYTE_ORDER_NEEDS_CONVERSION) {
- tmp = sg_bswap_32(*(int32_t *)p1);
+ tmp32 = sg_bswap_32(*(int32_t *)p1);
} else {
- tmp = *(int32_t *)p1;
+ tmp32 = *(int32_t *)p1;
}
-
- val = _in_message[i].offset +
- ((double)tmp / 65536.0f) * _in_message[i].factor;
-
- _in_message[i].prop->setFloatValue(val);
+ updateValue(_in_message[i], (float)tmp32 / 65536.0f);
p1 += sizeof(int32_t);
break;
case FG_FLOAT:
+ u32 tmpun32;
if (binary_byte_order == BYTE_ORDER_NEEDS_CONVERSION) {
- tmp = sg_bswap_32(*(int32_t *)p1);
+ tmpun32.intVal = sg_bswap_32(*(uint32_t *)p1);
} else {
- tmp = *(int32_t *)p1;
+ tmpun32.floatVal = *(float *)p1;
}
-
- val = _in_message[i].offset +
- *(float *)&tmp * _in_message[i].factor;
-
- _in_message[i].prop->setFloatValue(val);
+ updateValue(_in_message[i], tmpun32.floatVal);
p1 += sizeof(int32_t);
break;
case FG_DOUBLE:
+ u64 tmpun64;
if (binary_byte_order == BYTE_ORDER_NEEDS_CONVERSION) {
- tmp = sg_bswap_64(*(int64_t *)p1);
+ tmpun64.longVal = sg_bswap_64(*(uint64_t *)p1);
} else {
- tmp = *(int64_t *)p1;
+ tmpun64.doubleVal = *(double *)p1;
}
-
- val = _in_message[i].offset +
- *(double *)&tmp * _in_message[i].factor;
-
- _in_message[i].prop->setDoubleValue(val);
+ updateValue(_in_message[i], tmpun64.doubleVal);
p1 += sizeof(int64_t);
break;
default: // SG_STRING
SG_LOG( SG_IO, SG_ALERT, "Generic protocol: "
"Ignoring unsupported binary input chunk type.");
+ break;
}
}
return true;
}
-bool FGGeneric::parse_message_ascii() {
- char *p2, *p1 = buf;
- double val;
+bool FGGeneric::parse_message_ascii(int length) {
+ char *p1 = buf;
int i = -1;
+ int chunks = _in_message.size();
+ int line_separator_size = line_separator.size();
+
+ if (length < line_separator_size ||
+ line_separator.compare(buf + length - line_separator_size) != 0) {
- while ((++i < (int)_in_message.size()) &&
- p1 && strcmp(p1, line_separator.c_str())) {
+ SG_LOG(SG_IO, SG_WARN,
+ "Input line does not end with expected line separator." );
+ } else {
+ buf[length - line_separator_size] = 0;
+ }
- p2 = strstr(p1, var_separator.c_str());
- if (p2) {
- *p2 = 0;
- p2 += var_separator.length();
+ size_t varsep_len = var_separator.length();
+ while ((++i < chunks) && p1) {
+ char* p2 = NULL;
+
+ if (varsep_len > 0)
+ {
+ p2 = strstr(p1, var_separator.c_str());
+ if (p2) {
+ *p2 = 0;
+ p2 += varsep_len;
+ }
}
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);
+ updateValue(_in_message[i], atoi(p1));
break;
case FG_BOOL:
- _in_message[i].prop->setBoolValue( atof(p1) != 0.0 );
+ updateValue(_in_message[i], atof(p1) != 0.0);
break;
case FG_FIXED:
+ case FG_FLOAT:
+ updateValue(_in_message[i], (float)strtod(p1, 0));
+ break;
+
case FG_DOUBLE:
- val = _in_message[i].offset + strtod(p1, 0) * _in_message[i].factor;
- _in_message[i].prop->setFloatValue((float)val);
+ updateValue(_in_message[i], (double)strtod(p1, 0));
break;
default: // SG_STRING
_in_message[i].prop->setStringValue(p1);
+ break;
}
p1 = p2;
return true;
}
-bool FGGeneric::parse_message() {
+bool FGGeneric::parse_message_len(int length) {
if (binary_mode) {
- return parse_message_binary();
+ return parse_message_binary(length);
} else {
- return parse_message_ascii();
+ return parse_message_ascii(length);
}
}
set_enabled( true );
- if ( get_direction() == SG_IO_OUT && ! preamble.empty() ) {
+ if ( ((get_direction() == SG_IO_OUT )||
+ (get_direction() == SG_IO_BI))
+ && ! preamble.empty() ) {
if ( ! io->write( preamble.c_str(), preamble.size() ) ) {
SG_LOG( SG_IO, SG_WARN, "Error writing preamble." );
return false;
bool FGGeneric::process() {
SGIOChannel *io = get_io_channel();
- if ( get_direction() == SG_IO_OUT ) {
+ if ( (get_direction() == SG_IO_OUT) ||
+ (get_direction() == SG_IO_BI) ) {
gen_message();
if ( ! io->write( buf, length ) ) {
SG_LOG( SG_IO, SG_WARN, "Error writing data." );
goto error_out;
}
- } else if ( get_direction() == SG_IO_IN ) {
- if (!binary_mode) {
- if ( (length = io->readline( buf, FG_MAX_MSG_SIZE )) > 0 ) {
- parse_message();
+ }
+
+ if (( get_direction() == SG_IO_IN ) ||
+ (get_direction() == SG_IO_BI) ) {
+ if ( io->get_type() == sgFileType ) {
+ if (!binary_mode) {
+ length = io->readline( buf, FG_MAX_MSG_SIZE );
+ if ( length > 0 ) {
+ parse_message_len( length );
+ } else {
+ SG_LOG( SG_IO, SG_ALERT, "Error reading data." );
+ return false;
+ }
} else {
- SG_LOG( SG_IO, SG_ALERT, "Error reading data." );
- return false;
- }
- } else {
- if ( (length = io->read( buf, binary_record_length )) > 0 ) {
- if (length != binary_record_length) {
+ length = io->read( buf, binary_record_length );
+ if ( length == binary_record_length ) {
+ parse_message_len( length );
+ } else {
SG_LOG( SG_IO, SG_ALERT,
"Generic protocol: Received binary "
"record of unexpected size, expected: "
- << binary_record_length << "received: "
+ << binary_record_length << " but received: "
<< length);
- } else {
- SG_LOG( SG_IO, SG_DEBUG,
- "Generic protocol: received record of " << length <<
- " bytes.");
- parse_message();
+ }
+ }
+ } else {
+ if (!binary_mode) {
+ while ((length = io->readline( buf, FG_MAX_MSG_SIZE )) > 0 ) {
+ parse_message_len( length );
}
} else {
- SG_LOG( SG_IO, SG_INFO,
- "Generic protocol: Error reading data." );
- return false;
+ while ((length = io->read( buf, binary_record_length ))
+ == binary_record_length ) {
+ parse_message_len( length );
+ }
+
+ 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);
- else
+ if (exitOnError) {
+ fgOSExit(1);
+ return true; // should not get there, but please the compiler
+ } else
return false;
}
bool FGGeneric::close() {
SGIOChannel *io = get_io_channel();
- if ( get_direction() == SG_IO_OUT && ! postamble.empty() ) {
+ if ( ((get_direction() == SG_IO_OUT)||
+ (get_direction() == SG_IO_BI))
+ && ! postamble.empty() ) {
if ( ! io->write( postamble.c_str(), postamble.size() ) ) {
SG_LOG( SG_IO, SG_ALERT, "Error writing postamble." );
return false;
void
+FGGeneric::reinit()
+{
+ SGPath path( globals->get_fg_root() );
+ path.append("Protocol");
+ path.append(file_name.c_str());
+
+ SG_LOG(SG_NETWORK, SG_INFO, "Reading communication protocol from "
+ << path.str());
+
+ SGPropertyNode root;
+ try {
+ readProperties(path.str(), &root);
+ } catch (const sg_exception & ex) {
+ SG_LOG(SG_NETWORK, SG_ALERT,
+ "Unable to load the protocol configuration file: " << ex.getFormattedMessage() );
+ return;
+ }
+
+ if (direction == "out") {
+ SGPropertyNode *output = root.getNode("generic/output");
+ if (output) {
+ _out_message.clear();
+ if (!read_config(output, _out_message))
+ {
+ // bad configuration
+ return;
+ }
+ }
+ } else if (direction == "in") {
+ SGPropertyNode *input = root.getNode("generic/input");
+ if (input) {
+ _in_message.clear();
+ if (!read_config(input, _in_message))
+ {
+ // bad configuration
+ return;
+ }
+ if (!binary_mode && (line_separator.size() == 0 ||
+ *line_separator.rbegin() != '\n')) {
+
+ SG_LOG(SG_IO, SG_WARN,
+ "Warning: Appending newline to line separator in generic input.");
+ line_separator.push_back('\n');
+ }
+ }
+ }
+
+ initOk = true;
+}
+
+
+bool
FGGeneric::read_config(SGPropertyNode *root, vector<_serial_prot> &msg)
{
binary_mode = root->getBoolValue("binary_mode");
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.format = fgUnescape(chunks[i]->getStringValue("format", "%d"));
chunk.offset = chunks[i]->getDoubleValue("offset");
chunk.factor = chunks[i]->getDoubleValue("factor", 1.0);
+ chunk.min = chunks[i]->getDoubleValue("min");
+ chunk.max = chunks[i]->getDoubleValue("max");
+ 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);
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;
record_length += 1;
} else if (type == "float") {
}
- 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;
+ if( !binary_mode )
+ {
+ if ((chunks.size() > 1)&&(var_sep_string.length() == 0))
+ {
+ // ASCII protocols really need a separator when there is more than one chunk per line
+ SG_LOG(SG_IO, SG_ALERT,
+ "generic protocol: Invalid configuration. "
+ "'var_separator' must not be empty for protocols which have more than one chunk per line.");
+ return false;
+ }
+ }
+ else
+ {
+ 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;
+ }
}
+
+ return true;
+}
+
+void FGGeneric::updateValue(FGGeneric::_serial_prot& prot, bool val)
+{
+ if( prot.rel )
+ {
+ // value inverted if received true, otherwise leave unchanged
+ if( val )
+ setValue(prot.prop, !getValue<bool>(prot.prop));
+ }
+ else
+ {
+ setValue(prot.prop, val);
+ }
}
projects / flightgear.git / blobdiff