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>
46 #include <FDM/JSBSim/JSBSim.hxx>
47 #include <FDM/LaRCsim/LaRCsim.hxx>
48 #include <FDM/UFO.hxx>
49 #include <FDM/NullFDM.hxx>
50 #include <FDM/YASim/YASim.hxx>
54 * Evil global variable required by Network/FGNative,
55 * see that class for more information
57 FGInterface* evil_global_fdm_state = NULL;
59 FDMShell::FDMShell() :
60 _tankProperties( fgGetNode("/consumables/fuel", true) ),
73 _props = globals->get_props();
74 fgSetBool("/sim/fdm-initialized", false);
76 _wind_north = _props->getNode("environment/wind-from-north-fps", true);
77 _wind_east = _props->getNode("environment/wind-from-east-fps", true);
78 _wind_down = _props->getNode("environment/wind-from-down-fps", true);
79 _control_fdm_atmo = _props->getNode("environment/params/control-fdm-atmosphere", true);
80 _temp_degc = _props->getNode("environment/temperature-degc", true);
81 _pressure_inhg = _props->getNode("environment/pressure-inhg", true);
82 _density_slugft = _props->getNode("environment/density-slugft3", true);
83 _data_logging = _props->getNode("/sim/temp/fdm-data-logging", true);
84 _replay_master = _props->getNode("/sim/freeze/replay-state", true);
86 createImplementation();
89 void FDMShell::reinit()
92 fgSetBool("/sim/fdm-initialized", false);
93 evil_global_fdm_state = NULL;
102 void FDMShell::bind()
104 _tankProperties.bind();
105 if (_impl && _impl->get_inited()) {
106 if (_impl->get_bound()) {
107 throw sg_exception("FDMShell::bind of bound FGInterface impl");
113 void FDMShell::unbind()
115 if( _impl ) _impl->unbind();
116 _tankProperties.unbind();
119 void FDMShell::update(double dt)
125 if (!_impl->get_inited()) {
126 // Check for scenery around the aircraft.
127 double lon = fgGetDouble("/sim/presets/longitude-deg");
128 double lat = fgGetDouble("/sim/presets/latitude-deg");
130 double range = 1000.0; // in meters
131 SGGeod geod = SGGeod::fromDeg(lon, lat);
132 if (globals->get_scenery()->scenery_available(geod, range)) {
133 SG_LOG(SG_FLIGHT, SG_INFO, "Scenery loaded, will init FDM");
135 if (_impl->get_bound()) {
140 evil_global_fdm_state = _impl;
141 fgSetBool("/sim/fdm-initialized", true);
142 fgSetBool("/sim/signals/fdm-initialized", true);
146 if (!_impl->get_inited()) {
147 return; // still waiting
150 // pull environmental data in, since the FDMs are lazy
151 _impl->set_Velocities_Local_Airmass(
152 _wind_north->getDoubleValue(),
153 _wind_east->getDoubleValue(),
154 _wind_down->getDoubleValue());
156 if (_control_fdm_atmo->getBoolValue()) {
157 // convert from Rankine to Celsius
158 double tempDegC = _temp_degc->getDoubleValue();
159 _impl->set_Static_temperature((9.0/5.0) * (tempDegC + 273.15));
161 // convert from inHG to PSF
162 double pressureInHg = _pressure_inhg->getDoubleValue();
163 _impl->set_Static_pressure(pressureInHg * 70.726566);
164 // keep in slugs/ft^3
165 _impl->set_Density(_density_slugft->getDoubleValue());
168 bool doLog = _data_logging->getBoolValue();
169 if (doLog != _dataLogging) {
170 _dataLogging = doLog;
171 _impl->ToggleDataLogging(doLog);
174 switch(_replay_master->getIntValue())
177 // normal FDM operation
181 // resume FDM operation at current replay position
190 void FDMShell::createImplementation()
194 double dt = 1.0 / fgGetInt("/sim/model-hz");
195 string model = fgGetString("/sim/flight-model");
197 if ( model == "larcsim" ) {
198 _impl = new FGLaRCsim( dt );
199 } else if ( model == "jsb" ) {
200 _impl = new FGJSBsim( dt );
202 } else if ( model == "ada" ) {
203 _impl = new FGADA( dt );
204 } else if ( model == "acms" ) {
205 _impl = new FGACMS( dt );
206 } else if ( model == "balloon" ) {
207 _impl = new FGBalloonSim( dt );
208 } else if ( model == "magic" ) {
209 _impl = new FGMagicCarpet( dt );
211 } else if ( model == "ufo" ) {
212 _impl = new FGUFO( dt );
213 } else if ( model == "external" ) {
214 // external is a synonym for "--fdm=null" and is
215 // maintained here for backwards compatibility
216 _impl = new FGNullFDM( dt );
217 } else if ( model.find("network") == 0 ) {
218 string host = "localhost";
222 string net_options = model.substr(8);
223 string::size_type begin, end;
226 end = net_options.find( ",", begin );
227 if ( end != string::npos ) {
228 host = net_options.substr(begin, end - begin);
232 end = net_options.find( ",", begin );
233 if ( end != string::npos ) {
234 port1 = atoi( net_options.substr(begin, end - begin).c_str() );
238 end = net_options.find( ",", begin );
239 if ( end != string::npos ) {
240 port2 = atoi( net_options.substr(begin, end - begin).c_str() );
244 end = net_options.find( ",", begin );
245 if ( end != string::npos ) {
246 port3 = atoi( net_options.substr(begin, end - begin).c_str() );
249 _impl = new FGExternalNet( dt, host, port1, port2, port3 );
250 } else if ( model.find("pipe") == 0 ) {
251 // /* old */ string pipe_path = model.substr(5);
252 // /* old */ _impl = new FGExternalPipe( dt, pipe_path );
253 string pipe_path = "";
254 string pipe_protocol = "";
255 string pipe_options = model.substr(5);
256 string::size_type begin, end;
259 end = pipe_options.find( ",", begin );
260 if ( end != string::npos ) {
261 pipe_path = pipe_options.substr(begin, end - begin);
264 // protocol (last option)
265 pipe_protocol = pipe_options.substr(begin);
266 _impl = new FGExternalPipe( dt, pipe_path, pipe_protocol );
267 } else if ( model == "null" ) {
268 _impl = new FGNullFDM( dt );
269 } else if ( model == "yasim" ) {
270 _impl = new YASim( dt );
272 throw sg_exception(string("Unrecognized flight model '") + model
273 + "', cannot init flight dynamics model.");