src/FDM/JSBSim/models/flight_control/FGFCSComponent.h

   1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
   2
   3  Header:       FGFCSComponent.h
   4  Author:       Jon S. Berndt
   5  Date started: 05/01/2000
   6
   7  ------------- Copyright (C)  -------------
   8
   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
  12  version.
  13
  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
  17  details.
  18
  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.
  22
  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.
  25
  26 HISTORY
  27 --------------------------------------------------------------------------------
  28
  29 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  30 SENTRY
  31 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  32
  33 #ifndef FGFCSCOMPONENT_H
  34 #define FGFCSCOMPONENT_H
  35
  36 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  37 INCLUDES
  38 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  39
  40 #include "FGJSBBase.h"
  41 #include <string>
  42 #include <vector>
  43
  44 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  45 DEFINITIONS
  46 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  47
  48 #define ID_FCSCOMPONENT "$Id: FGFCSComponent.h,v 1.17 2010/08/21 22:56:11 jberndt Exp $"
  49
  50 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  51 FORWARD DECLARATIONS
  52 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  53
  54 namespace JSBSim {
  55
  56 class FGFCS;
  57 class FGPropertyManager;
  58 class Element;
  59
  60 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  61 CLASS DOCUMENTATION
  62 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  63
  64 /** Base class for JSBSim Flight Control System Components.
  65     The Flight Control System (FCS) for JSBSim consists of the FCS container
  66     class (see FGFCS), the FGFCSComponent base class, and the
  67     component classes from which can be constructed a string, or channel. See:
  68
  69     - FGSwitch
  70     - FGGain
  71     - FGKinemat
  72     - FGFilter
  73     - FGDeadBand
  74     - FGSummer
  75     - FGSensor
  76     - FGFCSFunction
  77     - FGPID
  78     - FGAccelerometer
  79     - FGGyro
  80     - FGActuator
  81
  82     @author Jon S. Berndt
  83     @version $Id: FGFCSComponent.h,v 1.17 2010/08/21 22:56:11 jberndt Exp $
  84     @see Documentation for the FGFCS class, and for the configuration file class
  85 */
  86
  87 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  88 CLASS DECLARATION
  89 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  90
  91 class FGFCSComponent : public FGJSBBase
  92 {
  93 public:
  94   /// Constructor
  95   FGFCSComponent(FGFCS* fcs, Element* el);
  96   /// Destructor
  97   virtual ~FGFCSComponent();
  98
  99   virtual bool Run(void);
 100   virtual void SetOutput(void);
 101   void LateBind(void);
 102   double GetOutput (void) const {return Output;}
 103   std::string GetName(void) const {return Name;}
 104   std::string GetType(void) const { return Type; }
 105   virtual double GetOutputPct(void) const { return 0; }
 106
 107 protected:
 108   FGFCS* fcs;
 109   FGPropertyManager* PropertyManager;
 110   FGPropertyManager* treenode;
 111   std::vector <FGPropertyManager*> OutputNodes;
 112   FGPropertyManager* ClipMinPropertyNode;
 113   FGPropertyManager* ClipMaxPropertyNode;
 114   std::vector <FGPropertyManager*> InputNodes;
 115   std::vector <std::string> InputNames;
 116   std::vector <float> InputSigns;
 117   std::vector <double> output_array;
 118   std::string Type;
 119   std::string Name;
 120   double Input;
 121   double Output;
 122   double clipmax, clipmin;
 123   int delay;
 124   int index;
 125   float clipMinSign, clipMaxSign;
 126   double dt;
 127   bool IsOutput;
 128   bool clip;
 129
 130   void Delay(void);
 131   void Clip(void);
 132   virtual void bind();
 133   virtual void Debug(int from);
 134 };
 135
 136 } //namespace JSBSim
 137
 138 #include "../FGFCS.h"
 139
 140 #endif
 141