#endif
// For BC 5.01 this must be included before OpenGL includes.
-#ifdef FG_MATH_EXCEPTION_CLASH
+#ifdef SG_MATH_EXCEPTION_CLASH
# include <math.h>
#endif
+#ifdef HAVE_WINDOWS_H
+# include <windows.h>
+#endif
+
#include <GL/glut.h>
-#include <simgear/xgl/xgl.h>
#include <stdio.h>
#include <stdlib.h>
+
+#if defined( unix ) || defined( __CYGWIN__ )
+# include <unistd.h> // for gethostname()
+#endif
+
// work around a stdc++ lib bug in some versions of linux, but doesn't
// seem to hurt to have this here for all versions of Linux.
#ifdef linux
#include <simgear/constants.h>
#include <simgear/debug/logstream.hxx>
-#include <simgear/math/fg_geodesy.hxx>
#include <simgear/math/point3d.hxx>
#include <simgear/math/polar3d.hxx>
-#include <simgear/misc/fgpath.hxx>
+#include <simgear/math/sg_geodesy.hxx>
+#include <simgear/misc/sg_path.hxx>
#include <simgear/timing/sg_time.hxx>
#include <Aircraft/aircraft.hxx>
+#include <FDM/UIUCModel/uiuc_aircraftdir.h>
+#include <Airports/runways.hxx>
#include <Airports/simple.hxx>
#include <Autopilot/auto_gui.hxx>
#include <Autopilot/newauto.hxx>
#include <Cockpit/cockpit.hxx>
#include <Cockpit/radiostack.hxx>
#include <Cockpit/panel.hxx>
-#include <Cockpit/sp_panel.hxx>
+#include <Cockpit/panel_io.hxx>
+#include <FDM/ADA.hxx>
#include <FDM/Balloon.h>
#include <FDM/External.hxx>
#include <FDM/JSBSim.hxx>
#include <FDM/LaRCsim.hxx>
#include <FDM/MagicCarpet.hxx>
#include <Include/general.hxx>
-#include <Joystick/joystick.hxx>
+#include <Input/input.hxx>
+// #include <Joystick/joystick.hxx>
#include <Objects/matlib.hxx>
#include <Navaids/fixlist.hxx>
#include <Navaids/ilslist.hxx>
+#include <Navaids/mkrbeacons.hxx>
#include <Navaids/navlist.hxx>
#include <Scenery/scenery.hxx>
#include <Scenery/tilemgr.hxx>
#include "fg_init.hxx"
#include "fg_io.hxx"
-#include "globals.hxx"
+#include "fg_commands.hxx"
+#include "fg_props.hxx"
#include "options.hxx"
-#include "views.hxx"
-#include "bfi.hxx"
+#include "globals.hxx"
#if defined(FX) && defined(XMESA)
#include <GL/xmesa.h>
#endif
-FG_USING_STD(string);
+SG_USING_STD(string);
extern const char *default_root;
+// Read in configuration (file and command line) and just set fg_root
+bool fgInitFGRoot ( int argc, char **argv ) {
+ string root;
+ char* envp;
+
+ // First parse command line options looking for fg-root, this will
+ // override anything specified in a config file
+ root = fgScanForRoot(argc, argv);
+
+#if defined( unix ) || defined( __CYGWIN__ )
+ // Next check home directory for .fgfsrc.hostname file
+ if ( root == "" ) {
+ envp = ::getenv( "HOME" );
+ if ( envp != NULL ) {
+ SGPath config( envp );
+ config.append( ".fgfsrc" );
+ char name[256];
+ gethostname( name, 256 );
+ config.concat( "." );
+ config.concat( name );
+ root = fgScanForRoot(config.str());
+ }
+ }
+#endif
+
+ // Next check home directory for .fgfsrc file
+ if ( root == "" ) {
+ envp = ::getenv( "HOME" );
+ if ( envp != NULL ) {
+ SGPath config( envp );
+ config.append( ".fgfsrc" );
+ root = fgScanForRoot(config.str());
+ }
+ }
+
+ // Next check if fg-root is set as an env variable
+ if ( root == "" ) {
+ envp = ::getenv( "FG_ROOT" );
+ if ( envp != NULL ) {
+ root = envp;
+ }
+ }
+
+ // Otherwise, default to a random compiled-in location if we can't
+ // find fg-root any other way.
+ if ( root == "" ) {
+#if defined( __CYGWIN__ )
+ root = "/FlightGear";
+#elif defined( WIN32 )
+ root = "\\FlightGear";
+#elif defined( macintosh )
+ root = "";
+#else
+ root = PKGLIBDIR;
+#endif
+ }
+
+ SG_LOG(SG_INPUT, SG_INFO, "fg_root = " << root );
+ globals->set_fg_root(root);
+
+ return true;
+}
+
+
+// Return the current base package version
+string fgBasePackageVersion() {
+ SGPath base_path( globals->get_fg_root() );
+ base_path.append("version");
+
+ sg_gzifstream in( base_path.str() );
+ if ( !in.is_open() ) {
+ SGPath old_path( globals->get_fg_root() );
+ old_path.append( "Thanks" );
+ sg_gzifstream old( old_path.str() );
+ if ( !old.is_open() ) {
+ return "[none]";
+ } else {
+ return "[old version]";
+ }
+ }
+
+ string version;
+ in >> version;
+
+ return version;
+}
+
+
// Read in configuration (file and command line)
bool fgInitConfig ( int argc, char **argv ) {
- // Attempt to locate and parse a config file
- // First check fg_root
- FGPath config( current_options.get_fg_root() );
+
+ // First, set some sane default values
+ fgSetDefaults();
+
+ // Read global preferences from $FG_ROOT/preferences.xml
+ SGPath props_path(globals->get_fg_root());
+ props_path.append("preferences.xml");
+ SG_LOG(SG_INPUT, SG_INFO, "Reading global preferences");
+ if (!readProperties(props_path.str(), globals->get_props())) {
+ SG_LOG(SG_INPUT, SG_ALERT, "Failed to read global preferences from "
+ << props_path.str());
+ } else {
+ SG_LOG(SG_INPUT, SG_INFO, "Finished Reading global preferences");
+ }
+
+ // Attempt to locate and parse the various config files in order
+ // from least precidence to greatest precidence
+
+ // Check for $fg_root/system.fgfsrc
+ SGPath config( globals->get_fg_root() );
config.append( "system.fgfsrc" );
- current_options.parse_config_file( config.str() );
+ fgParseOptions(config.str());
+
+ char name[256];
+#if defined( unix ) || defined( __CYGWIN__ )
+ // Check for $fg_root/system.fgfsrc.hostname
+ gethostname( name, 256 );
+ config.concat( "." );
+ config.concat( name );
+ fgParseOptions(config.str());
+#endif
- // Next check home directory
+ // Check for ~/.fgfsrc
char* envp = ::getenv( "HOME" );
if ( envp != NULL ) {
config.set( envp );
config.append( ".fgfsrc" );
- current_options.parse_config_file( config.str() );
+ fgParseOptions(config.str());
}
+#if defined( unix ) || defined( __CYGWIN__ )
+ // Check for ~/.fgfsrc.hostname
+ gethostname( name, 256 );
+ config.concat( "." );
+ config.concat( name );
+ fgParseOptions(config.str());
+#endif
+
// Parse remaining command line options
// These will override anything specified in a config file
- if ( current_options.parse_command_line(argc, argv) !=
- fgOPTIONS::FG_OPTIONS_OK )
- {
- // Something must have gone horribly wrong with the command
- // line parsing or maybe the user just requested help ... :-)
- current_options.usage();
- FG_LOG( FG_GENERAL, FG_ALERT, "\nExiting ...");
+ fgParseOptions(argc, argv);
+
+ return true;
+}
+
+
+// find basic airport location info from airport database
+bool fgFindAirportID( const string& id, FGAirport *a ) {
+ if ( id.length() ) {
+ SGPath path( globals->get_fg_root() );
+ path.append( "Airports" );
+ path.append( "simple.mk4" );
+ FGAirports airports( path.c_str() );
+
+ SG_LOG( SG_GENERAL, SG_INFO, "Searching for airport code = " << id );
+
+ if ( ! airports.search( id, a ) ) {
+ SG_LOG( SG_GENERAL, SG_ALERT,
+ "Failed to find " << id << " in " << path.str() );
+ return false;
+ }
+ } else {
return false;
}
- return true;
+ SG_LOG( SG_GENERAL, SG_INFO,
+ "Position for " << id << " is ("
+ << a->longitude << ", "
+ << a->latitude << ")" );
+
+ return true;
}
// Set current_options lon/lat given an airport id
bool fgSetPosFromAirportID( const string& id ) {
FGAirport a;
- double lon, lat;
+ // double lon, lat;
+
+ SG_LOG( SG_GENERAL, SG_INFO,
+ "Attempting to set starting position from airport code " << id );
+
+ if ( fgFindAirportID( id, &a ) ) {
+ fgSetDouble("/position/longitude-deg", a.longitude );
+ fgSetDouble("/position/latitude-deg", a.latitude );
+ SG_LOG( SG_GENERAL, SG_INFO,
+ "Position for " << id << " is ("
+ << a.longitude << ", "
+ << a.latitude << ")" );
+
+ return true;
+ } else {
+ return false;
+ }
+
+}
+
+
+// Set current_options lon/lat given an airport id and heading (degrees)
+bool fgSetPosFromAirportIDandHdg( const string& id, double tgt_hdg ) {
+ FGRunway r;
+ FGRunway found_r;
+ double found_dir = 0.0;
if ( id.length() ) {
- // set initial position from airport id
+ // set initial position from runway and heading
- FGPath path( current_options.get_fg_root() );
+ SGPath path( globals->get_fg_root() );
path.append( "Airports" );
- path.append( "simple.mk4" );
- FGAirports airports( path.c_str() );
+ path.append( "runways.mk4" );
+ FGRunways runways( path.c_str() );
- FG_LOG( FG_GENERAL, FG_INFO,
- "Attempting to set starting position from airport code "
- << id );
+ SG_LOG( SG_GENERAL, SG_INFO,
+ "Attempting to set starting position from runway code "
+ << id << " heading " << tgt_hdg );
- // FGPath inpath( current_options.get_fg_root() );
+ // SGPath inpath( globals->get_fg_root() );
// inpath.append( "Airports" );
// inpath.append( "apt_simple" );
// airports.load( inpath.c_str() );
- // FGPath outpath( current_options.get_fg_root() );
+ // SGPath outpath( globals->get_fg_root() );
// outpath.append( "Airports" );
// outpath.append( "simple.gdbm" );
// airports.dump_gdbm( outpath.c_str() );
- if ( ! airports.search( id, &a ) ) {
- FG_LOG( FG_GENERAL, FG_ALERT,
+ if ( ! runways.search( id, &r ) ) {
+ SG_LOG( SG_GENERAL, SG_ALERT,
"Failed to find " << id << " in database." );
return false;
- } else {
- current_options.set_lon( a.longitude );
- current_options.set_lat( a.latitude );
}
- } else {
- return false;
- }
- FG_LOG( FG_GENERAL, FG_INFO,
- "Position for " << id << " is ("
- << a.longitude << ", "
- << a.latitude << ")" );
+ double diff;
+ double min_diff = 360.0;
+
+ while ( r.id == id ) {
+ // forward direction
+ diff = tgt_hdg - r.heading;
+ while ( diff < -180.0 ) { diff += 360.0; }
+ while ( diff > 180.0 ) { diff -= 360.0; }
+ diff = fabs(diff);
+ SG_LOG( SG_GENERAL, SG_INFO,
+ "Runway " << r.rwy_no << " heading = " << r.heading <<
+ " diff = " << diff );
+ if ( diff < min_diff ) {
+ min_diff = diff;
+ found_r = r;
+ found_dir = 0;
+ }
- return true;
-}
+ // reverse direction
+ diff = tgt_hdg - r.heading - 180.0;
+ while ( diff < -180.0 ) { diff += 360.0; }
+ while ( diff > 180.0 ) { diff -= 360.0; }
+ diff = fabs(diff);
+ SG_LOG( SG_GENERAL, SG_INFO,
+ "Runway -" << r.rwy_no << " heading = " <<
+ r.heading + 180.0 <<
+ " diff = " << diff );
+ if ( diff < min_diff ) {
+ min_diff = diff;
+ found_r = r;
+ found_dir = 180.0;
+ }
-// Set initial position and orientation
-bool fgInitPosition( void ) {
- FGInterface *f = current_aircraft.fdm_state;
- string id = current_options.get_airport_id();
+ runways.next( &r );
+ }
- // set initial position from default or command line coordinates
- f->set_Longitude( current_options.get_lon() * DEG_TO_RAD );
- f->set_Latitude( current_options.get_lat() * DEG_TO_RAD );
+ SG_LOG( SG_GENERAL, SG_INFO, "closest runway = " << found_r.rwy_no
+ << " + " << found_dir );
- if ( scenery.cur_elev > current_options.get_altitude() - 2 ) {
- current_options.set_altitude( scenery.cur_elev + 2 );
+ } else {
+ return false;
}
- FG_LOG( FG_GENERAL, FG_INFO,
- "starting altitude is = " << current_options.get_altitude() );
+ double heading = found_r.heading + found_dir;
+ while ( heading >= 360.0 ) { heading -= 360.0; }
+
+ double lat2, lon2, az2;
+ double azimuth = found_r.heading + found_dir + 180.0;
+ while ( azimuth >= 360.0 ) { azimuth -= 360.0; }
- f->set_Altitude( current_options.get_altitude() * METER_TO_FEET );
- fgFDMSetGroundElevation( current_options.get_flight_model(),
- (f->get_Altitude() - 3.758099) * FEET_TO_METER );
+ SG_LOG( SG_GENERAL, SG_INFO,
+ "runway = " << found_r.lon << ", " << found_r.lat
+ << " length = " << found_r.length * SG_FEET_TO_METER * 0.5
+ << " heading = " << azimuth );
+
+ geo_direct_wgs_84 ( 0, found_r.lat, found_r.lon,
+ azimuth, found_r.length * SG_FEET_TO_METER * 0.5 - 5.0,
+ &lat2, &lon2, &az2 );
+
+ if ( fabs( fgGetDouble("/sim/startup/offset-distance") ) > SG_EPSILON ) {
+ double olat, olon;
+ double odist = fgGetDouble("/sim/startup/offset-distance");
+ odist *= SG_NM_TO_METER;
+ double oaz = azimuth;
+ if ( fabs(fgGetDouble("/sim/startup/offset-azimuth")) > SG_EPSILON ) {
+ oaz = fgGetDouble("/sim/startup/offset-azimuth") + 180;
+ }
+ while ( oaz >= 360.0 ) { oaz -= 360.0; }
+ geo_direct_wgs_84 ( 0, lat2, lon2, oaz, odist, &olat, &olon, &az2 );
+ lat2=olat;
+ lon2=olon;
+ }
+ fgSetDouble("/position/longitude-deg", lon2 );
+ fgSetDouble("/position/latitude-deg", lat2 );
+ fgSetDouble("/orientation/heading-deg", heading );
- FG_LOG( FG_GENERAL, FG_INFO,
- "Initial position is: ("
- << (f->get_Longitude() * RAD_TO_DEG) << ", "
- << (f->get_Latitude() * RAD_TO_DEG) << ", "
- << (f->get_Altitude() * FEET_TO_METER) << ")" );
+ SG_LOG( SG_GENERAL, SG_INFO,
+ "Position for " << id << " is ("
+ << lon2 << ", "
+ << lat2 << ") new heading is "
+ << heading );
return true;
}
char *mesa_win_state;
#endif
- FG_LOG( FG_GENERAL, FG_INFO, "General Initialization" );
- FG_LOG( FG_GENERAL, FG_INFO, "======= ==============" );
+ SG_LOG( SG_GENERAL, SG_INFO, "General Initialization" );
+ SG_LOG( SG_GENERAL, SG_INFO, "======= ==============" );
- root = current_options.get_fg_root();
+ root = globals->get_fg_root();
if ( ! root.length() ) {
// No root path set? Then bail ...
- FG_LOG( FG_GENERAL, FG_ALERT,
+ SG_LOG( SG_GENERAL, SG_ALERT,
"Cannot continue without environment variable FG_ROOT"
<< "being defined." );
exit(-1);
}
- FG_LOG( FG_GENERAL, FG_INFO, "FG_ROOT = " << '"' << root << '"' << endl );
+ SG_LOG( SG_GENERAL, SG_INFO, "FG_ROOT = " << '"' << root << '"' << endl );
#if defined(FX) && defined(XMESA)
// initialize full screen flag
bool fgInitSubsystems( void ) {
fgLIGHT *l = &cur_light_params;
- FG_LOG( FG_GENERAL, FG_INFO, "Initialize Subsystems");
- FG_LOG( FG_GENERAL, FG_INFO, "========== ==========");
+ SG_LOG( SG_GENERAL, SG_INFO, "Initialize Subsystems");
+ SG_LOG( SG_GENERAL, SG_INFO, "========== ==========");
+
+
+ ////////////////////////////////////////////////////////////////////
+ // Initialize the material property subsystem.
+ ////////////////////////////////////////////////////////////////////
- // Initialize the material property lib
- FGPath mpath( current_options.get_fg_root() );
+ SGPath mpath( globals->get_fg_root() );
mpath.append( "materials" );
if ( material_lib.load( mpath.str() ) ) {
} else {
- FG_LOG( FG_GENERAL, FG_ALERT, "Error loading material lib!" );
+ SG_LOG( SG_GENERAL, SG_ALERT, "Error loading material lib!" );
exit(-1);
}
- // Initialize the Scenery Management subsystem
+
+ ////////////////////////////////////////////////////////////////////
+ // Initialize the scenery management subsystem.
+ ////////////////////////////////////////////////////////////////////
+
if ( fgSceneryInit() ) {
// Material lib initialized ok.
} else {
- FG_LOG( FG_GENERAL, FG_ALERT, "Error in Scenery initialization!" );
+ SG_LOG( SG_GENERAL, SG_ALERT, "Error in Scenery initialization!" );
exit(-1);
}
if ( global_tile_mgr.init() ) {
// Load the local scenery data
- global_tile_mgr.update( current_options.get_lon(),
- current_options.get_lat() );
+ global_tile_mgr.update( fgGetDouble("/position/longitude-deg"),
+ fgGetDouble("/position/latitude-deg") );
} else {
- FG_LOG( FG_GENERAL, FG_ALERT, "Error in Tile Manager initialization!" );
+ SG_LOG( SG_GENERAL, SG_ALERT, "Error in Tile Manager initialization!" );
exit(-1);
}
- FG_LOG( FG_GENERAL, FG_DEBUG,
+ SG_LOG( SG_GENERAL, SG_DEBUG,
"Current terrain elevation after tile mgr init " <<
scenery.cur_elev );
- if ( current_options.get_flight_model() == FGInterface::FG_LARCSIM ) {
- cur_fdm_state = new FGLaRCsim;
- } else if ( current_options.get_flight_model() == FGInterface::FG_JSBSIM ) {
- cur_fdm_state = new FGJSBsim;
- } else if ( current_options.get_flight_model() ==
- FGInterface::FG_BALLOONSIM ) {
- cur_fdm_state = new FGBalloonSim;
- } else if ( current_options.get_flight_model() ==
- FGInterface::FG_MAGICCARPET ) {
- cur_fdm_state = new FGMagicCarpet;
- } else if ( current_options.get_flight_model() ==
- FGInterface::FG_EXTERNAL ) {
- cur_fdm_state = new FGExternal;
- } else {
- FG_LOG( FG_GENERAL, FG_ALERT,
- "No flight model, can't init aircraft" );
+
+ ////////////////////////////////////////////////////////////////////
+ // Initialize the flight model subsystem.
+ ////////////////////////////////////////////////////////////////////
+
+ double dt = 1.0 / fgGetInt("/sim/model-hz");
+ // cout << "dt = " << dt << endl;
+
+ aircraft_dir = fgGetString("/sim/aircraft-dir");
+ const string &model = fgGetString("/sim/flight-model");
+ try {
+ if (model == "larcsim") {
+ cur_fdm_state = new FGLaRCsim( dt );
+ } else if (model == "jsb") {
+ cur_fdm_state = new FGJSBsim( dt );
+ } else if (model == "ada") {
+ cur_fdm_state = new FGADA( dt );
+ } else if (model == "balloon") {
+ cur_fdm_state = new FGBalloonSim( dt );
+ } else if (model == "magic") {
+ cur_fdm_state = new FGMagicCarpet( dt );
+ } else if (model == "external") {
+ cur_fdm_state = new FGExternal( dt );
+ } else {
+ SG_LOG(SG_GENERAL, SG_ALERT,
+ "Unrecognized flight model '" << model
+ << ", can't init aircraft");
+ exit(-1);
+ }
+ } catch ( ... ) {
+ SG_LOG(SG_GENERAL, SG_ALERT, "FlightGear aborting\n\n");
exit(-1);
}
+ cur_fdm_state->init();
+ cur_fdm_state->bind();
+
// allocates structures so must happen before any of the flight
// model or control parameters are set
fgAircraftInit(); // In the future this might not be the case.
- // set the initial position
- fgInitPosition();
-
- // Calculate ground elevation at starting point (we didn't have
- // tmp_abs_view_pos calculated when fgTileMgrUpdate() was called above
- //
- // calculalate a cartesian point somewhere along the line between
- // the center of the earth and our view position. Doesn't have to
- // be the exact elevation (this is good because we don't know it
- // yet :-)
-
- // now handled inside of the fgTileMgrUpdate()
-
- /*
- geod_pos = Point3D( cur_fdm_state->get_Longitude(), cur_fdm_state->get_Latitude(), 0.0);
- tmp_abs_view_pos = fgGeodToCart(geod_pos);
-
- FG_LOG( FG_GENERAL, FG_DEBUG,
- "Initial abs_view_pos = " << tmp_abs_view_pos );
- scenery.cur_elev =
- fgTileMgrCurElev( cur_fdm_state->get_Longitude(), cur_fdm_state->get_Latitude(),
- tmp_abs_view_pos );
- FG_LOG( FG_GENERAL, FG_DEBUG,
- "Altitude after update " << scenery.cur_elev );
- */
-
- fgFDMSetGroundElevation( current_options.get_flight_model(),
- scenery.cur_elev );
-
- // Reset our altitude if we are below ground
- FG_LOG( FG_GENERAL, FG_DEBUG, "Current altitude = " << cur_fdm_state->get_Altitude() );
- FG_LOG( FG_GENERAL, FG_DEBUG, "Current runway altitude = " <<
- cur_fdm_state->get_Runway_altitude() );
-
- if ( cur_fdm_state->get_Altitude() < cur_fdm_state->get_Runway_altitude() + 3.758099) {
- cur_fdm_state->set_Altitude( cur_fdm_state->get_Runway_altitude() + 3.758099 );
- }
- FG_LOG( FG_GENERAL, FG_INFO,
- "Updated position (after elevation adj): ("
- << (cur_fdm_state->get_Latitude() * RAD_TO_DEG) << ", "
- << (cur_fdm_state->get_Longitude() * RAD_TO_DEG) << ", "
- << (cur_fdm_state->get_Altitude() * FEET_TO_METER) << ")" );
-
- // We need to calculate a few more values here that would normally
- // be calculated by the FDM so that the current_view.UpdateViewMath()
- // routine doesn't get hosed.
-
- double sea_level_radius_meters;
- double lat_geoc;
- // Set the FG variables first
- fgGeodToGeoc( cur_fdm_state->get_Latitude(), cur_fdm_state->get_Altitude(),
- &sea_level_radius_meters, &lat_geoc);
- cur_fdm_state->set_Geocentric_Position( lat_geoc, cur_fdm_state->get_Longitude(),
- cur_fdm_state->get_Altitude() +
- (sea_level_radius_meters * METER_TO_FEET) );
- cur_fdm_state->set_Sea_level_radius( sea_level_radius_meters * METER_TO_FEET );
-
- cur_fdm_state->set_sin_cos_longitude(cur_fdm_state->get_Longitude());
- cur_fdm_state->set_sin_cos_latitude(cur_fdm_state->get_Latitude());
-
- cur_fdm_state->set_sin_lat_geocentric(sin(lat_geoc));
- cur_fdm_state->set_cos_lat_geocentric(cos(lat_geoc));
-
- // The following section sets up the flight model EOM parameters
- // and should really be read in from one or more files.
-
- // Initial Velocity
- cur_fdm_state->set_Velocities_Local( current_options.get_uBody(),
- current_options.get_vBody(),
- current_options.get_wBody());
-
- // Initial Orientation
- cur_fdm_state->set_Euler_Angles( current_options.get_roll() * DEG_TO_RAD,
- current_options.get_pitch() * DEG_TO_RAD,
- current_options.get_heading() * DEG_TO_RAD );
-
- // Initial Angular Body rates
- cur_fdm_state->set_Omega_Body( 7.206685E-05, 0.0, 9.492658E-05 );
-
- cur_fdm_state->set_Earth_position_angle( 0.0 );
-
- // Mass properties and geometry values
- cur_fdm_state->set_Inertias( 8.547270E+01,
- 1.048000E+03, 3.000000E+03, 3.530000E+03, 0.000000E+00 );
-
- // CG position w.r.t. ref. point
- cur_fdm_state->set_CG_Position( 0.0, 0.0, 0.0 );
-
- // Initialize the event manager
+ ////////////////////////////////////////////////////////////////////
+ // Initialize the event manager subsystem.
+ ////////////////////////////////////////////////////////////////////
+
global_events.Init();
// Output event stats every 60 seconds
&fgEVENT_MGR::PrintStats),
fgEVENT::FG_EVENT_READY, 60000 );
- // Initialize view parameters
- FG_LOG( FG_GENERAL, FG_DEBUG, "Before current_view.init()");
- current_view.Init();
- pilot_view.Init();
- FG_LOG( FG_GENERAL, FG_DEBUG, "After current_view.init()");
- current_view.UpdateViewMath(*cur_fdm_state);
- pilot_view.UpdateViewMath(*cur_fdm_state);
- FG_LOG( FG_GENERAL, FG_DEBUG, " abs_view_pos = " << current_view.get_abs_view_pos());
- // current_view.UpdateWorldToEye(f);
-
- // Initialize the planetary subsystem
- // global_events.Register( "fgPlanetsInit()", fgPlanetsInit,
- // fgEVENT::FG_EVENT_READY, 600000);
-
- // Initialize the sun's position
- // global_events.Register( "fgSunInit()", fgSunInit,
- // fgEVENT::FG_EVENT_READY, 30000 );
-
- // Intialize the moon's position
- // global_events.Register( "fgMoonInit()", fgMoonInit,
- // fgEVENT::FG_EVENT_READY, 600000 );
+
+ ////////////////////////////////////////////////////////////////////
+ // Initialize the view manager subsystem.
+ ////////////////////////////////////////////////////////////////////
+
+ // Initialize win_ratio parameters
+ for ( int i = 0; i < globals->get_viewmgr()->size(); ++i ) {
+ globals->get_viewmgr()->get_view(i)->
+ set_win_ratio( fgGetInt("/sim/startup/xsize") /
+ fgGetInt("/sim/startup/ysize") );
+ }
+
+ // Initialize pilot view
+ FGViewerRPH *pilot_view =
+ (FGViewerRPH *)globals->get_viewmgr()->get_view( 0 );
+
+ pilot_view->set_geod_view_pos( cur_fdm_state->get_Longitude(),
+ cur_fdm_state->get_Lat_geocentric(),
+ cur_fdm_state->get_Altitude() *
+ SG_FEET_TO_METER );
+ pilot_view->set_sea_level_radius( cur_fdm_state->get_Sea_level_radius() *
+ SG_FEET_TO_METER );
+ pilot_view->set_rph( cur_fdm_state->get_Phi(),
+ cur_fdm_state->get_Theta(),
+ cur_fdm_state->get_Psi() );
+
+ // set current view to 0 (first) which is our main pilot view
+ globals->set_current_view( pilot_view );
+
+ SG_LOG( SG_GENERAL, SG_DEBUG, " abs_view_pos = "
+ << globals->get_current_view()->get_abs_view_pos());
+
+
+ ////////////////////////////////////////////////////////////////////
+ // Initialize the lighting subsystem.
+ ////////////////////////////////////////////////////////////////////
// fgUpdateSunPos() needs a few position and view parameters set
// so it can calculate local relative sun angle and a few other
fgMethodCallback<fgLIGHT>( &cur_light_params,
&fgLIGHT::Update),
fgEVENT::FG_EVENT_READY, 30000 );
+
+
+ ////////////////////////////////////////////////////////////////////
+ // Initialize the local time subsystem.
+ ////////////////////////////////////////////////////////////////////
+
// update the current timezone each 30 minutes
global_events.Register( "fgUpdateLocalTime()", fgUpdateLocalTime,
fgEVENT::FG_EVENT_READY, 1800000);
+
+ ////////////////////////////////////////////////////////////////////
+ // Initialize the weather subsystem.
+ ////////////////////////////////////////////////////////////////////
+
// Initialize the weather modeling subsystem
#ifndef FG_OLD_WEATHER
// Initialize the WeatherDatabase
- FG_LOG(FG_GENERAL, FG_INFO, "Creating LocalWeatherDatabase");
+ SG_LOG(SG_GENERAL, SG_INFO, "Creating LocalWeatherDatabase");
sgVec3 position;
sgSetVec3( position, current_aircraft.fdm_state->get_Latitude(),
current_aircraft.fdm_state->get_Longitude(),
- current_aircraft.fdm_state->get_Altitude() * FEET_TO_METER );
+ current_aircraft.fdm_state->get_Altitude() * SG_FEET_TO_METER );
FGLocalWeatherDatabase::theFGLocalWeatherDatabase =
- new FGLocalWeatherDatabase( position, current_options.get_fg_root() );
+ new FGLocalWeatherDatabase( position,
+ globals->get_fg_root() );
// cout << theFGLocalWeatherDatabase << endl;
// cout << "visibility = "
// << theFGLocalWeatherDatabase->getWeatherVisibility() << endl;
WeatherDatabase = FGLocalWeatherDatabase::theFGLocalWeatherDatabase;
-
+
+ double init_vis = fgGetDouble("/environment/visibility-m");
+ if ( init_vis > 0 ) {
+ WeatherDatabase->setWeatherVisibility( init_vis );
+ }
+
// register the periodic update of the weather
global_events.Register( "weather update", fgUpdateWeatherDatabase,
fgEVENT::FG_EVENT_READY, 30000);
current_weather.Init();
#endif
+ ////////////////////////////////////////////////////////////////////
// Initialize vor/ndb/ils/fix list management and query systems
- FG_LOG(FG_GENERAL, FG_INFO, "Loading Navaids");
+ ////////////////////////////////////////////////////////////////////
+
+ SG_LOG(SG_GENERAL, SG_INFO, "Loading Navaids");
- FG_LOG(FG_GENERAL, FG_INFO, " VOR/NDB");
+ SG_LOG(SG_GENERAL, SG_INFO, " VOR/NDB");
current_navlist = new FGNavList;
- FGPath p_nav( current_options.get_fg_root() );
+ SGPath p_nav( globals->get_fg_root() );
p_nav.append( "Navaids/default.nav" );
current_navlist->init( p_nav );
- FG_LOG(FG_GENERAL, FG_INFO, " ILS");
+ SG_LOG(SG_GENERAL, SG_INFO, " ILS and Marker Beacons");
+ current_beacons = new FGMarkerBeacons;
+ current_beacons->init();
current_ilslist = new FGILSList;
- FGPath p_ils( current_options.get_fg_root() );
+ SGPath p_ils( globals->get_fg_root() );
p_ils.append( "Navaids/default.ils" );
current_ilslist->init( p_ils );
- FG_LOG(FG_GENERAL, FG_INFO, " Fixes");
+ SG_LOG(SG_GENERAL, SG_INFO, " Fixes");
current_fixlist = new FGFixList;
- FGPath p_fix( current_options.get_fg_root() );
+ SGPath p_fix( globals->get_fg_root() );
p_fix.append( "Navaids/default.fix" );
current_fixlist->init( p_fix );
- // Initialize the underlying radio stack model
- current_radiostack = new FGRadioStack;
- current_radiostack->set_nav1_freq( 117.30 );
- current_radiostack->set_nav1_alt_freq( 110.30 );
- current_radiostack->set_nav1_sel_radial( 119.0 );
-
- current_radiostack->set_nav2_freq( 111.80 );
- current_radiostack->set_nav2_alt_freq( 115.70 );
- current_radiostack->set_nav2_sel_radial( 029.0 );
-
- current_radiostack->set_adf_freq( 266.0 );
-
-#if 0
- // This block of settings are Alex's defaults for San Diego
- current_radiostack->set_nav1_freq( 111.70 );
- current_radiostack->set_nav1_alt_freq( 115.30 );
- current_radiostack->set_nav1_sel_radial( 280.0 );
- current_radiostack->set_nav2_freq( 117.80 );
- current_radiostack->set_nav2_alt_freq( 114.00 );
- current_radiostack->set_nav2_sel_radial( 68.0 );
- current_radiostack->set_adf_freq( 210.0 );
- // End of Alex's custom settings
-#endif
+ ////////////////////////////////////////////////////////////////////
+ // Initialize the built-in commands.
+ ////////////////////////////////////////////////////////////////////
+ fgInitCommands();
+
- current_radiostack->search( cur_fdm_state->get_Longitude(),
- cur_fdm_state->get_Latitude(),
- cur_fdm_state->get_Altitude() * FEET_TO_METER );
+ ////////////////////////////////////////////////////////////////////
+ // Initialize the radio stack subsystem.
+ ////////////////////////////////////////////////////////////////////
- current_radiostack->update( cur_fdm_state->get_Longitude(),
- cur_fdm_state->get_Latitude(),
- cur_fdm_state->get_Altitude() * FEET_TO_METER );
+ // A textbook example of how FGSubsystem
+ // should work...
+ current_radiostack = new FGRadioStack;
+ current_radiostack->init();
+ current_radiostack->bind();
- // Search radio database once per second
- global_events.Register( "fgRadioSearch()", fgRadioSearch,
- fgEVENT::FG_EVENT_READY, 1000);
+ ////////////////////////////////////////////////////////////////////
+ // Initialize the cockpit subsystem
+ ////////////////////////////////////////////////////////////////////
- // Initialize the Cockpit subsystem
if( fgCockpitInit( ¤t_aircraft )) {
// Cockpit initialized ok.
} else {
- FG_LOG( FG_GENERAL, FG_ALERT, "Error in Cockpit initialization!" );
+ SG_LOG( SG_GENERAL, SG_ALERT, "Error in Cockpit initialization!" );
exit(-1);
}
- // Initialize the flight model subsystem data structures base on
- // above values
-
- // fgFDMInit( current_options.get_flight_model(), cur_fdm_state,
- // 1.0 / current_options.get_model_hz() );
- cur_fdm_state->init( 1.0 / current_options.get_model_hz() );
- // I'm just sticking this here for now, it should probably move
- // eventually
- scenery.cur_elev = cur_fdm_state->get_Runway_altitude() * FEET_TO_METER;
+ ////////////////////////////////////////////////////////////////////
+ // Initialize the joystick subsystem.
+ ////////////////////////////////////////////////////////////////////
- if ( cur_fdm_state->get_Altitude() < cur_fdm_state->get_Runway_altitude() + 3.758099) {
- cur_fdm_state->set_Altitude( cur_fdm_state->get_Runway_altitude() + 3.758099 );
- }
+ // if ( ! fgJoystickInit() ) {
+ // SG_LOG( SG_GENERAL, SG_ALERT, "Error in Joystick initialization!" );
+ // }
- FG_LOG( FG_GENERAL, FG_INFO,
- "Updated position (after elevation adj): ("
- << (cur_fdm_state->get_Latitude() * RAD_TO_DEG) << ", "
- << (cur_fdm_state->get_Longitude() * RAD_TO_DEG) << ", "
- << (cur_fdm_state->get_Altitude() * FEET_TO_METER) << ")" );
- // end of thing that I just stuck in that I should probably move
- // Joystick support
- if ( fgJoystickInit() ) {
- // Joystick initialized ok.
- } else {
- FG_LOG( FG_GENERAL, FG_ALERT, "Error in Joystick initialization!" );
- }
+ ////////////////////////////////////////////////////////////////////
+ // Initialize the autopilot subsystem.
+ ////////////////////////////////////////////////////////////////////
- // Autopilot init
current_autopilot = new FGAutopilot;
current_autopilot->init();
NewHeadingInit();
NewAltitudeInit();
- // Initialize I/O channels
-#if ! defined( MACOS )
+
+ ////////////////////////////////////////////////////////////////////
+ // Initialize I/O subsystem.
+ ////////////////////////////////////////////////////////////////////
+
+#if ! defined( macintosh )
fgIOInit();
#endif
// Initialize the 2D panel.
- current_panel = fgCreateSmallSinglePropPanel(0, 0, 1024, 768);
+ string panel_path = fgGetString("/sim/panel/path",
+ "Panels/Default/default.xml");
+ current_panel = fgReadPanel(panel_path);
+ if (current_panel == 0) {
+ SG_LOG( SG_INPUT, SG_ALERT,
+ "Error reading new panel from " << panel_path );
+ } else {
+ SG_LOG( SG_INPUT, SG_INFO, "Loaded new panel from " << panel_path );
+ current_panel->init();
+ current_panel->bind();
+ }
+
+
+ ////////////////////////////////////////////////////////////////////
+ // Initialize the default (kludged) properties.
+ ////////////////////////////////////////////////////////////////////
+
+ fgInitProps();
+
+
+ ////////////////////////////////////////////////////////////////////
+ // Initialize the controls subsystem.
+ ////////////////////////////////////////////////////////////////////
+
+ controls.init();
+ controls.bind();
- // Initialize the BFI
- FGBFI::init();
- FG_LOG( FG_GENERAL, FG_INFO, endl);
+ ////////////////////////////////////////////////////////////////////
+ // Initialize the input subsystem.
+ ////////////////////////////////////////////////////////////////////
+
+ current_input.init();
+ current_input.bind();
+
+
+ ////////////////////////////////////////////////////////////////////////
+ // End of subsystem initialization.
+ ////////////////////////////////////////////////////////////////////
+
+ SG_LOG( SG_GENERAL, SG_INFO, endl);
+
+ // Save the initial state for future
+ // reference.
+ globals->saveInitialState();
return true;
}
void fgReInitSubsystems( void )
{
+ SG_LOG( SG_GENERAL, SG_INFO,
+ "/position/altitude = " << fgGetDouble("/position/altitude-ft") );
+
bool freeze = globals->get_freeze();
if( !freeze )
globals->set_freeze( true );
+ // Initialize the Scenery Management subsystem
+ if ( ! fgSceneryInit() ) {
+ SG_LOG( SG_GENERAL, SG_ALERT, "Error in Scenery initialization!" );
+ exit(-1);
+ }
+
if( global_tile_mgr.init() ) {
// Load the local scenery data
- global_tile_mgr.update( current_options.get_lon(),
- current_options.get_lat() );
+ global_tile_mgr.update( fgGetDouble("/position/longitude-deg"),
+ fgGetDouble("/position/latitude-deg") );
} else {
- FG_LOG( FG_GENERAL, FG_ALERT, "Error in Tile Manager initialization!" );
+ SG_LOG( SG_GENERAL, SG_ALERT, "Error in Tile Manager initialization!" );
exit(-1);
}
- // cout << "current scenery elev = " << scenery.cur_elev << endl;
-
- fgInitPosition();
- fgFDMSetGroundElevation( current_options.get_flight_model(),
- scenery.cur_elev );
-
- // Reset our altitude if we are below ground
- FG_LOG( FG_GENERAL, FG_DEBUG, "Current altitude = " << cur_fdm_state->get_Altitude() );
- FG_LOG( FG_GENERAL, FG_DEBUG, "Current runway altitude = " <<
- cur_fdm_state->get_Runway_altitude() );
-
- if ( cur_fdm_state->get_Altitude() < cur_fdm_state->get_Runway_altitude() + 3.758099) {
- cur_fdm_state->set_Altitude( cur_fdm_state->get_Runway_altitude() + 3.758099 );
- }
- double sea_level_radius_meters;
- double lat_geoc;
- // Set the FG variables first
- fgGeodToGeoc( cur_fdm_state->get_Latitude(), cur_fdm_state->get_Altitude(),
- &sea_level_radius_meters, &lat_geoc);
- cur_fdm_state->set_Geocentric_Position( lat_geoc, cur_fdm_state->get_Longitude(),
- cur_fdm_state->get_Altitude() +
- (sea_level_radius_meters * METER_TO_FEET) );
- cur_fdm_state->set_Sea_level_radius( sea_level_radius_meters * METER_TO_FEET );
-
- cur_fdm_state->set_sin_cos_longitude(cur_fdm_state->get_Longitude());
- cur_fdm_state->set_sin_cos_latitude(cur_fdm_state->get_Latitude());
-
- cur_fdm_state->set_sin_lat_geocentric(sin(lat_geoc));
- cur_fdm_state->set_cos_lat_geocentric(cos(lat_geoc));
-
- // The following section sets up the flight model EOM parameters
- // and should really be read in from one or more files.
-
- // Initial Velocity
- cur_fdm_state->set_Velocities_Local( current_options.get_uBody(),
- current_options.get_vBody(),
- current_options.get_wBody());
-
- // Initial Orientation
- cur_fdm_state->set_Euler_Angles( current_options.get_roll() * DEG_TO_RAD,
- current_options.get_pitch() * DEG_TO_RAD,
- current_options.get_heading() * DEG_TO_RAD );
-
- // Initial Angular Body rates
- cur_fdm_state->set_Omega_Body( 7.206685E-05, 0.0, 9.492658E-05 );
-
- cur_fdm_state->set_Earth_position_angle( 0.0 );
-
- // Mass properties and geometry values
- cur_fdm_state->set_Inertias( 8.547270E+01,
- 1.048000E+03, 3.000000E+03, 3.530000E+03, 0.000000E+00 );
-
- // CG position w.r.t. ref. point
- cur_fdm_state->set_CG_Position( 0.0, 0.0, 0.0 );
-
// Initialize view parameters
- current_view.set_view_offset( 0.0 );
- current_view.set_goal_view_offset( 0.0 );
- pilot_view.set_view_offset( 0.0 );
- pilot_view.set_goal_view_offset( 0.0 );
+ FGViewerRPH *pilot_view =
+ (FGViewerRPH *)globals->get_viewmgr()->get_view( 0 );
- FG_LOG( FG_GENERAL, FG_DEBUG, "After current_view.init()");
- current_view.UpdateViewMath(*cur_fdm_state);
- pilot_view.UpdateViewMath(*cur_fdm_state);
- FG_LOG( FG_GENERAL, FG_DEBUG, " abs_view_pos = " << current_view.get_abs_view_pos());
+ pilot_view->set_view_offset( 0.0 );
+ pilot_view->set_goal_view_offset( 0.0 );
- // fgFDMInit( current_options.get_flight_model(), cur_fdm_state,
- // 1.0 / current_options.get_model_hz() );
- cur_fdm_state->init( 1.0 / current_options.get_model_hz() );
+ pilot_view->set_geod_view_pos( cur_fdm_state->get_Longitude(),
+ cur_fdm_state->get_Lat_geocentric(),
+ cur_fdm_state->get_Altitude() *
+ SG_FEET_TO_METER );
+ pilot_view->set_sea_level_radius( cur_fdm_state->get_Sea_level_radius() *
+ SG_FEET_TO_METER );
+ pilot_view->set_rph( cur_fdm_state->get_Phi(),
+ cur_fdm_state->get_Theta(),
+ cur_fdm_state->get_Psi() );
- scenery.cur_elev = cur_fdm_state->get_Runway_altitude() * FEET_TO_METER;
+ // set current view to 0 (first) which is our main pilot view
+ globals->set_current_view( pilot_view );
- if ( cur_fdm_state->get_Altitude() < cur_fdm_state->get_Runway_altitude() + 3.758099) {
- cur_fdm_state->set_Altitude( cur_fdm_state->get_Runway_altitude() + 3.758099 );
- }
+ SG_LOG( SG_GENERAL, SG_DEBUG, " abs_view_pos = "
+ << globals->get_current_view()->get_abs_view_pos());
+
+ cur_fdm_state->init();
controls.reset_all();
current_autopilot->reset();
+ fgUpdateSunPos();
+ fgUpdateMoonPos();
+ cur_light_params.Update();
+ fgUpdateLocalTime();
+
if( !freeze )
globals->set_freeze( false );
}
projects / flightgear.git / blobdiff