//
// Written by Curtis Olson, started July 2001.
//
-// Copyright (C) 2001 Curtis L. Olson - curt@flightgear.org
+// Copyright (C) 2001 Curtis L. Olson - http://www.flightgear.org/~curt
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
//
// 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.
//
// $Id$
+#ifdef HAVE_CONFIG_H
+# include <config.h>
+#endif
+
#include <simgear/debug/logstream.hxx>
#include <simgear/io/iochannel.hxx>
+#include <simgear/io/lowlevel.hxx> // endian tests
+
+#include <Main/fg_props.hxx>
+#include <Scenery/scenery.hxx> // ground elevation
#include "native_ctrls.hxx"
+// FreeBSD works better with this included last ... (?)
+#if defined( _MSC_VER )
+# include <windows.h>
+#elif defined( __MINGW32__ )
+# include <winsock2.h>
+#else
+# include <netinet/in.h> // htonl() ntohl()
+#endif
+
FGNativeCtrls::FGNativeCtrls() {
}
}
-static void global2raw( const FGControls *global, FGRawCtrls *raw ) {
+// The function htond is defined this way due to the way some
+// processors and OSes treat floating point values. Some will raise
+// an exception whenever a "bad" floating point value is loaded into a
+// floating point register. Solaris is notorious for this, but then
+// so is LynxOS on the PowerPC. By translating the data in place,
+// there is no need to load a FP register with the "corruped" floating
+// point value. By doing the BIG_ENDIAN test, I can optimize the
+// routine for big-endian processors so it can be as efficient as
+// possible
+static void htond (double &x)
+{
+ if ( sgIsLittleEndian() ) {
+ int *Double_Overlay;
+ int Holding_Buffer;
+
+ Double_Overlay = (int *) &x;
+ Holding_Buffer = Double_Overlay [0];
+
+ Double_Overlay [0] = htonl (Double_Overlay [1]);
+ Double_Overlay [1] = htonl (Holding_Buffer);
+ } else {
+ return;
+ }
+}
+
+
+// Populate the FGNetCtrls structure from the property tree.
+void FGProps2NetCtrls( FGNetCtrls *net, bool honor_freezes,
+ bool net_byte_order )
+{
int i;
+ SGPropertyNode *node;
+ SGPropertyNode *fuelpump;
+ SGPropertyNode *tempnode;
+
+ // fill in values
+ node = fgGetNode("/controls/flight", true);
+ net->version = FG_NET_CTRLS_VERSION;
+ net->aileron = node->getDoubleValue( "aileron" );
+ net->elevator = node->getDoubleValue( "elevator" );
+ net->rudder = node->getDoubleValue( "rudder" );
+ net->aileron_trim = node->getDoubleValue( "aileron-trim" );
+ net->elevator_trim = node->getDoubleValue( "elevator-trim" );
+ net->rudder_trim = node->getDoubleValue( "rudder-trim" );
+ net->flaps = node->getDoubleValue( "flaps" );
+ net->flaps_power
+ = fgGetDouble( "/systems/electrical/outputs/flaps", 1.0 ) >= 1.0;
+ net->flap_motor_ok = node->getBoolValue( "flaps-serviceable" );
+
+ net->num_engines = FGNetCtrls::FG_MAX_ENGINES;
+ for ( i = 0; i < FGNetCtrls::FG_MAX_ENGINES; ++i ) {
+ // Controls
+ node = fgGetNode("/controls/engines/engine", i );
+ fuelpump = fgGetNode("/systems/electrical/outputs/fuel-pump", i );
+
+ tempnode = node->getChild("starter");
+ if ( tempnode != NULL ) {
+ net->starter_power[i] = ( tempnode->getDoubleValue() >= 1.0 );
+ }
+ tempnode = node->getChild("master-bat");
+ if ( tempnode != NULL ) {
+ net->master_bat[i] = tempnode->getBoolValue();
+ }
+ tempnode = node->getChild("master-alt");
+ if ( tempnode != NULL ) {
+ net->master_alt[i] = tempnode->getBoolValue();
+ }
+
+ net->throttle[i] = node->getDoubleValue( "throttle", 0.0 );
+ net->mixture[i] = node->getDoubleValue( "mixture", 0.0 );
+ net->prop_advance[i] = node->getDoubleValue( "propeller-pitch", 0.0 );
+ net->condition[i] = node->getDoubleValue( "condition", 0.0 );
+ net->magnetos[i] = node->getIntValue( "magnetos", 0 );
+ if ( i == 0 ) {
+ // cout << "Magnetos -> " << node->getIntValue( "magnetos", 0 );
+ }
+ if ( i == 0 ) {
+ // cout << "Starter -> " << node->getIntValue( "starter", false )
+ // << endl;
+ }
+
+ if ( fuelpump != NULL ) {
+ net->fuel_pump_power[i] = ( fuelpump->getDoubleValue() >= 1.0 );
+ } else {
+ net->fuel_pump_power[i] = 0;
+ }
- raw->version = FG_RAW_CTRLS_VERSION;
- raw->aileron = globals->get_controls()->get_aileron();
- raw->elevator = globals->get_controls()->get_elevator();
- raw->elevator_trim = globals->get_controls()->get_elevator_trim();
- raw->rudder = globals->get_controls()->get_rudder();
- raw->flaps = globals->get_controls()->get_flaps();
- for ( i = 0; i < FG_MAX_ENGINES; ++i ) {
- raw->throttle[i] = globals->get_controls()->get_throttle(i);
- raw->mixture[i] = globals->get_controls()->get_mixture(i);
- raw->prop_advance[i] = globals->get_controls()->get_prop_advance(i);
+ // Faults
+ SGPropertyNode *faults = node->getChild( "faults", 0, true );
+ net->engine_ok[i] = faults->getBoolValue( "serviceable", true );
+ net->mag_left_ok[i]
+ = faults->getBoolValue( "left-magneto-serviceable", true );
+ net->mag_right_ok[i]
+ = faults->getBoolValue( "right-magneto-serviceable", true);
+ net->spark_plugs_ok[i]
+ = faults->getBoolValue( "spark-plugs-serviceable", true );
+ net->oil_press_status[i]
+ = faults->getIntValue( "oil-pressure-status", 0 );
+ net->fuel_pump_ok[i]
+ = faults->getBoolValue( "fuel-pump-serviceable", true );
}
- for ( i = 0; i < FG_MAX_WHEELS; ++i ) {
- raw->brake[i] = globals->get_controls()->get_brake(i);
+ net->num_tanks = FGNetCtrls::FG_MAX_TANKS;
+ for ( i = 0; i < FGNetCtrls::FG_MAX_TANKS; ++i ) {
+ node = fgGetNode("/controls/fuel/tank", i);
+ if ( node->getChild("fuel_selector") != 0 ) {
+ net->fuel_selector[i]
+ = node->getChild("fuel_selector")->getBoolValue();
+ } else {
+ net->fuel_selector[i] = false;
+ }
+ }
+ node = fgGetNode("/controls/gear", true);
+ net->brake_left = node->getChild("brake-left")->getDoubleValue();
+ net->brake_right = node->getChild("brake-right")->getDoubleValue();
+ net->copilot_brake_left
+ = node->getChild("copilot-brake-left")->getDoubleValue();
+ net->copilot_brake_right
+ = node->getChild("copilot-brake-right")->getDoubleValue();
+ net->brake_parking = node->getChild("brake-parking")->getDoubleValue();
+
+ net->gear_handle = fgGetBool( "/controls/gear/gear-down" );
+
+ net->master_avionics = fgGetBool("/controls/switches/master-avionics");
+
+ net->wind_speed_kt = fgGetDouble("/environment/wind-speed-kt");
+ net->wind_dir_deg = fgGetDouble("/environment/wind-from-heading-deg");
+ net->turbulence_norm =
+ fgGetDouble("/environment/turbulence/magnitude-norm");
+
+ net->temp_c = fgGetDouble("/environment/temperature-degc");
+ net->press_inhg = fgGetDouble("/environment/pressure-sea-level-inhg");
+
+ net->hground = fgGetDouble("/position/ground-elev-m");
+ net->magvar = fgGetDouble("/environment/magnetic-variation-deg");
+
+ net->icing = fgGetBool("/hazards/icing/wing");
+
+ net->speedup = fgGetInt("/sim/speed-up");
+ net->freeze = 0;
+ if ( honor_freezes ) {
+ if ( fgGetBool("/sim/freeze/master") ) {
+ net->freeze |= 0x01;
+ }
+ if ( fgGetBool("/sim/freeze/position") ) {
+ net->freeze |= 0x02;
+ }
+ if ( fgGetBool("/sim/freeze/fuel") ) {
+ net->freeze |= 0x04;
+ }
+ }
+
+ if ( net_byte_order ) {
+ // convert to network byte order
+ net->version = htonl(net->version);
+ htond(net->aileron);
+ htond(net->elevator);
+ htond(net->rudder);
+ htond(net->aileron_trim);
+ htond(net->elevator_trim);
+ htond(net->rudder_trim);
+ htond(net->flaps);
+ net->flaps_power = htonl(net->flaps_power);
+ net->flap_motor_ok = htonl(net->flap_motor_ok);
+
+ net->num_engines = htonl(net->num_engines);
+ for ( i = 0; i < FGNetCtrls::FG_MAX_ENGINES; ++i ) {
+ net->master_bat[i] = htonl(net->master_bat[i]);
+ net->master_alt[i] = htonl(net->master_alt[i]);
+ net->magnetos[i] = htonl(net->magnetos[i]);
+ net->starter_power[i] = htonl(net->starter_power[i]);
+ htond(net->throttle[i]);
+ htond(net->mixture[i]);
+ net->fuel_pump_power[i] = htonl(net->fuel_pump_power[i]);
+ htond(net->prop_advance[i]);
+ htond(net->condition[i]);
+ net->engine_ok[i] = htonl(net->engine_ok[i]);
+ net->mag_left_ok[i] = htonl(net->mag_left_ok[i]);
+ net->mag_right_ok[i] = htonl(net->mag_right_ok[i]);
+ net->spark_plugs_ok[i] = htonl(net->spark_plugs_ok[i]);
+ net->oil_press_status[i] = htonl(net->oil_press_status[i]);
+ net->fuel_pump_ok[i] = htonl(net->fuel_pump_ok[i]);
+ }
+
+ net->num_tanks = htonl(net->num_tanks);
+ for ( i = 0; i < FGNetCtrls::FG_MAX_TANKS; ++i ) {
+ net->fuel_selector[i] = htonl(net->fuel_selector[i]);
+ }
+
+ net->cross_feed = htonl(net->cross_feed);
+ htond(net->brake_left);
+ htond(net->brake_right);
+ htond(net->copilot_brake_left);
+ htond(net->copilot_brake_right);
+ htond(net->brake_parking);
+ net->gear_handle = htonl(net->gear_handle);
+ net->master_avionics = htonl(net->master_avionics);
+ htond(net->wind_speed_kt);
+ htond(net->wind_dir_deg);
+ htond(net->turbulence_norm);
+ htond(net->temp_c);
+ htond(net->press_inhg);
+ htond(net->hground);
+ htond(net->magvar);
+ net->icing = htonl(net->icing);
+ net->speedup = htonl(net->speedup);
+ net->freeze = htonl(net->freeze);
}
}
-static void raw2global( const FGRawCtrls *raw, FGControls *global ) {
+// Update the property tree from the FGNetCtrls structure.
+void FGNetCtrls2Props( FGNetCtrls *net, bool honor_freezes,
+ bool net_byte_order )
+{
int i;
- if ( raw->version == FG_RAW_CTRLS_VERSION ) {
- globals->get_controls()->set_aileron( raw->aileron );
- globals->get_controls()->set_elevator( raw->elevator );
- globals->get_controls()->set_elevator_trim( raw->elevator_trim );
- globals->get_controls()->set_rudder( raw->rudder );
- globals->get_controls()->set_flaps( raw->flaps );
- for ( i = 0; i < FG_MAX_ENGINES; ++i ) {
- globals->get_controls()->set_throttle( i, raw->throttle[i] );
- globals->get_controls()->set_mixture( i, raw->mixture[i] );
- globals->get_controls()->set_prop_advance( i, raw->prop_advance[i]);
- }
- for ( i = 0; i < FG_MAX_WHEELS; ++i ) {
- globals->get_controls()->set_brake( i, raw->brake[i] );
- }
- } else {
- SG_LOG( SG_IO, SG_ALERT, "Error: version mismatch in raw2global()" );
+ SGPropertyNode * node;
+
+ if ( net_byte_order ) {
+ // convert from network byte order
+ net->version = htonl(net->version);
+ htond(net->aileron);
+ htond(net->elevator);
+ htond(net->rudder);
+ htond(net->aileron_trim);
+ htond(net->elevator_trim);
+ htond(net->rudder_trim);
+ htond(net->flaps);
+ net->flaps_power = htonl(net->flaps_power);
+ net->flap_motor_ok = htonl(net->flap_motor_ok);
+
+ net->num_engines = htonl(net->num_engines);
+ for ( i = 0; i < (int)net->num_engines; ++i ) {
+ net->master_bat[i] = htonl(net->master_bat[i]);
+ net->master_alt[i] = htonl(net->master_alt[i]);
+ net->magnetos[i] = htonl(net->magnetos[i]);
+ net->starter_power[i] = htonl(net->starter_power[i]);
+ htond(net->throttle[i]);
+ htond(net->mixture[i]);
+ net->fuel_pump_power[i] = htonl(net->fuel_pump_power[i]);
+ htond(net->prop_advance[i]);
+ htond(net->condition[i]);
+ net->engine_ok[i] = htonl(net->engine_ok[i]);
+ net->mag_left_ok[i] = htonl(net->mag_left_ok[i]);
+ net->mag_right_ok[i] = htonl(net->mag_right_ok[i]);
+ net->spark_plugs_ok[i] = htonl(net->spark_plugs_ok[i]);
+ net->oil_press_status[i] = htonl(net->oil_press_status[i]);
+ net->fuel_pump_ok[i] = htonl(net->fuel_pump_ok[i]);
+ }
+
+ net->num_tanks = htonl(net->num_tanks);
+ for ( i = 0; i < FGNetCtrls::FG_MAX_TANKS; ++i ) {
+ net->fuel_selector[i] = htonl(net->fuel_selector[i]);
+ }
+
+ net->cross_feed = htonl(net->cross_feed);
+ htond(net->brake_left);
+ htond(net->brake_right);
+ htond(net->copilot_brake_left);
+ htond(net->copilot_brake_right);
+ htond(net->brake_parking);
+ net->gear_handle = htonl(net->gear_handle);
+ net->master_avionics = htonl(net->master_avionics);
+ htond(net->wind_speed_kt);
+ htond(net->wind_dir_deg);
+ htond(net->turbulence_norm);
+ htond(net->temp_c);
+ htond(net->press_inhg);
+ htond(net->hground);
+ htond(net->magvar);
+ net->icing = htonl(net->icing);
+ net->speedup = htonl(net->speedup);
+ net->freeze = htonl(net->freeze);
+ }
+
+ if ( net->version != FG_NET_CTRLS_VERSION ) {
SG_LOG( SG_IO, SG_ALERT,
- "\tsomeone needs to upgrade raw_ctrls.hxx and recompile." );
+ "Version mismatch with raw controls packet format." );
+ SG_LOG( SG_IO, SG_ALERT,
+ "FlightGear needs version = " << FG_NET_CTRLS_VERSION
+ << " but is receiving version = " << net->version );
+ }
+ node = fgGetNode("/controls/flight", true);
+ node->setDoubleValue( "aileron", net->aileron );
+ node->setDoubleValue( "elevator", net->elevator );
+ node->setDoubleValue( "rudder", net->rudder );
+ node->setDoubleValue( "aileron-trim", net->aileron_trim );
+ node->setDoubleValue( "elevator-trim", net->elevator_trim );
+ node->setDoubleValue( "rudder-trim", net->rudder_trim );
+ node->setDoubleValue( "flaps", net->flaps );
+ node->setDoubleValue( "speedbrake", net->speedbrake ); //JWW
+ // or
+ node->setDoubleValue( "spoilers", net->spoilers ); //JWW
+// cout << "NET->Spoilers: " << net->spoilers << endl;
+ fgSetBool( "/systems/electrical/outputs/flaps", net->flaps_power );
+ node->setBoolValue( "flaps-serviceable", net->flap_motor_ok );
+
+ for ( i = 0; i < FGNetCtrls::FG_MAX_ENGINES; ++i ) {
+ // Controls
+ node = fgGetNode("/controls/engines/engine", i);
+ node->getChild( "throttle" )->setDoubleValue( net->throttle[i] );
+ node->getChild( "mixture" )->setDoubleValue( net->mixture[i] );
+ node->getChild( "propeller-pitch" )
+ ->setDoubleValue( net->prop_advance[i] );
+ node->getChild( "condition" )
+ ->setDoubleValue( net->condition[i] );
+ node->getChild( "magnetos" )->setDoubleValue( net->magnetos[i] );
+ node->getChild( "starter" )->setDoubleValue( net->starter_power[i] );
+ node->getChild( "feed_tank" )->setIntValue( net->feed_tank_to[i] );
+ node->getChild( "reverser" )->setBoolValue( net->reverse[i] );
+ // Faults
+ SGPropertyNode *faults = node->getNode( "faults", true );
+ faults->setBoolValue( "serviceable", net->engine_ok[i] );
+ faults->setBoolValue( "left-magneto-serviceable",
+ net->mag_left_ok[i] );
+ faults->setBoolValue( "right-magneto-serviceable",
+ net->mag_right_ok[i]);
+ faults->setBoolValue( "spark-plugs-serviceable",
+ net->spark_plugs_ok[i] );
+ faults->setIntValue( "oil-pressure-status", net->oil_press_status[i] );
+ faults->setBoolValue( "fuel-pump-serviceable", net->fuel_pump_ok[i] );
+ }
+
+ fgSetBool( "/systems/electrical/outputs/fuel-pump",
+ net->fuel_pump_power[0] );
+
+ for ( i = 0; i < FGNetCtrls::FG_MAX_TANKS; ++i ) {
+ node = fgGetNode( "/controls/fuel/tank", i );
+ node->getChild( "fuel_selector" )
+ ->setBoolValue( net->fuel_selector[i] );
+// node->getChild( "to_tank" )->xfer_tank( i, net->xfer_to[i] );
+ }
+ node = fgGetNode( "/controls/gear" );
+ if ( node != NULL ) {
+ node->getChild( "brake-left" )->setDoubleValue( net->brake_left );
+ node->getChild( "brake-right" )->setDoubleValue( net->brake_right );
+ node->getChild( "copilot-brake-left" )
+ ->setDoubleValue( net->copilot_brake_left );
+ node->getChild( "copilot-brake-right" )
+ ->setDoubleValue( net->copilot_brake_right );
+ node->getChild( "brake-parking" )->setDoubleValue( net->brake_parking );
+ }
+
+ node = fgGetNode( "/controls/gear", true );
+ node->setBoolValue( "gear-down", net->gear_handle );
+// node->setDoubleValue( "brake-parking", net->brake_parking );
+// node->setDoubleValue( net->brake_left );
+// node->setDoubleValue( net->brake_right );
+
+ node = fgGetNode( "/controls/switches", true );
+ node->setBoolValue( "master-bat", net->master_bat );
+ node->setBoolValue( "master-alt", net->master_alt );
+ node->setBoolValue( "master-avionics", net->master_avionics );
+
+ node = fgGetNode( "/environment", true );
+ node->setDoubleValue( "wind-speed-kt", net->wind_speed_kt );
+ node->setDoubleValue( "wind-from-heading-deg", net->wind_dir_deg );
+ node->setDoubleValue( "turbulence/magnitude-norm", net->turbulence_norm );
+ node->setDoubleValue( "magnetic-variation-deg", net->magvar );
+
+ node->setDoubleValue( "/environment/temperature-degc",
+ net->temp_c );
+ node->setDoubleValue( "/environment/pressure-sea-level-inhg",
+ net->press_inhg );
+
+ // ground elevation ???
+
+ fgSetDouble("/hazards/icing/wing", net->icing);
+
+ node = fgGetNode( "/radios", true );
+ node->setDoubleValue( "comm/frequencies/selected-mhz[0]", net->comm_1 );
+ node->setDoubleValue( "nav/frequencies/selected-mhz[0]", net->nav_1 );
+ node->setDoubleValue( "nav[1]/frequencies/selected-mhz[0]", net->nav_2 );
+
+ fgSetInt( "/sim/speed-up", net->speedup );
+
+ if ( honor_freezes ) {
+ node = fgGetNode( "/sim/freeze", true );
+ node->setBoolValue( "master", net->freeze & 0x01 );
+ node->setBoolValue( "position", net->freeze & 0x02 );
+ node->setBoolValue( "fuel", net->freeze & 0x04 );
}
}
// process work for this port
bool FGNativeCtrls::process() {
SGIOChannel *io = get_io_channel();
- int length = sizeof(FGRawCtrls);
+ int length = sizeof(FGNetCtrls);
if ( get_direction() == SG_IO_OUT ) {
- // cout << "size of cur_fdm_state = " << length << endl;
- global2raw( globals->get_controls(), &raw_ctrls );
+ FGProps2NetCtrls( &net_ctrls, true, true );
- if ( ! io->write( (char *)(& raw_ctrls), length ) ) {
+ if ( ! io->write( (char *)(& net_ctrls), length ) ) {
SG_LOG( SG_IO, SG_ALERT, "Error writing data." );
return false;
}
} else if ( get_direction() == SG_IO_IN ) {
if ( io->get_type() == sgFileType ) {
- if ( io->read( (char *)(& raw_ctrls), length ) == length ) {
+ if ( io->read( (char *)(& net_ctrls), length ) == length ) {
SG_LOG( SG_IO, SG_DEBUG, "Success reading data." );
- raw2global( &raw_ctrls, globals->get_controls() );
+ FGNetCtrls2Props( &net_ctrls, true, true );
}
} else {
- while ( io->read( (char *)(& raw_ctrls), length ) == length ) {
+ while ( io->read( (char *)(& net_ctrls), length ) == length ) {
SG_LOG( SG_IO, SG_DEBUG, "Success reading data." );
- raw2global( &raw_ctrls, globals->get_controls() );
+ FGNetCtrls2Props( &net_ctrls, true, true );
}
}
}
projects / flightgear.git / blobdiff