1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
5 file The header file for the JSBSim executive.
7 ------------- Copyright (C) 1999 Jon S. Berndt (jsb@hal-pc.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>
58 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
60 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
62 #define ID_FDMEXEC "$Id$"
64 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
66 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
73 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
75 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
77 /** Encapsulates the JSBSim simulation executive.
78 This class is the executive class through which all other simulation classes
79 are instantiated, initialized, and run. When integrated with FlightGear (or
80 other flight simulator) this class is typically instantiated by an interface
81 class on the simulator side.
83 At the time of simulation initialization, the interface
84 class creates an instance of this executive class. The
85 executive is subsequently directed to load the chosen aircraft specification
89 fdmex = new FGFDMExec(
\85 );
90 result = fdmex->LoadModel(
\85 );
93 When an aircraft model is loaded, the config file is parsed and for each of the
94 sections of the config file (propulsion, flight control, etc.) the
95 corresponding Load() method is called (e.g. FGFCS::Load()).
97 Subsequent to the creation of the executive and loading of the model,
98 initialization is performed. Initialization involves copying control inputs
99 into the appropriate JSBSim data storage locations, configuring it for the set
100 of user supplied initial conditions, and then copying state variables from
101 JSBSim. The state variables are used to drive the instrument displays and to
102 place the vehicle model in world space for visual rendering:
105 copy_to_JSBsim(); // copy control inputs to JSBSim
106 fdmex->RunIC(); // loop JSBSim once w/o integrating
107 copy_from_JSBsim(); // update the bus
110 Once initialization is complete, cyclic execution proceeds:
113 copy_to_JSBsim(); // copy control inputs to JSBSim
114 fdmex->Run(); // execute JSBSim
115 copy_from_JSBsim(); // update the bus
118 JSBSim can be used in a standalone mode by creating a compact stub program
119 that effectively performs the same progression of steps as outlined above for
120 the integrated version, but with two exceptions. First, the copy_to_JSBSim()
121 and copy_from_JSBSim() functions are not used because the control inputs are
122 handled directly by the scripting facilities and outputs are handled by the
123 output (data logging) class. Second, the name of a script file can be supplied
124 to the stub program. Scripting (see FGScript) provides a way to supply command
125 inputs to the simulation:
128 FDMExec = new JSBSim::FGFDMExec();
129 FDMExec->LoadScript( ScriptName ); // the script loads the aircraft and ICs
130 result = FDMExec->Run();
131 while (result) { // cyclic execution
132 result = FDMExec->Run(); // execute JSBSim
136 The standalone mode has been useful for verifying changes before committing
137 updates to the source code repository. It is also useful for running sets of
138 tests that reveal some aspects of simulated aircraft performance, such as
139 range, time-to-climb, takeoff distance, etc.
141 <h3>JSBSim Debugging Directives</h3>
143 This describes to any interested entity the debug level
144 requested by setting the JSBSIM_DEBUG environment variable.
145 The bitmasked value choices are as follows:
146 - <b>unset</b>: In this case (the default) JSBSim would only print
147 out the normally expected messages, essentially echoing
148 the config files as they are read. If the environment
149 variable is not set, debug_lvl is set to 1 internally
150 - <b>0</b>: This requests JSBSim not to output any messages
152 - <b>1</b>: This value explicity requests the normal JSBSim
154 - <b>2</b>: This value asks for a message to be printed out when
155 a class is instantiated
156 - <b>4</b>: When this value is set, a message is displayed when a
157 FGModel object executes its Run() method
158 - <b>8</b>: When this value is set, various runtime state variables
159 are printed out periodically
160 - <b>16</b>: When set various parameters are sanity checked and
161 a message is printed out when they go out of bounds
164 @property simulator/do_trim (write only) Can be set to the integer equivalent to one of
165 tLongitudinal (0), tFull (1), tGround (2), tPullup (3),
166 tCustom (4), tTurn (5). Setting this to a legal value
167 (such as by a script) causes a trim to be performed. This
168 property actually maps toa function call of DoTrim().
170 @author Jon S. Berndt
174 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
176 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
178 class FGFDMExec : public FGJSBBase, public FGXMLFileRead
182 /// Default constructor
183 FGFDMExec(FGPropertyManager* root = 0);
185 /// Default destructor
188 /** This routine places a model into the runlist at the specified rate. The
189 "rate" is not really a clock rate. It represents how many calls to the
190 FGFDMExec::Run() method must be made before the model is executed. A
191 value of 1 means that the model will be executed for each call to the
192 exec's Run() method. A value of 5 means that the model will only be
193 executed every 5th call to the exec's Run() method. Use of a rate other than
194 one is at this time not recommended.
195 @param model A pointer to the model being scheduled.
196 @param rate The rate at which to execute the model as described above.
197 @return Currently returns 0 always. */
198 int Schedule(FGModel* model, int rate);
200 /** This function executes each scheduled model in succession.
201 @return true if successful, false if sim should be ended */
204 /** Initializes the sim from the initial condition object and executes
205 each scheduled model without integrating i.e. dt=0.
206 @return true if successful */
209 /** Sets the ground callback pointer.
210 @param gc A pointer to a ground callback object. */
211 void SetGroundCallback(FGGroundCallback* gc);
213 /** Loads an aircraft model.
214 @param AircraftPath path to the aircraft/ directory. For instance:
215 "aircraft". Under aircraft, then, would be directories for various
216 modeled aircraft such as C172/, x15/, etc.
217 @param EnginePath path to the directory under which engine config
218 files are kept, for instance "engine"
219 @param SystemsPath path to the directory under which systems config
220 files are kept, for instance "systems"
221 @param model the name of the aircraft model itself. This file will
222 be looked for in the directory specified in the AircraftPath variable,
223 and in turn under the directory with the same name as the model. For
224 instance: "aircraft/x15/x15.xml"
225 @param addModelToPath set to true to add the model name to the
226 AircraftPath, defaults to true
227 @return true if successful */
228 bool LoadModel(string AircraftPath, string EnginePath, string SystemsPath,
229 string model, bool addModelToPath = true);
231 /** Loads an aircraft model. The paths to the aircraft and engine
232 config file directories must be set prior to calling this. See
234 @param model the name of the aircraft model itself. This file will
235 be looked for in the directory specified in the AircraftPath variable,
236 and in turn under the directory with the same name as the model. For
237 instance: "aircraft/x15/x15.xml"
238 @param addModelToPath set to true to add the model name to the
239 AircraftPath, defaults to true
240 @return true if successful*/
241 bool LoadModel(string model, bool addModelToPath = true);
244 @param Script the full path name and file name for the script to be loaded.
245 @return true if successfully loadsd; false otherwise. */
246 bool LoadScript(string Script);
248 /** Sets the path to the engine config file directories.
249 @param path path to the directory under which engine config
250 files are kept, for instance "engine" */
251 bool SetEnginePath(string path) { EnginePath = path; return true; }
253 /** Sets the path to the aircraft config file directories.
254 @param path path to the aircraft directory. For instance:
255 "aircraft". Under aircraft, then, would be directories for various
256 modeled aircraft such as C172/, x15/, etc. */
257 bool SetAircraftPath(string path) { AircraftPath = path; return true; }
259 /** Sets the path to the systems config file directories.
260 @param path path to the directory under which systems config
261 files are kept, for instance "systems" */
262 bool SetSystemsPath(string path) { SystemsPath = path; return true; }
264 /// @name Top-level executive State and Model retrieval mechanism
266 /// Returns the FGAtmosphere pointer.
267 inline FGAtmosphere* GetAtmosphere(void) {return Atmosphere;}
268 /// Returns the FGFCS pointer.
269 inline FGFCS* GetFCS(void) {return FCS;}
270 /// Returns the FGPropulsion pointer.
271 inline FGPropulsion* GetPropulsion(void) {return Propulsion;}
272 /// Returns the FGAircraft pointer.
273 inline FGMassBalance* GetMassBalance(void) {return MassBalance;}
274 /// Returns the FGAerodynamics pointer
275 inline FGAerodynamics* GetAerodynamics(void){return Aerodynamics;}
276 /// Returns the FGInertial pointer.
277 inline FGInertial* GetInertial(void) {return Inertial;}
278 /// Returns the FGGroundReactions pointer.
279 inline FGGroundReactions* GetGroundReactions(void) {return GroundReactions;}
280 /// Returns the FGExternalReactions pointer.
281 inline FGExternalReactions* GetExternalReactions(void) {return ExternalReactions;}
282 /// Returns the FGBuoyantForces pointer.
283 inline FGBuoyantForces* GetBuoyantForces(void) {return BuoyantForces;}
284 /// Returns the FGAircraft pointer.
285 inline FGAircraft* GetAircraft(void) {return Aircraft;}
286 /// Returns the FGPropagate pointer.
287 inline FGPropagate* GetPropagate(void) {return Propagate;}
288 /// Returns the FGAuxiliary pointer.
289 inline FGAuxiliary* GetAuxiliary(void) {return Auxiliary;}
290 /// Returns the FGInput pointer.
291 inline FGInput* GetInput(void) {return Input;}
292 /// Returns the FGGroundCallback pointer.
293 inline FGGroundCallback* GetGroundCallback(void) {return GroundCallback;}
294 /// Returns the FGState pointer.
295 inline FGState* GetState(void) {return State;}
296 /// Retrieves the script object
297 inline FGScript* GetScript(void) {return Script;}
298 // Returns a pointer to the FGInitialCondition object
299 inline FGInitialCondition* GetIC(void) {return IC;}
300 // Returns a pointer to the FGTrim object
301 FGTrim* GetTrim(void);
304 /// Retrieves the engine path.
305 inline string GetEnginePath(void) {return EnginePath;}
306 /// Retrieves the aircraft path.
307 inline string GetAircraftPath(void) {return AircraftPath;}
308 /// Retrieves the systems path.
309 inline string GetSystemsPath(void) {return SystemsPath;}
310 /// Retrieves the full aircraft path name.
311 inline string GetFullAircraftPath(void) {return FullAircraftPath;}
313 /** Retrieves the value of a property.
314 @param property the name of the property
315 @result the value of the specified property */
316 inline double GetPropertyValue(string property) {return instance->GetDouble(property);}
318 /** Sets a property value.
319 @param property the property to be set
320 @param value the value to set the property to */
321 inline void SetPropertyValue(string property, double value) {
322 instance->SetDouble(property, value);
325 /// Returns the model name.
326 string GetModelName(void) { return modelName; }
328 /// Returns the current time.
329 double GetSimTime(void);
331 /// Returns the current frame time (delta T).
332 double GetDeltaT(void);
334 /// Returns a pointer to the property manager object.
335 FGPropertyManager* GetPropertyManager(void);
336 /// Returns a vector of strings representing the names of all loaded models (future)
337 vector <string> EnumerateFDMs(void);
338 /// Marks this instance of the Exec object as a "slave" object.
339 void SetSlave(bool s) {IsSlave = s;}
341 /** Sets the output (logging) mechanism for this run.
342 Calling this function passes the name of an output directives file to
343 the FGOutput object associated with this run. The call to this function
344 should be made prior to loading an aircraft model. This call results in an
345 FGOutput object being built as the first Output object in the FDMExec-managed
346 list of Output objects that may be created for an aircraft model. If this call
347 is made after an aircraft model is loaded, there is no effect. Any Output
348 objects added by the aircraft model itself (in an <output> element) will be
349 added after this one. Care should be taken not to refer to the same file
351 An output directives file contains an <output> </output> element, within
352 which should be specified the parameters or parameter groups that should
354 @param fname the filename of an output directives file.
356 bool SetOutputDirectives(string fname);
358 /** Sets (or overrides) the output filename
359 @param fname the name of the file to output data to
360 @return true if successful, false if there is no output specified for the flight model */
361 bool SetOutputFileName(string fname) {
362 if (Outputs.size() > 0) Outputs[0]->SetOutputFileName(fname);
367 /** Retrieves the current output filename.
368 @return the name of the output file for the first output specified by the flight model.
369 If none is specified, the empty string is returned. */
370 string GetOutputFileName(void) {
371 if (Outputs.size() > 0) return Outputs[0]->GetOutputFileName();
372 else return string("");
375 /** Executes trimming in the selected mode.
376 * @param mode Specifies how to trim:
384 void DoTrim(int mode);
385 // void DoTrimAnalysis(int mode);
387 /// Disables data logging to all outputs.
388 void DisableOutput(void);
389 /// Enables data logging to all outputs.
390 void EnableOutput(void);
391 /// Pauses execution by preventing time from incrementing.
392 void Hold(void) {holding = true;}
393 /// Resumes execution from a "Hold".
394 void Resume(void) {holding = false;}
395 /// Returns true if the simulation is Holding (i.e. simulation time is not moving).
396 bool Holding(void) {return holding;}
397 /// Resets the initial conditions object and prepares the simulation to run again.
398 void ResetToInitialConditions(void);
399 /// Sets the debug level.
400 void SetDebugLevel(int level) {debug_lvl = level;}
402 struct PropertyCatalogStructure {
403 /// Name of the property.
405 /// The node for the property.
406 FGPropertyManager *node;
409 /** Builds a catalog of properties.
410 * This function descends the property tree and creates a list (an STL vector)
411 * containing the name and node for all properties.
412 * @param pcs The "root" property catalog structure pointer. */
413 void BuildPropertyCatalog(struct PropertyCatalogStructure* pcs);
415 /** Retrieves property or properties matching the supplied string.
416 * A string is returned that contains a carriage return delimited list of all
417 * strings in the property catalog that matches the supplied check string.
418 * @param check The string to search for in the property catalog.
419 * @return the carriage-return-delimited string containing all matching strings
421 string QueryPropertyCatalog(string check);
423 // Print the contents of the property catalog for the loaded aircraft.
424 void PrintPropertyCatalog(void);
426 /// Use the MSIS atmosphere model.
427 void UseAtmosphereMSIS(void);
429 /// Use the Mars atmosphere model. (Not operative yet.)
430 void UseAtmosphereMars(void);
432 void SetTrimStatus(bool status){ trim_status = status; }
433 bool GetTrimStatus(void) const { return trim_status; }
434 void SetTrimMode(int mode){ ta_mode = mode; }
435 int GetTrimMode(void) const { return ta_mode; }
438 static unsigned int FDMctr;
442 unsigned short Terminate;
449 string FullAircraftPath;
463 double roll, pitch, yaw;
469 roll = pitch = yaw = 0.0;
478 static FGPropertyManager *master;
481 FGGroundCallback* GroundCallback;
483 FGAtmosphere* Atmosphere;
485 FGPropulsion* Propulsion;
486 FGMassBalance* MassBalance;
487 FGAerodynamics* Aerodynamics;
488 FGInertial* Inertial;
489 FGGroundReactions* GroundReactions;
490 FGExternalReactions* ExternalReactions;
491 FGBuoyantForces* BuoyantForces;
492 FGAircraft* Aircraft;
493 FGPropagate* Propagate;
494 FGAuxiliary* Auxiliary;
497 FGInitialCondition* IC;
500 FGPropertyManager* Root;
501 FGPropertyManager* instance;
503 vector <string> PropertyCatalog;
504 vector <FGOutput*> Outputs;
505 vector <slaveData*> SlaveFDMList;
507 bool ReadFileHeader(Element*);
508 bool ReadSlave(Element*);
509 bool ReadPrologue(Element*);
510 void ResetToInitialConditions(int mode);
512 bool DeAllocate(void);
514 void Debug(int from);
517 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%