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 "math/FGPropertyValue.h"
  42 #include <string>
  43 #include <vector>
  44
  45 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  46 DEFINITIONS
  47 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  48
  49 #define ID_FCSCOMPONENT "$Id: FGFCSComponent.h,v 1.20 2011/06/16 03:39:38 jberndt Exp $"
  50
  51 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  52 FORWARD DECLARATIONS
  53 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  54
  55 namespace JSBSim {
  56
  57 class FGFCS;
  58 class FGPropertyManager;
  59 class Element;
  60
  61 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  62 CLASS DOCUMENTATION
  63 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  64
  65 /** Base class for JSBSim Flight Control System Components.
  66     The Flight Control System (FCS) for JSBSim consists of the FCS container
  67     class (see FGFCS), the FGFCSComponent base class, and the
  68     component classes from which can be constructed a string, or channel. See:
  69
  70     - FGSwitch
  71     - FGGain
  72     - FGKinemat
  73     - FGFilter
  74     - FGDeadBand
  75     - FGSummer
  76     - FGSensor
  77     - FGFCSFunction
  78     - FGPID
  79     - FGAccelerometer
  80     - FGGyro
  81     - FGActuator
  82
  83     @author Jon S. Berndt
  84     @version $Id: FGFCSComponent.h,v 1.20 2011/06/16 03:39:38 jberndt Exp $
  85     @see Documentation for the FGFCS class, and for the configuration file class
  86 */
  87
  88 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  89 CLASS DECLARATION
  90 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  91
  92 class FGFCSComponent : public FGJSBBase
  93 {
  94 public:
  95   /// Constructor
  96   FGFCSComponent(FGFCS* fcs, Element* el);
  97   /// Destructor
  98   virtual ~FGFCSComponent();
  99
 100   virtual bool Run(void);
 101   virtual void SetOutput(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 <FGPropertyValue*> 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   double delay_time;
 124   unsigned int delay;
 125   int index;
 126   float clipMinSign, clipMaxSign;
 127   double dt;
 128   bool IsOutput;
 129   bool clip;
 130
 131   void Delay(void);
 132   void Clip(void);
 133   virtual void bind();
 134   virtual void Debug(int from);
 135 };
 136
 137 } //namespace JSBSim
 138
 139 #include "../FGFCS.h"
 140
 141 #endif
 142