// Written by Duncan McCreanor, started February 2003.
// duncan.mccreanor@airservicesaustralia.com
//
-// With minor additions be Vivian Meazza, January 2006
-//
// Copyright (C) 2003 Airservices Australia
//
// This program is free software; you can redistribute it and/or
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
-// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
//
#ifndef MPMESSAGES_H
*
******************************************************************/
-#include <plib/sg.h>
+#include <vector>
+
#include <simgear/compiler.h>
+#include <simgear/props/props.hxx>
+#include <simgear/math/SGMath.hxx>
#include "tiny_xdr.hxx"
// magic value for messages
// Message identifiers
#define CHAT_MSG_ID 1
#define UNUSABLE_POS_DATA_ID 2
-#define OLD_POS_DATA_ID 3
-#define POS_DATA_ID 4
-#define PROP_MSG_ID 5
+#define OLD_OLD_POS_DATA_ID 3
+#define OLD_POS_DATA_ID 4
+#define OLD_PROP_MSG_ID 5
+#define RESET_DATA_ID 6
+#define POS_DATA_ID 7
// XDR demands 4 byte alignment, but some compilers use8 byte alignment
// so it's safe to let the overall size of a network message be a
#define MAX_MODEL_NAME_LEN 96
#define MAX_PROPERTY_LEN 52
-/** Aircraft position message */
-typedef xdr_data2_t xdrPosition[3];
-typedef xdr_data_t xdrOrientation[4];
-
// Header for use with all messages sent
-class T_MsgHdr {
-public:
+struct T_MsgHdr {
xdr_data_t Magic; // Magic Value
xdr_data_t Version; // Protocoll version
xdr_data_t MsgId; // Message identifier
};
// Chat message
-class T_ChatMsg {
-public:
+struct T_ChatMsg {
char Text[MAX_CHAT_MSG_LEN]; // Text of chat message
};
// Position message
-class T_PositionMsg {
-public:
+struct T_PositionMsg {
char Model[MAX_MODEL_NAME_LEN]; // Name of the aircraft model
- xdr_data_t time; // Time when this packet was generated
- xdr_data_t timeusec; // Microsecs when this packet was generated
- xdr_data2_t lat; // Position, orientation, speed
- xdr_data2_t lon; // ...
- xdr_data2_t alt; // ...
- xdr_data2_t hdg; // ...
- xdr_data2_t roll; // ...
- xdr_data2_t pitch; // ...
- xdr_data2_t speedN; // ...
- xdr_data2_t speedE; // ...
- xdr_data2_t speedD; // ...
- xdr_data_t accN; // acceleration N
- xdr_data_t accE; // acceleration E
- xdr_data_t accD; // acceleration D
- xdr_data_t left_aileron; // control positions
- xdr_data_t right_aileron; // control positions
- xdr_data_t elevator; // ...
- xdr_data_t rudder; // ...
-// xdr_data_t rpms[6]; // RPMs of all of the motors
- xdr_data_t rateH; // Rate of change of heading
- xdr_data_t rateR; // roll
- xdr_data_t rateP; // and pitch
-// xdr_data_t dummy; // pad message length
+
+ // Time when this packet was generated
+ xdr_data2_t time;
+ xdr_data2_t lag;
+
+ // position wrt the earth centered frame
+ xdr_data2_t position[3];
+ // orientation wrt the earth centered frame, stored in the angle axis
+ // representation where the angle is coded into the axis length
+ xdr_data_t orientation[3];
+
+ // linear velocity wrt the earth centered frame measured in
+ // the earth centered frame
+ xdr_data_t linearVel[3];
+ // angular velocity wrt the earth centered frame measured in
+ // the earth centered frame
+ xdr_data_t angularVel[3];
+
+ // linear acceleration wrt the earth centered frame measured in
+ // the earth centered frame
+ xdr_data_t linearAccel[3];
+ // angular acceleration wrt the earth centered frame measured in
+ // the earth centered frame
+ xdr_data_t angularAccel[3];
+ // Padding. The alignment is 8 bytes on x86_64 because there are
+ // 8-byte types in the message, so the size should be explicitly
+ // rounded out to a multiple of 8. Of course, it's a bad idea to
+ // put a C struct directly on the wire, but that's a fight for
+ // another day...
+ xdr_data_t pad;
};
-// Property message
-class T_PropertyMsg {
-public:
- char property[MAX_PROPERTY_LEN]; // the property name
- xdr_data_t type; // the type
- xdr_data2_t val; // and value
-// xdr_data2_t dummy; // pad message length
-
+struct FGPropertyData {
+ unsigned id;
+
+ // While the type isn't transmitted, it is needed for the destructor
+ simgear::props::Type type;
+ union {
+ int int_value;
+ float float_value;
+ char* string_value;
+ };
+
+ ~FGPropertyData() {
+ if ((type == simgear::props::STRING) || (type == simgear::props::UNSPECIFIED))
+ {
+ delete [] string_value;
+ }
+ }
};
-#endif
+// Position message
+struct FGExternalMotionData {
+ // simulation time when this packet was generated
+ double time;
+ // the artificial lag the client should stay behind the average
+ // simulation time to arrival time diference
+ // FIXME: should be some 'per model' instead of 'per packet' property
+ double lag;
+
+ // position wrt the earth centered frame
+ SGVec3d position;
+ // orientation wrt the earth centered frame
+ SGQuatf orientation;
+
+ // linear velocity wrt the earth centered frame measured in
+ // the earth centered frame
+ SGVec3f linearVel;
+ // angular velocity wrt the earth centered frame measured in
+ // the earth centered frame
+ SGVec3f angularVel;
+
+ // linear acceleration wrt the earth centered frame measured in
+ // the earth centered frame
+ SGVec3f linearAccel;
+ // angular acceleration wrt the earth centered frame measured in
+ // the earth centered frame
+ SGVec3f angularAccel;
+
+ // The set of properties recieved for this timeslot
+ std::vector<FGPropertyData*> properties;
+};
+
+#endif
projects / flightgear.git / blobdiff