// Written by Diarmuid Tyson, started February 2003.
// diarmuid.tyson@airservicesaustralia.com
//
+// With addtions by Vivian Meazza, January 2006
+//
// Copyright (C) 2003 Airservices Australia
//
// This program is free software; you can redistribute it and/or
// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
//
+#ifdef HAVE_CONFIG_H
+# include <config.h>
+#endif
#include <simgear/compiler.h>
#include STL_STRING
#include <iostream>
+#include <map>
+#include <string>
#include <simgear/debug/logstream.hxx>
-#include <simgear/scene/model/placement.hxx>
-#include <simgear/scene/model/placementtrans.hxx>
+#include <simgear/math/SGMath.hxx>
-#include <Scenery/scenery.hxx>
+#include <FDM/flight.hxx>
+#include <MultiPlayer/mpmessages.hxx>
#include "multiplay.hxx"
set_enabled(true);
+ SGPropertyNode* root = globals->get_props();
+
+ /// Build up the id to property map
+ unsigned i = 0;
+ while (FGMultiplayMgr::sIdPropertyList[i].name) {
+ const char* name = FGMultiplayMgr::sIdPropertyList[i].name;
+ SGPropertyNode* pNode = root->getNode(name);
+ if (pNode)
+ mPropertyMap[FGMultiplayMgr::sIdPropertyList[i].id] = pNode;
+ ++i;
+ }
+
return is_enabled();
}
******************************************************************/
bool FGMultiplay::process() {
- if (get_direction() == SG_IO_IN) {
-
- globals->get_multiplayer_rx_mgr()->ProcessData();
-
- } else if (get_direction() == SG_IO_OUT) {
-
- sgMat4 posTrans;
- globals->get_aircraft_model()->get3DModel()->getTransform()->getTransform(posTrans);
- Point3D center = globals->get_scenery()->get_center();
- sgdVec3 PlayerPosition;
- sgdSetVec3(PlayerPosition, posTrans[3][0] + center[0],
- posTrans[3][1] + center[1], posTrans[3][2] + center[2]);
- sgQuat PlayerOrientation;
- sgMatrixToQuat(PlayerOrientation, posTrans);
+ if (get_direction() == SG_IO_OUT) {
+
+ // check if we have left initialization phase. That will not provide
+ // interresting data, also the freeze in simulation time hurts the
+ // multiplayer clients
+ double sim_time = globals->get_sim_time_sec();
+// if (sim_time < 20)
+// return true;
+
+ FGInterface *ifce = cur_fdm_state;
+
+ // put together a motion info struct, you will get that later
+ // from FGInterface directly ...
+ FGExternalMotionData motionInfo;
+
+ // The current simulation time we need to update for,
+ // note that the simulation time is updated before calling all the
+ // update methods. Thus it contains the time intervals *end* time.
+ // The FDM is already run, so the states belong to that time.
+ motionInfo.time = sim_time;
+
+ // The typical lag will be the reciprocal of the output frequency
+ double hz = get_hz();
+ if (hz != 0) // I guess we can test a double for exact zero in this case
+ motionInfo.lag = 1/get_hz();
+ else
+ motionInfo.lag = 0.1; //??
+
+ // These are for now converted from lat/lon/alt and euler angles.
+ // But this should change in FGInterface ...
+ double lon = ifce->get_Longitude();
+ double lat = ifce->get_Latitude();
+ // first the aprioriate structure for the geodetic one
+ SGGeod geod = SGGeod::fromRadFt(lon, lat, ifce->get_Altitude());
+ // Convert to cartesion coordinate
+ motionInfo.position = geod;
+
+ // The quaternion rotating from the earth centered frame to the
+ // horizontal local frame
+ SGQuatf qEc2Hl = SGQuatf::fromLonLat((float)lon, (float)lat);
+ // The orientation wrt the horizontal local frame
+ float heading = ifce->get_Psi();
+ float pitch = ifce->get_Theta();
+ float roll = ifce->get_Phi();
+ SGQuatf hlOr = SGQuatf::fromYawPitchRoll(heading, pitch, roll);
+ // The orientation of the vehicle wrt the earth centered frame
+ motionInfo.orientation = qEc2Hl*hlOr;
+
+ if (!ifce->is_suspended()) {
+ // velocities
+ motionInfo.linearVel = SG_FEET_TO_METER*SGVec3f(ifce->get_U_body(),
+ ifce->get_V_body(),
+ ifce->get_W_body());
+ motionInfo.angularVel = SGVec3f(ifce->get_P_body(),
+ ifce->get_Q_body(),
+ ifce->get_R_body());
+
+ // accels, set that to zero for now.
+ // Angular accelerations are missing from the interface anyway,
+ // linear accelerations are screwed up at least for JSBSim.
+// motionInfo.linearAccel = SG_FEET_TO_METER*SGVec3f(ifce->get_U_dot_body(),
+// ifce->get_V_dot_body(),
+// ifce->get_W_dot_body());
+ motionInfo.linearAccel = SGVec3f::zeros();
+ motionInfo.angularAccel = SGVec3f::zeros();
+ } else {
+ // if the interface is suspendend, prevent the client from
+ // wild extrapolations
+ motionInfo.linearVel = SGVec3f::zeros();
+ motionInfo.angularVel = SGVec3f::zeros();
+ motionInfo.linearAccel = SGVec3f::zeros();
+ motionInfo.angularAccel = SGVec3f::zeros();
+ }
- globals->get_multiplayer_tx_mgr()->SendMyPosition(PlayerOrientation, PlayerPosition);
+ // now send the properties
+ PropertyMap::iterator it;
+ for (it = mPropertyMap.begin(); it != mPropertyMap.end(); ++it) {
+ FGFloatPropertyData pData;
+ pData.id = it->first;
+ pData.value = it->second->getFloatValue();
+ motionInfo.properties.push_back(pData);
+ }
+ FGMultiplayMgr* mpmgr = globals->get_multiplayer_mgr();
+ mpmgr->SendMyPosition(motionInfo);
}
- return true;
+ return true;
}
if (get_direction() == SG_IO_IN) {
- globals->get_multiplayer_rx_mgr()->Close();
+ globals->get_multiplayer_mgr()->Close();
} else if (get_direction() == SG_IO_OUT) {
- globals->get_multiplayer_tx_mgr()->Close();
+ globals->get_multiplayer_mgr()->Close();
}
- return true;
+ return true;
}
projects / flightgear.git / blobdiff