//------------------------------------------------------------------------------
// irRequestSignature() -- Send an IR query packet at all active players to request an IR signature
//------------------------------------------------------------------------------
void IrSeeker::irRequestSignature(IrQueryMsg* const irQuery)
{
// Need something to store the required data for the IR signatures and someone to send to
Tdb* tdb0 = getCurrentTDB();
Player* ownship = getOwnship();
if (irQuery == 0 || tdb0 == 0 || ownship == 0) {
// Clean up and leave
if (tdb0 != 0) tdb0->unref();
return;
}
// ---
// Compute gimbal boresight data for our targets
// ---
// FAB - cannot use ownHdgOnly
unsigned int ntgts = tdb0->computeBoresightData();
if (ntgts > MAX_PLAYERS) ntgts = MAX_PLAYERS;
// ---
// If we have targets
// ---
const osg::Vec3d* losG = tdb0->getGimbalLosVectors();
if (ntgts > 0 && losG != 0) {
// Fetch the required data arrays from the TargetDataBlock
const double* ranges = tdb0->getTargetRanges();
const double* rngRates = tdb0->getTargetRangeRates();
const double* anglesOffBoresight = tdb0->getBoresightErrorAngles();
const osg::Vec3d* losO2T = tdb0->getLosVectors();
const osg::Vec3d* losT2O = tdb0->getTargetLosVectors();
Player** targets = tdb0->getTargets();
LCreal maximumRange = irQuery->getMaxRangeNM()*Basic::Distance::NM2M;
// ---
// Send query packets to the targets
// ---
for (unsigned int i = 0; i < ntgts; i++) {
// filter on sensor max range
// can't filter on sensor range in processPlayers - different sensors can have different max range
if (maximumRange > 0.0 && ranges[i] > maximumRange)
continue;
// Get a free query packet
lcLock(freeQueryLock);
IrQueryMsg* query = freeQueryStack.pop();
lcUnlock(freeQueryLock);
if (query == 0) {
query = new IrQueryMsg();
//if (ownship->getID() != 1) {
// static tcnt = 0;
// tcnt++;
//if (isMessageEnabled(MSG_INFO)) {
// std::cout << "new IrQueryMsg(" << this << "): " << tcnt << ", inused: " << inUseEmQueue.entries() << ", em = " << em << std::endl;
//}
//}
}
// Send the IR query message to the other player
if (query != 0) {
// a) Copy the template query msg
*query = *irQuery;
// b) Set target unique data
query->setGimbal(this);
query->setOwnship(ownship);
query->setRange( LCreal(ranges[i]) );
query->setLosVec( losO2T[i] );
query->setTgtLosVec( losT2O[i] );
query->setRangeRate( LCreal(rngRates[i]) );
query->setTarget(targets[i]);
query->setAngleOffBoresight( LCreal(anglesOffBoresight[i]) );
query->setGimbalAzimuth( LCreal(getAzimuth()) );
query->setGimbalElevation( LCreal(getElevation()) );
// c) Send the query to the target
targets[i]->event(IR_QUERY, query);
// d) Dispose of the query
if (query->getRefCount() <= 1) {
// Recycle the query packet
query->clear();
lcLock(freeQueryLock);
if (freeQueryStack.isNotFull()) {
freeQueryStack.push(query);
}
else {
query->unref();
}
lcUnlock(freeQueryLock);
}
else {
// Store for future reference
lcLock(inUseQueryLock);
if (inUseQueryQueue.isNotFull()) {
inUseQueryQueue.put(query);
}
else {
// Just forget it
query->unref();
}
lcUnlock(inUseQueryLock);
}
}
else {
// When we couldn't get a free query packet
if (isMessageEnabled(MSG_WARNING)) {
std::cerr << "Iw Seeker: OUT OF Query messages!" << std::endl;
}
}
}
}
// Unref() the TDB
tdb0->unref();
}
