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 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
44 #include "models/FGModel.h"
45 #include "models/FGOutput.h"
46 #include "models/FGInput.h"
47 #include "initialization/FGTrim.h"
48 #include "initialization/FGInitialCondition.h"
49 #include "FGJSBBase.h"
50 #include "input_output/FGPropertyManager.h"
51 #include "input_output/FGGroundCallback.h"
52 #include "input_output/FGXMLFileRead.h"
53 #include "models/FGPropagate.h"
54 #include "math/FGColumnVector3.h"
59 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
61 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
63 #define ID_FDMEXEC "$Id: FGFDMExec.h,v 1.54 2010/10/07 03:17:29 jberndt Exp $"
65 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
67 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
74 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
76 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
78 /** Encapsulates the JSBSim simulation executive.
79 This class is the executive class through which all other simulation classes
80 are instantiated, initialized, and run. When integrated with FlightGear (or
81 other flight simulator) this class is typically instantiated by an interface
82 class on the simulator side.
84 At the time of simulation initialization, the interface
85 class creates an instance of this executive class. The
86 executive is subsequently directed to load the chosen aircraft specification
90 fdmex = new FGFDMExec(
\85 );
91 result = fdmex->LoadModel(
\85 );
94 When an aircraft model is loaded, the config file is parsed and for each of the
95 sections of the config file (propulsion, flight control, etc.) the
96 corresponding Load() method is called (e.g. FGFCS::Load()).
98 Subsequent to the creation of the executive and loading of the model,
99 initialization is performed. Initialization involves copying control inputs
100 into the appropriate JSBSim data storage locations, configuring it for the set
101 of user supplied initial conditions, and then copying state variables from
102 JSBSim. The state variables are used to drive the instrument displays and to
103 place the vehicle model in world space for visual rendering:
106 copy_to_JSBsim(); // copy control inputs to JSBSim
107 fdmex->RunIC(); // loop JSBSim once w/o integrating
108 copy_from_JSBsim(); // update the bus
111 Once initialization is complete, cyclic execution proceeds:
114 copy_to_JSBsim(); // copy control inputs to JSBSim
115 fdmex->Run(); // execute JSBSim
116 copy_from_JSBsim(); // update the bus
119 JSBSim can be used in a standalone mode by creating a compact stub program
120 that effectively performs the same progression of steps as outlined above for
121 the integrated version, but with two exceptions. First, the copy_to_JSBSim()
122 and copy_from_JSBSim() functions are not used because the control inputs are
123 handled directly by the scripting facilities and outputs are handled by the
124 output (data logging) class. Second, the name of a script file can be supplied
125 to the stub program. Scripting (see FGScript) provides a way to supply command
126 inputs to the simulation:
129 FDMExec = new JSBSim::FGFDMExec();
130 FDMExec->LoadScript( ScriptName ); // the script loads the aircraft and ICs
131 result = FDMExec->Run();
132 while (result) { // cyclic execution
133 result = FDMExec->Run(); // execute JSBSim
137 The standalone mode has been useful for verifying changes before committing
138 updates to the source code repository. It is also useful for running sets of
139 tests that reveal some aspects of simulated aircraft performance, such as
140 range, time-to-climb, takeoff distance, etc.
142 <h3>JSBSim Debugging Directives</h3>
144 This describes to any interested entity the debug level
145 requested by setting the JSBSIM_DEBUG environment variable.
146 The bitmasked value choices are as follows:
147 - <b>unset</b>: In this case (the default) JSBSim would only print
148 out the normally expected messages, essentially echoing
149 the config files as they are read. If the environment
150 variable is not set, debug_lvl is set to 1 internally
151 - <b>0</b>: This requests JSBSim not to output any messages
153 - <b>1</b>: This value explicity requests the normal JSBSim
155 - <b>2</b>: This value asks for a message to be printed out when
156 a class is instantiated
157 - <b>4</b>: When this value is set, a message is displayed when a
158 FGModel object executes its Run() method
159 - <b>8</b>: When this value is set, various runtime state variables
160 are printed out periodically
161 - <b>16</b>: When set various parameters are sanity checked and
162 a message is printed out when they go out of bounds
165 @property simulator/do_trim (write only) Can be set to the integer equivalent to one of
166 tLongitudinal (0), tFull (1), tGround (2), tPullup (3),
167 tCustom (4), tTurn (5). Setting this to a legal value
168 (such as by a script) causes a trim to be performed. This
169 property actually maps toa function call of DoTrim().
171 @author Jon S. Berndt
172 @version $Revision: 1.54 $
175 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
177 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
179 class FGFDMExec : public FGJSBBase, public FGXMLFileRead
185 FGColumnVector3 Orient;
191 Loc = FGColumnVector3(0,0,0);
192 Orient = FGColumnVector3(0,0,0);
197 void Run(void) {exec->Run();}
198 void AssignState(FGPropagate* source_prop) {
199 exec->GetPropagate()->SetVState(source_prop->GetVState());
209 /// Default constructors
210 FGFDMExec(FGPropertyManager* root = 0);
211 FGFDMExec(FGPropertyManager* root, unsigned int* fdmctr);
213 /// Default destructor
216 /** This routine places a model into the runlist at the specified rate. The
217 "rate" is not really a clock rate. It represents how many calls to the
218 FGFDMExec::Run() method must be made before the model is executed. A
219 value of 1 means that the model will be executed for each call to the
220 exec's Run() method. A value of 5 means that the model will only be
221 executed every 5th call to the exec's Run() method. Use of a rate other than
222 one is at this time not recommended.
223 @param model A pointer to the model being scheduled.
224 @param rate The rate at which to execute the model as described above.
225 @return Currently returns 0 always. */
226 void Schedule(FGModel* model, int rate);
228 /** This function executes each scheduled model in succession.
229 @return true if successful, false if sim should be ended */
232 /** Initializes the sim from the initial condition object and executes
233 each scheduled model without integrating i.e. dt=0.
234 @return true if successful */
237 /** Sets the ground callback pointer.
238 @param gc A pointer to a ground callback object. */
239 void SetGroundCallback(FGGroundCallback* gc);
241 /** Loads an aircraft model.
242 @param AircraftPath path to the aircraft/ directory. For instance:
243 "aircraft". Under aircraft, then, would be directories for various
244 modeled aircraft such as C172/, x15/, etc.
245 @param EnginePath path to the directory under which engine config
246 files are kept, for instance "engine"
247 @param SystemsPath path to the directory under which systems config
248 files are kept, for instance "systems"
249 @param model the name of the aircraft model itself. This file will
250 be looked for in the directory specified in the AircraftPath variable,
251 and in turn under the directory with the same name as the model. For
252 instance: "aircraft/x15/x15.xml"
253 @param addModelToPath set to true to add the model name to the
254 AircraftPath, defaults to true
255 @return true if successful */
256 bool LoadModel(const string& AircraftPath, const string& EnginePath, const string& SystemsPath,
257 const string& model, bool addModelToPath = true);
259 /** Loads an aircraft model. The paths to the aircraft and engine
260 config file directories must be set prior to calling this. See
262 @param model the name of the aircraft model itself. This file will
263 be looked for in the directory specified in the AircraftPath variable,
264 and in turn under the directory with the same name as the model. For
265 instance: "aircraft/x15/x15.xml"
266 @param addModelToPath set to true to add the model name to the
267 AircraftPath, defaults to true
268 @return true if successful*/
269 bool LoadModel(const string& model, bool addModelToPath = true);
272 @param Script the full path name and file name for the script to be loaded.
273 @return true if successfully loadsd; false otherwise. */
274 bool LoadScript(const string& Script, double deltaT);
276 /** Sets the path to the engine config file directories.
277 @param path path to the directory under which engine config
278 files are kept, for instance "engine" */
279 bool SetEnginePath(const string& path) { EnginePath = RootDir + path; return true; }
281 /** Sets the path to the aircraft config file directories.
282 @param path path to the aircraft directory. For instance:
283 "aircraft". Under aircraft, then, would be directories for various
284 modeled aircraft such as C172/, x15/, etc. */
285 bool SetAircraftPath(const string& path) { AircraftPath = RootDir + path; return true; }
287 /** Sets the path to the systems config file directories.
288 @param path path to the directory under which systems config
289 files are kept, for instance "systems" */
290 bool SetSystemsPath(const string& path) { SystemsPath = RootDir + path; return true; }
292 /// @name Top-level executive State and Model retrieval mechanism
294 /// Returns the FGAtmosphere pointer.
295 inline FGAtmosphere* GetAtmosphere(void) {return Atmosphere;}
296 /// Returns the FGFCS pointer.
297 inline FGFCS* GetFCS(void) {return FCS;}
298 /// Returns the FGPropulsion pointer.
299 inline FGPropulsion* GetPropulsion(void) {return Propulsion;}
300 /// Returns the FGAircraft pointer.
301 inline FGMassBalance* GetMassBalance(void) {return MassBalance;}
302 /// Returns the FGAerodynamics pointer
303 inline FGAerodynamics* GetAerodynamics(void){return Aerodynamics;}
304 /// Returns the FGInertial pointer.
305 inline FGInertial* GetInertial(void) {return Inertial;}
306 /// Returns the FGGroundReactions pointer.
307 inline FGGroundReactions* GetGroundReactions(void) {return GroundReactions;}
308 /// Returns the FGExternalReactions pointer.
309 inline FGExternalReactions* GetExternalReactions(void) {return ExternalReactions;}
310 /// Returns the FGBuoyantForces pointer.
311 inline FGBuoyantForces* GetBuoyantForces(void) {return BuoyantForces;}
312 /// Returns the FGAircraft pointer.
313 inline FGAircraft* GetAircraft(void) {return Aircraft;}
314 /// Returns the FGPropagate pointer.
315 inline FGPropagate* GetPropagate(void) {return Propagate;}
316 /// Returns the FGAuxiliary pointer.
317 inline FGAuxiliary* GetAuxiliary(void) {return Auxiliary;}
318 /// Returns the FGInput pointer.
319 inline FGInput* GetInput(void) {return Input;}
320 /// Returns the FGGroundCallback pointer.
321 inline FGGroundCallback* GetGroundCallback(void) {return GroundCallback;}
322 /// Retrieves the script object
323 inline FGScript* GetScript(void) {return Script;}
324 // Returns a pointer to the FGInitialCondition object
325 inline FGInitialCondition* GetIC(void) {return IC;}
326 // Returns a pointer to the FGTrim object
327 FGTrim* GetTrim(void);
330 /// Retrieves the engine path.
331 inline const string& GetEnginePath(void) {return EnginePath;}
332 /// Retrieves the aircraft path.
333 inline const string& GetAircraftPath(void) {return AircraftPath;}
334 /// Retrieves the systems path.
335 inline const string& GetSystemsPath(void) {return SystemsPath;}
336 /// Retrieves the full aircraft path name.
337 inline const string& GetFullAircraftPath(void) {return FullAircraftPath;}
339 /** Retrieves the value of a property.
340 @param property the name of the property
341 @result the value of the specified property */
342 inline double GetPropertyValue(const string& property) {return instance->GetDouble(property);}
344 /** Sets a property value.
345 @param property the property to be set
346 @param value the value to set the property to */
347 inline void SetPropertyValue(const string& property, double value) {
348 instance->SetDouble(property, value);
351 /// Returns the model name.
352 const string& GetModelName(void) { return modelName; }
354 /// Returns the current time.
355 double GetSimTime(void);
357 /// Returns the current frame time (delta T).
358 double GetDeltaT(void);
360 /// Returns a pointer to the property manager object.
361 FGPropertyManager* GetPropertyManager(void);
362 /// Returns a vector of strings representing the names of all loaded models (future)
363 vector <string> EnumerateFDMs(void);
364 /// Gets the number of child FDMs.
365 int GetFDMCount(void) {return (int)ChildFDMList.size();}
366 /// Gets a particular child FDM.
367 childData* GetChildFDM(int i) {return ChildFDMList[i];}
368 /// Marks this instance of the Exec object as a "child" object.
369 void SetChild(bool ch) {IsChild = ch;}
371 /** Sets the output (logging) mechanism for this run.
372 Calling this function passes the name of an output directives file to
373 the FGOutput object associated with this run. The call to this function
374 should be made prior to loading an aircraft model. This call results in an
375 FGOutput object being built as the first Output object in the FDMExec-managed
376 list of Output objects that may be created for an aircraft model. If this call
377 is made after an aircraft model is loaded, there is no effect. Any Output
378 objects added by the aircraft model itself (in an <output> element) will be
379 added after this one. Care should be taken not to refer to the same file
381 An output directives file contains an <output> </output> element, within
382 which should be specified the parameters or parameter groups that should
384 @param fname the filename of an output directives file.
386 bool SetOutputDirectives(const string& fname);
388 /** Sets (or overrides) the output filename
389 @param fname the name of the file to output data to
390 @return true if successful, false if there is no output specified for the flight model */
391 bool SetOutputFileName(const string& fname) {
392 if (Outputs.size() > 0) Outputs[0]->SetOutputFileName(fname);
397 /** Retrieves the current output filename.
398 @return the name of the output file for the first output specified by the flight model.
399 If none is specified, the empty string is returned. */
400 string GetOutputFileName(void) {
401 if (Outputs.size() > 0) return Outputs[0]->GetOutputFileName();
402 else return string("");
405 /** Executes trimming in the selected mode.
406 * @param mode Specifies how to trim:
414 void DoTrim(int mode);
415 // void DoTrimAnalysis(int mode);
417 /// Disables data logging to all outputs.
418 void DisableOutput(void);
419 /// Enables data logging to all outputs.
420 void EnableOutput(void);
421 /// Pauses execution by preventing time from incrementing.
422 void Hold(void) {holding = true;}
423 /// Resumes execution from a "Hold".
424 void Resume(void) {holding = false;}
425 /// Returns true if the simulation is Holding (i.e. simulation time is not moving).
426 bool Holding(void) {return holding;}
427 /// Resets the initial conditions object and prepares the simulation to run again.
428 void ResetToInitialConditions(void);
429 /// Sets the debug level.
430 void SetDebugLevel(int level) {debug_lvl = level;}
432 struct PropertyCatalogStructure {
433 /// Name of the property.
435 /// The node for the property.
436 FGPropertyManager *node;
439 /** Builds a catalog of properties.
440 * This function descends the property tree and creates a list (an STL vector)
441 * containing the name and node for all properties.
442 * @param pcs The "root" property catalog structure pointer. */
443 void BuildPropertyCatalog(struct PropertyCatalogStructure* pcs);
445 /** Retrieves property or properties matching the supplied string.
446 * A string is returned that contains a carriage return delimited list of all
447 * strings in the property catalog that matches the supplied check string.
448 * @param check The string to search for in the property catalog.
449 * @return the carriage-return-delimited string containing all matching strings
451 string QueryPropertyCatalog(const string& check);
453 // Print the contents of the property catalog for the loaded aircraft.
454 void PrintPropertyCatalog(void);
456 vector<string>& GetPropertyCatalog(void) {return PropertyCatalog;}
458 /// Use the MSIS atmosphere model.
459 void UseAtmosphereMSIS(void);
461 /// Use the Mars atmosphere model. (Not operative yet.)
462 void UseAtmosphereMars(void);
464 void SetTrimStatus(bool status){ trim_status = status; }
465 bool GetTrimStatus(void) const { return trim_status; }
466 void SetTrimMode(int mode){ ta_mode = mode; }
467 int GetTrimMode(void) const { return ta_mode; }
469 /// Returns the cumulative simulation time in seconds.
470 double GetSimTime(void) const { return sim_time; }
472 /// Returns the simulation delta T.
473 double GetDeltaT(void) {return dT;}
475 /// Suspends the simulation and sets the delta T to zero.
476 void SuspendIntegration(void) {saved_dT = dT; dT = 0.0;}
478 /// Resumes the simulation by resetting delta T to the correct value.
479 void ResumeIntegration(void) {dT = saved_dT;}
481 /** Returns the simulation suspension state.
482 @return true if suspended, false if executing */
483 bool IntegrationSuspended(void) {return dT == 0.0;}
485 /** Sets the current sim time.
486 @param cur_time the current time
487 @return the current simulation time. */
488 double Setsim_time(double cur_time) {
493 /** Sets the integration time step for the simulation executive.
494 @param delta_t the time step in seconds. */
495 void Setdt(double delta_t) { dT = delta_t; }
497 /** Sets the root directory where JSBSim starts looking for its system directories.
498 @param rootDir the string containing the root directory. */
499 void SetRootDir(const string& rootDir) {RootDir = rootDir;}
501 /** Retrieves teh Root Directory.
502 @return the string representing the root (base) JSBSim directory. */
503 const string& GetRootDir(void) const {return RootDir;}
505 /** Increments the simulation time.
506 @return the new simulation time. */
507 double IncrTime(void) {
512 /** Retrieves the current debug level setting. */
513 int GetDebugLevel(void) const {return debug_lvl;};
519 unsigned short Terminate;
529 string FullAircraftPath;
539 FGGroundCallback* GroundCallback;
540 FGAtmosphere* Atmosphere;
542 FGPropulsion* Propulsion;
543 FGMassBalance* MassBalance;
544 FGAerodynamics* Aerodynamics;
545 FGInertial* Inertial;
546 FGGroundReactions* GroundReactions;
547 FGExternalReactions* ExternalReactions;
548 FGBuoyantForces* BuoyantForces;
549 FGAircraft* Aircraft;
550 FGPropagate* Propagate;
551 FGAuxiliary* Auxiliary;
554 FGInitialCondition* IC;
557 FGPropertyManager* Root;
558 FGPropertyManager* instance;
560 // The FDM counter is used to give each child FDM an unique ID. The root FDM has the ID 0
561 unsigned int* FDMctr;
563 vector <string> PropertyCatalog;
564 vector <FGOutput*> Outputs;
565 vector <childData*> ChildFDMList;
566 vector <FGModel*> Models;
569 bool ReadFileHeader(Element*);
570 bool ReadChild(Element*);
571 bool ReadPrologue(Element*);
572 void ResetToInitialConditions(int mode);
574 bool DeAllocate(void);
575 void Initialize(FGInitialCondition *FGIC);
577 void Debug(int from);
580 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%