296 lines
8.1 KiB
C++
296 lines
8.1 KiB
C++
// fdm_shell.cxx -- encapsulate FDM implementations as well-behaved subsystems
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//
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// Written by James Turner, started June 2010.
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//
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// Copyright (C) 2010 Curtis L. Olson - http://www.flightgear.org/~curt
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//
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// This program is free software; you can redistribute it and/or
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// modify it under the terms of the GNU General Public License as
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// published by the Free Software Foundation; either version 2 of the
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// License, or (at your option) any later version.
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//
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// This program is distributed in the hope that it will be useful, but
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// WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// General Public License for more details.
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//
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// You should have received a copy of the GNU General Public License
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// along with this program; if not, write to the Free Software
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// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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//
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// $Id$
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#ifdef HAVE_CONFIG_H
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# include <config.h>
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#endif
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#include <cassert>
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#include <simgear/structure/exception.hxx>
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#include <FDM/fdm_shell.hxx>
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#include <FDM/flight.hxx>
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#include <Aircraft/replay.hxx>
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#include <Main/globals.hxx>
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#include <Main/fg_props.hxx>
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#include <Scenery/scenery.hxx>
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// all the FDMs, since we are the factory method
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#ifdef ENABLE_SP_FDM
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#include <FDM/SP/ADA.hxx>
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#include <FDM/SP/ACMS.hxx>
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#include <FDM/SP/MagicCarpet.hxx>
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#include <FDM/SP/Balloon.h>
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#endif
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#include <FDM/ExternalNet/ExternalNet.hxx>
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#include <FDM/ExternalPipe/ExternalPipe.hxx>
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#ifdef ENABLE_JSBSIM
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#include <FDM/JSBSim/JSBSim.hxx>
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#endif
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#ifdef ENABLE_LARCSIM
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#include <FDM/LaRCsim/LaRCsim.hxx>
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#endif
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#include <FDM/UFO.hxx>
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#include <FDM/NullFDM.hxx>
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#ifdef ENABLE_YASIM
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#include <FDM/YASim/YASim.hxx>
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#endif
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/*
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* Evil global variable required by Network/FGNative,
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* see that class for more information
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*/
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FGInterface* evil_global_fdm_state = NULL;
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FDMShell::FDMShell() :
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_tankProperties( fgGetNode("/consumables/fuel", true) ),
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_impl(NULL),
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_dataLogging(false)
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{
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}
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FDMShell::~FDMShell()
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{
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delete _impl;
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}
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void FDMShell::init()
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{
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_props = globals->get_props();
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fgSetBool("/sim/fdm-initialized", false);
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_wind_north = _props->getNode("environment/wind-from-north-fps", true);
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_wind_east = _props->getNode("environment/wind-from-east-fps", true);
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_wind_down = _props->getNode("environment/wind-from-down-fps", true);
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_control_fdm_atmo = _props->getNode("environment/params/control-fdm-atmosphere", true);
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_temp_degc = _props->getNode("environment/temperature-degc", true);
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_pressure_inhg = _props->getNode("environment/pressure-inhg", true);
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_density_slugft = _props->getNode("environment/density-slugft3", true);
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_data_logging = _props->getNode("/sim/temp/fdm-data-logging", true);
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_replay_master = _props->getNode("/sim/freeze/replay-state", true);
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createImplementation();
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}
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void FDMShell::reinit()
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{
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if (_impl) {
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fgSetBool("/sim/fdm-initialized", false);
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evil_global_fdm_state = NULL;
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_impl->unbind();
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delete _impl;
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_impl = NULL;
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}
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init();
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}
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void FDMShell::bind()
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{
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_tankProperties.bind();
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if (_impl && _impl->get_inited()) {
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if (_impl->get_bound()) {
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throw sg_exception("FDMShell::bind of bound FGInterface impl");
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}
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_impl->bind();
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}
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}
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void FDMShell::unbind()
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{
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if( _impl ) _impl->unbind();
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_tankProperties.unbind();
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}
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void FDMShell::update(double dt)
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{
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if (!_impl) {
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return;
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}
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if (!_impl->get_inited()) {
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// Check for scenery around the aircraft.
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double lon = fgGetDouble("/sim/presets/longitude-deg");
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double lat = fgGetDouble("/sim/presets/latitude-deg");
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double range = 1000.0; // in meters
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SGGeod geod = SGGeod::fromDeg(lon, lat);
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if (globals->get_scenery()->scenery_available(geod, range)) {
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SG_LOG(SG_FLIGHT, SG_INFO, "Scenery loaded, will init FDM");
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_impl->init();
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if (_impl->get_bound()) {
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_impl->unbind();
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}
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_impl->bind();
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evil_global_fdm_state = _impl;
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fgSetBool("/sim/fdm-initialized", true);
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fgSetBool("/sim/signals/fdm-initialized", true);
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}
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}
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if (!_impl->get_inited()) {
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return; // still waiting
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}
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// pull environmental data in, since the FDMs are lazy
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_impl->set_Velocities_Local_Airmass(
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_wind_north->getDoubleValue(),
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_wind_east->getDoubleValue(),
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_wind_down->getDoubleValue());
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if (_control_fdm_atmo->getBoolValue()) {
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// convert from Rankine to Celsius
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double tempDegC = _temp_degc->getDoubleValue();
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_impl->set_Static_temperature((9.0/5.0) * (tempDegC + 273.15));
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// convert from inHG to PSF
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double pressureInHg = _pressure_inhg->getDoubleValue();
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_impl->set_Static_pressure(pressureInHg * 70.726566);
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// keep in slugs/ft^3
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_impl->set_Density(_density_slugft->getDoubleValue());
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}
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bool doLog = _data_logging->getBoolValue();
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if (doLog != _dataLogging) {
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_dataLogging = doLog;
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_impl->ToggleDataLogging(doLog);
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}
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switch(_replay_master->getIntValue())
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{
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case 0:
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// normal FDM operation
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_impl->update(dt);
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break;
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case 3:
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// resume FDM operation at current replay position
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_impl->reinit();
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break;
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default:
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// replay is active
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break;
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}
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}
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void FDMShell::createImplementation()
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{
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assert(!_impl);
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double dt = 1.0 / fgGetInt("/sim/model-hz");
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string model = fgGetString("/sim/flight-model");
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if ( model == "ufo" ) {
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_impl = new FGUFO( dt );
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} else if ( model == "external" ) {
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// external is a synonym for "--fdm=null" and is
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// maintained here for backwards compatibility
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_impl = new FGNullFDM( dt );
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} else if ( model.find("network") == 0 ) {
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string host = "localhost";
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int port1 = 5501;
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int port2 = 5502;
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int port3 = 5503;
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string net_options = model.substr(8);
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string::size_type begin, end;
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begin = 0;
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// host
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end = net_options.find( ",", begin );
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if ( end != string::npos ) {
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host = net_options.substr(begin, end - begin);
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begin = end + 1;
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}
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// port1
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end = net_options.find( ",", begin );
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if ( end != string::npos ) {
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port1 = atoi( net_options.substr(begin, end - begin).c_str() );
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begin = end + 1;
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}
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// port2
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end = net_options.find( ",", begin );
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if ( end != string::npos ) {
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port2 = atoi( net_options.substr(begin, end - begin).c_str() );
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begin = end + 1;
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}
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// port3
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end = net_options.find( ",", begin );
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if ( end != string::npos ) {
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port3 = atoi( net_options.substr(begin, end - begin).c_str() );
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begin = end + 1;
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}
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_impl = new FGExternalNet( dt, host, port1, port2, port3 );
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} else if ( model.find("pipe") == 0 ) {
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// /* old */ string pipe_path = model.substr(5);
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// /* old */ _impl = new FGExternalPipe( dt, pipe_path );
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string pipe_path = "";
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string pipe_protocol = "";
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string pipe_options = model.substr(5);
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string::size_type begin, end;
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begin = 0;
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// pipe file path
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end = pipe_options.find( ",", begin );
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if ( end != string::npos ) {
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pipe_path = pipe_options.substr(begin, end - begin);
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begin = end + 1;
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}
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// protocol (last option)
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pipe_protocol = pipe_options.substr(begin);
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_impl = new FGExternalPipe( dt, pipe_path, pipe_protocol );
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} else if ( model == "null" ) {
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_impl = new FGNullFDM( dt );
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}
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#ifdef ENABLE_LARCSIM
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else if ( model == "larcsim" ) {
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_impl = new FGLaRCsim( dt );
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}
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#endif
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#ifdef ENABLE_JSBSIM
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else if ( model == "jsb" ) {
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_impl = new FGJSBsim( dt );
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}
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#endif
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#ifdef ENABLE_SP_FDM
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else if ( model == "ada" ) {
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_impl = new FGADA( dt );
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} else if ( model == "acms" ) {
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_impl = new FGACMS( dt );
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} else if ( model == "balloon" ) {
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_impl = new FGBalloonSim( dt );
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} else if ( model == "magic" ) {
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_impl = new FGMagicCarpet( dt );
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}
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#endif
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#ifdef ENABLE_YASIM
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else if ( model == "yasim" ) {
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_impl = new YASim( dt );
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}
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#endif
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else {
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throw sg_exception(string("Unrecognized flight model '") + model
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+ "', cannot init flight dynamics model.");
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}
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}
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