-// Copyright (C) 2009 - 2010 Mathias Froehlich - Mathias.Froehlich@web.de
+// Copyright (C) 2009 - 2012 Mathias Froehlich - Mathias.Froehlich@web.de
//
// This library is free software; you can redistribute it and/or
// modify it under the terms of the GNU Library General Public
#include "HLAFederate.hxx"
+#include "simgear/debug/logstream.hxx"
+
#include "RTIFederate.hxx"
+#include "RTIFederateFactoryRegistry.hxx"
+#include "RTI13FederateFactory.hxx"
#include "RTIInteractionClass.hxx"
#include "RTIObjectClass.hxx"
#include "HLADataElement.hxx"
namespace simgear {
-HLAFederate::HLAFederate(const SGSharedPtr<RTIFederate>& rtiFederate) :
- _rtiFederate(rtiFederate)
+HLAFederate::HLAFederate() :
+ _version(RTI13),
+ _createFederationExecution(true),
+ _timeConstrained(false),
+ _timeRegulating(false),
+ _timeConstrainedByLocalClock(false),
+ _done(false)
{
+ // For now instantiate the current only available factory here explicitly
+ RTI13FederateFactory::instance();
}
HLAFederate::~HLAFederate()
{
}
+HLAFederate::Version
+HLAFederate::getVersion() const
+{
+ return _version;
+}
+
+bool
+HLAFederate::setVersion(HLAFederate::Version version)
+{
+ if (_rtiFederate.valid()) {
+ SG_LOG(SG_NETWORK, SG_ALERT, "HLA: Ignoring HLAFederate parameter setting on already connected federate!");
+ return false;
+ }
+ _version = version;
+ return true;
+}
+
+const std::list<std::string>&
+HLAFederate::getConnectArguments() const
+{
+ return _connectArguments;
+}
+
+bool
+HLAFederate::setConnectArguments(const std::list<std::string>& connectArguments)
+{
+ if (_rtiFederate.valid()) {
+ SG_LOG(SG_NETWORK, SG_ALERT, "HLA: Ignoring HLAFederate parameter setting on already connected federate!");
+ return false;
+ }
+ _connectArguments = connectArguments;
+ return true;
+}
+
+bool
+HLAFederate::getCreateFederationExecution() const
+{
+ return _createFederationExecution;
+}
+
+bool
+HLAFederate::setCreateFederationExecution(bool createFederationExecution)
+{
+ _createFederationExecution = createFederationExecution;
+ return true;
+}
+
+const std::string&
+HLAFederate::getFederationExecutionName() const
+{
+ return _federationExecutionName;
+}
+
+bool
+HLAFederate::setFederationExecutionName(const std::string& federationExecutionName)
+{
+ if (_rtiFederate.valid()) {
+ SG_LOG(SG_NETWORK, SG_ALERT, "HLA: Ignoring HLAFederate parameter setting on already connected federate!");
+ return false;
+ }
+ _federationExecutionName = federationExecutionName;
+ return true;
+}
+
+const std::string&
+HLAFederate::getFederationObjectModel() const
+{
+ return _federationObjectModel;
+}
+
+bool
+HLAFederate::setFederationObjectModel(const std::string& federationObjectModel)
+{
+ if (_rtiFederate.valid()) {
+ SG_LOG(SG_NETWORK, SG_ALERT, "HLA: Ignoring HLAFederate parameter setting on already connected federate!");
+ return false;
+ }
+ _federationObjectModel = federationObjectModel;
+ return true;
+}
+
const std::string&
HLAFederate::getFederateType() const
{
- return _rtiFederate->getFederateType();
+ return _federateType;
+}
+
+bool
+HLAFederate::setFederateType(const std::string& federateType)
+{
+ if (_rtiFederate.valid()) {
+ SG_LOG(SG_NETWORK, SG_ALERT, "HLA: Ignoring HLAFederate parameter setting on already connected federate!");
+ return false;
+ }
+ _federateType = federateType;
+ return true;
}
const std::string&
-HLAFederate::getFederationName() const
+HLAFederate::getFederateName() const
+{
+ return _federateName;
+}
+
+bool
+HLAFederate::setFederateName(const std::string& federateName)
+{
+ if (_rtiFederate.valid()) {
+ SG_LOG(SG_NETWORK, SG_ALERT, "HLA: Ignoring HLAFederate parameter setting on already connected federate!");
+ return false;
+ }
+ _federateName = federateName;
+ return true;
+}
+
+bool
+HLAFederate::connect(Version version, const std::list<std::string>& stringList)
+{
+ _version = version;
+ _connectArguments = stringList;
+ return connect();
+}
+
+bool
+HLAFederate::connect()
+{
+ if (_rtiFederate.valid()) {
+ SG_LOG(SG_NETWORK, SG_WARN, "HLA: Trying to connect to already connected federate!");
+ return false;
+ }
+
+ SGSharedPtr<RTIFederateFactoryRegistry> registry = RTIFederateFactoryRegistry::instance();
+ if (!registry) {
+ SG_LOG(SG_NETWORK, SG_ALERT, "HLA: RTIFederateFactoryRegistry is no longer available!");
+ return false;
+ }
+
+ switch (_version) {
+ case RTI13:
+ _rtiFederate = registry->create("RTI13", _connectArguments);
+ break;
+ case RTI1516:
+ _rtiFederate = registry->create("RTI1516", _connectArguments);
+ break;
+ case RTI1516E:
+ _rtiFederate = registry->create("RTI1516E", _connectArguments);
+ break;
+ default:
+ SG_LOG(SG_NETWORK, SG_WARN, "HLA: Unknown rti version in connect!");
+ }
+ return _rtiFederate.valid();
+}
+
+bool
+HLAFederate::disconnect()
{
- return _rtiFederate->getFederationName();
+ if (!_rtiFederate.valid()) {
+ SG_LOG(SG_NETWORK, SG_WARN, "HLA: Accessing unconnected federate!");
+ return false;
+ }
+ _rtiFederate = 0;
+ return true;
}
bool
HLAFederate::createFederationExecution(const std::string& federation, const std::string& objectModel)
{
- return _rtiFederate->createFederationExecution(federation, objectModel);
+ if (!_rtiFederate.valid()) {
+ SG_LOG(SG_NETWORK, SG_WARN, "HLA: Accessing unconnected federate!");
+ return false;
+ }
+
+ RTIFederate::FederationManagementResult createResult;
+ createResult = _rtiFederate->createFederationExecution(federation, objectModel);
+ if (createResult == RTIFederate::FederationManagementFatal)
+ return false;
+
+ _federationExecutionName = federation;
+ _federationObjectModel = objectModel;
+ return true;
}
bool
HLAFederate::destroyFederationExecution(const std::string& federation)
{
- return _rtiFederate->destroyFederationExecution(federation);
+ if (!_rtiFederate.valid()) {
+ SG_LOG(SG_NETWORK, SG_WARN, "HLA: Accessing unconnected federate!");
+ return false;
+ }
+
+ RTIFederate::FederationManagementResult destroyResult;
+ destroyResult = _rtiFederate->destroyFederationExecution(federation);
+ if (destroyResult == RTIFederate::FederationManagementFatal)
+ return false;
+
+ return true;
+}
+
+bool
+HLAFederate::createFederationExecution()
+{
+ if (!_rtiFederate.valid()) {
+ SG_LOG(SG_NETWORK, SG_WARN, "HLA: Accessing unconnected federate!");
+ return false;
+ }
+
+ RTIFederate::FederationManagementResult createResult;
+ createResult = _rtiFederate->createFederationExecution(_federationExecutionName, _federationObjectModel);
+ if (createResult != RTIFederate::FederationManagementSuccess)
+ return false;
+
+ return true;
+}
+
+bool
+HLAFederate::destroyFederationExecution()
+{
+ if (!_rtiFederate.valid()) {
+ SG_LOG(SG_NETWORK, SG_WARN, "HLA: Accessing unconnected federate!");
+ return false;
+ }
+
+ RTIFederate::FederationManagementResult destroyResult;
+ destroyResult = _rtiFederate->destroyFederationExecution(_federationExecutionName);
+ if (destroyResult != RTIFederate::FederationManagementSuccess)
+ return false;
+
+ return true;
}
bool
HLAFederate::join(const std::string& federateType, const std::string& federation)
{
- return _rtiFederate->join(federateType, federation);
+ if (!_rtiFederate.valid()) {
+ SG_LOG(SG_NETWORK, SG_WARN, "HLA: Accessing unconnected federate!");
+ return false;
+ }
+
+ RTIFederate::FederationManagementResult joinResult;
+ joinResult = _rtiFederate->join(federateType, federation);
+ if (joinResult == RTIFederate::FederationManagementFatal)
+ return false;
+
+ return true;
+}
+
+bool
+HLAFederate::join()
+{
+ if (!_rtiFederate.valid()) {
+ SG_LOG(SG_NETWORK, SG_WARN, "HLA: Accessing unconnected federate!");
+ return false;
+ }
+
+ RTIFederate::FederationManagementResult joinResult;
+ joinResult = _rtiFederate->join(_federateType, _federationExecutionName);
+ if (joinResult != RTIFederate::FederationManagementSuccess)
+ return false;
+
+ return true;
}
bool
HLAFederate::resign()
{
+ if (!_rtiFederate.valid()) {
+ SG_LOG(SG_NETWORK, SG_WARN, "HLA: Accessing unconnected federate!");
+ return false;
+ }
return _rtiFederate->resign();
}
+bool
+HLAFederate::createJoinFederationExecution()
+{
+ if (!_rtiFederate.valid()) {
+ SG_LOG(SG_NETWORK, SG_WARN, "HLA: Accessing unconnected federate!");
+ return false;
+ }
+
+ for (;;) {
+ // Try to join.
+ RTIFederate::FederationManagementResult joinResult;
+ joinResult = _rtiFederate->join(_federateType, _federationExecutionName);
+ switch (joinResult) {
+ case RTIFederate::FederationManagementSuccess:
+ // Fast return on success
+ return true;
+ case RTIFederate::FederationManagementFatal:
+ // Abort on fatal errors
+ return false;
+ default:
+ break;
+ };
+
+ // If not already joinable, try to create the requested federation
+ RTIFederate::FederationManagementResult createResult;
+ createResult = _rtiFederate->createFederationExecution(_federationExecutionName, _federationObjectModel);
+ switch (createResult) {
+ case RTIFederate::FederationManagementFatal:
+ // Abort on fatal errors
+ return false;
+ default:
+ // Try again to join
+ break;
+ }
+ }
+}
+
+bool
+HLAFederate::resignDestroyFederationExecution()
+{
+ if (!_rtiFederate.valid()) {
+ SG_LOG(SG_NETWORK, SG_WARN, "HLA: Accessing unconnected federate!");
+ return false;
+ }
+
+ // Resign ourselves
+ bool success = _rtiFederate->resign();
+
+ // and try to destroy, non fatal if still some federates joined
+ if (_rtiFederate->destroyFederationExecution(_federationExecutionName) == RTIFederate::FederationManagementFatal)
+ success = false;
+
+ return success;
+}
+
+bool
+HLAFederate::getTimeConstrained() const
+{
+ return _timeConstrained;
+}
+
+bool
+HLAFederate::setTimeConstrained(bool timeConstrained)
+{
+ _timeConstrained = timeConstrained;
+
+ if (_rtiFederate.valid() && _rtiFederate->getJoined()) {
+ if (_timeConstrained && !_rtiFederate->getTimeConstrainedEnabled()) {
+ if (!enableTimeConstrained())
+ return false;
+ } else if (!_timeConstrained && _rtiFederate->getTimeConstrainedEnabled()) {
+ if (!disableTimeConstrained())
+ return false;
+ }
+
+ }
+
+ return true;
+}
+
+bool
+HLAFederate::getTimeConstrainedByLocalClock() const
+{
+ return _timeConstrainedByLocalClock;
+}
+
+bool
+HLAFederate::setTimeConstrainedByLocalClock(bool timeConstrainedByLocalClock)
+{
+ _timeConstrainedByLocalClock = timeConstrainedByLocalClock;
+
+ if (_rtiFederate.valid() && _rtiFederate->getJoined()) {
+ if (_timeConstrainedByLocalClock) {
+ if (!enableTimeConstrainedByLocalClock())
+ return false;
+ }
+ }
+
+ return true;
+}
+
+bool
+HLAFederate::getTimeRegulating() const
+{
+ return _timeRegulating;
+}
+
+bool
+HLAFederate::setTimeRegulating(bool timeRegulating)
+{
+ _timeRegulating = timeRegulating;
+
+ if (_rtiFederate.valid() && _rtiFederate->getJoined()) {
+ if (_timeRegulating && !_rtiFederate->getTimeRegulationEnabled()) {
+ if (!enableTimeRegulation())
+ return false;
+ } else if (!_timeRegulating && _rtiFederate->getTimeRegulationEnabled()) {
+ if (!disableTimeRegulation())
+ return false;
+ }
+
+ }
+ return true;
+}
+
+bool
+HLAFederate::setLeadTime(const SGTimeStamp& leadTime)
+{
+ if (leadTime < SGTimeStamp::fromSec(0)) {
+ SG_LOG(SG_NETWORK, SG_WARN, "Ignoring negative lead time!");
+ return false;
+ }
+
+ _leadTime = leadTime;
+
+ if (_rtiFederate.valid() && _rtiFederate->getJoined()) {
+ if (!modifyLookahead(_leadTime + SGTimeStamp::fromSec(_timeIncrement.toSecs()*0.9))) {
+ SG_LOG(SG_NETWORK, SG_WARN, "Cannot modify lookahead!");
+ return false;
+ }
+ }
+
+ return true;
+}
+
+const SGTimeStamp&
+HLAFederate::getLeadTime() const
+{
+ return _leadTime;
+}
+
+bool
+HLAFederate::setTimeIncrement(const SGTimeStamp& timeIncrement)
+{
+ if (timeIncrement < SGTimeStamp::fromSec(0)) {
+ SG_LOG(SG_NETWORK, SG_WARN, "Ignoring negative time increment!");
+ return false;
+ }
+
+ _timeIncrement = timeIncrement;
+
+ if (_rtiFederate.valid() && _rtiFederate->getJoined()) {
+ if (!modifyLookahead(_leadTime + SGTimeStamp::fromSec(_timeIncrement.toSecs()*0.9))) {
+ SG_LOG(SG_NETWORK, SG_WARN, "Cannot modify lookahead!");
+ return false;
+ }
+ }
+
+ return true;
+}
+
+const SGTimeStamp&
+HLAFederate::getTimeIncrement() const
+{
+ return _timeIncrement;
+}
+
bool
HLAFederate::enableTimeConstrained()
{
- return _rtiFederate->enableTimeConstrained();
+ if (!_rtiFederate.valid()) {
+ SG_LOG(SG_NETWORK, SG_WARN, "HLA: Accessing unconnected federate!");
+ return false;
+ }
+
+ if (!_rtiFederate->enableTimeConstrained()) {
+ SG_LOG(SG_NETWORK, SG_WARN, "HLA: Could not enable time constrained!");
+ return false;
+ }
+
+ while (!_rtiFederate->getTimeConstrainedEnabled()) {
+ _rtiFederate->processMessage();
+ }
+
+ return true;
}
bool
HLAFederate::disableTimeConstrained()
{
+ if (!_rtiFederate.valid()) {
+ SG_LOG(SG_NETWORK, SG_WARN, "HLA: Accessing unconnected federate!");
+ return false;
+ }
return _rtiFederate->disableTimeConstrained();
}
+bool
+HLAFederate::enableTimeConstrainedByLocalClock()
+{
+ // Compute the time offset from the system time to the simulation time
+ SGTimeStamp federateTime;
+ if (!queryFederateTime(federateTime)) {
+ SG_LOG(SG_NETWORK, SG_WARN, "Cannot get federate time!");
+ return false;
+ }
+ _localClockOffset = SGTimeStamp::now() - federateTime;
+ return true;
+}
+
bool
HLAFederate::enableTimeRegulation(const SGTimeStamp& lookahead)
{
- return _rtiFederate->enableTimeRegulation(lookahead);
+ if (!_rtiFederate.valid()) {
+ SG_LOG(SG_NETWORK, SG_WARN, "HLA: Accessing unconnected federate!");
+ return false;
+ }
+
+ if (!_rtiFederate->enableTimeRegulation(lookahead)) {
+ SG_LOG(SG_NETWORK, SG_WARN, "HLA: Could not enable time regulation!");
+ return false;
+ }
+
+ while (!_rtiFederate->getTimeRegulationEnabled()) {
+ _rtiFederate->processMessage();
+ }
+
+ return true;
+}
+
+bool
+HLAFederate::enableTimeRegulation()
+{
+ if (!enableTimeRegulation(SGTimeStamp::fromSec(0))) {
+ SG_LOG(SG_NETWORK, SG_WARN, "Cannot enable time regulation!");
+ return false;
+ }
+ if (!modifyLookahead(_leadTime + SGTimeStamp::fromSec(_timeIncrement.toSecs()*0.9))) {
+ SG_LOG(SG_NETWORK, SG_WARN, "Cannot modify lookahead!");
+ return false;
+ }
+ return true;
}
bool
HLAFederate::disableTimeRegulation()
{
+ if (!_rtiFederate.valid()) {
+ SG_LOG(SG_NETWORK, SG_WARN, "HLA: Accessing unconnected federate!");
+ return false;
+ }
return _rtiFederate->disableTimeRegulation();
}
bool
-HLAFederate::timeAdvanceRequestBy(const SGTimeStamp& dt)
+HLAFederate::modifyLookahead(const SGTimeStamp& timeStamp)
+{
+ if (!_rtiFederate.valid()) {
+ SG_LOG(SG_NETWORK, SG_WARN, "HLA: Accessing unconnected federate!");
+ return false;
+ }
+ return _rtiFederate->modifyLookahead(timeStamp);
+}
+
+bool
+HLAFederate::timeAdvanceBy(const SGTimeStamp& timeIncrement)
+{
+ if (!_rtiFederate.valid()) {
+ SG_LOG(SG_NETWORK, SG_WARN, "HLA: Accessing unconnected federate!");
+ return false;
+ }
+
+ SGTimeStamp timeStamp;
+ if (!_rtiFederate->queryFederateTime(timeStamp)) {
+ SG_LOG(SG_NETWORK, SG_WARN, "HLA: Could not query federate time!");
+ return false;
+ }
+
+ if (!_rtiFederate->timeAdvanceRequest(timeStamp + timeIncrement)) {
+ SG_LOG(SG_NETWORK, SG_WARN, "HLA: Time advance request failed!");
+ return false;
+ }
+
+ return processMessages();
+}
+
+bool
+HLAFederate::timeAdvance(const SGTimeStamp& timeStamp)
+{
+ if (!_rtiFederate.valid()) {
+ SG_LOG(SG_NETWORK, SG_WARN, "HLA: Accessing unconnected federate!");
+ return false;
+ }
+
+ if (!_rtiFederate->timeAdvanceRequest(timeStamp)) {
+ SG_LOG(SG_NETWORK, SG_WARN, "HLA: Time advance request failed!");
+ return false;
+ }
+
+ return processMessages();
+}
+
+bool
+HLAFederate::timeAdvanceAvailable()
+{
+ if (!_rtiFederate.valid()) {
+ SG_LOG(SG_NETWORK, SG_WARN, "HLA: Accessing unconnected federate!");
+ return false;
+ }
+
+ SGTimeStamp timeStamp;
+ if (!_rtiFederate->queryGALT(timeStamp)) {
+ SG_LOG(SG_NETWORK, SG_WARN, "HLA: Could not query GALT!");
+ return false;
+ }
+
+ if (!_rtiFederate->timeAdvanceRequestAvailable(timeStamp)) {
+ SG_LOG(SG_NETWORK, SG_WARN, "HLA: Time advance request failed!");
+ return false;
+ }
+
+ return processMessages();
+}
+
+bool
+HLAFederate::queryFederateTime(SGTimeStamp& timeStamp)
+{
+ if (!_rtiFederate.valid()) {
+ SG_LOG(SG_NETWORK, SG_WARN, "HLA: Accessing unconnected federate!");
+ return false;
+ }
+ return _rtiFederate->queryFederateTime(timeStamp);
+}
+
+bool
+HLAFederate::queryLookahead(SGTimeStamp& timeStamp)
{
- return _rtiFederate->timeAdvanceRequestBy(dt);
+ if (!_rtiFederate.valid()) {
+ SG_LOG(SG_NETWORK, SG_WARN, "HLA: Accessing unconnected federate!");
+ return false;
+ }
+ return _rtiFederate->queryLookahead(timeStamp);
}
bool
-HLAFederate::timeAdvanceRequest(const SGTimeStamp& dt)
+HLAFederate::processMessage()
{
- return _rtiFederate->timeAdvanceRequest(dt);
+ if (!_rtiFederate.valid()) {
+ SG_LOG(SG_NETWORK, SG_WARN, "HLA: Accessing unconnected federate!");
+ return false;
+ }
+ return _rtiFederate->processMessage();
}
bool
-HLAFederate::tick()
+HLAFederate::processMessage(const SGTimeStamp& timeout)
{
- return _rtiFederate->tick();
+ if (!_rtiFederate.valid()) {
+ SG_LOG(SG_NETWORK, SG_WARN, "HLA: Accessing unconnected federate!");
+ return false;
+ }
+ return _rtiFederate->processMessages(timeout.toSecs(), 0);
+}
+
+bool
+HLAFederate::processMessages()
+{
+ if (!_rtiFederate.valid()) {
+ SG_LOG(SG_NETWORK, SG_WARN, "HLA: Accessing unconnected federate!");
+ return false;
+ }
+
+ while (_rtiFederate->getTimeAdvancePending()) {
+ _rtiFederate->processMessage();
+ }
+
+ if (_timeConstrainedByLocalClock) {
+ SGTimeStamp federateTime;
+ if (!_rtiFederate->queryFederateTime(federateTime)) {
+ SG_LOG(SG_NETWORK, SG_WARN, "HLA: Error querying federate time!");
+ return false;
+ }
+ SGTimeStamp systemTime = federateTime + _localClockOffset;
+ for (;;) {
+ double rest = (systemTime - SGTimeStamp::now()).toSecs();
+ if (rest < 0)
+ break;
+ _rtiFederate->processMessages(rest, rest);
+ }
+ }
+
+ // Now flush just what is left
+ while (_rtiFederate->processMessages(0, 0));
+
+ return true;
}
bool
HLAFederate::tick(const double& minimum, const double& maximum)
{
- return _rtiFederate->tick(minimum, maximum);
+ if (!_rtiFederate.valid()) {
+ SG_LOG(SG_NETWORK, SG_WARN, "HLA: Accessing unconnected federate!");
+ return false;
+ }
+ return _rtiFederate->processMessages(minimum, maximum);
}
bool
HLAFederate::ObjectModelFactory& objectModelFactory)
{
if (!_rtiFederate.valid()) {
- SG_LOG(SG_IO, SG_ALERT, "Could not process HLA XML object model file: "
- "No rti federate available!");
+ SG_LOG(SG_NETWORK, SG_WARN, "HLA: Accessing unconnected federate!");
return false;
}
return true;
}
+bool
+HLAFederate::readRTI13ObjectModelTemplate(const std::string& objectModel)
+{
+ SG_LOG(SG_IO, SG_ALERT, "HLA version RTI13 not yet(!?) supported.");
+ return false;
+}
+
+bool
+HLAFederate::readRTI1516ObjectModelTemplate(const std::string& objectModel)
+{
+ ObjectModelFactory objectModelFactory;
+ return readObjectModelTemplate(objectModel, objectModelFactory);
+}
+
+bool
+HLAFederate::readRTI1516EObjectModelTemplate(const std::string& objectModel)
+{
+ SG_LOG(SG_IO, SG_ALERT, "HLA version RTI1516E not yet(!?) supported.");
+ return false;
+}
+
HLAObjectClass*
HLAFederate::getObjectClass(const std::string& name)
{
return i->second.get();
}
+HLAObjectClass*
+HLAFederate::createObjectClass(const std::string& name)
+{
+ return new HLAObjectClass(name, *this);
+}
+
HLAInteractionClass*
HLAFederate::getInteractionClass(const std::string& name)
{
return i->second.get();
}
+void
+HLAFederate::setDone(bool done)
+{
+ _done = done;
+}
+
+bool
+HLAFederate::getDone() const
+{
+ return _done;
+}
+
+bool
+HLAFederate::readObjectModel()
+{
+ /// Currently empty, but is called at the right time so that
+ /// the object model is present when it is needed
+ // switch (getVersion()) {
+ // case RTI13:
+ // return readRTI13ObjectModelTemplate(getFederationObjectModel());
+ // case RTI1516:
+ // return readRTI1516ObjectModelTemplate(getFederationObjectModel());
+ // case RTI1516E:
+ // return readRTI1516EObjectModelTemplate(getFederationObjectModel());
+ // }
+ return true;
+}
+
+bool
+HLAFederate::subscribe()
+{
+ /// Currently empty, but is called at the right time
+ return true;
+}
+
+bool
+HLAFederate::publish()
+{
+ /// Currently empty, but is called at the right time
+ return true;
+}
+
+bool
+HLAFederate::init()
+{
+ // We need to talk to the rti
+ if (!connect())
+ return false;
+ // Join ...
+ if (_createFederationExecution) {
+ if (!createJoinFederationExecution())
+ return false;
+ } else {
+ if (!join())
+ return false;
+ }
+ // Read the xml file containing the object model
+ if (!readObjectModel()) {
+ shutdown();
+ return false;
+ }
+ // start being time constrained if required
+ if (_timeConstrained) {
+ if (!enableTimeConstrained()) {
+ shutdown();
+ return false;
+ }
+ }
+ // Now that we are potentially time constrained, we can subscribe.
+ // This is to make sure we do not get any time stamped message
+ // converted to a non time stamped message by the rti.
+ if (!subscribe()) {
+ shutdown();
+ return false;
+ }
+ // Before we publish anything start getting regulating if required
+ if (_timeRegulating) {
+ if (!enableTimeRegulation()) {
+ shutdown();
+ return false;
+ }
+ }
+ // Note that starting from here, we need to be careful with things
+ // requireing unbounded time. The rest of the federation might wait
+ // for us to finish!
+
+ // Compute the time offset from the system time to the simulation time
+ if (_timeConstrainedByLocalClock) {
+ if (!enableTimeConstrainedByLocalClock()) {
+ SG_LOG(SG_NETWORK, SG_WARN, "Cannot enable time constrained by local clock!");
+ shutdown();
+ return false;
+ }
+ }
+
+ // Publish what we want to write
+ if (!publish()) {
+ shutdown();
+ return false;
+ }
+
+ return true;
+}
+
+bool
+HLAFederate::update()
+{
+ return timeAdvanceBy(_timeIncrement);
+}
+
+bool
+HLAFederate::shutdown()
+{
+ // On shutdown, just try all in order.
+ // If something goes wrong, continue and try to get out here as good as possible.
+ bool ret = true;
+
+ if (_createFederationExecution) {
+ if (!resignDestroyFederationExecution())
+ ret = false;
+ } else {
+ if (!resign())
+ ret = false;
+ }
+
+ if (!disconnect())
+ ret = false;
+
+ return ret;
+}
+
+bool
+HLAFederate::exec()
+{
+ if (!init())
+ return false;
+
+ while (!getDone()) {
+ if (!update()) {
+ shutdown();
+ return false;
+ }
+ }
+
+ if (!shutdown())
+ return false;
+
+ return true;
+}
+
} // namespace simgear
projects / simgear.git / blobdiff