sendToFlightgear.cc

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/* $Header: /var/cvs/mbdyn/mbdyn/mbdyn-1.0/modules/module-flightgear/sendToFlightgear.cc,v 1.1 2017/08/25 14:16:20 masarati Exp $ */
/*
 * MBDyn (C) is a multibody analysis code.
 * http://www.mbdyn.org
 *
 * Copyright (C) 1996-2017
 *
 * Pierangelo Masarati  <masarati@aero.polimi.it>
 * Paolo Mantegazza     <mantegazza@aero.polimi.it>
 *
 * Dipartimento di Ingegneria Aerospaziale - Politecnico di Milano
 * via La Masa, 34 - 20156 Milano, Italy
 * http://www.aero.polimi.it
 *
 * Changing this copyright notice is forbidden.
 *
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation (version 2 of the License).
 *
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * 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., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 */

#include "mbconfig.h"           /* This goes first in every *.c,*.cc file */

//#include <cstdint>
#include <unistd.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>

#include <fstream>

#include "userelem.h"
#include "socketstreamdrive.h"
#include "socketstream_out_elem.h"

#include "bufmod.h"
#include "drive_.h"

#include "module-flightgear.h"

HighParser::WordSet *sendToFGWordSetInUse;

bool FGNetFDMWordSet::IsWord(const std::string& s) const{
        return fieldsDescriptionFGNetFDM.find(s) != fieldsDescriptionFGNetFDM.end();
}

bool FGNetCtrlsWordSet::IsWord(const std::string& s) const{
        return fieldsDescriptionFGNetCtrls.find(s) != fieldsDescriptionFGNetCtrls.end();
}

StreamContent* FlightGearStreamOutputReader::Read(DataManager* pDM, MBDynParser& HP){
        StreamContent* pSC;

        FieldsDescriptionFG *fieldsDescriptionFGInUse;
        int totChannels;

        if(HP.IsKeyWord("NetFDM")){
                fieldsDescriptionFGInUse = &fieldsDescriptionFGNetFDM;
                totChannels = fieldsDescriptionFGNetFDM.size();
                sendToFGWordSetInUse = &fGNetFDMWordSet;
        }
        else if(HP.IsKeyWord("NetCtrls")){
                fieldsDescriptionFGInUse = &fieldsDescriptionFGNetCtrls;
                totChannels = fieldsDescriptionFGNetCtrls.size();
                sendToFGWordSetInUse = &fGNetCtrlsWordSet;
        }
        else{
                silent_cerr("invalid FG data structure "
                "at line " << HP.GetLineData() << std::endl);
                throw ErrGeneric(MBDYN_EXCEPT_ARGS);
        }

        if(HP.IsKeyWord("print" "options")){
                printOptionsOnTextFile("FGNetFDM_options.txt", fieldsDescriptionFGNetFDM);
                printOptionsOnTextFile("FGNetCtrls_options.txt", fieldsDescriptionFGNetCtrls);
                silent_cout("Flight Gear options correctly printed on files." << std::endl);
        }

        /*map containing descriptions and pointers to ScalarValue specified by user for every field he wants to use*/
        FlightGearUserChannels flightGearUserChannels;
        this->ReadFlightGearScalarValues(pDM, HP, flightGearUserChannels, fieldsDescriptionFGInUse);

        /*bulding of buffer that will be sent to Flight gear*/
        std::vector<ScalarValue*> allValues(totChannels);
        std::vector<bool> assignedByUser(totChannels, false);

        /*modifies user-specified fields in the buffer*/
        for(FlightGearUserChannels::iterator i = flightGearUserChannels.begin() ;       i != flightGearUserChannels.end() ; i++){
                FieldsDescriptionFG::iterator el = fieldsDescriptionFGInUse->find(i->first);
                int pos = (el->second.position) -1;
                allValues.at(pos) = i->second;
                assignedByUser.at(pos) = true;
        }

        /*initializes each remaining field with its default value*/
        this->setDefaultValues(allValues, assignedByUser, *fieldsDescriptionFGInUse);

        StreamContent::Modifier *pMod(0);
        pMod = this->buildFGStreamContentModifier(*fieldsDescriptionFGInUse);

        SAFENEWWITHCONSTRUCTOR(pSC, StreamContentValue, StreamContentValue(allValues, pMod));

        return pSC;
}

void FlightGearStreamOutputReader::ReadFlightGearScalarValues(DataManager *pDM, MBDynParser& HP,
        FlightGearUserChannels &flightGearUserChannels, FieldsDescriptionFG *fieldsDescriptionFGInUse){
        const char *fieldDescription;//field the user has written in MBDyn input file
        ScalarValue *scalarValue;
        std::string *s;

        while((fieldDescription = HP.IsWord(*sendToFGWordSetInUse)) != NULL){
                s = new std::string(fieldDescription);
                if(this->fieldAlreadyUsed(std::string(fieldDescription), flightGearUserChannels)){
                        silent_cerr("field of FGNetFDM already used "
                                "at line " << HP.GetLineData() << std::endl);
                        throw ErrGeneric(MBDYN_EXCEPT_ARGS);
                }

                scalarValue = ReadScalarValue(pDM, HP);
                flightGearUserChannels.insert(FlightGearUserChannels::value_type(*s, scalarValue));
        }
}

void FlightGearStreamOutputReader::setDefaultValues(std::vector<ScalarValue *> &allValues, std::vector<bool> &assignedByUser, FieldsDescriptionFG &fieldsDescriptionFGInUse){
        DriveCaller *pDC = 0;

        if(!assignedByUser.at(fieldsDescriptionFGInUse.find("version")->second.position-1)){
                if(sendToFGWordSetInUse == &fGNetFDMWordSet){
                        SAFENEWWITHCONSTRUCTOR(pDC, ConstDriveCaller, ConstDriveCaller(FGNetFDMCurVersion));
                        allValues.at(fieldsDescriptionFGInUse.find("version")->second.position-1) = new ScalarDriveValue(pDC); //version
                }else if(sendToFGWordSetInUse == &fGNetCtrlsWordSet){
                        SAFENEWWITHCONSTRUCTOR(pDC, ConstDriveCaller, ConstDriveCaller(FGNetCtrlsCurVersion));
                        allValues.at(fieldsDescriptionFGInUse.find("version")->second.position-1) = new ScalarDriveValue(pDC); //version
                }
        }

        for (int i=1 ; i < allValues.size() ; i++){
                if(!assignedByUser.at(i)){
                        SAFENEW(pDC, NullDriveCaller);
                        allValues.at(i) = new ScalarDriveValue(pDC);
                }
        }
}

bool FlightGearStreamOutputReader::fieldAlreadyUsed(std::string fieldDescription, FlightGearUserChannels &flightGearUserChannels){
        if(flightGearUserChannels.find(fieldDescription) != flightGearUserChannels.end()){
                return true;
        }

        return false;
}

StreamContent::Modifier *       FlightGearStreamOutputReader::buildFGStreamContentModifier(FieldsDescriptionFG &fieldsDescriptionFGInUse){
        StreamContent::Modifier *pSCM(0);

        std::vector<BufCast *> data(fieldsDescriptionFGInUse.size());
        buildFGBufCast(data, fieldsDescriptionFGInUse);

        size_t minsize = data[data.size() - 1]->offset() + data[data.size() - 1]->size();
        size_t size = minsize;

        pSCM = new StreamContentCopyCast(0, 0, size, data);

        return pSCM;
}