X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FAIModel%2FAIMultiplayer.cxx;h=ab9cc5c3cf8915a8c1320908fb7eafe034adf908;hb=d35b8db13f7aceee46d63b061cd20e6d3968f92a;hp=000386b88408952dc310063d5b31f6b839b03af8;hpb=e7ed073c6832b419e2602b0f88a75e3aa1ef81b0;p=flightgear.git diff --git a/src/AIModel/AIMultiplayer.cxx b/src/AIModel/AIMultiplayer.cxx old mode 100755 new mode 100644 index 000386b88..ab9cc5c3c --- a/src/AIModel/AIMultiplayer.cxx +++ b/src/AIModel/AIMultiplayer.cxx @@ -29,6 +29,8 @@ #include "AIMultiplayer.hxx" +#include + // #define SG_DEBUG SG_ALERT FGAIMultiplayer::FGAIMultiplayer() : FGAIBase(otMultiplayer) { @@ -37,27 +39,31 @@ FGAIMultiplayer::FGAIMultiplayer() : FGAIBase(otMultiplayer) { mTimeOffsetSet = false; mAllowExtrapolation = true; mLagAdjustSystemSpeed = 10; + + aip.getSceneGraph()->setNodeMask(~SG_NODEMASK_TERRAIN_BIT); + } FGAIMultiplayer::~FGAIMultiplayer() { } -bool FGAIMultiplayer::init() { +bool FGAIMultiplayer::init(bool search_in_AI_path) { + props->setStringValue("sim/model/path", model_path.c_str()); //refuel_node = fgGetNode("systems/refuel/contact", true); isTanker = false; // do this until this property is // passed over the net - string str1 = mCallSign; + string str1 = _getCallsign(); string str2 = "MOBIL"; - unsigned int loc1= str1.find( str2, 0 ); + string::size_type loc1= str1.find( str2, 0 ); if ( (loc1 != string::npos && str2 != "") ){ // cout << " string found " << str2 << " in " << str1 << endl; isTanker = true; // cout << "isTanker " << isTanker << " " << mCallSign <(*this, &FGAIMultiplayer::get##name) SGRawValueMethods(*this, \ &FGAIMultiplayer::get##name, &FGAIMultiplayer::set##name) - props->tie("callsign", AIMPROProp(const char *, CallSign)); + //props->tie("callsign", AIMPROProp(const char *, CallSign)); props->tie("controls/allow-extrapolation", AIMPRWProp(bool, AllowExtrapolation)); @@ -88,7 +94,7 @@ SGRawValueMethods(*this, \ void FGAIMultiplayer::unbind() { FGAIBase::unbind(); - props->untie("callsign"); + //props->untie("callsign"); props->untie("controls/allow-extrapolation"); props->untie("controls/lag-adjust-system-speed"); props->untie("refuel/contact"); @@ -96,6 +102,8 @@ void FGAIMultiplayer::unbind() { void FGAIMultiplayer::update(double dt) { + using namespace simgear; + if (dt <= 0) return; @@ -129,7 +137,8 @@ void FGAIMultiplayer::update(double dt) mTimeOffset = curentPkgTime - curtime - lag; } else { double offset = curentPkgTime - curtime - lag; - if (!mAllowExtrapolation && offset + lag < mTimeOffset) { + if ((!mAllowExtrapolation && offset + lag < mTimeOffset) + || (offset - 10 > mTimeOffset)) { mTimeOffset = offset; SG_LOG(SG_GENERAL, SG_DEBUG, "Resetting time offset adjust system to " "avoid extrapolation: time offset = " << mTimeOffset); @@ -172,7 +181,6 @@ void FGAIMultiplayer::update(double dt) SGVec3d ecPos; SGQuatf ecOrient; - SGVec3f myVel; if (tInterp <= curentPkgTime) { // Ok, we need a time prevous to the last available packet, @@ -186,17 +194,46 @@ void FGAIMultiplayer::update(double dt) MotionInfo::iterator firstIt = mMotionInfo.begin(); ecPos = firstIt->second.position; ecOrient = firstIt->second.orientation; - myVel = firstIt->second.linearVel; + speed = norm(firstIt->second.linearVel) * SG_METER_TO_NM * 3600.0; - std::vector::const_iterator firstPropIt; - std::vector::const_iterator firstPropItEnd; + std::vector::const_iterator firstPropIt; + std::vector::const_iterator firstPropItEnd; firstPropIt = firstIt->second.properties.begin(); firstPropItEnd = firstIt->second.properties.end(); while (firstPropIt != firstPropItEnd) { - float val = firstPropIt->value; - PropertyMap::iterator pIt = mPropertyMap.find(firstPropIt->id); + //cout << " Setting property..." << (*firstPropIt)->id; + PropertyMap::iterator pIt = mPropertyMap.find((*firstPropIt)->id); if (pIt != mPropertyMap.end()) - pIt->second->setFloatValue(val); + { + //cout << "Found " << pIt->second->getPath() << ":"; + switch ((*firstPropIt)->type) { + case props::INT: + case props::BOOL: + case props::LONG: + pIt->second->setIntValue((*firstPropIt)->int_value); + //cout << "Int: " << (*firstPropIt)->int_value << "\n"; + break; + case props::FLOAT: + case props::DOUBLE: + pIt->second->setFloatValue((*firstPropIt)->float_value); + //cout << "Flo: " << (*firstPropIt)->float_value << "\n"; + break; + case props::STRING: + case props::UNSPECIFIED: + pIt->second->setStringValue((*firstPropIt)->string_value); + //cout << "Str: " << (*firstPropIt)->string_value << "\n"; + break; + default: + // FIXME - currently defaults to float values + pIt->second->setFloatValue((*firstPropIt)->float_value); + //cout << "Unknown: " << (*firstPropIt)->float_value << "\n"; + break; + } + } + else + { + SG_LOG(SG_GENERAL, SG_DEBUG, "Unable to find property: " << (*firstPropIt)->id << "\n"); + } ++firstPropIt; } @@ -220,31 +257,95 @@ void FGAIMultiplayer::update(double dt) ecPos = ((1-tau)*prevIt->second.position + tau*nextIt->second.position); ecOrient = interpolate((float)tau, prevIt->second.orientation, nextIt->second.orientation); - myVel = ((1-tau)*prevIt->second.linearVel + tau*nextIt->second.linearVel); + speed = norm((1-tau)*prevIt->second.linearVel + + tau*nextIt->second.linearVel) * SG_METER_TO_NM * 3600.0; if (prevIt->second.properties.size() == nextIt->second.properties.size()) { - std::vector::const_iterator prevPropIt; - std::vector::const_iterator prevPropItEnd; - std::vector::const_iterator nextPropIt; - std::vector::const_iterator nextPropItEnd; + std::vector::const_iterator prevPropIt; + std::vector::const_iterator prevPropItEnd; + std::vector::const_iterator nextPropIt; + std::vector::const_iterator nextPropItEnd; prevPropIt = prevIt->second.properties.begin(); prevPropItEnd = prevIt->second.properties.end(); nextPropIt = nextIt->second.properties.begin(); nextPropItEnd = nextIt->second.properties.end(); while (prevPropIt != prevPropItEnd) { - float val = (1-tau)*prevPropIt->value + tau*nextPropIt->value; - PropertyMap::iterator pIt = mPropertyMap.find(prevPropIt->id); + PropertyMap::iterator pIt = mPropertyMap.find((*prevPropIt)->id); + //cout << " Setting property..." << (*prevPropIt)->id; + if (pIt != mPropertyMap.end()) - pIt->second->setFloatValue(val); + { + //cout << "Found " << pIt->second->getPath() << ":"; + + int ival; + float val; + switch ((*prevPropIt)->type) { + case props::INT: + case props::BOOL: + case props::LONG: + ival = (int) (0.5+(1-tau)*((double) (*prevPropIt)->int_value) + + tau*((double) (*nextPropIt)->int_value)); + pIt->second->setIntValue(ival); + //cout << "Int: " << ival << "\n"; + break; + case props::FLOAT: + case props::DOUBLE: + val = (1-tau)*(*prevPropIt)->float_value + + tau*(*nextPropIt)->float_value; + //cout << "Flo: " << val << "\n"; + pIt->second->setFloatValue(val); + break; + case props::STRING: + case props::UNSPECIFIED: + //cout << "Str: " << (*nextPropIt)->string_value << "\n"; + pIt->second->setStringValue((*nextPropIt)->string_value); + break; + default: + // FIXME - currently defaults to float values + val = (1-tau)*(*prevPropIt)->float_value + + tau*(*nextPropIt)->float_value; + //cout << "Unk: " << val << "\n"; + pIt->second->setFloatValue(val); + break; + } + } + else + { + SG_LOG(SG_GENERAL, SG_DEBUG, "Unable to find property: " << (*prevPropIt)->id << "\n"); + } + ++prevPropIt; ++nextPropIt; } } // Now throw away too old data - if (prevIt != mMotionInfo.begin()) { + if (prevIt != mMotionInfo.begin()) + { --prevIt; + + MotionInfo::iterator delIt; + delIt = mMotionInfo.begin(); + + while (delIt != prevIt) + { + std::vector::const_iterator propIt; + std::vector::const_iterator propItEnd; + propIt = delIt->second.properties.begin(); + propItEnd = delIt->second.properties.end(); + + //cout << "Deleting data\n"; + + while (propIt != propItEnd) + { + delete *propIt; + propIt++; + } + + delIt++; + } + mMotionInfo.erase(mMotionInfo.begin(), prevIt); } } @@ -266,7 +367,6 @@ void FGAIMultiplayer::update(double dt) ecOrient = motionInfo.orientation; SGVec3f linearVel = motionInfo.linearVel; SGVec3f angularVel = motionInfo.angularVel; - myVel = linearVel; while (0 < t) { double h = 1e-1; if (t < h) @@ -277,21 +377,51 @@ void FGAIMultiplayer::update(double dt) ecOrient += h*ecOrient.derivative(angularVel); linearVel += h*(cross(linearVel, angularVel) + motionInfo.linearAccel); - myVel = linearVel; angularVel += h*motionInfo.angularAccel; t -= h; } - std::vector::const_iterator firstPropIt; - std::vector::const_iterator firstPropItEnd; + std::vector::const_iterator firstPropIt; + std::vector::const_iterator firstPropItEnd; + speed = norm(linearVel) * SG_METER_TO_NM * 3600.0; firstPropIt = it->second.properties.begin(); firstPropItEnd = it->second.properties.end(); while (firstPropIt != firstPropItEnd) { - float val = firstPropIt->value; - PropertyMap::iterator pIt = mPropertyMap.find(firstPropIt->id); + PropertyMap::iterator pIt = mPropertyMap.find((*firstPropIt)->id); + //cout << " Setting property..." << (*firstPropIt)->id; + if (pIt != mPropertyMap.end()) - pIt->second->setFloatValue(val); + { + switch ((*firstPropIt)->type) { + case props::INT: + case props::BOOL: + case props::LONG: + pIt->second->setIntValue((*firstPropIt)->int_value); + //cout << "Int: " << (*firstPropIt)->int_value << "\n"; + break; + case props::FLOAT: + case props::DOUBLE: + pIt->second->setFloatValue((*firstPropIt)->float_value); + //cout << "Flo: " << (*firstPropIt)->float_value << "\n"; + break; + case props::STRING: + case props::UNSPECIFIED: + pIt->second->setStringValue((*firstPropIt)->string_value); + //cout << "Str: " << (*firstPropIt)->string_value << "\n"; + break; + default: + // FIXME - currently defaults to float values + pIt->second->setFloatValue((*firstPropIt)->float_value); + //cout << "Unk: " << (*firstPropIt)->float_value << "\n"; + break; + } + } + else + { + SG_LOG(SG_GENERAL, SG_DEBUG, "Unable to find property: " << (*firstPropIt)->id << "\n"); + } + ++firstPropIt; } } @@ -300,13 +430,6 @@ void FGAIMultiplayer::update(double dt) pos = SGGeod::fromCart(ecPos); altitude_ft = pos.getElevationFt(); - // estimate speed (we care only about magnitude not direction/frame - // of reference here) - double vel_ms = sqrt( myVel[0]*myVel[0] + myVel[1]*myVel[1] - + myVel[2]*myVel[2] ); - double vel_kts = vel_ms * SG_METER_TO_NM * 3600.0; - speed = vel_kts; - // The quaternion rotating from the earth centered frame to the // horizontal local frame SGQuatf qEc2Hl = SGQuatf::fromLonLatRad((float)pos.getLongitudeRad(), @@ -354,9 +477,18 @@ FGAIMultiplayer::addMotionInfo(const FGExternalMotionData& motionInfo, long stamp) { mLastTimestamp = stamp; - // Drop packets arriving out of order - if (!mMotionInfo.empty() && motionInfo.time < mMotionInfo.rbegin()->first) - return; + + if (!mMotionInfo.empty()) { + double diff = motionInfo.time - mMotionInfo.rbegin()->first; + + // packet is very old -- MP has probably reset (incl. his timebase) + if (diff < -10.0) + mMotionInfo.clear(); + + // drop packets arriving out of order + else if (diff < 0.0) + return; + } mMotionInfo[motionInfo.time] = motionInfo; } @@ -366,4 +498,3 @@ FGAIMultiplayer::setDoubleProperty(const std::string& prop, double val) SGPropertyNode* pNode = props->getChild(prop.c_str(), true); pNode->setDoubleValue(val); } -