1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
6 ------------- Copyright (C) 1999 Jon S. Berndt (jsb@hal-pc.org) -------------
8 This program is free software; you can redistribute it and/or modify it under
9 the terms of the GNU General Public License as published by the Free Software
10 Foundation; either version 2 of the License, or (at your option) any later
13 This program is distributed in the hope that it will be useful, but WITHOUT
14 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
15 FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
18 You should have received a copy of the GNU General Public License along with
19 this program; if not, write to the Free Software Foundation, Inc., 59 Temple
20 Place - Suite 330, Boston, MA 02111-1307, USA.
22 Further information about the GNU General Public License can also be found on
23 the world wide web at http://www.gnu.org.
26 --------------------------------------------------------------------------------
28 7/31/99 TP Added RunIC function that runs the sim so that every frame
29 begins with the IC values from the given FGInitialCondition
32 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
34 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
36 #ifndef FGFDMEXEC_HEADER_H
37 #define FGFDMEXEC_HEADER_H
39 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
41 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
44 #include "FGInitialCondition.h"
45 #include "FGJSBBase.h"
48 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
50 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
52 #define ID_FDMEXEC "$Id$"
54 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
56 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
58 class FGInitialCondition;
60 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
61 COMMENTS, REFERENCES, and NOTES [use "class documentation" below for API docs]
62 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
64 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
66 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
68 /** Encapsulates the JSBSim simulation executive.
72 @doc This class is the interface class through which all other simulation classes
73 are instantiated, initialized, and run. When integrated with FlightGear (or
74 other flight simulator) this class is typically instantiated by an interface
75 class on the simulator side.
77 When an aircraft model is loaded the config file is parsed and for each of the
78 sections of the config file (propulsion, flight control, etc.) the
79 corresponding "ReadXXX()" method is called. From within this method the
80 "Load()" method of that system is called (e.g. LoadFCS).
82 <h4>JSBSim Debugging Directives</h4>
84 This describes to any interested entity the debug level
85 requested by setting the JSBSIM_DEBUG environment variable.
86 The bitmasked value choices are as follows:<ol>
87 <li><b>unset</b>: In this case (the default) JSBSim would only print
88 out the normally expected messages, essentially echoing
89 the config files as they are read. If the environment
90 variable is not set, debug_lvl is set to 1 internally</li>
91 <li><b>0</b>: This requests JSBSim not to output any messages
93 <li><b>1</b>: This value explicity requests the normal JSBSim
95 <li><b>2</b>: This value asks for a message to be printed out when
96 a class is instantiated</li>
97 <li><b>4</b>: When this value is set, a message is displayed when a
98 FGModel object executes its Run() method</li>
99 <li><b>8</b>: When this value is set, various runtime state variables
100 are printed out periodically</li>
101 <li><b>16</b>: When set various parameters are sanity checked and
102 a message is printed out when they go out of bounds</li>
107 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
109 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
111 class FGFDMExec : public FGJSBBase
114 /// Default constructor
117 /// Default destructor
120 /** This routine places a model into the runlist at the specified rate. The
121 "rate" is not really a clock rate. It represents how many calls to the
122 FGFDMExec::Run() method must be made before the model is executed. A
123 value of 1 means that the model will be executed for each call to the
124 exec's Run() method. A value of 5 means that the model will only be
125 executed every 5th call to the exec's Run() method.
126 @param model A pointer to the model being scheduled.
127 @param rate The rate at which to execute the model as described above.
128 @return Currently returns 0 always. */
129 int Schedule(FGModel* model, int rate);
131 /** This executes each scheduled model in succession.
132 @return true if successful, false if sim should be ended */
135 /** Initializes the sim with a set of initial conditions.
136 @param fgic A pointer to a filled out initial conditions class which
137 describes the desired initial conditions.
138 @return true if successful
140 bool RunIC(FGInitialCondition *fgic);
143 void Freeze(void) {frozen = true;}
146 void Resume(void) {frozen = false;}
148 /** Loads an aircraft model.
149 @param AircraftPath path to the aircraft directory. For instance:
150 "aircraft". Under aircraft, then, would be directories for various
151 modeled aircraft such as C172/, x15/, etc.
152 @param EnginePath path to the directory under which engine config
153 files are kept, for instance "engine"
154 @param model the name of the aircraft model itself. This file will
155 be looked for in the directory specified in the AircraftPath variable,
156 and in turn under the directory with the same name as the model. For
157 instance: "aircraft/x15/x15.xml"
158 @return true if successful*/
159 bool LoadModel(string AircraftPath, string EnginePath, string model);
161 bool SetEnginePath(string path) {EnginePath = path; return true;}
162 bool SetAircraftPath(string path) {AircraftPath = path; return true;}
164 /// @name Top-level executive State and Model retrieval mechanism
166 /// Returns the FGState pointer.
167 inline FGState* GetState(void) {return State;}
168 /// Returns the FGAtmosphere pointer.
169 inline FGAtmosphere* GetAtmosphere(void) {return Atmosphere;}
170 /// Returns the FGFCS pointer.
171 inline FGFCS* GetFCS(void) {return FCS;}
172 /// Returns the FGPropulsion pointer.
173 inline FGPropulsion* GetPropulsion(void) {return Propulsion;}
174 /// Returns the FGAircraft pointer.
175 inline FGMassBalance* GetMassBalance(void) {return MassBalance;}
176 /// Returns the FGAerodynamics pointer
177 inline FGAerodynamics* GetAerodynamics(void){return Aerodynamics;}
178 /// Returns the FGInertial pointer.
179 inline FGInertial* GetInertial(void) {return Inertial;}
180 /// Returns the FGGroundReactions pointer.
181 inline FGGroundReactions* GetGroundReactions(void) {return GroundReactions;}
182 /// Returns the FGAircraft pointer.
183 inline FGAircraft* GetAircraft(void) {return Aircraft;}
184 /// Returns the FGTranslation pointer.
185 inline FGTranslation* GetTranslation(void) {return Translation;}
186 /// Returns the FGRotation pointer.
187 inline FGRotation* GetRotation(void) {return Rotation;}
188 /// Returns the FGPosition pointer.
189 inline FGPosition* GetPosition(void) {return Position;}
190 /// Returns the FGAuxiliary pointer.
191 inline FGAuxiliary* GetAuxiliary(void) {return Auxiliary;}
192 /// Returns the FGOutput pointer.
193 inline FGOutput* GetOutput(void) {return Output;}
196 /// Retrieves the engine path.
197 inline string GetEnginePath(void) {return EnginePath;}
198 /// Retrieves the aircraft path.
199 inline string GetAircraftPath(void) {return AircraftPath;}
209 static unsigned int FDMctr;
217 FGAtmosphere* Atmosphere;
219 FGPropulsion* Propulsion;
220 FGMassBalance* MassBalance;
221 FGAerodynamics* Aerodynamics;
222 FGInertial* Inertial;
223 FGGroundReactions* GroundReactions;
224 FGAircraft* Aircraft;
225 FGTranslation* Translation;
226 FGRotation* Rotation;
227 FGPosition* Position;
228 FGAuxiliary* Auxiliary;
231 bool ReadMetrics(FGConfigFile*);
232 bool ReadPropulsion(FGConfigFile*);
233 bool ReadFlightControls(FGConfigFile*);
234 bool ReadAerodynamics(FGConfigFile*);
235 bool ReadUndercarriage(FGConfigFile*);
236 bool ReadPrologue(FGConfigFile*);
237 bool ReadOutput(FGConfigFile*);
240 bool DeAllocate(void);
241 void Debug(int from);
244 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%