X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FMain%2Ffg_init.cxx;h=699765c32d3dabf6a282d014514260b63121dfa1;hb=76a94d8f0278eeddf692850918526df84a73429c;hp=313776de7cb9550a3afa1a4907d6d6b9cc9dbfb6;hpb=941f27c9a06b21183e977efea86503e7ed9ef995;p=flightgear.git diff --git a/src/Main/fg_init.cxx b/src/Main/fg_init.cxx index 313776de7..699765c32 100644 --- a/src/Main/fg_init.cxx +++ b/src/Main/fg_init.cxx @@ -27,16 +27,24 @@ #endif // For BC 5.01 this must be included before OpenGL includes. -#ifdef FG_MATH_EXCEPTION_CLASH +#ifdef SG_MATH_EXCEPTION_CLASH # include #endif +#ifdef HAVE_WINDOWS_H +# include +#endif + #include -#include #include #include + +#if defined( unix ) || defined( __CYGWIN__ ) +# include // 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 @@ -49,30 +57,35 @@ #include #include -#include #include #include -#include +#include +#include #include #include +#include +#include #include #include #include #include #include #include -#include +#include +#include #include #include -#include +#include #include #include #include -#include +#include +// #include #include #include #include +#include #include #include #include @@ -90,124 +103,333 @@ #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 #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; } @@ -221,18 +443,18 @@ bool fgInitGeneral( void ) { 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 @@ -260,152 +482,93 @@ bool fgInitGeneral( void ) { 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 @@ -414,27 +577,42 @@ bool fgInitSubsystems( void ) { &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 @@ -454,26 +632,43 @@ bool fgInitSubsystems( void ) { fgMethodCallback( &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); @@ -481,103 +676,75 @@ bool fgInitSubsystems( void ) { 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(); @@ -587,18 +754,61 @@ bool fgInitSubsystems( void ) { 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; } @@ -606,98 +816,61 @@ bool fgInitSubsystems( void ) { 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 ); }