hla: Convert to the new callback system.
This commit is contained in:
Mathias Froehlich
parent
909ed99332
commit
a131589a6c
1 changed files with 78 additions and 56 deletions
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@ -588,16 +588,14 @@ private:
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SGSharedPtr<PropertyReferenceSet> _propertyReferenceSet;
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};
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class MPAttributeCallback : public sg::HLAObjectInstance::AttributeCallback {
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class MPAttributeData {
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public:
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MPAttributeCallback() :
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MPAttributeData() :
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_propertyReferenceSet(new PropertyReferenceSet),
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_mpProperties(new sg::HLAVariantArrayDataElement)
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{
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_mpProperties->setAlternativeDataElementFactory(new MPPropertyVariantRecordDataElementFactory(_propertyReferenceSet.get()));
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}
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virtual ~MPAttributeCallback()
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{ }
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void setLocation(sg::HLAAbstractLocation* location)
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{ _location = location; }
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@ -624,80 +622,104 @@ public:
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{ return _mpProperties.get(); }
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SGSharedPtr<PropertyReferenceSet> _propertyReferenceSet;
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protected:
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SGSharedPtr<sg::HLAAbstractLocation> _location;
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SGSharedPtr<AbstractSimTime> _simTime;
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SGSharedPtr<AbstractModel> _model;
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SGSharedPtr<sg::HLAVariantArrayDataElement> _mpProperties;
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};
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class MPOutAttributeCallback : public MPAttributeCallback {
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class MPUpdateCallback : public sg::HLAObjectInstance::UpdateCallback {
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public:
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virtual void updateAttributeValues(sg::HLAObjectInstance&, const sg::RTIData&)
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virtual void updateAttributeValues(sg::HLAObjectInstance& objectInstance, const sg::RTIData& tag)
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{
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_simTime->setTimeStamp(globals->get_sim_time_sec());
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updateAttributeValues();
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objectInstance.encodeAttributeValues();
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objectInstance.sendAttributeValues(tag);
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}
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SGGeod position = ifce.getPosition();
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virtual void updateAttributeValues(sg::HLAObjectInstance& objectInstance, const SGTimeStamp& timeStamp, const sg::RTIData& tag)
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{
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updateAttributeValues();
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objectInstance.encodeAttributeValues();
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objectInstance.sendAttributeValues(timeStamp, tag);
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}
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void updateAttributeValues()
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{
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_attributeData._simTime->setTimeStamp(globals->get_sim_time_sec());
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SGGeod position = _ifce.getPosition();
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// The quaternion rotating from the earth centered frame to the
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// horizontal local frame
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SGQuatd qEc2Hl = SGQuatd::fromLonLat(position);
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SGQuatd hlOr = SGQuatd::fromYawPitchRoll(ifce.get_Psi(), ifce.get_Theta(), ifce.get_Phi());
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_location->setCartPosition(SGVec3d::fromGeod(position));
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_location->setCartOrientation(qEc2Hl*hlOr);
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SGQuatd hlOr = SGQuatd::fromYawPitchRoll(_ifce.get_Psi(), _ifce.get_Theta(), _ifce.get_Phi());
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_attributeData._location->setCartPosition(SGVec3d::fromGeod(position));
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_attributeData._location->setCartOrientation(qEc2Hl*hlOr);
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// The angular velocitied in the body frame
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double p = ifce.get_P_body();
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double q = ifce.get_Q_body();
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double r = ifce.get_R_body();
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_location->setAngularBodyVelocity(SGVec3d(p, q, r));
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double p = _ifce.get_P_body();
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double q = _ifce.get_Q_body();
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double r = _ifce.get_R_body();
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_attributeData._location->setAngularBodyVelocity(SGVec3d(p, q, r));
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// The body uvw velocities in the interface are wrt the wind instead
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// of wrt the ec frame
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double n = ifce.get_V_north();
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double e = ifce.get_V_east();
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double d = ifce.get_V_down();
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_location->setLinearBodyVelocity(hlOr.transform(SGVec3d(n, e, d)));
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double n = _ifce.get_V_north();
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double e = _ifce.get_V_east();
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double d = _ifce.get_V_down();
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_attributeData._location->setLinearBodyVelocity(hlOr.transform(SGVec3d(n, e, d)));
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if (_mpProperties.valid() && _mpProperties->getNumElements() == 0) {
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if (_propertyReferenceSet.valid() && _propertyReferenceSet->getRootNode()) {
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const sg::HLADataType* elementDataType = _mpProperties->getElementDataType();
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if (_attributeData._mpProperties.valid() && _attributeData._mpProperties->getNumElements() == 0) {
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if (_attributeData._propertyReferenceSet.valid() && _attributeData._propertyReferenceSet->getRootNode()) {
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const sg::HLADataType* elementDataType = _attributeData._mpProperties->getElementDataType();
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const sg::HLAVariantRecordDataType* variantRecordDataType = elementDataType->toVariantRecordDataType();
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for (unsigned i = 0, count = 0; i < variantRecordDataType->getNumAlternatives(); ++i) {
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std::string name = variantRecordDataType->getAlternativeSemantics(i);
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SGPropertyNode* node = _propertyReferenceSet->getRootNode()->getNode(name);
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SGPropertyNode* node = _attributeData._propertyReferenceSet->getRootNode()->getNode(name);
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if (!node)
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continue;
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_mpProperties->getOrCreateElement(count++)->setAlternativeIndex(i);
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_attributeData._mpProperties->getOrCreateElement(count++)->setAlternativeIndex(i);
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}
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}
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}
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}
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private:
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FlightProperties ifce;
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MPAttributeData _attributeData;
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FlightProperties _ifce;
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};
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class MPInAttributeCallback : public MPAttributeCallback {
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class MPReflectCallback : public sg::HLAObjectInstance::ReflectCallback {
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public:
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virtual void reflectAttributeValues(sg::HLAObjectInstance& objectInstance,
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const sg::RTIIndexDataPairList&, const sg::RTIData&)
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const sg::HLAIndexList& indexList, const sg::RTIData& tag)
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{
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objectInstance.reflectAttributeValues(indexList, tag);
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reflectAttributeValues();
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}
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virtual void reflectAttributeValues(sg::HLAObjectInstance& objectInstance, const sg::HLAIndexList& indexList,
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const SGTimeStamp& timeStamp, const sg::RTIData& tag)
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{
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objectInstance.reflectAttributeValues(indexList, timeStamp, tag);
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reflectAttributeValues();
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}
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void reflectAttributeValues()
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{
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// Puh, damn ordering problems with properties startup and so on
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if (_aiMultiplayer.valid()) {
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FGExternalMotionData motionInfo;
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motionInfo.time = _simTime->getTimeStamp();
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motionInfo.time = _attributeData._simTime->getTimeStamp();
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motionInfo.lag = 0;
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motionInfo.position = _location->getCartPosition();
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motionInfo.orientation = toQuatf(_location->getCartOrientation());
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motionInfo.linearVel = toVec3f(_location->getLinearBodyVelocity());
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motionInfo.angularVel = toVec3f(_location->getAngularBodyVelocity());
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motionInfo.position = _attributeData._location->getCartPosition();
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motionInfo.orientation = toQuatf(_attributeData._location->getCartOrientation());
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motionInfo.linearVel = toVec3f(_attributeData._location->getLinearBodyVelocity());
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motionInfo.angularVel = toVec3f(_attributeData._location->getAngularBodyVelocity());
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motionInfo.linearAccel = SGVec3f::zeros();
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motionInfo.angularAccel = SGVec3f::zeros();
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_aiMultiplayer->addMotionInfo(motionInfo, SGTimeStamp::now().getSeconds());
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} else {
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std::string modelPath = _model->getModelPath();
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std::string modelPath = _attributeData._model->getModelPath();
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if (modelPath.empty())
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return;
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FGAIManager *aiMgr;
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@ -709,7 +731,7 @@ public:
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_aiMultiplayer->setPath(modelPath.c_str());
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aiMgr->attach(_aiMultiplayer.get());
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_propertyReferenceSet->setRootNode(_aiMultiplayer->getPropertyRoot());
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_attributeData._propertyReferenceSet->setRootNode(_aiMultiplayer->getPropertyRoot());
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}
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}
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@ -721,7 +743,7 @@ public:
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_aiMultiplayer = 0;
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}
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private:
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MPAttributeData _attributeData;
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SGSharedPtr<FGAIMultiplayer> _aiMultiplayer;
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};
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@ -735,28 +757,28 @@ public:
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virtual void discoverInstance(const sg::HLAObjectClass& objectClass, sg::HLAObjectInstance& objectInstance, const sg::RTIData& tag)
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{
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MPInAttributeCallback* attributeCallback = new MPInAttributeCallback;
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objectInstance.setAttributeCallback(attributeCallback);
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attachDataElements(objectInstance, *attributeCallback, false);
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MPReflectCallback* reflectCallback = new MPReflectCallback;
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objectInstance.setReflectCallback(reflectCallback);
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attachDataElements(objectInstance, reflectCallback->_attributeData, false);
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}
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virtual void removeInstance(const sg::HLAObjectClass& objectClass, sg::HLAObjectInstance& objectInstance, const sg::RTIData& tag)
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{
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MPInAttributeCallback* attributeCallback;
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attributeCallback = dynamic_cast<MPInAttributeCallback*>(objectInstance.getAttributeCallback().get());
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if (!attributeCallback) {
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MPReflectCallback* reflectCallback;
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reflectCallback = dynamic_cast<MPReflectCallback*>(objectInstance.getReflectCallback().get());
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if (!reflectCallback) {
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SG_LOG(SG_IO, SG_WARN, "HLA: expected to have a different attribute callback in remove instance.");
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return;
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}
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attributeCallback->setDie();
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reflectCallback->setDie();
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}
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virtual void registerInstance(const sg::HLAObjectClass& objectClass, sg::HLAObjectInstance& objectInstance)
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{
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MPOutAttributeCallback* attributeCallback = new MPOutAttributeCallback;
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objectInstance.setAttributeCallback(attributeCallback);
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attachDataElements(objectInstance, *attributeCallback, true);
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attributeCallback->_propertyReferenceSet->setRootNode(fgGetNode("/", true));
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MPUpdateCallback* updateCallback = new MPUpdateCallback;
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objectInstance.setUpdateCallback(updateCallback);
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attachDataElements(objectInstance, updateCallback->_attributeData, true);
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updateCallback->_attributeData._propertyReferenceSet->setRootNode(fgGetNode("/", true));
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}
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virtual void deleteInstance(const sg::HLAObjectClass& objectClass, sg::HLAObjectInstance& objectInstance)
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@ -796,24 +818,24 @@ public:
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}
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private:
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void attachDataElements(sg::HLAObjectInstance& objectInstance, MPAttributeCallback& attributeCallback, bool outgoing)
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void attachDataElements(sg::HLAObjectInstance& objectInstance, MPAttributeData& attributeData, bool outgoing)
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{
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sg::HLAAttributePathElementMap attributePathElementMap;
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if (_locationFactory.valid())
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attributeCallback.setLocation(_locationFactory->createLocation(attributePathElementMap));
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attributeData.setLocation(_locationFactory->createLocation(attributePathElementMap));
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if (_modelFactory.valid())
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attributeCallback.setModel(_modelFactory->createModel(attributePathElementMap, outgoing));
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attributeData.setModel(_modelFactory->createModel(attributePathElementMap, outgoing));
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if (_simTimeFactory.valid())
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attributeCallback.setSimTime(_simTimeFactory->createSimTime(attributePathElementMap));
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attributeData.setSimTime(_simTimeFactory->createSimTime(attributePathElementMap));
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attributePathElementMap[_mpPropertiesIndexPathPair.first][_mpPropertiesIndexPathPair.second] = attributeCallback.getMPProperties();
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attributePathElementMap[_mpPropertiesIndexPathPair.first][_mpPropertiesIndexPathPair.second] = attributeData.getMPProperties();
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if (outgoing)
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attachPropertyDataElements(*attributeCallback._propertyReferenceSet,
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attachPropertyDataElements(*attributeData._propertyReferenceSet,
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attributePathElementMap, _outputProperties);
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else
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attachPropertyDataElements(*attributeCallback._propertyReferenceSet,
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attachPropertyDataElements(*attributeData._propertyReferenceSet,
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attributePathElementMap, _inputProperties);
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objectInstance.setAttributes(attributePathElementMap);
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