1 // Copyright (C) 2009 - 2012 Mathias Froehlich - Mathias.Froehlich@web.de
3 // This library is free software; you can redistribute it and/or
4 // modify it under the terms of the GNU Library General Public
5 // License as published by the Free Software Foundation; either
6 // version 2 of the License, or (at your option) any later version.
8 // This library is distributed in the hope that it will be useful,
9 // but WITHOUT ANY WARRANTY; without even the implied warranty of
10 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
11 // Library General Public License for more details.
13 // You should have received a copy of the GNU General Public License
14 // along with this program; if not, write to the Free Software
15 // Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
19 # include <simgear_config.h>
22 #include <simgear/compiler.h>
24 #include "HLAObjectInstance.hxx"
27 #include "simgear/debug/logstream.hxx"
28 #include "HLAArrayDataElement.hxx"
29 #include "HLABasicDataElement.hxx"
30 #include "HLADataElement.hxx"
31 #include "HLAEnumeratedDataElement.hxx"
32 #include "HLAFederate.hxx"
33 #include "HLAFixedRecordDataElement.hxx"
34 #include "HLAObjectClass.hxx"
35 #include "HLAVariantRecordDataElement.hxx"
36 #include "RTIObjectClass.hxx"
37 #include "RTIObjectInstance.hxx"
41 HLAObjectInstance::UpdateCallback::~UpdateCallback()
45 HLAObjectInstance::ReflectCallback::~ReflectCallback()
49 HLAObjectInstance::HLAObjectInstance(HLAObjectClass* objectClass) :
50 _objectClass(objectClass)
53 _federate = objectClass->_federate;
56 HLAObjectInstance::~HLAObjectInstance()
58 _clearRTIObjectInstance();
62 HLAObjectInstance::getName() const
67 const SGWeakPtr<HLAFederate>&
68 HLAObjectInstance::getFederate() const
73 const SGSharedPtr<HLAObjectClass>&
74 HLAObjectInstance::getObjectClass() const
80 HLAObjectInstance::getNumAttributes() const
82 if (!_objectClass.valid())
84 return _objectClass->getNumAttributes();
88 HLAObjectInstance::getAttributeIndex(const std::string& name) const
90 if (!_objectClass.valid())
92 return _objectClass->getAttributeIndex(name);
96 HLAObjectInstance::getAttributeName(unsigned index) const
98 if (!_objectClass.valid())
100 return _objectClass->getAttributeName(index);
104 HLAObjectInstance::getAttributeOwned(unsigned index) const
106 if (!_rtiObjectInstance.valid())
108 return _rtiObjectInstance->getAttributeOwned(index);
112 HLAObjectInstance::getAttributeDataType(unsigned index) const
114 if (!_objectClass.valid())
116 return _objectClass->getAttributeDataType(index);
120 HLAObjectInstance::getAttributeDataElement(unsigned index)
122 if (_attributeVector.size() <= index)
124 return _attributeVector[index]._dataElement.get();
127 const HLADataElement*
128 HLAObjectInstance::getAttributeDataElement(unsigned index) const
130 if (_attributeVector.size() <= index)
132 return _attributeVector[index]._dataElement.get();
136 HLAObjectInstance::getAttributeData(unsigned index, RTIData& data) const
138 if (!_rtiObjectInstance.valid()) {
139 SG_LOG(SG_IO, SG_ALERT, "Trying to get raw attribute data without rti object instance for \"" << getName() << "\"!");
142 return _rtiObjectInstance->getAttributeData(index, data);
146 HLAObjectInstance::setAttributeDataElement(unsigned index, const SGSharedPtr<HLADataElement>& dataElement)
148 unsigned numAttributes = getNumAttributes();
149 if (numAttributes <= index)
151 _attributeVector.resize(numAttributes);
152 if (_attributeVector[index]._dataElement.valid())
153 _attributeVector[index]._dataElement->clearStamp();
154 _attributeVector[index]._dataElement = dataElement;
155 if (_attributeVector[index]._dataElement.valid())
156 _attributeVector[index]._dataElement->createStamp();
159 class HLAObjectInstance::DataElementFactoryVisitor : public HLADataElementFactoryVisitor {
161 DataElementFactoryVisitor(const HLAPathElementMap& pathElementMap) :
162 _pathElementMap(pathElementMap)
164 DataElementFactoryVisitor(const HLADataElement::Path& path, const HLAPathElementMap& pathElementMap) :
165 _pathElementMap(pathElementMap),
168 virtual ~DataElementFactoryVisitor() {}
170 virtual void apply(const HLADataType& dataType)
172 _dataElement = createDataElement(_path, dataType);
173 if (_dataElement.valid())
176 SG_LOG(SG_NETWORK, SG_ALERT, "HLA: Can not find a suitable data element for data type \""
177 << dataType.getName() << "\"");
180 virtual void apply(const HLAInt8DataType& dataType)
182 _dataElement = createDataElement(_path, dataType);
183 if (_dataElement.valid())
186 HLADataElementFactoryVisitor::apply(dataType);
188 virtual void apply(const HLAUInt8DataType& dataType)
190 _dataElement = createDataElement(_path, dataType);
191 if (_dataElement.valid())
194 HLADataElementFactoryVisitor::apply(dataType);
196 virtual void apply(const HLAInt16DataType& dataType)
198 _dataElement = createDataElement(_path, dataType);
199 if (_dataElement.valid())
202 HLADataElementFactoryVisitor::apply(dataType);
204 virtual void apply(const HLAUInt16DataType& dataType)
206 _dataElement = createDataElement(_path, dataType);
207 if (_dataElement.valid())
210 HLADataElementFactoryVisitor::apply(dataType);
212 virtual void apply(const HLAInt32DataType& dataType)
214 _dataElement = createDataElement(_path, dataType);
215 if (_dataElement.valid())
218 HLADataElementFactoryVisitor::apply(dataType);
220 virtual void apply(const HLAUInt32DataType& dataType)
222 _dataElement = createDataElement(_path, dataType);
223 if (_dataElement.valid())
226 HLADataElementFactoryVisitor::apply(dataType);
228 virtual void apply(const HLAInt64DataType& dataType)
230 _dataElement = createDataElement(_path, dataType);
231 if (_dataElement.valid())
234 HLADataElementFactoryVisitor::apply(dataType);
236 virtual void apply(const HLAUInt64DataType& dataType)
238 _dataElement = createDataElement(_path, dataType);
239 if (_dataElement.valid())
242 HLADataElementFactoryVisitor::apply(dataType);
244 virtual void apply(const HLAFloat32DataType& dataType)
246 _dataElement = createDataElement(_path, dataType);
247 if (_dataElement.valid())
250 HLADataElementFactoryVisitor::apply(dataType);
252 virtual void apply(const HLAFloat64DataType& dataType)
254 _dataElement = createDataElement(_path, dataType);
255 if (_dataElement.valid())
258 HLADataElementFactoryVisitor::apply(dataType);
261 class ArrayDataElementFactory : public HLAArrayDataElement::DataElementFactory {
263 ArrayDataElementFactory(const HLADataElement::Path& path, const HLAPathElementMap& pathElementMap) :
266 for (HLAPathElementMap::const_iterator i = pathElementMap.lower_bound(path);
267 i != pathElementMap.end(); ++i) {
268 if (i->first.begin() != std::search(i->first.begin(), i->first.end(),
269 path.begin(), path.end()))
271 _pathElementMap.insert(*i);
274 virtual HLADataElement* createElement(const HLAArrayDataElement& element, unsigned index)
276 const HLADataType* dataType = element.getElementDataType();
279 HLADataElement::Path path = _path;
280 path.push_back(HLADataElement::PathElement(index));
281 DataElementFactoryVisitor visitor(path, _pathElementMap);
282 dataType->accept(visitor);
283 return visitor._dataElement.release();
286 HLADataElement::Path _path;
287 HLAPathElementMap _pathElementMap;
290 virtual void apply(const HLAFixedArrayDataType& dataType)
292 _dataElement = createDataElement(_path, dataType);
293 if (_dataElement.valid())
296 SGSharedPtr<HLAArrayDataElement> arrayDataElement;
297 arrayDataElement = new HLAArrayDataElement(&dataType);
298 arrayDataElement->setDataElementFactory(new ArrayDataElementFactory(_path, _pathElementMap));
299 arrayDataElement->setNumElements(dataType.getNumElements());
301 _dataElement = arrayDataElement;
304 virtual void apply(const HLAVariableArrayDataType& dataType)
306 _dataElement = createDataElement(_path, dataType);
307 if (_dataElement.valid())
310 SGSharedPtr<HLAArrayDataElement> arrayDataElement;
311 arrayDataElement = new HLAArrayDataElement(&dataType);
312 arrayDataElement->setDataElementFactory(new ArrayDataElementFactory(_path, _pathElementMap));
314 _dataElement = arrayDataElement;
317 virtual void apply(const HLAEnumeratedDataType& dataType)
319 _dataElement = createDataElement(_path, dataType);
320 if (_dataElement.valid())
323 HLADataElementFactoryVisitor::apply(dataType);
326 virtual void apply(const HLAFixedRecordDataType& dataType)
328 _dataElement = createDataElement(_path, dataType);
329 if (_dataElement.valid())
332 SGSharedPtr<HLAFixedRecordDataElement> recordDataElement;
333 recordDataElement = new HLAFixedRecordDataElement(&dataType);
335 unsigned numFields = dataType.getNumFields();
336 for (unsigned i = 0; i < numFields; ++i) {
338 _path.push_back(HLADataElement::PathElement(dataType.getFieldName(i)));
340 dataType.getFieldDataType(i)->accept(*this);
341 recordDataElement->setField(i, _dataElement.release());
345 _dataElement = recordDataElement;
348 class VariantRecordDataElementFactory : public HLAVariantRecordDataElement::DataElementFactory {
350 VariantRecordDataElementFactory(const HLADataElement::Path& path, const HLAPathElementMap& pathElementMap) :
353 for (HLAPathElementMap::const_iterator i = pathElementMap.lower_bound(path);
354 i != pathElementMap.end(); ++i) {
355 if (i->first.begin() != std::search(i->first.begin(), i->first.end(),
356 path.begin(), path.end()))
358 _pathElementMap.insert(*i);
361 virtual HLADataElement* createElement(const HLAVariantRecordDataElement& element, unsigned index)
363 const HLAVariantRecordDataType* dataType = element.getDataType();
366 const HLADataType* alternativeDataType = element.getAlternativeDataType();
367 if (!alternativeDataType)
369 HLADataElement::Path path = _path;
370 path.push_back(HLADataElement::PathElement(dataType->getAlternativeName(index)));
371 DataElementFactoryVisitor visitor(path, _pathElementMap);
372 alternativeDataType->accept(visitor);
373 return visitor._dataElement.release();
376 HLADataElement::Path _path;
377 HLAPathElementMap _pathElementMap;
380 virtual void apply(const HLAVariantRecordDataType& dataType)
382 _dataElement = createDataElement(_path, dataType);
383 if (_dataElement.valid())
386 SGSharedPtr<HLAVariantRecordDataElement> variantRecordDataElement;
387 variantRecordDataElement = new HLAVariantRecordDataElement(&dataType);
388 variantRecordDataElement->setDataElementFactory(new VariantRecordDataElementFactory(_path, _pathElementMap));
390 _dataElement = variantRecordDataElement;
394 SGSharedPtr<HLADataElement> createDataElement(const HLADataElement::Path& path, const HLADataType& dataType)
396 HLAPathElementMap::const_iterator i = _pathElementMap.find(path);
397 if (i == _pathElementMap.end()) {
398 SG_LOG(SG_IO, SG_WARN, "No dataElement provided for \""
399 << HLADataElement::toString(path) << "\".");
403 SGSharedPtr<HLADataElement> dataElement = i->second.getDataElement(path);
404 if (!dataElement->setDataType(&dataType)) {
405 SG_LOG(SG_IO, SG_ALERT, "Cannot set data type for data element at \""
406 << HLADataElement::toString(path) << "\"!");
409 SG_LOG(SG_IO, SG_DEBUG, "Using provided dataElement for \""
410 << HLADataElement::toString(path) << "\".");
414 const HLAPathElementMap& _pathElementMap;
415 HLADataElement::Path _path;
419 HLAObjectInstance::setAttribute(unsigned index, const HLAPathElementMap& pathElementMap)
421 const HLADataType* dataType = getAttributeDataType(index);
423 SG_LOG(SG_IO, SG_ALERT, "Cannot get attribute data type for setting attribute \""
424 << getAttributeName(index) << "\" at index " << index << "!");
428 SG_LOG(SG_IO, SG_DEBUG, "Setting DataElement for attribute \""
429 << getAttributeName(index) << "\".");
431 DataElementFactoryVisitor visitor(pathElementMap);
432 dataType->accept(visitor);
433 setAttributeDataElement(index, visitor.getDataElement());
437 HLAObjectInstance::setAttributes(const HLAAttributePathElementMap& attributePathElementMap)
439 for (HLAAttributePathElementMap::const_iterator i = attributePathElementMap.begin();
440 i != attributePathElementMap.end(); ++i) {
441 setAttribute(i->first, i->second);
446 HLAObjectInstance::discoverInstance(const RTIData& tag)
448 HLAObjectClass* objectClass = getObjectClass().get();
450 SG_LOG(SG_IO, SG_ALERT, "Could not discover instance of unknown object class!");
453 objectClass->discoverInstance(*this, tag);
457 HLAObjectInstance::removeInstance(const RTIData& tag)
459 HLAObjectClass* objectClass = getObjectClass().get();
461 SG_LOG(SG_IO, SG_ALERT, "Could not remove instance of unknown object class!");
464 objectClass->removeInstance(*this, tag);
468 HLAObjectInstance::registerInstance()
470 registerInstance(_objectClass.get());
474 HLAObjectInstance::registerInstance(HLAObjectClass* objectClass)
476 if (_rtiObjectInstance.valid()) {
477 SG_LOG(SG_IO, SG_ALERT, "Trying to register object " << getName() << " already known to the RTI!");
481 SG_LOG(SG_IO, SG_ALERT, "Could not register object with unknown object class!");
484 if (_objectClass.valid() && objectClass != _objectClass.get()) {
485 SG_LOG(SG_IO, SG_ALERT, "Could not change object class while registering!");
488 _objectClass = objectClass;
489 _federate = _objectClass->_federate;
490 // This error must have been flagged before
491 if (!_objectClass->_rtiObjectClass.valid())
493 _setRTIObjectInstance(_objectClass->_rtiObjectClass->registerObjectInstance(this));
494 if (!_rtiObjectInstance.valid()) {
495 SG_LOG(SG_IO, SG_ALERT, "Could not register object at the RTI!");
498 _objectClass->_registerInstance(this);
502 HLAObjectInstance::deleteInstance(const RTIData& tag)
504 if (!_rtiObjectInstance.valid()) {
505 SG_LOG(SG_IO, SG_ALERT, "Trying to delete inactive object!");
508 if (!_objectClass.valid())
510 _objectClass->_deleteInstance(*this);
511 _rtiObjectInstance->deleteObjectInstance(tag);
515 HLAObjectInstance::createAttributeDataElements()
517 HLAObjectClass* objectClass = getObjectClass().get();
519 SG_LOG(SG_IO, SG_ALERT, "Could not create data elements for instance of unknown object class!");
522 objectClass->createAttributeDataElements(*this);
526 HLAObjectInstance::createAndSetAttributeDataElement(unsigned index)
528 if (getAttributeDataElement(index)) {
529 SG_LOG(SG_IO, SG_DEBUG, "Attribute data element for attribute \""
530 << getAttributeName(index) << "\" is already set.");
533 SGSharedPtr<HLADataElement> dataElement = createAttributeDataElement(index);
534 setAttributeDataElement(index, dataElement);
538 HLAObjectInstance::createAttributeDataElement(unsigned index)
540 HLAObjectClass* objectClass = getObjectClass().get();
542 SG_LOG(SG_IO, SG_ALERT, "Could not create data element for instance of unknown object class!");
545 return objectClass->createAttributeDataElement(*this, index);
549 HLAObjectInstance::updateAttributeValues(const RTIData& tag)
551 if (_updateCallback.valid()) {
552 _updateCallback->updateAttributeValues(*this, tag);
554 encodeAttributeValues();
555 sendAttributeValues(tag);
560 HLAObjectInstance::updateAttributeValues(const SGTimeStamp& timeStamp, const RTIData& tag)
562 if (_updateCallback.valid()) {
563 _updateCallback->updateAttributeValues(*this, timeStamp, tag);
565 encodeAttributeValues();
566 sendAttributeValues(timeStamp, tag);
571 HLAObjectInstance::encodeAttributeValues()
573 unsigned numAttributes = _attributeVector.size();
574 for (unsigned i = 0; i < numAttributes;++i) {
575 if (_attributeVector[i]._unconditionalUpdate) {
576 encodeAttributeValue(i);
577 } else if (_attributeVector[i]._enabledUpdate) {
578 const HLADataElement* dataElement = getAttributeDataElement(i);
579 if (dataElement && dataElement->getDirty())
580 encodeAttributeValue(i);
586 HLAObjectInstance::encodeAttributeValue(unsigned index)
588 if (!_rtiObjectInstance.valid()) {
589 SG_LOG(SG_IO, SG_INFO, "Not updating inactive object!");
592 HLADataElement* dataElement = getAttributeDataElement(index);
595 _rtiObjectInstance->encodeAttributeData(index, *dataElement);
596 dataElement->setDirty(false);
600 HLAObjectInstance::sendAttributeValues(const RTIData& tag)
602 if (!_rtiObjectInstance.valid()) {
603 SG_LOG(SG_IO, SG_INFO, "Not updating inactive object!");
606 _rtiObjectInstance->updateAttributeValues(tag);
610 HLAObjectInstance::sendAttributeValues(const SGTimeStamp& timeStamp, const RTIData& tag)
612 if (!_rtiObjectInstance.valid()) {
613 SG_LOG(SG_IO, SG_INFO, "Not updating inactive object!");
616 _rtiObjectInstance->updateAttributeValues(timeStamp, tag);
620 HLAObjectInstance::reflectAttributeValues(const HLAIndexList& indexList, const RTIData& tag)
622 for (HLAIndexList::const_iterator i = indexList.begin(); i != indexList.end(); ++i)
623 reflectAttributeValue(*i, tag);
627 HLAObjectInstance::reflectAttributeValues(const HLAIndexList& indexList,
628 const SGTimeStamp& timeStamp, const RTIData& tag)
630 for (HLAIndexList::const_iterator i = indexList.begin(); i != indexList.end(); ++i)
631 reflectAttributeValue(*i, timeStamp, tag);
635 HLAObjectInstance::reflectAttributeValue(unsigned index, const RTIData& tag)
637 HLADataElement* dataElement = getAttributeDataElement(index);
640 dataElement->setTimeStampValid(false);
641 _rtiObjectInstance->decodeAttributeData(index, *dataElement);
645 HLAObjectInstance::reflectAttributeValue(unsigned index, const SGTimeStamp& timeStamp, const RTIData& tag)
647 HLADataElement* dataElement = getAttributeDataElement(index);
650 dataElement->setTimeStamp(timeStamp);
651 dataElement->setTimeStampValid(true);
652 _rtiObjectInstance->decodeAttributeData(index, *dataElement);
656 HLAObjectInstance::_setRTIObjectInstance(RTIObjectInstance* rtiObjectInstance)
658 if (!_objectClass.valid())
661 _rtiObjectInstance = rtiObjectInstance;
662 _rtiObjectInstance->setObjectInstance(this);
663 _name = _rtiObjectInstance->getName();
665 unsigned numAttributes = getNumAttributes();
666 _attributeVector.resize(numAttributes);
667 for (unsigned i = 0; i < numAttributes; ++i) {
668 HLAUpdateType updateType = _objectClass->getAttributeUpdateType(i);
669 if (getAttributeOwned(i) && updateType != HLAUndefinedUpdate) {
670 _attributeVector[i]._enabledUpdate = true;
671 _attributeVector[i]._unconditionalUpdate = (updateType == HLAPeriodicUpdate);
672 // In case of an owned attribute, now encode its value
673 encodeAttributeValue(i);
675 _attributeVector[i]._enabledUpdate = false;
676 _attributeVector[i]._unconditionalUpdate = false;
680 // This makes sense with any new object. Even if we registered one, there might be unpublished attributes.
681 HLAIndexList indexList;
682 for (unsigned i = 0; i < numAttributes; ++i) {
683 HLAUpdateType updateType = _objectClass->getAttributeUpdateType(i);
684 if (getAttributeOwned(i))
686 if (updateType == HLAUndefinedUpdate)
688 if (updateType == HLAPeriodicUpdate)
690 indexList.push_back(i);
692 _rtiObjectInstance->requestObjectAttributeValueUpdate(indexList);
696 HLAObjectInstance::_clearRTIObjectInstance()
698 if (!_rtiObjectInstance.valid())
701 for (unsigned i = 0; i < _attributeVector.size(); ++i) {
702 _attributeVector[i]._enabledUpdate = false;
703 _attributeVector[i]._unconditionalUpdate = false;
706 _rtiObjectInstance->setObjectInstance(0);
707 _rtiObjectInstance = 0;
711 HLAObjectInstance::_removeInstance(const RTIData& tag)
713 if (!_objectClass.valid())
715 _objectClass->_removeInstance(*this, tag);
719 HLAObjectInstance::_reflectAttributeValues(const HLAIndexList& indexList, const RTIData& tag)
721 if (_reflectCallback.valid()) {
722 _reflectCallback->reflectAttributeValues(*this, indexList, tag);
724 reflectAttributeValues(indexList, tag);
729 HLAObjectInstance::_reflectAttributeValues(const HLAIndexList& indexList, const SGTimeStamp& timeStamp, const RTIData& tag)
731 if (_reflectCallback.valid()) {
732 _reflectCallback->reflectAttributeValues(*this, indexList, timeStamp, tag);
734 reflectAttributeValues(indexList, timeStamp, tag);
738 } // namespace simgear