// $Id$
+#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 <FDM/flight.hxx>
+#include <Main/fg_props.hxx>
#include <Scenery/scenery.hxx> // ground elevation
#include "native_ctrls.hxx"
+// FreeBSD works better with this included last ... (?)
+#if defined(WIN32) && !defined(__CYGWIN__)
+# include <windows.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 ) {
int i;
- 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 < FGRawCtrls::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);
+ SGPropertyNode * node = fgGetNode("/controls", true);
+
+ // fill in values
+ net->version = FG_NET_CTRLS_VERSION;
+ net->aileron = node->getDoubleValue( "aileron" );
+ net->elevator = node->getDoubleValue( "elevator" );
+ net->elevator_trim = node->getDoubleValue( "elevator-trim" );
+ net->rudder = node->getDoubleValue( "rudder" );
+ net->flaps = node->getDoubleValue( "flaps" );
+ net->flaps_power
+ = node->getDoubleValue( "/systems/electrical/outputs/flaps",
+ 1.0 ) >= 1.0;
+ net->num_engines = FGNetCtrls::FG_MAX_ENGINES;
+ for ( i = 0; i < FGNetCtrls::FG_MAX_ENGINES; ++i ) {
+ net->throttle[i] = node->getDoubleValue( "throttle", 0.0 );
+ net->mixture[i] = node->getDoubleValue( "mixture", 0.0 );
+ net->fuel_pump_power[i]
+ = node->getDoubleValue( "/systems/electrical/outputs/fuel-pump",
+ 1.0 ) >= 1.0;
+ net->prop_advance[i] = node->getDoubleValue( "propeller-pitch", 0.0 );
+ net->magnetos[i] = node->getIntValue( "magnetos", 0 );
+ if ( i == 0 ) {
+ // cout << "Magnetos -> " << node->getIntValue( "magnetos", 0 );
+ }
+ net->starter_power[i]
+ = node->getDoubleValue( "/systems/electrical/outputs/starter",
+ 1.0 ) >= 1.0;
+ if ( i == 0 ) {
+ // cout << " Starter -> " << node->getIntValue( "stater", false )
+ // << endl;
+ }
+ }
+ net->num_tanks = FGNetCtrls::FG_MAX_TANKS;
+ for ( i = 0; i < FGNetCtrls::FG_MAX_TANKS; ++i ) {
+ if ( node->getChild("fuel-selector", i) != 0 ) {
+ net->fuel_selector[i]
+ = node->getChild("fuel-selector", i)->getDoubleValue();
+ } else {
+ net->fuel_selector[i] = false;
+ }
}
- for ( i = 0; i < FGRawCtrls::FG_MAX_WHEELS; ++i ) {
- raw->brake[i] = globals->get_controls()->get_brake(i);
+ net->num_wheels = FGNetCtrls::FG_MAX_WHEELS;
+ for ( i = 0; i < FGNetCtrls::FG_MAX_WHEELS; ++i ) {
+ if ( node->getChild("brakes", i) != 0 ) {
+ if ( node->getChild("parking-brake")->getDoubleValue() > 0.0 ) {
+ net->brake[i] = 1.0;
+ } else {
+ net->brake[i]
+ = node->getChild("brakes", i)->getDoubleValue();
+ }
+ } else {
+ net->brake[i] = 0.0;
+ }
}
- raw->hground = scenery.get_cur_elev();
+ node = fgGetNode("/controls/switches", true);
+ net->master_bat = node->getChild("master-bat")->getBoolValue();
+ net->master_alt = node->getChild("master-alt")->getBoolValue();
+ net->master_avionics = node->getChild("master-avionics")->getBoolValue();
+
+ net->wind_speed_kt = fgGetDouble("/environment/wind-speed-kt");
+ net->wind_dir_deg = fgGetDouble("/environment/wind-from-heading-deg");
+
+ // cur_fdm_state->get_ground_elev_ft() is what we want ... this
+ // reports the altitude of the aircraft.
+ // "/environment/ground-elevation-m" reports the ground elevation
+ // of the current view point which could change substantially if
+ // the user is switching views.
+ net->hground = cur_fdm_state->get_ground_elev_ft() * SG_FEET_TO_METER;
+ net->magvar = fgGetDouble("/environment/magnetic-variation-deg");
+ net->speedup = fgGetInt("/sim/speed-up");
+ net->freeze = 0;
+ if ( fgGetBool("/sim/freeze/master") ) {
+ net->freeze |= 0x01;
+ }
+ if ( fgGetBool("/sim/freeze/position") ) {
+ net->freeze |= 0x02;
+ }
+ if ( fgGetBool("/sim/freeze/fuel") ) {
+ net->freeze |= 0x04;
+ }
+
+ // convert to network byte order
+ net->version = htonl(net->version);
+ htond(net->aileron);
+ htond(net->elevator);
+ htond(net->elevator_trim);
+ htond(net->rudder);
+ htond(net->flaps);
+ net->flaps_power = htonl(net->flaps_power);
+ for ( i = 0; i < FGNetCtrls::FG_MAX_ENGINES; ++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]);
+ net->magnetos[i] = htonl(net->magnetos[i]);
+ net->starter_power[i] = htonl(net->starter_power[i]);
+ }
+ net->num_engines = htonl(net->num_engines);
+ for ( i = 0; i < FGNetCtrls::FG_MAX_TANKS; ++i ) {
+ net->fuel_selector[i] = htonl(net->fuel_selector[i]);
+ }
+ net->num_tanks = htonl(net->num_tanks);
+ for ( i = 0; i < FGNetCtrls::FG_MAX_WHEELS; ++i ) {
+ htond(net->brake[i]);
+ }
+ net->num_wheels = htonl(net->num_wheels);
+ net->gear_handle = htonl(net->gear_handle);
+ net->master_bat = htonl(net->master_bat);
+ net->master_alt = htonl(net->master_alt);
+ net->master_avionics = htonl(net->master_avionics);
+ htond(net->wind_speed_kt);
+ htond(net->wind_dir_deg);
+ htond(net->hground);
+ htond(net->magvar);
+ 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 ) {
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 < FGRawCtrls::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 < FGRawCtrls::FG_MAX_WHEELS; ++i ) {
- globals->get_controls()->set_brake( i, raw->brake[i] );
- }
- globals->get_controls()->set_gear_down( raw->gear_handle );
- scenery.set_cur_elev( raw->hground );
- } else {
- SG_LOG( SG_IO, SG_ALERT, "Error: version mismatch in raw2global()" );
+ SGPropertyNode * node = fgGetNode("/controls", true);
+
+ // convert from network byte order
+ net->version = htonl(net->version);
+ htond(net->aileron);
+ htond(net->elevator);
+ htond(net->elevator_trim);
+ htond(net->rudder);
+ htond(net->flaps);
+ net->flaps_power = htonl(net->flaps_power);
+ net->num_engines = htonl(net->num_engines);
+ for ( i = 0; i < net->num_engines; ++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]);
+ }
+ net->num_tanks = htonl(net->num_tanks);
+ for ( i = 0; i < net->num_tanks; ++i ) {
+ net->fuel_selector[i] = htonl(net->fuel_selector[i]);
+ }
+ net->num_wheels = htonl(net->num_wheels);
+ for ( i = 0; i < net->num_wheels; ++i ) {
+ htond(net->brake[i]);
+ }
+ net->gear_handle = htonl(net->gear_handle);
+ net->master_bat = htonl(net->master_bat);
+ net->master_alt = htonl(net->master_alt);
+ net->master_avionics = htonl(net->master_avionics);
+ htond(net->wind_speed_kt);
+ htond(net->wind_dir_deg);
+ htond(net->hground);
+ htond(net->magvar);
+ 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->setDoubleValue( "aileron", net->aileron );
+ node->setDoubleValue( "elevator", net->elevator );
+ node->setDoubleValue( "elevator-trim", net->elevator_trim );
+ node->setDoubleValue( "rudder", net->rudder );
+ node->setDoubleValue( "flaps", net->flaps );
+
+ fgSetBool( "/systems/electrical/outputs/flaps", net->flaps_power );
+
+ for ( i = 0; i < FGNetCtrls::FG_MAX_ENGINES; ++i ) {
+ node->getChild( "throttle", i )->setDoubleValue( net->throttle[i] );
+ node->getChild( "mixture", i )->setDoubleValue( net->mixture[i] );
+ node->getChild( "propeller-pitch", i )
+ ->setDoubleValue( net->prop_advance[i] );
+ node->getChild( "magnetos", i )->setDoubleValue( net->magnetos[i] );
+ }
+
+ fgSetBool( "/systems/electrical/outputs/fuel-pump",
+ net->fuel_pump_power[0] );
+ fgSetBool( "/systems/electrical/outputs/starter",
+ net->starter_power[0] );
+
+ for ( i = 0; i < FGNetCtrls::FG_MAX_TANKS; ++i ) {
+ node->getChild( "fuel-selector", i )
+ ->setBoolValue( net->fuel_selector[i] );
+ }
+ for ( i = 0; i < FGNetCtrls::FG_MAX_WHEELS; ++i ) {
+ node->getChild( "brakes", i )->setDoubleValue( net->brake[i] );
}
+
+ node->setBoolValue( "gear-down", net->gear_handle );
+
+ 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->setBoolValue( "wind-speed-kt", net->wind_speed_kt );
+ node->setBoolValue( "wind-from-heading-deg", net->wind_dir_deg );
+ node->setBoolValue( "magnetic-variation-deg", net->magvar );
+
+ // ground elevation ???
+
+ fgSetInt( "/sim/speed-up", net->speedup );
+
+ 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 );
- 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 );
}
} 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 );
}
}
}
projects / flightgear.git / blobdiff