1 // fdm_shell.cxx -- encapsulate FDM implementations as well-behaved subsystems
3 // Written by James Turner, started June 2010.
5 // Copyright (C) 2010 Curtis L. Olson - http://www.flightgear.org/~curt
7 // This program is free software; you can redistribute it and/or
8 // modify it under the terms of the GNU General Public License as
9 // published by the Free Software Foundation; either version 2 of the
10 // License, or (at your option) any later version.
12 // This program is distributed in the hope that it will be useful, but
13 // WITHOUT ANY WARRANTY; without even the implied warranty of
14 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
15 // General Public License for more details.
17 // You should have received a copy of the GNU General Public License
18 // along with this program; if not, write to the Free Software
19 // Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
28 #include <simgear/structure/exception.hxx>
30 #include <FDM/fdm_shell.hxx>
31 #include <FDM/flight.hxx>
32 #include <Aircraft/replay.hxx>
33 #include <Main/globals.hxx>
34 #include <Main/fg_props.hxx>
35 #include <Scenery/scenery.hxx>
37 // all the FDMs, since we are the factory method
39 #include <FDM/SP/ADA.hxx>
40 #include <FDM/SP/ACMS.hxx>
41 #include <FDM/SP/MagicCarpet.hxx>
42 #include <FDM/SP/Balloon.h>
44 #include <FDM/ExternalNet/ExternalNet.hxx>
45 #include <FDM/ExternalPipe/ExternalPipe.hxx>
48 #include <FDM/JSBSim/JSBSim.hxx>
52 #include <FDM/LaRCsim/LaRCsim.hxx>
55 #include <FDM/UFO.hxx>
56 #include <FDM/NullFDM.hxx>
59 #include <FDM/YASim/YASim.hxx>
62 FDMShell::FDMShell() :
63 _tankProperties( fgGetNode("/consumables/fuel", true) ),
76 _props = globals->get_props();
77 fgSetBool("/sim/fdm-initialized", false);
79 _wind_north = _props->getNode("environment/wind-from-north-fps", true);
80 _wind_east = _props->getNode("environment/wind-from-east-fps", true);
81 _wind_down = _props->getNode("environment/wind-from-down-fps", true);
82 _control_fdm_atmo = _props->getNode("environment/params/control-fdm-atmosphere", true);
83 _temp_degc = _props->getNode("environment/temperature-degc", true);
84 _pressure_inhg = _props->getNode("environment/pressure-inhg", true);
85 _density_slugft = _props->getNode("environment/density-slugft3", true);
86 _data_logging = _props->getNode("/sim/temp/fdm-data-logging", true);
87 _replay_master = _props->getNode("/sim/freeze/replay-state", true);
89 createImplementation();
92 void FDMShell::reinit()
95 fgSetBool("/sim/fdm-initialized", false);
104 void FDMShell::bind()
106 _tankProperties.bind();
107 if (_impl && _impl->get_inited()) {
108 if (_impl->get_bound()) {
109 throw sg_exception("FDMShell::bind of bound FGInterface impl");
115 void FDMShell::unbind()
117 if( _impl ) _impl->unbind();
118 _tankProperties.unbind();
121 void FDMShell::update(double dt)
127 if (!_impl->get_inited()) {
128 // Check for scenery around the aircraft.
129 double lon = fgGetDouble("/sim/presets/longitude-deg");
130 double lat = fgGetDouble("/sim/presets/latitude-deg");
132 double range = 1000.0; // in meters
133 SGGeod geod = SGGeod::fromDeg(lon, lat);
134 if (globals->get_scenery()->scenery_available(geod, range)) {
135 SG_LOG(SG_FLIGHT, SG_INFO, "Scenery loaded, will init FDM");
137 if (_impl->get_bound()) {
142 fgSetBool("/sim/fdm-initialized", true);
143 fgSetBool("/sim/signals/fdm-initialized", true);
147 if (!_impl->get_inited()) {
148 return; // still waiting
151 // pull environmental data in, since the FDMs are lazy
152 _impl->set_Velocities_Local_Airmass(
153 _wind_north->getDoubleValue(),
154 _wind_east->getDoubleValue(),
155 _wind_down->getDoubleValue());
157 if (_control_fdm_atmo->getBoolValue()) {
158 // convert from Rankine to Celsius
159 double tempDegC = _temp_degc->getDoubleValue();
160 _impl->set_Static_temperature((9.0/5.0) * (tempDegC + 273.15));
162 // convert from inHG to PSF
163 double pressureInHg = _pressure_inhg->getDoubleValue();
164 _impl->set_Static_pressure(pressureInHg * 70.726566);
165 // keep in slugs/ft^3
166 _impl->set_Density(_density_slugft->getDoubleValue());
169 bool doLog = _data_logging->getBoolValue();
170 if (doLog != _dataLogging) {
171 _dataLogging = doLog;
172 _impl->ToggleDataLogging(doLog);
175 switch(_replay_master->getIntValue())
178 // normal FDM operation
182 // resume FDM operation at current replay position
191 FGInterface* FDMShell::getInterface() const
196 void FDMShell::createImplementation()
200 double dt = 1.0 / fgGetInt("/sim/model-hz");
201 string model = fgGetString("/sim/flight-model");
203 bool fdmUnavailable = false;
205 if ( model == "ufo" ) {
206 _impl = new FGUFO( dt );
207 } else if ( model == "external" ) {
208 // external is a synonym for "--fdm=null" and is
209 // maintained here for backwards compatibility
210 _impl = new FGNullFDM( dt );
211 } else if ( model.find("network") == 0 ) {
212 string host = "localhost";
216 string net_options = model.substr(8);
217 string::size_type begin, end;
220 end = net_options.find( ",", begin );
221 if ( end != string::npos ) {
222 host = net_options.substr(begin, end - begin);
226 end = net_options.find( ",", begin );
227 if ( end != string::npos ) {
228 port1 = atoi( net_options.substr(begin, end - begin).c_str() );
232 end = net_options.find( ",", begin );
233 if ( end != string::npos ) {
234 port2 = atoi( net_options.substr(begin, end - begin).c_str() );
238 end = net_options.find( ",", begin );
239 if ( end != string::npos ) {
240 port3 = atoi( net_options.substr(begin, end - begin).c_str() );
243 _impl = new FGExternalNet( dt, host, port1, port2, port3 );
244 } else if ( model.find("pipe") == 0 ) {
245 // /* old */ string pipe_path = model.substr(5);
246 // /* old */ _impl = new FGExternalPipe( dt, pipe_path );
247 string pipe_path = "";
248 string pipe_protocol = "";
249 string pipe_options = model.substr(5);
250 string::size_type begin, end;
253 end = pipe_options.find( ",", begin );
254 if ( end != string::npos ) {
255 pipe_path = pipe_options.substr(begin, end - begin);
258 // protocol (last option)
259 pipe_protocol = pipe_options.substr(begin);
260 _impl = new FGExternalPipe( dt, pipe_path, pipe_protocol );
261 } else if ( model == "null" ) {
262 _impl = new FGNullFDM( dt );
264 else if ( model == "larcsim" ) {
265 #ifdef ENABLE_LARCSIM
266 _impl = new FGLaRCsim( dt );
268 fdmUnavailable = true;
271 else if ( model == "jsb" ) {
273 _impl = new FGJSBsim( dt );
275 fdmUnavailable = true;
279 else if ( model == "ada" ) {
280 _impl = new FGADA( dt );
281 } else if ( model == "acms" ) {
282 _impl = new FGACMS( dt );
283 } else if ( model == "balloon" ) {
284 _impl = new FGBalloonSim( dt );
285 } else if ( model == "magic" ) {
286 _impl = new FGMagicCarpet( dt );
289 else if (( model == "ada" )||(model == "acms")||( model == "balloon" )||( model == "magic" ))
291 fdmUnavailable = true;
294 else if ( model == "yasim" ) {
296 _impl = new YASim( dt );
298 fdmUnavailable = true;
301 throw sg_exception(string("Unrecognized flight model '") + model
302 + "', cannot init flight dynamics model.");
307 // FDM type is known, but its support was disabled at compile-time.
308 throw sg_exception(string("Support for flight model '") + model
309 + ("' is not available with this binary (deprecated/disabled).\n"
310 "If you still need it, please rebuild FlightGear and enable its support."));