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 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
72 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
74 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
76 /** Encapsulates the JSBSim simulation executive.
77 This class is the executive class through which all other simulation classes
78 are instantiated, initialized, and run. When integrated with FlightGear (or
79 other flight simulator) this class is typically instantiated by an interface
80 class on the simulator side.
82 At the time of simulation initialization, the interface
83 class creates an instance of this executive class. The
84 executive is subsequently directed to load the chosen aircraft specification
88 fdmex = new FGFDMExec(
\85 );
89 result = fdmex->LoadModel(
\85 );
92 When an aircraft model is loaded, the config file is parsed and for each of the
93 sections of the config file (propulsion, flight control, etc.) the
94 corresponding Load() method is called (e.g. FGFCS::Load()).
96 Subsequent to the creation of the executive and loading of the model,
97 initialization is performed. Initialization involves copying control inputs
98 into the appropriate JSBSim data storage locations, configuring it for the set
99 of user supplied initial conditions, and then copying state variables from
100 JSBSim. The state variables are used to drive the instrument displays and to
101 place the vehicle model in world space for visual rendering:
104 copy_to_JSBsim(); // copy control inputs to JSBSim
105 fdmex->RunIC(); // loop JSBSim once w/o integrating
106 copy_from_JSBsim(); // update the bus
109 Once initialization is complete, cyclic execution proceeds:
112 copy_to_JSBsim(); // copy control inputs to JSBSim
113 fdmex->Run(); // execute JSBSim
114 copy_from_JSBsim(); // update the bus
117 JSBSim can be used in a standalone mode by creating a compact stub program
118 that effectively performs the same progression of steps as outlined above for
119 the integrated version, but with two exceptions. First, the copy_to_JSBSim()
120 and copy_from_JSBSim() functions are not used because the control inputs are
121 handled directly by the scripting facilities and outputs are handled by the
122 output (data logging) class. Second, the name of a script file can be supplied
123 to the stub program. Scripting (see FGScript) provides a way to supply command
124 inputs to the simulation:
127 FDMExec = new JSBSim::FGFDMExec();
128 FDMExec->LoadScript( ScriptName ); // the script loads the aircraft and ICs
129 result = FDMExec->Run();
130 while (result) { // cyclic execution
131 result = FDMExec->Run(); // execute JSBSim
135 The standalone mode has been useful for verifying changes before committing
136 updates to the source code repository. It is also useful for running sets of
137 tests that reveal some aspects of simulated aircraft performance, such as
138 range, time-to-climb, takeoff distance, etc.
140 <h3>JSBSim Debugging Directives</h3>
142 This describes to any interested entity the debug level
143 requested by setting the JSBSIM_DEBUG environment variable.
144 The bitmasked value choices are as follows:
145 - <b>unset</b>: In this case (the default) JSBSim would only print
146 out the normally expected messages, essentially echoing
147 the config files as they are read. If the environment
148 variable is not set, debug_lvl is set to 1 internally
149 - <b>0</b>: This requests JSBSim not to output any messages
151 - <b>1</b>: This value explicity requests the normal JSBSim
153 - <b>2</b>: This value asks for a message to be printed out when
154 a class is instantiated
155 - <b>4</b>: When this value is set, a message is displayed when a
156 FGModel object executes its Run() method
157 - <b>8</b>: When this value is set, various runtime state variables
158 are printed out periodically
159 - <b>16</b>: When set various parameters are sanity checked and
160 a message is printed out when they go out of bounds
163 @property simulator/do_trim (write only) Can be set to the integer equivalent to one of
164 tLongitudinal (0), tFull (1), tGround (2), tPullup (3),
165 tCustom (4), tTurn (5). Setting this to a legal value
166 (such as by a script) causes a trim to be performed. This
167 property actually maps toa function call of DoTrim().
169 @author Jon S. Berndt
173 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
175 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
177 class FGFDMExec : public FGJSBBase, public FGXMLFileRead
181 /// Default constructor
182 FGFDMExec(FGPropertyManager* root = 0);
184 /// Default destructor
187 /** This routine places a model into the runlist at the specified rate. The
188 "rate" is not really a clock rate. It represents how many calls to the
189 FGFDMExec::Run() method must be made before the model is executed. A
190 value of 1 means that the model will be executed for each call to the
191 exec's Run() method. A value of 5 means that the model will only be
192 executed every 5th call to the exec's Run() method. Use of a rate other than
193 one is at this time not recommended.
194 @param model A pointer to the model being scheduled.
195 @param rate The rate at which to execute the model as described above.
196 @return Currently returns 0 always. */
197 int Schedule(FGModel* model, int rate);
199 /** This function executes each scheduled model in succession.
200 @return true if successful, false if sim should be ended */
203 /** Initializes the sim from the initial condition object and executes
204 each scheduled model without integrating i.e. dt=0.
205 @return true if successful */
208 /** Sets the ground callback pointer.
209 @param gc A pointer to a ground callback object. */
210 void SetGroundCallback(FGGroundCallback* gc);
212 /** Loads an aircraft model.
213 @param AircraftPath path to the aircraft/ directory. For instance:
214 "aircraft". Under aircraft, then, would be directories for various
215 modeled aircraft such as C172/, x15/, etc.
216 @param EnginePath path to the directory under which engine config
217 files are kept, for instance "engine"
218 @param SystemsPath path to the directory under which systems config
219 files are kept, for instance "systems"
220 @param model the name of the aircraft model itself. This file will
221 be looked for in the directory specified in the AircraftPath variable,
222 and in turn under the directory with the same name as the model. For
223 instance: "aircraft/x15/x15.xml"
224 @param addModelToPath set to true to add the model name to the
225 AircraftPath, defaults to true
226 @return true if successful */
227 bool LoadModel(string AircraftPath, string EnginePath, string SystemsPath,
228 string model, bool addModelToPath = true);
230 /** Loads an aircraft model. The paths to the aircraft and engine
231 config file directories must be set prior to calling this. See
233 @param model the name of the aircraft model itself. This file will
234 be looked for in the directory specified in the AircraftPath variable,
235 and in turn under the directory with the same name as the model. For
236 instance: "aircraft/x15/x15.xml"
237 @param addModelToPath set to true to add the model name to the
238 AircraftPath, defaults to true
239 @return true if successful*/
240 bool LoadModel(string model, bool addModelToPath = true);
243 @param Script the full path name and file name for the script to be loaded.
244 @return true if successfully loadsd; false otherwise. */
245 bool LoadScript(string Script);
247 /** Sets the path to the engine config file directories.
248 @param path path to the directory under which engine config
249 files are kept, for instance "engine" */
250 bool SetEnginePath(string path) { EnginePath = path; return true; }
252 /** Sets the path to the aircraft config file directories.
253 @param path path to the aircraft directory. For instance:
254 "aircraft". Under aircraft, then, would be directories for various
255 modeled aircraft such as C172/, x15/, etc. */
256 bool SetAircraftPath(string path) { AircraftPath = path; return true; }
258 /** Sets the path to the systems config file directories.
259 @param path path to the directory under which systems config
260 files are kept, for instance "systems" */
261 bool SetSystemsPath(string path) { SystemsPath = path; return true; }
263 /// @name Top-level executive State and Model retrieval mechanism
265 /// Returns the FGAtmosphere pointer.
266 inline FGAtmosphere* GetAtmosphere(void) {return Atmosphere;}
267 /// Returns the FGFCS pointer.
268 inline FGFCS* GetFCS(void) {return FCS;}
269 /// Returns the FGPropulsion pointer.
270 inline FGPropulsion* GetPropulsion(void) {return Propulsion;}
271 /// Returns the FGAircraft pointer.
272 inline FGMassBalance* GetMassBalance(void) {return MassBalance;}
273 /// Returns the FGAerodynamics pointer
274 inline FGAerodynamics* GetAerodynamics(void){return Aerodynamics;}
275 /// Returns the FGInertial pointer.
276 inline FGInertial* GetInertial(void) {return Inertial;}
277 /// Returns the FGGroundReactions pointer.
278 inline FGGroundReactions* GetGroundReactions(void) {return GroundReactions;}
279 /// Returns the FGExternalReactions pointer.
280 inline FGExternalReactions* GetExternalReactions(void) {return ExternalReactions;}
281 /// Returns the FGBuoyantForces pointer.
282 inline FGBuoyantForces* GetBuoyantForces(void) {return BuoyantForces;}
283 /// Returns the FGAircraft pointer.
284 inline FGAircraft* GetAircraft(void) {return Aircraft;}
285 /// Returns the FGPropagate pointer.
286 inline FGPropagate* GetPropagate(void) {return Propagate;}
287 /// Returns the FGAuxiliary pointer.
288 inline FGAuxiliary* GetAuxiliary(void) {return Auxiliary;}
289 /// Returns the FGInput pointer.
290 inline FGInput* GetInput(void) {return Input;}
291 /// Returns the FGGroundCallback pointer.
292 inline FGGroundCallback* GetGroundCallback(void) {return GroundCallback;}
293 /// Returns the FGState pointer.
294 inline FGState* GetState(void) {return State;}
295 /// Retrieves the script object
296 inline FGScript* GetScript(void) {return Script;}
297 // Returns a pointer to the FGInitialCondition object
298 inline FGInitialCondition* GetIC(void) {return IC;}
299 // Returns a pointer to the FGTrim object
300 FGTrim* GetTrim(void);
303 /// Retrieves the engine path.
304 inline string GetEnginePath(void) {return EnginePath;}
305 /// Retrieves the aircraft path.
306 inline string GetAircraftPath(void) {return AircraftPath;}
307 /// Retrieves the systems path.
308 inline string GetSystemsPath(void) {return SystemsPath;}
309 /// Retrieves the full aircraft path name.
310 inline string GetFullAircraftPath(void) {return FullAircraftPath;}
312 /** Retrieves the value of a property.
313 @param property the name of the property
314 @result the value of the specified property */
315 inline double GetPropertyValue(string property) {return instance->GetDouble(property);}
317 /** Sets a property value.
318 @param property the property to be set
319 @param value the value to set the property to */
320 inline void SetPropertyValue(string property, double value) {
321 instance->SetDouble(property, value);
324 /// Returns the model name.
325 string GetModelName(void) { return modelName; }
327 /// Returns the current time.
328 double GetSimTime(void);
330 /// Returns the current frame time (delta T).
331 double GetDeltaT(void);
333 /// Returns a pointer to the property manager object.
334 FGPropertyManager* GetPropertyManager(void);
335 /// Returns a vector of strings representing the names of all loaded models (future)
336 vector <string> EnumerateFDMs(void);
337 /// Marks this instance of the Exec object as a "slave" object.
338 void SetSlave(bool s) {IsSlave = s;}
340 /** Sets the output (logging) mechanism for this run.
341 Calling this function passes the name of an output directives file to
342 the FGOutput object associated with this run. The call to this function
343 should be made prior to loading an aircraft model. This call results in an
344 FGOutput object being built as the first Output object in the FDMExec-managed
345 list of Output objects that may be created for an aircraft model. If this call
346 is made after an aircraft model is loaded, there is no effect. Any Output
347 objects added by the aircraft model itself (in an <output> element) will be
348 added after this one. Care should be taken not to refer to the same file
350 An output directives file contains an <output> </output> element, within
351 which should be specified the parameters or parameter groups that should
353 @param fname the filename of an output directives file.
355 bool SetOutputDirectives(string fname);
357 /** Sets (or overrides) the output filename
358 @param fname the name of the file to output data to
359 @return true if successful, false if there is no output specified for the flight model */
360 bool SetOutputFileName(string fname) {
361 if (Outputs.size() > 0) Outputs[0]->SetOutputFileName(fname);
366 /** Retrieves the current output filename.
367 @return the name of the output file for the first output specified by the flight model.
368 If none is specified, the empty string is returned. */
369 string GetOutputFileName(void) {
370 if (Outputs.size() > 0) return Outputs[0]->GetOutputFileName();
371 else return string("");
374 /** Executes trimming in the selected mode.
375 * @param mode Specifies how to trim:
383 void DoTrim(int mode);
384 // void DoTrimAnalysis(int mode);
386 /// Disables data logging to all outputs.
387 void DisableOutput(void);
388 /// Enables data logging to all outputs.
389 void EnableOutput(void);
390 /// Pauses execution by preventing time from incrementing.
391 void Hold(void) {holding = true;}
392 /// Resumes execution from a "Hold".
393 void Resume(void) {holding = false;}
394 /// Returns true if the simulation is Holding (i.e. simulation time is not moving).
395 bool Holding(void) {return holding;}
396 /// Resets the initial conditions object and prepares the simulation to run again.
397 void ResetToInitialConditions(void);
398 /// Sets the debug level.
399 void SetDebugLevel(int level) {debug_lvl = level;}
401 struct PropertyCatalogStructure {
402 /// Name of the property.
404 /// The node for the property.
405 FGPropertyManager *node;
408 /** Builds a catalog of properties.
409 * This function descends the property tree and creates a list (an STL vector)
410 * containing the name and node for all properties.
411 * @param pcs The "root" property catalog structure pointer. */
412 void BuildPropertyCatalog(struct PropertyCatalogStructure* pcs);
414 /** Retrieves property or properties matching the supplied string.
415 * A string is returned that contains a carriage return delimited list of all
416 * strings in the property catalog that matches the supplied check string.
417 * @param check The string to search for in the property catalog.
418 * @return the carriage-return-delimited string containing all matching strings
420 string QueryPropertyCatalog(string check);
422 // Print the contents of the property catalog for the loaded aircraft.
423 void PrintPropertyCatalog(void);
425 /// Use the MSIS atmosphere model.
426 void UseAtmosphereMSIS(void);
428 /// Use the Mars atmosphere model. (Not operative yet.)
429 void UseAtmosphereMars(void);
431 void SetTrimStatus(bool status){ trim_status = status; }
432 bool GetTrimStatus(void) const { return trim_status; }
433 void SetTrimMode(int mode){ ta_mode = mode; }
434 int GetTrimMode(void) const { return ta_mode; }
437 static unsigned int FDMctr;
441 unsigned short Terminate;
448 string FullAircraftPath;
462 double roll, pitch, yaw;
468 roll = pitch = yaw = 0.0;
477 static FGPropertyManager *master;
480 FGGroundCallback* GroundCallback;
482 FGAtmosphere* Atmosphere;
484 FGPropulsion* Propulsion;
485 FGMassBalance* MassBalance;
486 FGAerodynamics* Aerodynamics;
487 FGInertial* Inertial;
488 FGGroundReactions* GroundReactions;
489 FGExternalReactions* ExternalReactions;
490 FGBuoyantForces* BuoyantForces;
491 FGAircraft* Aircraft;
492 FGPropagate* Propagate;
493 FGAuxiliary* Auxiliary;
496 FGInitialCondition* IC;
499 FGPropertyManager* Root;
500 FGPropertyManager* instance;
502 vector <string> PropertyCatalog;
503 vector <FGOutput*> Outputs;
504 vector <slaveData*> SlaveFDMList;
506 bool ReadFileHeader(Element*);
507 bool ReadSlave(Element*);
508 bool ReadPrologue(Element*);
510 bool DeAllocate(void);
512 void Debug(int from);
515 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%