//------------------------------------------------------------------------------ // process() -- Process phase //------------------------------------------------------------------------------ void IrSeeker::process(const LCreal dt) { BaseClass::process(dt); // --- // Update IR query queues: from 'in-use' to 'free' // --- lcLock(inUseQueryLock); int n = inUseQueryQueue.entries(); for (int i = 0; i < n; i++) { IrQueryMsg* query = inUseQueryQueue.get(); if (query != 0) { if (query->getRefCount() <= 1) { // No one else is referencing the query, push on free stack query->clear(); lcLock(freeQueryLock); if (freeQueryStack.isNotFull()) { freeQueryStack.push(query); } else { query->unref(); } lcUnlock(freeQueryLock); } else { // Others are still referencing the query, put back on in-use queue inUseQueryQueue.put(query); } } } lcUnlock(inUseQueryLock); }
//------------------------------------------------------------------------------ // 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(); }