1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
5 file The header file for the JSBSim executive.
7 ------------- Copyright (C) 1999 Jon S. Berndt (jon@jsbsim.org) -------------
9 This program is free software; you can redistribute it and/or modify it under
10 the terms of the GNU Lesser General Public License as published by the Free Software
11 Foundation; either version 2 of the License, or (at your option) any later
14 This program is distributed in the hope that it will be useful, but WITHOUT
15 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
16 FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
19 You should have received a copy of the GNU Lesser General Public License along with
20 this program; if not, write to the Free Software Foundation, Inc., 59 Temple
21 Place - Suite 330, Boston, MA 02111-1307, USA.
23 Further information about the GNU Lesser General Public License can also be found on
24 the world wide web at http://www.gnu.org.
27 --------------------------------------------------------------------------------
29 7/31/99 TP Added RunIC function that runs the sim so that every frame
30 begins with the IC values from the given FGInitialCondition
33 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
35 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
37 #ifndef FGFDMEXEC_HEADER_H
38 #define FGFDMEXEC_HEADER_H
40 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
42 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
47 #include "initialization/FGTrim.h"
48 #include "FGJSBBase.h"
49 #include "input_output/FGPropertyManager.h"
50 #include "input_output/FGXMLFileRead.h"
51 #include "models/FGPropagate.h"
52 #include "math/FGColumnVector3.h"
54 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
56 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
58 #define ID_FDMEXEC "$Id: FGFDMExec.h,v 1.74 2011/11/09 21:58:26 bcoconni Exp $"
60 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
62 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
71 class FGAccelerations;
74 class FGBuoyantForces;
75 class FGExternalReactions;
76 class FGGroundReactions;
85 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
87 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
89 /** Encapsulates the JSBSim simulation executive.
90 This class is the executive class through which all other simulation classes
91 are instantiated, initialized, and run. When integrated with FlightGear (or
92 other flight simulator) this class is typically instantiated by an interface
93 class on the simulator side.
95 At the time of simulation initialization, the interface
96 class creates an instance of this executive class. The
97 executive is subsequently directed to load the chosen aircraft specification
101 fdmex = new FGFDMExec( ... );
102 result = fdmex->LoadModel( ... );
105 When an aircraft model is loaded, the config file is parsed and for each of the
106 sections of the config file (propulsion, flight control, etc.) the
107 corresponding Load() method is called (e.g. FGFCS::Load()).
109 Subsequent to the creation of the executive and loading of the model,
110 initialization is performed. Initialization involves copying control inputs
111 into the appropriate JSBSim data storage locations, configuring it for the set
112 of user supplied initial conditions, and then copying state variables from
113 JSBSim. The state variables are used to drive the instrument displays and to
114 place the vehicle model in world space for visual rendering:
117 copy_to_JSBsim(); // copy control inputs to JSBSim
118 fdmex->RunIC(); // loop JSBSim once w/o integrating
119 copy_from_JSBsim(); // update the bus
122 Once initialization is complete, cyclic execution proceeds:
125 copy_to_JSBsim(); // copy control inputs to JSBSim
126 fdmex->Run(); // execute JSBSim
127 copy_from_JSBsim(); // update the bus
130 JSBSim can be used in a standalone mode by creating a compact stub program
131 that effectively performs the same progression of steps as outlined above for
132 the integrated version, but with two exceptions. First, the copy_to_JSBSim()
133 and copy_from_JSBSim() functions are not used because the control inputs are
134 handled directly by the scripting facilities and outputs are handled by the
135 output (data logging) class. Second, the name of a script file can be supplied
136 to the stub program. Scripting (see FGScript) provides a way to supply command
137 inputs to the simulation:
140 FDMExec = new JSBSim::FGFDMExec();
141 FDMExec->LoadScript( ScriptName ); // the script loads the aircraft and ICs
142 result = FDMExec->Run();
143 while (result) { // cyclic execution
144 result = FDMExec->Run(); // execute JSBSim
148 The standalone mode has been useful for verifying changes before committing
149 updates to the source code repository. It is also useful for running sets of
150 tests that reveal some aspects of simulated aircraft performance, such as
151 range, time-to-climb, takeoff distance, etc.
153 <h3>JSBSim Debugging Directives</h3>
155 This describes to any interested entity the debug level
156 requested by setting the JSBSIM_DEBUG environment variable.
157 The bitmasked value choices are as follows:
158 - <b>unset</b>: In this case (the default) JSBSim would only print
159 out the normally expected messages, essentially echoing
160 the config files as they are read. If the environment
161 variable is not set, debug_lvl is set to 1 internally
162 - <b>0</b>: This requests JSBSim not to output any messages
164 - <b>1</b>: This value explicity requests the normal JSBSim
166 - <b>2</b>: This value asks for a message to be printed out when
167 a class is instantiated
168 - <b>4</b>: When this value is set, a message is displayed when a
169 FGModel object executes its Run() method
170 - <b>8</b>: When this value is set, various runtime state variables
171 are printed out periodically
172 - <b>16</b>: When set various parameters are sanity checked and
173 a message is printed out when they go out of bounds
176 @property simulator/do_trim (write only) Can be set to the integer equivalent to one of
177 tLongitudinal (0), tFull (1), tGround (2), tPullup (3),
178 tCustom (4), tTurn (5). Setting this to a legal value
179 (such as by a script) causes a trim to be performed. This
180 property actually maps toa function call of DoTrim().
182 @author Jon S. Berndt
183 @version $Revision: 1.74 $
186 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
188 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
190 class FGFDMExec : public FGJSBBase, public FGXMLFileRead
196 FGColumnVector3 Orient;
202 Loc = FGColumnVector3(0,0,0);
203 Orient = FGColumnVector3(0,0,0);
208 void Run(void) {exec->Run();}
209 void AssignState(FGPropagate* source_prop) {
210 exec->GetPropagate()->SetVState(source_prop->GetVState());
220 /// Default constructor
221 FGFDMExec(FGPropertyManager* root = 0, unsigned int* fdmctr = 0);
223 /// Default destructor
226 // This list of enums is very important! The order in which models are listed here
227 // determines the order of execution of the models.
228 enum eModels { ePropagate=0,
243 eNumStandardModels };
245 /** Unbind all tied JSBSim properties. */
246 void Unbind(void) {instance->Unbind();}
248 /** This routine places a model into the runlist at the specified rate. The
249 "rate" is not really a clock rate. It represents how many calls to the
250 FGFDMExec::Run() method must be made before the model is executed. A
251 value of 1 means that the model will be executed for each call to the
252 exec's Run() method. A value of 5 means that the model will only be
253 executed every 5th call to the exec's Run() method. Use of a rate other than
254 one is at this time not recommended.
255 @param model A pointer to the model being scheduled.
256 @param rate The rate at which to execute the model as described above.
257 Default is every frame (rate=1).
258 @return Currently returns 0 always. */
259 void Schedule(FGModel* model, int rate=1);
261 /** This function executes each scheduled model in succession.
262 @return true if successful, false if sim should be ended */
265 /** Initializes the sim from the initial condition object and executes
266 each scheduled model without integrating i.e. dt=0.
267 @return true if successful */
270 /** Sets the ground callback pointer. For optimal memory management, a shared
271 pointer is used internally that maintains a reference counter. The calling
272 application must therefore use FGGroundCallback_ptr 'smart pointers' to
273 manage their copy of the ground callback.
274 @param gc A pointer to a ground callback object
275 @see FGGroundCallback
277 void SetGroundCallback(FGGroundCallback* gc) { FGLocation::SetGroundCallback(gc); }
279 /** Loads an aircraft model.
280 @param AircraftPath path to the aircraft/ directory. For instance:
281 "aircraft". Under aircraft, then, would be directories for various
282 modeled aircraft such as C172/, x15/, etc.
283 @param EnginePath path to the directory under which engine config
284 files are kept, for instance "engine"
285 @param SystemsPath path to the directory under which systems config
286 files are kept, for instance "systems"
287 @param model the name of the aircraft model itself. This file will
288 be looked for in the directory specified in the AircraftPath variable,
289 and in turn under the directory with the same name as the model. For
290 instance: "aircraft/x15/x15.xml"
291 @param addModelToPath set to true to add the model name to the
292 AircraftPath, defaults to true
293 @return true if successful */
294 bool LoadModel(const string& AircraftPath, const string& EnginePath, const string& SystemsPath,
295 const string& model, bool addModelToPath = true);
297 /** Loads an aircraft model. The paths to the aircraft and engine
298 config file directories must be set prior to calling this. See
300 @param model the name of the aircraft model itself. This file will
301 be looked for in the directory specified in the AircraftPath variable,
302 and in turn under the directory with the same name as the model. For
303 instance: "aircraft/x15/x15.xml"
304 @param addModelToPath set to true to add the model name to the
305 AircraftPath, defaults to true
306 @return true if successful*/
307 bool LoadModel(const string& model, bool addModelToPath = true);
310 @param Script the full path name and file name for the script to be loaded.
311 @param deltaT The simulation integration step size, if given. If no value is supplied
312 then 0.0 is used and the value is expected to be supplied in
313 the script file itself.
314 @return true if successfully loadsd; false otherwise. */
315 bool LoadScript(const string& Script, double deltaT=0.0);
317 /** Sets the path to the engine config file directories.
318 @param path path to the directory under which engine config
319 files are kept, for instance "engine" */
320 bool SetEnginePath(const string& path) { EnginePath = RootDir + path; return true; }
322 /** Sets the path to the aircraft config file directories.
323 @param path path to the aircraft directory. For instance:
324 "aircraft". Under aircraft, then, would be directories for various
325 modeled aircraft such as C172/, x15/, etc. */
326 bool SetAircraftPath(const string& path) { AircraftPath = RootDir + path; return true; }
328 /** Sets the path to the systems config file directories.
329 @param path path to the directory under which systems config
330 files are kept, for instance "systems" */
331 bool SetSystemsPath(const string& path) { SystemsPath = RootDir + path; return true; }
333 /// @name Top-level executive State and Model retrieval mechanism
335 /// Returns the FGAtmosphere pointer.
336 FGAtmosphere* GetAtmosphere(void) {return (FGAtmosphere*)Models[eAtmosphere];}
337 /// Returns the FGAccelerations pointer.
338 FGAccelerations* GetAccelerations(void) {return (FGAccelerations*)Models[eAccelerations];}
339 /// Returns the FGWinds pointer.
340 FGWinds* GetWinds(void) {return (FGWinds*)Models[eWinds];}
341 /// Returns the FGFCS pointer.
342 FGFCS* GetFCS(void) {return (FGFCS*)Models[eSystems];}
343 /// Returns the FGPropulsion pointer.
344 FGPropulsion* GetPropulsion(void) {return (FGPropulsion*)Models[ePropulsion];}
345 /// Returns the FGAircraft pointer.
346 FGMassBalance* GetMassBalance(void) {return (FGMassBalance*)Models[eMassBalance];}
347 /// Returns the FGAerodynamics pointer
348 FGAerodynamics* GetAerodynamics(void){return (FGAerodynamics*)Models[eAerodynamics];}
349 /// Returns the FGInertial pointer.
350 FGInertial* GetInertial(void) {return (FGInertial*)Models[eInertial];}
351 /// Returns the FGGroundReactions pointer.
352 FGGroundReactions* GetGroundReactions(void) {return (FGGroundReactions*)Models[eGroundReactions];}
353 /// Returns the FGExternalReactions pointer.
354 FGExternalReactions* GetExternalReactions(void) {return (FGExternalReactions*)Models[eExternalReactions];}
355 /// Returns the FGBuoyantForces pointer.
356 FGBuoyantForces* GetBuoyantForces(void) {return (FGBuoyantForces*)Models[eBuoyantForces];}
357 /// Returns the FGAircraft pointer.
358 FGAircraft* GetAircraft(void) {return (FGAircraft*)Models[eAircraft];}
359 /// Returns the FGPropagate pointer.
360 FGPropagate* GetPropagate(void) {return (FGPropagate*)Models[ePropagate];}
361 /// Returns the FGAuxiliary pointer.
362 FGAuxiliary* GetAuxiliary(void) {return (FGAuxiliary*)Models[eAuxiliary];}
363 /// Returns the FGInput pointer.
364 FGInput* GetInput(void) {return (FGInput*)Models[eInput];}
365 /** Get a pointer to the ground callback currently used. It is recommanded
366 to store the returned pointer in a 'smart pointer' FGGroundCallback_ptr.
367 @return A pointer to the current ground callback object.
368 @see FGGroundCallback
370 FGGroundCallback* GetGroundCallback(void) {return FGLocation::GetGroundCallback();}
371 /// Retrieves the script object
372 FGScript* GetScript(void) {return Script;}
373 /// Returns a pointer to the FGInitialCondition object
374 FGInitialCondition* GetIC(void) {return IC;}
375 /// Returns a pointer to the FGTrim object
376 FGTrim* GetTrim(void);
379 /// Retrieves the engine path.
380 const string& GetEnginePath(void) {return EnginePath;}
381 /// Retrieves the aircraft path.
382 const string& GetAircraftPath(void) {return AircraftPath;}
383 /// Retrieves the systems path.
384 const string& GetSystemsPath(void) {return SystemsPath;}
385 /// Retrieves the full aircraft path name.
386 const string& GetFullAircraftPath(void) {return FullAircraftPath;}
388 /** Retrieves the value of a property.
389 @param property the name of the property
390 @result the value of the specified property */
391 inline double GetPropertyValue(const string& property) {return instance->GetDouble(property);}
393 /** Sets a property value.
394 @param property the property to be set
395 @param value the value to set the property to */
396 inline void SetPropertyValue(const string& property, double value) {
397 instance->SetDouble(property, value);
400 /// Returns the model name.
401 const string& GetModelName(void) const { return modelName; }
403 /// Returns the current time.
404 double GetSimTime(void);
406 /// Returns the current frame time (delta T).
407 double GetDeltaT(void);
409 /// Returns a pointer to the property manager object.
410 FGPropertyManager* GetPropertyManager(void);
411 /// Returns a vector of strings representing the names of all loaded models (future)
412 vector <string> EnumerateFDMs(void);
413 /// Gets the number of child FDMs.
414 int GetFDMCount(void) const {return (int)ChildFDMList.size();}
415 /// Gets a particular child FDM.
416 childData* GetChildFDM(int i) const {return ChildFDMList[i];}
417 /// Marks this instance of the Exec object as a "child" object.
418 void SetChild(bool ch) {IsChild = ch;}
420 /** Sets the output (logging) mechanism for this run.
421 Calling this function passes the name of an output directives file to
422 the FGOutput object associated with this run. The call to this function
423 should be made prior to loading an aircraft model. This call results in an
424 FGOutput object being built as the first Output object in the FDMExec-managed
425 list of Output objects that may be created for an aircraft model. If this call
426 is made after an aircraft model is loaded, there is no effect. Any Output
427 objects added by the aircraft model itself (in an <output> element) will be
428 added after this one. Care should be taken not to refer to the same file
430 An output directives file contains an <output> </output> element, within
431 which should be specified the parameters or parameter groups that should
433 @param fname the filename of an output directives file.
435 bool SetOutputDirectives(const string& fname);
437 /** Forces the specified output object to print its items once */
438 void ForceOutput(int idx=0);
440 /** Sets (or overrides) the output filename
441 @param fname the name of the file to output data to
442 @return true if successful, false if there is no output specified for the flight model */
443 bool SetOutputFileName(const string& fname);
445 /** Retrieves the current output filename.
446 @return the name of the output file for the first output specified by the flight model.
447 If none is specified, the empty string is returned. */
448 string GetOutputFileName(void);
450 /** Executes trimming in the selected mode.
451 * @param mode Specifies how to trim:
459 void DoTrim(int mode);
461 /// Disables data logging to all outputs.
462 void DisableOutput(void);
463 /// Enables data logging to all outputs.
464 void EnableOutput(void);
465 /// Pauses execution by preventing time from incrementing.
466 void Hold(void) {holding = true;}
467 /// Resumes execution from a "Hold".
468 void Resume(void) {holding = false;}
469 /// Returns true if the simulation is Holding (i.e. simulation time is not moving).
470 bool Holding(void) {return holding;}
471 /// Resets the initial conditions object and prepares the simulation to run again.
472 void ResetToInitialConditions(void);
473 /// Sets the debug level.
474 void SetDebugLevel(int level) {debug_lvl = level;}
476 struct PropertyCatalogStructure {
477 /// Name of the property.
479 /// The node for the property.
480 FGPropertyManager *node;
483 /** Builds a catalog of properties.
484 * This function descends the property tree and creates a list (an STL vector)
485 * containing the name and node for all properties.
486 * @param pcs The "root" property catalog structure pointer. */
487 void BuildPropertyCatalog(struct PropertyCatalogStructure* pcs);
489 /** Retrieves property or properties matching the supplied string.
490 * A string is returned that contains a carriage return delimited list of all
491 * strings in the property catalog that matches the supplied check string.
492 * @param check The string to search for in the property catalog.
493 * @return the carriage-return-delimited string containing all matching strings
495 string QueryPropertyCatalog(const string& check);
497 // Print the contents of the property catalog for the loaded aircraft.
498 void PrintPropertyCatalog(void);
500 vector<string>& GetPropertyCatalog(void) {return PropertyCatalog;}
502 void SetTrimStatus(bool status){ trim_status = status; }
503 bool GetTrimStatus(void) const { return trim_status; }
504 void SetTrimMode(int mode){ ta_mode = mode; }
505 int GetTrimMode(void) const { return ta_mode; }
507 string GetPropulsionTankReport();
509 /// Returns the cumulative simulation time in seconds.
510 double GetSimTime(void) const { return sim_time; }
512 /// Returns the simulation delta T.
513 double GetDeltaT(void) const {return dT;}
515 /// Suspends the simulation and sets the delta T to zero.
516 void SuspendIntegration(void) {saved_dT = dT; dT = 0.0;}
518 /// Resumes the simulation by resetting delta T to the correct value.
519 void ResumeIntegration(void) {dT = saved_dT;}
521 /** Returns the simulation suspension state.
522 @return true if suspended, false if executing */
523 bool IntegrationSuspended(void) const {return dT == 0.0;}
525 /** Sets the current sim time.
526 @param cur_time the current time
527 @return the current simulation time. */
528 double Setsim_time(double cur_time) {
533 /** Sets the integration time step for the simulation executive.
534 @param delta_t the time step in seconds. */
535 void Setdt(double delta_t) { dT = delta_t; }
537 /** Sets the root directory where JSBSim starts looking for its system directories.
538 @param rootDir the string containing the root directory. */
539 void SetRootDir(const string& rootDir) {RootDir = rootDir;}
541 /** Retrieves the Root Directory.
542 @return the string representing the root (base) JSBSim directory. */
543 const string& GetRootDir(void) const {return RootDir;}
545 /** Increments the simulation time if not in Holding mode. The Frame counter
547 @return the new simulation time. */
548 double IncrTime(void) {
549 if (!holding) sim_time += dT;
554 /** Retrieves the current debug level setting. */
555 int GetDebugLevel(void) const {return debug_lvl;};
561 unsigned short Terminate;
572 string FullAircraftPath;
579 // Standard Model pointers - shortcuts for internal executive use only.
580 FGPropagate* Propagate;
581 FGInertial* Inertial;
582 FGAtmosphere* Atmosphere;
584 FGAuxiliary* Auxiliary;
586 FGPropulsion* Propulsion;
587 FGAerodynamics* Aerodynamics;
588 FGGroundReactions* GroundReactions;
589 FGExternalReactions* ExternalReactions;
590 FGBuoyantForces* BuoyantForces;
591 FGMassBalance* MassBalance;
592 FGAircraft* Aircraft;
593 FGAccelerations* Accelerations;
599 FGInitialCondition* IC;
602 FGPropertyManager* Root;
604 FGPropertyManager* instance;
606 // The FDM counter is used to give each child FDM an unique ID. The root FDM has the ID 0
607 unsigned int* FDMctr;
609 vector <string> PropertyCatalog;
610 vector <FGOutput*> Outputs;
611 vector <childData*> ChildFDMList;
612 vector <FGModel*> Models;
614 bool ReadFileHeader(Element*);
615 bool ReadChild(Element*);
616 bool ReadPrologue(Element*);
617 void ResetToInitialConditions(int mode);
618 void LoadInputs(unsigned int idx);
619 void LoadPlanetConstants(void);
620 void LoadModelConstants(void);
622 bool DeAllocate(void);
623 void Initialize(FGInitialCondition *FGIC);
625 void Debug(int from);
628 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%