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flightgear/src/Main/fg_init.cxx
curt 6bc7ed9ba2 Overhaul of the navaid system to increase efficiency, reduce redundancy, and 
also properly model the DME.
2000-05-04 01:18:45 +00:00

663 lines
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//
// fg_init.cxx -- Flight Gear top level initialization routines
//
// Written by Curtis Olson, started August 1997.
//
// Copyright (C) 1997 Curtis L. Olson - curt@infoplane.com
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
// published by the Free Software Foundation; either version 2 of the
// License, or (at your option) any later version.
//
// This program is distributed in the hope that it will be useful, but
// WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
//
//
// $Id$
#ifdef HAVE_CONFIG_H
# include <config.h>
#endif
// For BC 5.01 this must be included before OpenGL includes.
#ifdef FG_MATH_EXCEPTION_CLASH
# include <math.h>
#endif
#include <GL/glut.h>
#include <simgear/xgl/xgl.h>
#include <stdio.h>
#include <stdlib.h>
// 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
# define _G_NO_EXTERN_TEMPLATES
#endif
#include <simgear/compiler.h>
#include STL_STRING
#include <simgear/constants.h>
#include <simgear/debug/logstream.hxx>
#include <simgear/math/fg_geodesy.hxx>
#include <simgear/math/point3d.hxx>
#include <simgear/math/polar3d.hxx>
#include <simgear/misc/fgpath.hxx>
#include <Aircraft/aircraft.hxx>
#include <Airports/simple.hxx>
#include <Autopilot/auto_gui.hxx>
#include <Autopilot/newauto.hxx>
#include <Cockpit/cockpit.hxx>
#include <Cockpit/radiostack.hxx>
#include <Cockpit/panel.hxx>
#include <Cockpit/sp_panel.hxx>
#include <FDM/Balloon.h>
#include <FDM/External.hxx>
#include <FDM/JSBsim.hxx>
#include <FDM/LaRCsim.hxx>
#include <FDM/MagicCarpet.hxx>
#include <Include/general.hxx>
#include <Joystick/joystick.hxx>
#include <Navaids/fixlist.hxx>
#include <Navaids/ilslist.hxx>
#include <Navaids/navlist.hxx>
#include <Scenery/scenery.hxx>
#include <Scenery/tilemgr.hxx>
#include <Time/event.hxx>
#include <Time/fg_time.hxx>
#include <Time/light.hxx>
#include <Time/sunpos.hxx>
#include <Time/moonpos.hxx>
#ifndef FG_OLD_WEATHER
# include <WeatherCM/FGLocalWeatherDatabase.h>
#else
# include <Weather/weather.hxx>
#endif
#include "fg_init.hxx"
#include "fg_io.hxx"
#include "options.hxx"
#include "views.hxx"
#if defined(FX) && defined(XMESA)
#include <GL/xmesa.h>
#endif
FG_USING_STD(string);
extern const char *default_root;
// 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() );
config.append( "system.fgfsrc" );
current_options.parse_config_file( config.str() );
// Next check home directory
char* envp = ::getenv( "HOME" );
if ( envp != NULL ) {
config.set( envp );
config.append( ".fgfsrc" );
current_options.parse_config_file( config.str() );
}
// 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 ...");
return false;
}
return true;
}
// Set initial position and orientation
bool fgInitPosition( void ) {
string id;
FGInterface *f;
f = current_aircraft.fdm_state;
id = current_options.get_airport_id();
if ( id.length() ) {
// set initial position from airport id
FGPath path( current_options.get_fg_root() );
path.append( "Airports" );
path.append( "simple.gdbm" );
FGAirports airports( path.c_str() );
FGAirport a;
FG_LOG( FG_GENERAL, FG_INFO,
"Attempting to set starting position from airport code "
<< id );
// FGPath inpath( current_options.get_fg_root() );
// inpath.append( "Airports" );
// inpath.append( "apt_simple" );
// airports.load( inpath.c_str() );
// FGPath outpath( current_options.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,
"Failed to find " << id << " in database." );
exit(-1);
} else {
f->set_Longitude( a.longitude * DEG_TO_RAD );
f->set_Latitude( a.latitude * DEG_TO_RAD );
}
} else {
// 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 );
}
FG_LOG( FG_GENERAL, FG_INFO,
"starting altitude is = " << current_options.get_altitude() );
f->set_Altitude( current_options.get_altitude() * METER_TO_FEET );
fgFDMSetGroundElevation( current_options.get_flight_model(),
(f->get_Altitude() - 3.758099) * FEET_TO_METER );
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) << ")" );
return true;
}
// General house keeping initializations
bool fgInitGeneral( void ) {
string root;
#if defined(FX) && defined(XMESA)
char *mesa_win_state;
#endif
FG_LOG( FG_GENERAL, FG_INFO, "General Initialization" );
FG_LOG( FG_GENERAL, FG_INFO, "======= ==============" );
root = current_options.get_fg_root();
if ( ! root.length() ) {
// No root path set? Then bail ...
FG_LOG( FG_GENERAL, FG_ALERT,
"Cannot continue without environment variable FG_ROOT"
<< "being defined." );
exit(-1);
}
FG_LOG( FG_GENERAL, FG_INFO, "FG_ROOT = " << '"' << root << '"' << endl );
#if defined(FX) && defined(XMESA)
// initialize full screen flag
global_fullscreen = false;
if ( strstr ( general.get_glRenderer(), "Glide" ) ) {
// Test for the MESA_GLX_FX env variable
if ( (mesa_win_state = getenv( "MESA_GLX_FX" )) != NULL) {
// test if we are fullscreen mesa/glide
if ( (mesa_win_state[0] == 'f') ||
(mesa_win_state[0] == 'F') ) {
global_fullscreen = true;
}
}
}
#endif
return true;
}
// This is the top level init routine which calls all the other
// initialization routines. If you are adding a subsystem to flight
// gear, its initialization call should located in this routine.
// Returns non-zero if a problem encountered.
bool fgInitSubsystems( void ) {
fgLIGHT *l = &cur_light_params;
FGTime *t = FGTime::cur_time_params;
FG_LOG( FG_GENERAL, FG_INFO, "Initialize Subsystems");
FG_LOG( FG_GENERAL, FG_INFO, "========== ==========");
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" );
exit(-1);
}
// 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();
// Initialize the Scenery Management subsystem
if ( fgSceneryInit() ) {
// Scenery initialized ok.
} else {
FG_LOG( FG_GENERAL, FG_ALERT, "Error in Scenery initialization!" );
exit(-1);
}
if( global_tile_mgr.init() ) {
// Load the local scenery data
global_tile_mgr.update();
} else {
FG_LOG( FG_GENERAL, FG_ALERT, "Error in Tile Manager initialization!" );
exit(-1);
}
FG_LOG( FG_GENERAL, FG_DEBUG,
"Current terrain elevation after tile mgr init " <<
scenery.cur_elev );
// 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
global_events.Init();
// Output event stats every 60 seconds
global_events.Register( "fgEVENT_MGR::PrintStats()",
fgMethodCallback<fgEVENT_MGR>( &global_events,
&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 );
// fgUpdateSunPos() needs a few position and view parameters set
// so it can calculate local relative sun angle and a few other
// things for correctly orienting the sky.
fgUpdateSunPos();
fgUpdateMoonPos();
global_events.Register( "fgUpdateSunPos()", fgUpdateSunPos,
fgEVENT::FG_EVENT_READY, 60000);
global_events.Register( "fgUpdateMoonPos()", fgUpdateMoonPos,
fgEVENT::FG_EVENT_READY, 60000);
// Initialize Lighting interpolation tables
l->Init();
// update the lighting parameters (based on sun angle)
global_events.Register( "fgLight::Update()",
fgMethodCallback<fgLIGHT>( &cur_light_params,
&fgLIGHT::Update),
fgEVENT::FG_EVENT_READY, 30000 );
// update the current timezone each 30 minutes
global_events.Register( "fgTIME::updateLocal()",
fgMethodCallback<FGTime>(FGTime::cur_time_params,
&FGTime::updateLocal),
fgEVENT::FG_EVENT_READY, 1800000);
// Initialize the weather modeling subsystem
#ifndef FG_OLD_WEATHER
// Initialize the WeatherDatabase
FG_LOG(FG_GENERAL, FG_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 );
FGLocalWeatherDatabase::theFGLocalWeatherDatabase =
new FGLocalWeatherDatabase( position );
// cout << theFGLocalWeatherDatabase << endl;
// cout << "visibility = "
// << theFGLocalWeatherDatabase->getWeatherVisibility() << endl;
WeatherDatabase = FGLocalWeatherDatabase::theFGLocalWeatherDatabase;
// register the periodic update of the weather
global_events.Register( "weather update", fgUpdateWeatherDatabase,
fgEVENT::FG_EVENT_READY, 30000);
#else
current_weather.Init();
#endif
// Initialize vor/ndb/ils/fix list management and query systems
FG_LOG(FG_GENERAL, FG_INFO, "Loading Navaids");
FG_LOG(FG_GENERAL, FG_INFO, " VOR/NDB");
current_navlist = new FGNavList;
FGPath p_nav( current_options.get_fg_root() );
p_nav.append( "Navaids/default.nav" );
current_navlist->init( p_nav );
FG_LOG(FG_GENERAL, FG_INFO, " ILS");
current_ilslist = new FGILSList;
FGPath p_ils( current_options.get_fg_root() );
p_ils.append( "Navaids/default.ils" );
current_ilslist->init( p_ils );
FG_LOG(FG_GENERAL, FG_INFO, " Fixes");
current_fixlist = new FGFixList;
FGPath p_fix( current_options.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( 299.0 );
current_radiostack->set_nav2_freq( 115.70 );
current_radiostack->set_nav2_alt_freq( 115.70 );
current_radiostack->set_nav2_sel_radial( 45.0 );
current_radiostack->set_adf_freq( 266.0 );
current_radiostack->search( cur_fdm_state->get_Longitude(),
cur_fdm_state->get_Latitude(),
cur_fdm_state->get_Altitude() * FEET_TO_METER );
current_radiostack->update( cur_fdm_state->get_Longitude(),
cur_fdm_state->get_Latitude(),
cur_fdm_state->get_Altitude() * FEET_TO_METER );
// Search radio database once per second
global_events.Register( "fgRadioSearch()", fgRadioSearch,
fgEVENT::FG_EVENT_READY, 1000);
// Initialize the Cockpit subsystem
if( fgCockpitInit( &current_aircraft )) {
// Cockpit initialized ok.
} else {
FG_LOG( FG_GENERAL, FG_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;
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) << ")" );
// 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!" );
}
// Autopilot init
current_autopilot = new FGAutopilot;
current_autopilot->init();
// initialize the gui parts of the autopilot
NewTgtAirportInit();
fgAPAdjustInit() ;
NewHeadingInit();
NewAltitudeInit();
// Initialize I/O channels
#if ! defined( MACOS )
fgIOInit();
#endif
// Initialize the 2D panel.
current_panel = fgCreateSmallSinglePropPanel(0, 0, 1024, 768);
FG_LOG( FG_GENERAL, FG_INFO, endl);
return true;
}
void fgReInitSubsystems( void )
{
FGTime *t = FGTime::cur_time_params;
int toggle_pause = t->getPause();
if( !toggle_pause )
t->togglePauseMode();
fgInitPosition();
if( global_tile_mgr.init() ) {
// Load the local scenery data
global_tile_mgr.update();
} else {
FG_LOG( FG_GENERAL, FG_ALERT, "Error in Tile Manager initialization!" );
exit(-1);
}
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 );
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());
// 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() );
scenery.cur_elev = cur_fdm_state->get_Runway_altitude() * FEET_TO_METER;
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 );
}
controls.reset_all();
current_autopilot->reset();
if( !toggle_pause )
t->togglePauseMode();
}
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