X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=simgear%2Fhla%2FHLAFederate.cxx;h=4a9d93d4626ccce9c3489b538aceba91fbc908e2;hb=124db3da8e7243d3aaea5a5cad379b3a682d5fe0;hp=14f6c0cef23c300aa3ce6bbeaee85bf90cac6d98;hpb=baf511684119e219906fa37f3e7c7f43151bb435;p=simgear.git

diff --git a/simgear/hla/HLAFederate.cxx b/simgear/hla/HLAFederate.cxx
index 14f6c0ce..4a9d93d4 100644
--- a/simgear/hla/HLAFederate.cxx
+++ b/simgear/hla/HLAFederate.cxx
@@ -1,4 +1,4 @@
-// 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
@@ -17,7 +17,11 @@
 
 #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"
@@ -26,97 +30,709 @@
 
 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
@@ -124,8 +740,7 @@ HLAFederate::readObjectModelTemplate(const std::string& objectModel,
                                      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;
     }
 
@@ -207,6 +822,27 @@ HLAFederate::readObjectModelTemplate(const std::string& objectModel,
     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)
 {
@@ -225,6 +861,12 @@ HLAFederate::getObjectClass(const std::string& name) const
     return i->second.get();
 }
 
+HLAObjectClass*
+HLAFederate::createObjectClass(const std::string& name)
+{
+    return new HLAObjectClass(name, *this);
+}
+
 HLAInteractionClass*
 HLAFederate::getInteractionClass(const std::string& name)
 {
@@ -243,4 +885,154 @@ HLAFederate::getInteractionClass(const std::string& name) const
     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