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>
64 FDMShell::FDMShell() :
65 _tankProperties( fgGetNode("/consumables/fuel", true) ),
78 _props = globals->get_props();
79 fgSetBool("/sim/fdm-initialized", false);
81 _wind_north = _props->getNode("environment/wind-from-north-fps", true);
82 _wind_east = _props->getNode("environment/wind-from-east-fps", true);
83 _wind_down = _props->getNode("environment/wind-from-down-fps", true);
84 _control_fdm_atmo = _props->getNode("environment/params/control-fdm-atmosphere", true);
85 _temp_degc = _props->getNode("environment/temperature-degc", true);
86 _pressure_inhg = _props->getNode("environment/pressure-inhg", true);
87 _density_slugft = _props->getNode("environment/density-slugft3", true);
88 _data_logging = _props->getNode("/sim/temp/fdm-data-logging", true);
89 _replay_master = _props->getNode("/sim/freeze/replay-state", true);
91 createImplementation();
94 void FDMShell::reinit()
97 fgSetBool("/sim/fdm-initialized", false);
106 void FDMShell::bind()
108 _tankProperties.bind();
109 if (_impl && _impl->get_inited()) {
110 if (_impl->get_bound()) {
111 throw sg_exception("FDMShell::bind of bound FGInterface impl");
117 void FDMShell::unbind()
119 if( _impl ) _impl->unbind();
120 _tankProperties.unbind();
123 void FDMShell::update(double dt)
129 if (!_impl->get_inited()) {
130 // Check for scenery around the aircraft.
131 double lon = fgGetDouble("/sim/presets/longitude-deg");
132 double lat = fgGetDouble("/sim/presets/latitude-deg");
134 double range = 1000.0; // in meters
135 SGGeod geod = SGGeod::fromDeg(lon, lat);
136 if (globals->get_scenery()->scenery_available(geod, range)) {
137 SG_LOG(SG_FLIGHT, SG_INFO, "Scenery loaded, will init FDM");
139 if (_impl->get_bound()) {
144 fgSetBool("/sim/fdm-initialized", true);
145 fgSetBool("/sim/signals/fdm-initialized", true);
149 if (!_impl->get_inited()) {
150 return; // still waiting
153 // pull environmental data in, since the FDMs are lazy
154 _impl->set_Velocities_Local_Airmass(
155 _wind_north->getDoubleValue(),
156 _wind_east->getDoubleValue(),
157 _wind_down->getDoubleValue());
159 if (_control_fdm_atmo->getBoolValue()) {
160 // convert from Rankine to Celsius
161 double tempDegC = _temp_degc->getDoubleValue();
162 _impl->set_Static_temperature((9.0/5.0) * (tempDegC + 273.15));
164 // convert from inHG to PSF
165 double pressureInHg = _pressure_inhg->getDoubleValue();
166 _impl->set_Static_pressure(pressureInHg * 70.726566);
167 // keep in slugs/ft^3
168 _impl->set_Density(_density_slugft->getDoubleValue());
171 bool doLog = _data_logging->getBoolValue();
172 if (doLog != _dataLogging) {
173 _dataLogging = doLog;
174 _impl->ToggleDataLogging(doLog);
177 switch(_replay_master->getIntValue())
180 // normal FDM operation
184 // resume FDM operation at current replay position
193 FGInterface* FDMShell::getInterface() const
198 void FDMShell::createImplementation()
202 double dt = 1.0 / fgGetInt("/sim/model-hz");
203 string model = fgGetString("/sim/flight-model");
205 bool fdmUnavailable = false;
207 if ( model == "ufo" ) {
208 _impl = new FGUFO( dt );
209 } else if ( model == "external" ) {
210 // external is a synonym for "--fdm=null" and is
211 // maintained here for backwards compatibility
212 _impl = new FGNullFDM( dt );
213 } else if ( model.find("network") == 0 ) {
214 string host = "localhost";
218 string net_options = model.substr(8);
219 string::size_type begin, end;
222 end = net_options.find( ",", begin );
223 if ( end != string::npos ) {
224 host = net_options.substr(begin, end - begin);
228 end = net_options.find( ",", begin );
229 if ( end != string::npos ) {
230 port1 = atoi( net_options.substr(begin, end - begin).c_str() );
234 end = net_options.find( ",", begin );
235 if ( end != string::npos ) {
236 port2 = atoi( net_options.substr(begin, end - begin).c_str() );
240 end = net_options.find( ",", begin );
241 if ( end != string::npos ) {
242 port3 = atoi( net_options.substr(begin, end - begin).c_str() );
245 _impl = new FGExternalNet( dt, host, port1, port2, port3 );
246 } else if ( model.find("pipe") == 0 ) {
247 // /* old */ string pipe_path = model.substr(5);
248 // /* old */ _impl = new FGExternalPipe( dt, pipe_path );
249 string pipe_path = "";
250 string pipe_protocol = "";
251 string pipe_options = model.substr(5);
252 string::size_type begin, end;
255 end = pipe_options.find( ",", begin );
256 if ( end != string::npos ) {
257 pipe_path = pipe_options.substr(begin, end - begin);
260 // protocol (last option)
261 pipe_protocol = pipe_options.substr(begin);
262 _impl = new FGExternalPipe( dt, pipe_path, pipe_protocol );
263 } else if ( model == "null" ) {
264 _impl = new FGNullFDM( dt );
266 else if ( model == "larcsim" ) {
267 #ifdef ENABLE_LARCSIM
268 _impl = new FGLaRCsim( dt );
270 fdmUnavailable = true;
273 else if ( model == "jsb" ) {
275 _impl = new FGJSBsim( dt );
277 fdmUnavailable = true;
281 else if ( model == "ada" ) {
282 _impl = new FGADA( dt );
283 } else if ( model == "acms" ) {
284 _impl = new FGACMS( dt );
285 } else if ( model == "balloon" ) {
286 _impl = new FGBalloonSim( dt );
287 } else if ( model == "magic" ) {
288 _impl = new FGMagicCarpet( dt );
291 else if (( model == "ada" )||(model == "acms")||( model == "balloon" )||( model == "magic" ))
293 fdmUnavailable = true;
296 else if ( model == "yasim" ) {
298 _impl = new YASim( dt );
300 fdmUnavailable = true;
303 throw sg_exception(string("Unrecognized flight model '") + model
304 + "', cannot init flight dynamics model.");
309 // FDM type is known, but its support was disabled at compile-time.
310 throw sg_exception(string("Support for flight model '") + model
311 + ("' is not available with this binary (deprecated/disabled).\n"
312 "If you still need it, please rebuild FlightGear and enable its support."));