1 // main.cxx -- top level sim routines
3 // Written by Curtis Olson for OpenGL, started May 1997.
5 // Copyright (C) 1997 - 1999 Curtis L. Olson - curt@flightgear.org
7 // This program is free software; you can redistribute it and/or
8 // modify it under the terms of the GNU General Public License as
9 // published by the Free Software Foundation; either version 2 of the
10 // License, or (at your option) any later version.
12 // This program is distributed in the hope that it will be useful, but
13 // WITHOUT ANY WARRANTY; without even the implied warranty of
14 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
15 // General Public License for more details.
17 // You should have received a copy of the GNU General Public License
18 // along with this program; if not, write to the Free Software
19 // Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
24 #define MICHAEL_JOHNSON_EXPERIMENTAL_ENGINE_AUDIO
31 #ifdef FG_MATH_EXCEPTION_CLASH
41 #include <simgear/xgl/xgl.h>
51 #ifdef HAVE_SYS_STAT_H
52 # include <sys/stat.h> /* for stat() */
56 # include <unistd.h> /* for stat() */
59 #include <plib/pu.h> // plib include
60 #include <plib/ssg.h> // plib include
62 #ifdef ENABLE_AUDIO_SUPPORT
63 # include <plib/sl.h> // plib include
64 # include <plib/sm.h> // plib include
67 #include <simgear/constants.h> // for VERSION
68 #include <simgear/debug/logstream.hxx>
69 #include <simgear/ephemeris/ephemeris.hxx>
70 #include <simgear/math/fg_geodesy.hxx>
71 #include <simgear/math/polar3d.hxx>
72 #include <simgear/math/fg_random.h>
73 #include <simgear/misc/fgpath.hxx>
74 #include <simgear/sky/sky.hxx>
75 #include <simgear/timing/sg_time.hxx>
76 #include <simgear/timing/lowleveltime.h>
78 #include <Include/general.hxx>
80 #include <Aircraft/aircraft.hxx>
82 #include <Autopilot/newauto.hxx>
83 #include <Cockpit/cockpit.hxx>
84 #include <Cockpit/radiostack.hxx>
85 #include <Cockpit/steam.hxx>
87 #include <FDM/UIUCModel/uiuc_aircraftdir.h>
89 #include <Joystick/joystick.hxx>
91 #include <NetworkOLK/network.h>
93 #include <Scenery/scenery.hxx>
94 #include <Scenery/tilemgr.hxx>
95 #include <Time/event.hxx>
96 #include <Time/fg_timer.hxx>
97 #include <Time/sunpos.hxx>
98 #include <Time/tmp.hxx>
100 #ifndef FG_OLD_WEATHER
101 # include <WeatherCM/FGLocalWeatherDatabase.h>
103 # include <Weather/weather.hxx>
107 #include "fg_init.hxx"
109 #include "globals.hxx"
110 #include "keyboard.hxx"
111 #include "options.hxx"
112 #include "splash.hxx"
116 // -dw- use custom sioux settings so I can see output window
119 # include <sioux.h> // settings for output window
121 # include <console.h>
125 // This is a record containing a bit of global housekeeping information
128 // Specify our current idle function state. This is used to run all
129 // our initializations out of the glutIdleLoop() so that we can get a
130 // splash screen up and running right away.
131 static int idle_state = 0;
132 static int global_multi_loop;
137 // Global structures for the Audio library
138 #ifdef ENABLE_AUDIO_SUPPORT
139 slEnvelope pitch_envelope ( 1, SL_SAMPLE_ONE_SHOT ) ;
140 slEnvelope volume_envelope ( 1, SL_SAMPLE_ONE_SHOT ) ;
141 slScheduler *audio_sched;
142 smMixer *audio_mixer;
149 ssgRoot *scene = NULL;
150 ssgBranch *terrain = NULL;
151 ssgSelector *penguin_sel = NULL;
152 ssgTransform *penguin_pos = NULL;
154 #ifdef FG_NETWORK_OLK
155 ssgSelector *fgd_sel = NULL;
156 ssgTransform *fgd_pos = NULL;
160 // current fdm/position used for view
161 FGInterface cur_view_fdm;
168 sgMat4 copy_of_ssgOpenGLAxisSwapMatrix =
170 { 1.0f, 0.0f, 0.0f, 0.0f },
171 { 0.0f, 0.0f, -1.0f, 0.0f },
172 { 0.0f, 1.0f, 0.0f, 0.0f },
173 { 0.0f, 0.0f, 0.0f, 1.0f }
176 // The following defines flight gear options. Because glutlib will also
177 // want to parse its own options, those options must not be included here
178 // or they will get parsed by the main program option parser. Hence case
179 // is significant for any option added that might be in conflict with
182 // glutlib parses for:
184 // -direct (invalid in Win32)
188 // -indirect (invalid in Win32)
191 // Note that glutlib depends upon strings while this program's
192 // option parser wants only initial characters followed by numbers
197 ssgSimpleState *default_state;
198 ssgSimpleState *hud_and_panel;
199 ssgSimpleState *menus;
201 void fgBuildRenderStates( void ) {
202 default_state = new ssgSimpleState;
203 default_state->disable( GL_TEXTURE_2D );
204 default_state->enable( GL_CULL_FACE );
205 default_state->enable( GL_COLOR_MATERIAL );
206 default_state->setColourMaterial( GL_AMBIENT_AND_DIFFUSE );
207 default_state->setMaterial( GL_EMISSION, 0, 0, 0, 1 );
208 default_state->setMaterial( GL_SPECULAR, 0, 0, 0, 1 );
209 default_state->disable( GL_BLEND );
210 default_state->disable( GL_ALPHA_TEST );
211 default_state->disable( GL_LIGHTING );
213 hud_and_panel = new ssgSimpleState;
214 hud_and_panel->disable( GL_CULL_FACE );
215 hud_and_panel->disable( GL_TEXTURE_2D );
216 hud_and_panel->disable( GL_LIGHTING );
217 hud_and_panel->enable( GL_BLEND );
219 menus = new ssgSimpleState;
220 menus->disable( GL_CULL_FACE );
221 menus->disable( GL_TEXTURE_2D );
222 menus->enable( GL_BLEND );
226 // fgInitVisuals() -- Initialize various GL/view parameters
227 void fgInitVisuals( void ) {
230 l = &cur_light_params;
232 #ifndef GLUT_WRONG_VERSION
233 // Go full screen if requested ...
234 if ( current_options.get_fullscreen() ) {
239 // If enabled, normal vectors specified with glNormal are scaled
240 // to unit length after transformation. See glNormal.
241 // glEnable( GL_NORMALIZE );
243 glEnable( GL_LIGHTING );
244 glEnable( GL_LIGHT0 );
245 glLightfv( GL_LIGHT0, GL_POSITION, l->sun_vec );
248 sgSetVec3( sunpos, l->sun_vec[0], l->sun_vec[1], l->sun_vec[2] );
249 ssgGetLight( 0 ) -> setPosition( sunpos );
251 // glFogi (GL_FOG_MODE, GL_LINEAR);
252 glFogi (GL_FOG_MODE, GL_EXP2);
253 if ( (current_options.get_fog() == 1) ||
254 (current_options.get_shading() == 0) ) {
255 // if fastest fog requested, or if flat shading force fastest
256 glHint ( GL_FOG_HINT, GL_FASTEST );
257 } else if ( current_options.get_fog() == 2 ) {
258 glHint ( GL_FOG_HINT, GL_NICEST );
260 if ( current_options.get_wireframe() ) {
262 glPolygonMode( GL_FRONT_AND_BACK, GL_LINE );
265 // This is the default anyways, but it can't hurt
266 glFrontFace ( GL_CCW );
269 // glEnable(GL_POINT_SMOOTH);
270 // glEnable(GL_LINE_SMOOTH);
271 // glEnable(GL_POLYGON_SMOOTH);
275 // Update all Visuals (redraws anything graphics related)
276 void fgRenderFrame( void ) {
280 fgLIGHT *l = &cur_light_params;
281 SGTime *t = SGTime::cur_time_params;
282 // FGView *v = ¤t_view;
283 static double last_visibility = -9999;
286 // GLfloat black[4] = { 0.0, 0.0, 0.0, 1.0 };
287 // GLfloat white[4] = { 1.0, 1.0, 1.0, 1.0 };
288 // GLfloat terrain_color[4] = { 0.54, 0.44, 0.29, 1.0 };
289 // GLfloat mat_shininess[] = { 10.0 };
290 GLbitfield clear_mask;
292 if ( idle_state != 1000 ) {
293 // still initializing, draw the splash screen
294 if ( current_options.get_splash_screen() == 1 ) {
298 // idle_state is now 1000 meaning we've finished all our
299 // initializations and are running the main loop, so this will
300 // now work without seg faulting the system.
302 // printf("Ground = %.2f Altitude = %.2f\n", scenery.cur_elev,
303 // FG_Altitude * FEET_TO_METER);
305 // this is just a temporary hack, to make me understand Pui
306 // timerText -> setLabel (ctime (&t->cur_time));
309 // update view volume parameters
310 // cout << "before pilot_view update" << endl;
311 pilot_view.UpdateViewParams(*cur_fdm_state);
312 // cout << "after pilot_view update" << endl;
313 current_view.UpdateViewParams(cur_view_fdm);
315 // set the sun position
316 glLightfv( GL_LIGHT0, GL_POSITION, l->sun_vec );
318 clear_mask = GL_DEPTH_BUFFER_BIT;
319 if ( current_options.get_wireframe() ) {
320 clear_mask |= GL_COLOR_BUFFER_BIT;
323 if ( current_options.get_skyblend() ) {
324 if ( current_options.get_textures() ) {
325 // glClearColor(black[0], black[1], black[2], black[3]);
326 glClearColor(l->adj_fog_color[0], l->adj_fog_color[1],
327 l->adj_fog_color[2], l->adj_fog_color[3]);
328 clear_mask |= GL_COLOR_BUFFER_BIT;
331 glClearColor(l->sky_color[0], l->sky_color[1],
332 l->sky_color[2], l->sky_color[3]);
333 clear_mask |= GL_COLOR_BUFFER_BIT;
335 glClear( clear_mask );
337 // Tell GL we are switching to model view parameters
339 // I really should create a derived ssg node or use a call
340 // back or something so that I can draw the sky within the
341 // ssgCullAndDraw() function, but for now I just mimic what
342 // ssg does to set up the model view matrix
343 glMatrixMode(GL_MODELVIEW);
345 ssgSetCamera( current_view.VIEW );
348 sgMat4 vm_tmp, view_mat;
349 sgTransposeNegateMat4 ( vm_tmp, current_view.VIEW ) ;
350 sgCopyMat4( view_mat, copy_of_ssgOpenGLAxisSwapMatrix ) ;
351 sgPreMultMat4( view_mat, vm_tmp ) ;
352 glLoadMatrixf( (float *)view_mat );
355 // set the opengl state to known default values
356 default_state->force();
358 // update fog params if visibility has changed
359 #ifndef FG_OLD_WEATHER
360 thesky->set_visibility( WeatherDatabase->getWeatherVisibility() );
362 thesky->set_visibility( current_weather.get_visibility() );
365 thesky->modify_vis( cur_fdm_state->get_Altitude() * FEET_TO_METER,
367 ( global_multi_loop *
368 current_options.get_speed_up() ) /
369 (double)current_options.get_model_hz() );
371 double actual_visibility = thesky->get_visibility();
372 // cout << "actual visibility = " << actual_visibility << endl;
374 if ( actual_visibility != last_visibility ) {
375 last_visibility = actual_visibility;
377 // cout << "----> updating fog params" << endl;
379 GLfloat fog_exp_density;
380 GLfloat fog_exp2_density;
383 fog_exp_density = -log(0.01 / actual_visibility);
386 fog_exp2_density = sqrt( -log(0.01) ) / actual_visibility;
388 // Set correct opengl fog density
389 glFogf (GL_FOG_DENSITY, fog_exp2_density);
392 // update the sky dome
393 if ( current_options.get_skyblend() ) {
396 current_view.get_view_pos().x(),
397 current_view.get_view_pos().y(),
398 current_view.get_view_pos().z() );
401 sgSetVec3( zero_elev,
402 current_view.get_cur_zero_elev().x(),
403 current_view.get_cur_zero_elev().y(),
404 current_view.get_cur_zero_elev().z() );
406 /* cout << "thesky->repaint() sky_color = "
407 << cur_light_params.sky_color[0] << " "
408 << cur_light_params.sky_color[1] << " "
409 << cur_light_params.sky_color[2] << " "
410 << cur_light_params.sky_color[3] << endl;
412 << cur_light_params.fog_color[0] << " "
413 << cur_light_params.fog_color[1] << " "
414 << cur_light_params.fog_color[2] << " "
415 << cur_light_params.fog_color[3] << endl;
416 cout << " sun_angle = " << cur_light_params.sun_angle
417 << " moon_angle = " << cur_light_params.moon_angle
419 thesky->repaint( cur_light_params.sky_color,
420 cur_light_params.adj_fog_color,
421 cur_light_params.sun_angle,
422 cur_light_params.moon_angle,
423 ephem->getNumPlanets(), ephem->getPlanets(),
424 ephem->getNumStars(), ephem->getStars() );
426 /* cout << "thesky->reposition( view_pos = " << view_pos[0] << " "
427 << view_pos[1] << " " << view_pos[2] << endl;
428 cout << " zero_elev = " << zero_elev[0] << " "
429 << zero_elev[1] << " " << zero_elev[2]
430 << " lon = " << cur_fdm_state->get_Longitude()
431 << " lat = " << cur_fdm_state->get_Latitude() << endl;
432 cout << " sun_rot = " << cur_light_params.sun_rotation
433 << " gst = " << SGTime::cur_time_params->getGst() << endl;
434 cout << " sun ra = " << ephem->getSunRightAscension()
435 << " sun dec = " << ephem->getSunDeclination()
436 << " moon ra = " << ephem->getMoonRightAscension()
437 << " moon dec = " << ephem->getMoonDeclination() << endl; */
439 thesky->reposition( view_pos, zero_elev,
440 current_view.get_local_up(),
441 cur_fdm_state->get_Longitude(),
442 cur_fdm_state->get_Latitude(),
443 cur_fdm_state->get_Altitude() * FEET_TO_METER,
444 cur_light_params.sun_rotation,
445 SGTime::cur_time_params->getGst(),
446 ephem->getSunRightAscension(),
447 ephem->getSunDeclination(), 50000.0,
448 ephem->getMoonRightAscension(),
449 ephem->getMoonDeclination(), 50000.0 );
452 glEnable( GL_DEPTH_TEST );
453 if ( current_options.get_fog() > 0 ) {
455 glFogi( GL_FOG_MODE, GL_EXP2 );
456 glFogfv( GL_FOG_COLOR, l->adj_fog_color );
459 // set lighting parameters
460 GLfloat black[4] = { 0.0, 0.0, 0.0, 1.0 };
461 glLightModelfv( GL_LIGHT_MODEL_AMBIENT, l->scene_ambient );
462 glLightfv( GL_LIGHT0, GL_AMBIENT, black );
463 glLightfv( GL_LIGHT0, GL_DIFFUSE, l->scene_diffuse );
464 // glLightfv(GL_LIGHT0, GL_SPECULAR, white );
466 // texture parameters
467 // glEnable( GL_TEXTURE_2D );
468 glTexEnvi( GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_MODULATE ) ;
469 glHint( GL_PERSPECTIVE_CORRECTION_HINT, GL_NICEST ) ;
470 // set base color (I don't think this is doing anything here)
471 // glMaterialfv (GL_FRONT, GL_AMBIENT, white);
472 // (GL_FRONT, GL_DIFFUSE, white);
473 // glMaterialfv (GL_FRONT, GL_SPECULAR, white);
474 // glMaterialfv (GL_FRONT, GL_SHININESS, mat_shininess);
477 sgSetVec3( sunpos, l->sun_vec[0], l->sun_vec[1], l->sun_vec[2] );
478 ssgGetLight( 0 ) -> setPosition( sunpos );
480 // glMatrixMode( GL_PROJECTION );
482 float fov = current_options.get_fov();
483 ssgSetFOV(fov * current_view.get_win_ratio(), fov);
485 double agl = current_aircraft.fdm_state->get_Altitude() * FEET_TO_METER
488 // FG_LOG( FG_ALL, FG_INFO, "visibility is "
489 // << current_weather.get_visibility() );
492 ssgSetNearFar( 10.0f, 120000.0f );
494 ssgSetNearFar( 0.5f, 120000.0f );
497 if ( current_options.get_view_mode() ==
498 fgOPTIONS::FG_VIEW_PILOT )
501 penguin_sel->select(0);
502 } else if ( current_options.get_view_mode() ==
503 fgOPTIONS::FG_VIEW_FOLLOW )
505 // select view matrix from front of view matrix queue
506 // FGMat4Wrapper tmp = current_view.follow.front();
507 // sgCopyMat4( sgVIEW, tmp.m );
509 // enable TuX and set up his position and orientation
510 penguin_sel->select(1);
513 sgMakeTransMat4( sgTRANS,
514 pilot_view.view_pos.x(),
515 pilot_view.view_pos.y(),
516 pilot_view.view_pos.z() );
519 sgSetVec3( ownship_up, 0.0, 0.0, 1.0);
522 sgMakeRotMat4( sgROT, -90.0, ownship_up );
526 // sgMultMat4( sgTMP, sgROT, pilot_view.VIEW_ROT );
527 // sgMultMat4( sgTUX, sgTMP, sgTRANS );
529 // sgTUX = ( sgROT * pilot_view.VIEW_ROT ) * sgTRANS
531 sgCopyMat4( sgTUX, sgROT );
532 sgPostMultMat4( sgTUX, pilot_view.VIEW_ROT );
533 sgPostMultMat4( sgTUX, sgTRANS );
536 sgSetCoord( &tuxpos, sgTUX );
537 penguin_pos->setTransform( &tuxpos );
540 # ifdef FG_NETWORK_OLK
541 if ( current_options.get_network_olk() ) {
543 other = head->next; /* put listpointer to start */
544 while ( other != tail) { /* display all except myself */
545 if ( strcmp( other->ipadr, fgd_mcp_ip) != 0) {
546 other->fgd_sel->select(1);
547 sgSetCoord( &fgdpos, other->sgFGD_COORD );
548 other->fgd_pos->setTransform( &fgdpos );
553 // fgd_sel->select(1);
554 // sgCopyMat4( sgTUX, current_view.sgVIEW);
556 // sgSetCoord( &fgdpos, sgFGD_VIEW );
557 // fgd_pos->setTransform( &fgdpos);
561 // ssgSetCamera( current_view.VIEW );
563 // position tile nodes and update range selectors
564 global_tile_mgr.prep_ssg_nodes();
566 // force the default state so ssg can get back on track if
567 // we've changed things elsewhere (this is now handled
570 // FGMaterialSlot m_slot;
571 // FGMaterialSlot *m_ptr = &m_slot;
572 // if ( material_mgr.find( "Default", m_ptr ) ) {
573 // m_ptr->get_state()->force();
576 // draw the sky backdrop
579 // draw the ssg scene
580 ssgCullAndDraw( scene );
582 // draw the sky cloud layers
583 thesky->postDraw( cur_fdm_state->get_Altitude() * FEET_TO_METER );
585 // display HUD && Panel
587 glDisable( GL_DEPTH_TEST );
588 // glDisable( GL_CULL_FACE );
589 // glDisable( GL_TEXTURE_2D );
590 hud_and_panel->apply();
593 // We can do translucent menus, so why not. :-)
594 // glEnable ( GL_BLEND ) ;
596 glBlendFunc ( GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA ) ;
598 // glDisable ( GL_BLEND ) ;
600 // glEnable( GL_FOG );
607 // Update internal time dependent calculations (i.e. flight model)
608 void fgUpdateTimeDepCalcs(int multi_loop, int remainder) {
609 static fdm_state_list fdm_list;
610 // FGInterface fdm_state;
611 fgLIGHT *l = &cur_light_params;
612 SGTime *t = SGTime::cur_time_params;
613 // FGView *v = ¤t_view;
616 // update the flight model
617 if ( multi_loop < 0 ) {
621 if ( !current_options.get_pause() ) {
622 // run Autopilot system
623 current_autopilot->run();
625 // printf("updating flight model x %d\n", multi_loop);
626 /* fgFDMUpdate( current_options.get_flight_model(),
628 multi_loop * current_options.get_speed_up(),
630 cur_fdm_state->update( multi_loop * current_options.get_speed_up() );
631 FGSteam::update( multi_loop * current_options.get_speed_up() );
633 // fgFDMUpdate( current_options.get_flight_model(),
634 // fdm_state, 0, remainder );
635 cur_fdm_state->update( 0 );
636 FGSteam::update( 0 );
639 fdm_list.push_back( *cur_fdm_state );
640 while ( fdm_list.size() > 15 ) {
641 fdm_list.pop_front();
644 if ( current_options.get_view_mode() == fgOPTIONS::FG_VIEW_PILOT ) {
645 cur_view_fdm = *cur_fdm_state;
647 } else if ( current_options.get_view_mode() == fgOPTIONS::FG_VIEW_FOLLOW ) {
648 cur_view_fdm = fdm_list.front();
651 // update the view angle
652 for ( i = 0; i < multi_loop; i++ ) {
653 if ( fabs(current_view.get_goal_view_offset() -
654 current_view.get_view_offset()) < 0.05 )
656 current_view.set_view_offset( current_view.get_goal_view_offset() );
659 // move current_view.view_offset towards current_view.goal_view_offset
660 if ( current_view.get_goal_view_offset() >
661 current_view.get_view_offset() )
663 if ( current_view.get_goal_view_offset() -
664 current_view.get_view_offset() < FG_PI )
666 current_view.inc_view_offset( 0.01 );
668 current_view.inc_view_offset( -0.01 );
671 if ( current_view.get_view_offset() -
672 current_view.get_goal_view_offset() < FG_PI )
674 current_view.inc_view_offset( -0.01 );
676 current_view.inc_view_offset( 0.01 );
679 if ( current_view.get_view_offset() > FG_2PI ) {
680 current_view.inc_view_offset( -FG_2PI );
681 } else if ( current_view.get_view_offset() < 0 ) {
682 current_view.inc_view_offset( FG_2PI );
687 double tmp = -(l->sun_rotation + FG_PI)
688 - (cur_fdm_state->get_Psi() - current_view.get_view_offset() );
689 while ( tmp < 0.0 ) {
692 while ( tmp > FG_2PI ) {
695 /* printf("Psi = %.2f, viewoffset = %.2f sunrot = %.2f rottosun = %.2f\n",
696 FG_Psi * RAD_TO_DEG, current_view.view_offset * RAD_TO_DEG,
697 -(l->sun_rotation+FG_PI) * RAD_TO_DEG, tmp * RAD_TO_DEG); */
700 // Update solar system
701 ephem->update( t, cur_fdm_state->get_Latitude() );
703 // Update radio stack model
704 current_radiostack->update( cur_fdm_state->get_Longitude(),
705 cur_fdm_state->get_Latitude(),
706 cur_fdm_state->get_Altitude() * FEET_TO_METER );
710 void fgInitTimeDepCalcs( void ) {
713 // #ifdef HAVE_SETITIMER
714 // fgTimerInit( 1.0 / current_options.get_model_hz(),
715 // fgUpdateTimeDepCalcs );
716 // #endif HAVE_SETITIMER
720 static const double alt_adjust_ft = 3.758099;
721 static const double alt_adjust_m = alt_adjust_ft * FEET_TO_METER;
724 // What should we do when we have nothing else to do? Let's get ready
725 // for the next move and update the display?
726 static void fgMainLoop( void ) {
728 static long remainder = 0;
730 #ifdef FANCY_FRAME_COUNTER
734 static time_t last_time = 0;
735 static int frames = 0;
736 #endif // FANCY_FRAME_COUNTER
738 t = SGTime::cur_time_params;
740 FG_LOG( FG_ALL, FG_DEBUG, "Running Main Loop");
741 FG_LOG( FG_ALL, FG_DEBUG, "======= ==== ====");
743 #ifdef FG_NETWORK_OLK
744 if ( current_options.get_network_olk() ) {
745 if ( net_is_registered == 0 ) { // We first have to reg. to fgd
746 // printf("FGD: Netupdate\n");
747 fgd_send_com( "A", FGFS_host); // Send Mat4 data
748 fgd_send_com( "B", FGFS_host); // Recv Mat4 data
753 #if defined( ENABLE_PLIB_JOYSTICK )
754 // Read joystick and update control settings
755 if ( current_options.get_control_mode() == fgOPTIONS::FG_JOYSTICK ) {
758 #elif defined( ENABLE_GLUT_JOYSTICK )
759 // Glut joystick support works by feeding a joystick handler
760 // function to glut. This is taken care of once in the joystick
761 // init routine and we don't have to worry about it again.
764 #ifdef FG_OLD_WEATHER
765 current_weather.Update();
768 // Fix elevation. I'm just sticking this here for now, it should
769 // probably move eventually
771 /* printf("Before - ground = %.2f runway = %.2f alt = %.2f\n",
773 cur_fdm_state->get_Runway_altitude() * FEET_TO_METER,
774 cur_fdm_state->get_Altitude() * FEET_TO_METER); */
776 if ( scenery.cur_elev > -9990 ) {
777 if ( cur_fdm_state->get_Altitude() * FEET_TO_METER <
778 (scenery.cur_elev + alt_adjust_m - 3.0) ) {
779 // now set aircraft altitude above ground
780 printf("(*) Current Altitude = %.2f < %.2f forcing to %.2f\n",
781 cur_fdm_state->get_Altitude() * FEET_TO_METER,
782 scenery.cur_elev + alt_adjust_m - 3.0,
783 scenery.cur_elev + alt_adjust_m );
784 fgFDMForceAltitude( current_options.get_flight_model(),
785 scenery.cur_elev + alt_adjust_m );
787 FG_LOG( FG_ALL, FG_DEBUG,
788 "<*> resetting altitude to "
789 << cur_fdm_state->get_Altitude() * FEET_TO_METER << " meters" );
791 fgFDMSetGroundElevation( current_options.get_flight_model(),
792 scenery.cur_elev ); // meters
795 /* printf("Adjustment - ground = %.2f runway = %.2f alt = %.2f\n",
797 cur_fdm_state->get_Runway_altitude() * FEET_TO_METER,
798 cur_fdm_state->get_Altitude() * FEET_TO_METER); */
801 if ( globals->get_warp_delta() != 0 ) {
802 globals->inc_warp( globals->get_warp_delta() );
805 t->update( cur_fdm_state->get_Longitude(),
806 cur_fdm_state->get_Latitude(),
807 cur_fdm_state->get_Altitude()* FEET_TO_METER,
808 globals->get_warp() );
810 if ( globals->get_warp_delta() != 0 ) {
811 fgUpdateSkyAndLightingParams();
814 // update magvar model
815 cur_magvar.update( cur_fdm_state->get_Longitude(),
816 cur_fdm_state->get_Latitude(),
817 cur_fdm_state->get_Altitude()* FEET_TO_METER,
818 SGTime::cur_time_params->getJD() );
820 // Get elapsed time (in usec) for this past frame
821 elapsed = fgGetTimeInterval();
822 FG_LOG( FG_ALL, FG_DEBUG,
823 "Elapsed time interval is = " << elapsed
824 << ", previous remainder is = " << remainder );
826 // Calculate frame rate average
827 #ifdef FANCY_FRAME_COUNTER
828 /* old fps calculation */
832 for ( i = FG_FRAME_RATE_HISTORY - 2; i >= 0; i-- ) {
833 tmp = general.get_frame(i);
835 // printf("frame[%d] = %.2f\n", i, g->frames[i]);
836 general.set_frame(i+1,tmp);
838 tmp = 1000000.0 / (float)elapsed;
839 general.set_frame(0,tmp);
840 // printf("frame[0] = %.2f\n", general.frames[0]);
842 general.set_frame_rate(accum / (float)FG_FRAME_RATE_HISTORY);
843 // printf("ave = %.2f\n", general.frame_rate);
846 if ( (t->get_cur_time() != last_time) && (last_time > 0) ) {
847 general.set_frame_rate( frames );
848 FG_LOG( FG_ALL, FG_DEBUG,
849 "--> Frame rate is = " << general.get_frame_rate() );
852 last_time = t->get_cur_time();
857 if ( ! use_signals ) {
858 // Calculate model iterations needed for next frame
859 elapsed += remainder;
861 global_multi_loop = (int)(((double)elapsed * 0.000001) *
862 current_options.get_model_hz());
863 remainder = elapsed - ( (global_multi_loop*1000000) /
864 current_options.get_model_hz() );
865 FG_LOG( FG_ALL, FG_DEBUG,
866 "Model iterations needed = " << global_multi_loop
867 << ", new remainder = " << remainder );
870 if ( global_multi_loop > 0 ) {
871 fgUpdateTimeDepCalcs(global_multi_loop, remainder);
873 FG_LOG( FG_ALL, FG_DEBUG,
874 "Elapsed time is zero ... we're zinging" );
878 #if ! defined( MACOS )
879 // Do any I/O channel work that might need to be done
883 // see if we need to load any new scenery tiles
884 global_tile_mgr.update( cur_fdm_state->get_Longitude(),
885 cur_fdm_state->get_Latitude() );
887 // Process/manage pending events
888 global_events.Process();
890 // Run audio scheduler
891 #ifdef ENABLE_AUDIO_SUPPORT
892 if ( current_options.get_sound() && !audio_sched->not_working() ) {
894 # ifdef MICHAEL_JOHNSON_EXPERIMENTAL_ENGINE_AUDIO
896 // note: all these factors are relative to the sample. our
897 // sample format should really contain a conversion factor so
898 // that we can get prop speed right for arbitrary samples.
899 // Note that for normal-size props, there is a point at which
900 // the prop tips approach the speed of sound; that is a pretty
901 // strong limit to how fast the prop can go.
903 // multiplication factor is prime pitch control; add some log
904 // component for verisimilitude
906 double pitch = log((controls.get_throttle(0) * 14.0) + 1.0);
907 //fprintf(stderr, "pitch1: %f ", pitch);
908 // if (controls.get_throttle(0) > 0.0 ||
909 // cur_fdm_state->v_rel_wind > 40.0) {
911 //fprintf(stderr, "rel_wind: %f ", cur_fdm_state->v_rel_wind);
912 // only add relative wind and AoA if prop is moving
913 // or we're really flying at idle throttle
914 if (pitch < 5.4) { // this needs tuning
915 // prop tips not breaking sound barrier
916 pitch += log(cur_fdm_state->v_rel_wind + 0.8)/2;
918 // prop tips breaking sound barrier
919 pitch += log(cur_fdm_state->v_rel_wind + 0.8)/10;
921 //fprintf(stderr, "pitch2: %f ", pitch);
922 //fprintf(stderr, "AoA: %f ", FG_Gamma_vert_rad);
924 // Angle of Attack next... -x^3(e^x) is my best guess Just
925 // need to calculate some reasonable scaling factor and
926 // then clamp it on the positive aoa (neg adj) side
927 double aoa = cur_fdm_state->get_Gamma_vert_rad() * 2.2;
929 double aoa_adj = pow(-aoa, tmp) * pow(M_E, aoa);
930 if (aoa_adj < -0.8) aoa_adj = -0.8;
932 //fprintf(stderr, "pitch3: %f ", pitch);
934 // don't run at absurdly slow rates -- not realistic
935 // and sounds bad to boot. :-)
936 if (pitch < 0.8) pitch = 0.8;
938 // fprintf(stderr, "pitch4: %f\n", pitch);
940 double volume = controls.get_throttle(0) * 1.15 + 0.3 +
941 log(cur_fdm_state->v_rel_wind + 1.0)/14.0;
942 // fprintf(stderr, "volume: %f\n", volume);
944 pitch_envelope.setStep ( 0, 0.01, pitch );
945 volume_envelope.setStep ( 0, 0.01, volume );
949 double param = controls.get_throttle( 0 ) * 2.0 + 1.0;
950 pitch_envelope.setStep ( 0, 0.01, param );
951 volume_envelope.setStep ( 0, 0.01, param );
953 # endif // experimental throttle patch
955 audio_sched -> update();
962 FG_LOG( FG_ALL, FG_DEBUG, "" );
966 // This is the top level master main function that is registered as
970 // The first few passes take care of initialization things (a couple
971 // per pass) and once everything has been initialized fgMainLoop from
974 static void fgIdleFunction ( void ) {
975 // printf("idle state == %d\n", idle_state);
977 if ( idle_state == 0 ) {
978 // Initialize the splash screen right away
979 if ( current_options.get_splash_screen() ) {
984 } else if ( idle_state == 1 ) {
985 // Start the intro music
987 if ( current_options.get_intro_music() ) {
988 string lockfile = "/tmp/mpg123.running";
989 FGPath mp3file( current_options.get_fg_root() );
990 mp3file.append( "Sounds/intro.mp3" );
992 string command = "(touch " + lockfile + "; mpg123 "
993 + mp3file.str() + "> /dev/null 2>&1; /bin/rm "
995 FG_LOG( FG_GENERAL, FG_INFO,
996 "Starting intro music: " << mp3file.str() );
997 system ( command.c_str() );
1002 } else if ( idle_state == 2 ) {
1003 // These are a few miscellaneous things that aren't really
1004 // "subsystems" but still need to be initialized.
1007 if ( strstr ( general.get_glRenderer(), "Glide" ) ) {
1008 grTexLodBiasValue ( GR_TMU0, 1.0 ) ;
1013 } else if ( idle_state == 3 ) {
1014 // This is the top level init routine which calls all the
1015 // other subsystem initialization routines. If you are adding
1016 // a subsystem to flight gear, its initialization call should
1017 // located in this routine.
1018 if( !fgInitSubsystems()) {
1019 FG_LOG( FG_GENERAL, FG_ALERT,
1020 "Subsystem initializations failed ..." );
1025 } else if ( idle_state == 4 ) {
1026 // setup OpenGL view parameters
1029 if ( use_signals ) {
1030 // init timer routines, signals, etc. Arrange for an alarm
1031 // signal to be generated, etc.
1032 fgInitTimeDepCalcs();
1036 } else if ( idle_state == 5 ) {
1039 } else if ( idle_state == 6 ) {
1040 // Initialize audio support
1041 #ifdef ENABLE_AUDIO_SUPPORT
1044 if ( current_options.get_intro_music() ) {
1045 // Let's wait for mpg123 to finish
1046 string lockfile = "/tmp/mpg123.running";
1047 struct stat stat_buf;
1049 FG_LOG( FG_GENERAL, FG_INFO,
1050 "Waiting for mpg123 player to finish ..." );
1051 while ( stat(lockfile.c_str(), &stat_buf) == 0 ) {
1052 // file exist, wait ...
1054 FG_LOG( FG_GENERAL, FG_INFO, ".");
1056 FG_LOG( FG_GENERAL, FG_INFO, "");
1060 if ( current_options.get_sound() ) {
1061 audio_sched = new slScheduler ( 8000 );
1062 audio_mixer = new smMixer;
1063 audio_mixer -> setMasterVolume ( 80 ) ; /* 80% of max volume. */
1064 audio_sched -> setSafetyMargin ( 1.0 ) ;
1066 FGPath slfile( current_options.get_fg_root() );
1067 slfile.append( "Sounds/wasp.wav" );
1069 s1 = new slSample ( (char *)slfile.c_str() );
1070 FG_LOG( FG_GENERAL, FG_INFO,
1071 "Rate = " << s1 -> getRate()
1072 << " Bps = " << s1 -> getBps()
1073 << " Stereo = " << s1 -> getStereo() );
1074 audio_sched -> loopSample ( s1 );
1076 if ( audio_sched->not_working() ) {
1079 pitch_envelope.setStep ( 0, 0.01, 0.6 );
1080 volume_envelope.setStep ( 0, 0.01, 0.6 );
1082 audio_sched -> addSampleEnvelope( s1, 0, 0,
1084 SL_PITCH_ENVELOPE );
1085 audio_sched -> addSampleEnvelope( s1, 0, 1,
1087 SL_VOLUME_ENVELOPE );
1090 // strcpy(slfile, path);
1091 // strcat(slfile, "thunder.wav");
1092 // s2 -> loadFile ( slfile );
1093 // s2 -> adjustVolume(0.5);
1094 // audio_sched -> playSample ( s2 );
1102 if ( idle_state == 1000 ) {
1103 // We've finished all our initialization steps, from now on we
1104 // run the main loop.
1108 if ( current_options.get_splash_screen() == 1 ) {
1109 fgSplashUpdate(0.0);
1114 // options.cxx needs to see this for toggle_panel()
1115 // Handle new window size or exposure
1116 void fgReshape( int width, int height ) {
1117 if ( ! current_options.get_panel_status() ) {
1118 current_view.set_win_ratio( (GLfloat) width / (GLfloat) height );
1119 glViewport(0, 0 , (GLint)(width), (GLint)(height) );
1121 current_view.set_win_ratio( (GLfloat) width /
1122 ((GLfloat) (height)*0.4232) );
1123 glViewport(0, (GLint)((height)*0.5768),
1124 (GLint)(width), (GLint)((height)*0.4232) );
1127 current_view.set_winWidth( width );
1128 current_view.set_winHeight( height );
1129 current_view.force_update_fov_math();
1131 // set these fov to be the same as in fgRenderFrame()
1132 // float x_fov = current_options.get_fov();
1133 // float y_fov = x_fov * 1.0 / current_view.get_win_ratio();
1134 // ssgSetFOV( x_fov, y_fov );
1136 // glViewport ( 0, 0, width, height );
1137 float fov = current_options.get_fov();
1138 ssgSetFOV(fov * current_view.get_win_ratio(), fov);
1142 if ( idle_state == 1000 ) {
1143 // yes we've finished all our initializations and are running
1144 // the main loop, so this will now work without seg faulting
1146 current_view.UpdateViewParams(cur_view_fdm);
1151 // Initialize GLUT and define a main window
1152 int fgGlutInit( int *argc, char **argv ) {
1154 #if !defined( MACOS )
1155 // GLUT will extract all glut specific options so later on we only
1156 // need wory about our own.
1157 glutInit(argc, argv);
1160 // Define Display Parameters
1161 glutInitDisplayMode( GLUT_RGB | GLUT_DEPTH | GLUT_DOUBLE );
1163 FG_LOG( FG_GENERAL, FG_INFO, "Opening a window: " <<
1164 current_options.get_xsize() << "x" << current_options.get_ysize() );
1166 // Define initial window size
1167 glutInitWindowSize( current_options.get_xsize(),
1168 current_options.get_ysize() );
1170 // Initialize windows
1171 if ( current_options.get_game_mode() == 0 ) {
1172 // Open the regular window
1173 glutCreateWindow("Flight Gear");
1174 #ifndef GLUT_WRONG_VERSION
1176 // Open the cool new 'game mode' window
1177 char game_mode_str[256];
1178 sprintf( game_mode_str, "width=%d height=%d bpp=%d",
1179 current_options.get_xsize(),
1180 current_options.get_ysize(),
1181 current_options.get_bpp());
1183 FG_LOG( FG_GENERAL, FG_INFO,
1184 "game mode params = " << game_mode_str );
1185 glutGameModeString( game_mode_str );
1186 glutEnterGameMode();
1190 // This seems to be the absolute earliest in the init sequence
1191 // that these calls will return valid info. Too bad it's after
1192 // we've already created and sized out window. :-(
1193 general.set_glVendor( (char *)glGetString ( GL_VENDOR ) );
1194 general.set_glRenderer( (char *)glGetString ( GL_RENDERER ) );
1195 general.set_glVersion( (char *)glGetString ( GL_VERSION ) );
1197 FG_LOG ( FG_GENERAL, FG_INFO, general.get_glRenderer() );
1200 // try to determine if we should adjust the initial default
1201 // display resolution. The options class defaults (is
1202 // initialized) to 640x480.
1203 string renderer = general.glRenderer;
1205 // currently we only know how to deal with Mesa/Glide/Voodoo cards
1206 if ( renderer.find( "Glide" ) != string::npos ) {
1207 FG_LOG( FG_GENERAL, FG_INFO, "Detected a Glide driver" );
1208 if ( renderer.find( "FB/8" ) != string::npos ) {
1209 // probably a voodoo-2
1210 if ( renderer.find( "TMU/SLI" ) != string::npos ) {
1211 // probably two SLI'd Voodoo-2's
1212 current_options.set_xsize( 1024 );
1213 current_options.set_ysize( 768 );
1214 FG_LOG( FG_GENERAL, FG_INFO,
1215 "It looks like you have two sli'd voodoo-2's." << endl
1216 << "upgrading your win resolution to 1024 x 768" );
1217 glutReshapeWindow(1024, 768);
1219 // probably a single non-SLI'd Voodoo-2
1220 current_options.set_xsize( 800 );
1221 current_options.set_ysize( 600 );
1222 FG_LOG( FG_GENERAL, FG_INFO,
1223 "It looks like you have a voodoo-2." << endl
1224 << "upgrading your win resolution to 800 x 600" );
1225 glutReshapeWindow(800, 600);
1227 } else if ( renderer.find( "FB/2" ) != string::npos ) {
1228 // probably a voodoo-1, stick with the default
1231 // we have no special knowledge of this card, stick with the default
1239 // Initialize GLUT event handlers
1240 int fgGlutInitEvents( void ) {
1241 // call fgReshape() on window resizes
1242 glutReshapeFunc( fgReshape );
1244 // call GLUTkey() on keyboard event
1245 glutKeyboardFunc( GLUTkey );
1246 glutSpecialFunc( GLUTspecialkey );
1248 // call guiMouseFunc() whenever our little rodent is used
1249 glutMouseFunc ( guiMouseFunc );
1250 glutMotionFunc (guiMotionFunc );
1251 glutPassiveMotionFunc (guiMotionFunc );
1253 // call fgMainLoop() whenever there is
1254 // nothing else to do
1255 glutIdleFunc( fgIdleFunction );
1258 glutDisplayFunc( fgRenderFrame );
1265 int main( int argc, char **argv ) {
1267 #if defined( MACOS )
1268 freopen ("stdout.txt", "w", stdout );
1269 freopen ("stderr.txt", "w", stderr );
1270 argc = ccommand( &argv );
1274 _control87(MCW_EM, MCW_EM); /* defined in float.h */
1277 // set default log levels
1278 fglog().setLogLevels( FG_ALL, FG_INFO );
1280 FG_LOG( FG_GENERAL, FG_INFO, "Flight Gear: Version " << VERSION << endl );
1282 // seed the random number generater
1285 aircraft_dir = ""; // Initialize the Aircraft directory to "" (UIUC)
1287 // needs to happen before we parse command line options
1288 globals = new FGGlobals;
1290 // Load the configuration parameters
1291 if ( !fgInitConfig(argc, argv) ) {
1292 FG_LOG( FG_GENERAL, FG_ALERT, "Config option parsing failed ..." );
1296 // Initialize the Window/Graphics environment.
1297 if( !fgGlutInit(&argc, argv) ) {
1298 FG_LOG( FG_GENERAL, FG_ALERT, "GLUT initialization failed ..." );
1302 // Initialize the various GLUT Event Handlers.
1303 if( !fgGlutInitEvents() ) {
1304 FG_LOG( FG_GENERAL, FG_ALERT,
1305 "GLUT event handler initialization failed ..." );
1309 // Initialize ssg (from plib). Needs to come before we do any
1310 // other ssg stuff, but after opengl/glut has been initialized.
1313 // Initialize the user interface (we need to do this before
1314 // passing off control to glut and before fgInitGeneral to get our
1319 SGTime::cur_time_params = new SGTime( current_options.get_fg_root() );
1320 // SGTime::cur_time_params->init( cur_fdm_state->get_Longitude(),
1321 // cur_fdm_state->get_Latitude() );
1322 // SGTime::cur_time_params->update( cur_fdm_state->get_Longitude() );
1323 SGTime::cur_time_params->init( 0.0, 0.0, current_options.get_fg_root() );
1325 // Handle user specified offsets
1326 // current_options.get_time_offset(),
1327 // current_options.get_time_offset_type() );
1329 time_t cur_time = SGTime::cur_time_params->get_cur_time();
1330 time_t currGMT = SGTime::cur_time_params->get_gmt( gmtime(&cur_time) );
1331 time_t systemLocalTime = SGTime::cur_time_params->get_gmt( localtime(&cur_time) );
1332 time_t aircraftLocalTime = SGTime::cur_time_params->get_gmt( fgLocaltime(&cur_time, SGTime::cur_time_params->get_zonename() ) );
1334 // Okay, we now have six possible scenarios
1335 switch ( current_options.get_time_offset_type() ) {
1336 case SG_TIME_SYS_OFFSET:
1337 globals->set_warp( current_options.get_time_offset() );
1339 case SG_TIME_GMT_OFFSET:
1340 globals->set_warp( current_options.get_time_offset() -
1341 (currGMT - systemLocalTime) );
1343 case SG_TIME_LAT_OFFSET:
1344 globals->set_warp( current_options.get_time_offset() -
1345 (aircraftLocalTime - systemLocalTime) );
1347 case SG_TIME_SYS_ABSOLUTE:
1348 globals->set_warp( current_options.get_time_offset() - cur_time );
1349 //printf("warp = %d\n", warp);
1351 case SG_TIME_GMT_ABSOLUTE:
1352 globals->set_warp( current_options.get_time_offset() - currGMT );
1354 case SG_TIME_LAT_ABSOLUTE:
1355 globals->set_warp( current_options.get_time_offset() -
1356 (aircraftLocalTime - systemLocalTime) -
1360 FG_LOG( FG_GENERAL, FG_ALERT, "Unsupported type" );
1364 FG_LOG( FG_GENERAL, FG_INFO, "After time init, warp = "
1365 << globals->get_warp() );
1367 globals->set_warp_delta( 0 );
1369 SGTime::cur_time_params->update( 0.0, 0.0, 0.0, globals->get_warp() );
1371 // Do some quick general initializations
1372 if( !fgInitGeneral()) {
1373 FG_LOG( FG_GENERAL, FG_ALERT,
1374 "General initializations failed ..." );
1379 // some ssg test stuff (requires data from the plib source
1380 // distribution) specifically from the ssg tux example
1383 FGPath modelpath( current_options.get_fg_root() );
1384 modelpath.append( "Models" );
1385 modelpath.append( "Geometry" );
1387 FGPath texturepath( current_options.get_fg_root() );
1388 texturepath.append( "Models" );
1389 texturepath.append( "Textures" );
1391 ssgModelPath( (char *)modelpath.c_str() );
1392 ssgTexturePath( (char *)texturepath.c_str() );
1395 scene = new ssgRoot;
1396 scene->setName( "Scene" );
1398 // Initialize the sky
1399 FGPath ephem_data_path( current_options.get_fg_root() );
1400 ephem_data_path.append( "Astro" );
1401 ephem = new FGEphemeris( ephem_data_path.c_str() );
1402 ephem->update( SGTime::cur_time_params, 0.0 );
1404 FGPath sky_tex_path( current_options.get_fg_root() );
1405 sky_tex_path.append( "Textures" );
1406 sky_tex_path.append( "Sky" );
1408 thesky->texture_path( sky_tex_path.str() );
1410 thesky->build( 550.0, 550.0,
1411 ephem->getNumPlanets(),
1412 ephem->getPlanets(), 60000.0,
1413 ephem->getNumStars(),
1414 ephem->getStars(), 60000.0 );
1416 thesky->add_cloud_layer( 2600.0, 200.0, 50.0, 40000.0,
1417 SG_CLOUD_MOSTLY_SUNNY );
1418 thesky->add_cloud_layer( 6000.0, 20.0, 10.0, 40000.0,
1421 // thesky->add_cloud_layer( 1000.0, 200.0, 50.0, SG_CLOUD_MOSTLY_SUNNY );
1422 // thesky->add_cloud_layer( 1800.0, 400.0, 100.0, SG_CLOUD_OVERCAST );
1423 // thesky->add_cloud_layer( 5000.0, 20.0, 10.0, SG_CLOUD_CIRRUS );
1426 terrain = new ssgBranch;
1427 terrain->setName( "Terrain" );
1428 scene->addKid( terrain );
1430 // temporary visible aircraft "own ship"
1431 penguin_sel = new ssgSelector;
1432 penguin_pos = new ssgTransform;
1433 // ssgBranch *tux_obj = ssgMakeSphere( 10.0, 10, 10 );
1434 ssgEntity *tux_obj = ssgLoadAC( "glider.ac" );
1435 // ssgEntity *tux_obj = ssgLoadAC( "Tower1x.ac" );
1437 penguin_pos->addKid( tux_obj );
1438 penguin_sel->addKid( penguin_pos );
1439 ssgFlatten( tux_obj );
1440 ssgStripify( penguin_sel );
1441 penguin_sel->clrTraversalMaskBits( SSGTRAV_HOT );
1442 scene->addKid( penguin_sel );
1444 #ifdef FG_NETWORK_OLK
1445 // Do the network intialization
1446 if ( current_options.get_network_olk() ) {
1447 printf("Multipilot mode %s\n", fg_net_init( scene ) );
1451 // build our custom render states
1452 fgBuildRenderStates();
1454 // pass control off to the master GLUT event handler
1457 // we never actually get here ... but to avoid compiler warnings,