/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
Header: FGFDMExec.h
Author: Jon Berndt
Date started: 11/17/98
--------------------------------------------------------------------------------
11/17/98 JSB Created
7/31/99 TP Added RunIC function that runs the sim so that every frame
- begins with the IC values from the given FGInitialCondition
- object and dt=0.
+ begins with the IC values from the given FGInitialCondition
+ object and dt=0.
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
SENTRY
INCLUDES
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-#define ID_FDMEXEC "$Header"
-
#include "FGModel.h"
#include "FGInitialCondition.h"
+#include "FGJSBBase.h"
+#include "FGPropertyManager.h"
+#include <vector>
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-CLASS DECLARATION
+DEFINITIONS
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+#define ID_FDMEXEC "$Id$"
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+FORWARD DECLARATIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-class FGState;
-class FGAtmosphere;
-class FGFCS;
-class FGAircraft;
-class FGTranslation;
-class FGRotation;
-class FGPosition;
-class FGAuxiliary;
-class FGOutput;
class FGInitialCondition;
-class FGFDMExec
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+COMMENTS, REFERENCES, and NOTES [use "class documentation" below for API docs]
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+CLASS DOCUMENTATION
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+/** Encapsulates the JSBSim simulation executive.
+ @author Jon S. Berndt
+ @version $Id$
+ @see <a href="http://cvs.sourceforge.net/cgi-bin/viewcvs.cgi/jsbsim/JSBSim/FGFDMExec.h?rev=HEAD&content-type=text/vnd.viewcvs-markup">
+ Header File </a>
+ @see <a href="http://cvs.sourceforge.net/cgi-bin/viewcvs.cgi/jsbsim/JSBSim/FGFDMExec.cpp?rev=HEAD&content-type=text/vnd.viewcvs-markup">
+ Source File </a>
+
+ @doc This class is the interface class through which all other simulation classes
+ are instantiated, initialized, and run. When integrated with FlightGear (or
+ other flight simulator) this class is typically instantiated by an interface
+ class on the simulator side.
+
+ When an aircraft model is loaded the config file is parsed and for each of the
+ sections of the config file (propulsion, flight control, etc.) the
+ corresponding "ReadXXX()" method is called. From within this method the
+ "Load()" method of that system is called (e.g. LoadFCS).
+
+ <h4>JSBSim Debugging Directives</h4>
+
+ This describes to any interested entity the debug level
+ requested by setting the JSBSIM_DEBUG environment variable.
+ The bitmasked value choices are as follows:<ol>
+ <li><b>unset</b>: In this case (the default) JSBSim would only print
+ out the normally expected messages, essentially echoing
+ the config files as they are read. If the environment
+ variable is not set, debug_lvl is set to 1 internally</li>
+ <li><b>0</b>: This requests JSBSim not to output any messages
+ whatsoever.</li>
+ <li><b>1</b>: This value explicity requests the normal JSBSim
+ startup messages</li>
+ <li><b>2</b>: This value asks for a message to be printed out when
+ a class is instantiated</li>
+ <li><b>4</b>: When this value is set, a message is displayed when a
+ FGModel object executes its Run() method</li>
+ <li><b>8</b>: When this value is set, various runtime state variables
+ are printed out periodically</li>
+ <li><b>16</b>: When set various parameters are sanity checked and
+ a message is printed out when they go out of bounds</li>
+ </ol>
+
+*/
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+CLASS DECLARATION
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+class FGFDMExec : public FGJSBBase
{
public:
- FGFDMExec(void);
- ~FGFDMExec(void);
- FGModel* FirstModel;
+ /// Default constructor
+ FGFDMExec(FGPropertyManager* root = 0);
+
+ /// Default destructor
+ ~FGFDMExec();
- bool Initialize(void);
+ /** This routine places a model into the runlist at the specified rate. The
+ "rate" is not really a clock rate. It represents how many calls to the
+ FGFDMExec::Run() method must be made before the model is executed. A
+ value of 1 means that the model will be executed for each call to the
+ exec's Run() method. A value of 5 means that the model will only be
+ executed every 5th call to the exec's Run() method.
+ @param model A pointer to the model being scheduled.
+ @param rate The rate at which to execute the model as described above.
+ @return Currently returns 0 always. */
int Schedule(FGModel* model, int rate);
+
+ /** This executes each scheduled model in succession.
+ @return true if successful, false if sim should be ended */
bool Run(void);
+
+ /** Initializes the sim with a set of initial conditions.
+ @param fgic A pointer to a filled out initial conditions class which
+ describes the desired initial conditions.
+ @return true if successful
+ */
bool RunIC(FGInitialCondition *fgic);
+
+ /// Freezes the sim
void Freeze(void) {frozen = true;}
- void Resume(void) {frozen = false;}
- bool SetEnginePath(string path) {EnginePath = path;}
- bool SetAircraftPath(string path) {AircraftPath = path;}
- bool SetScriptPath(string path) {ScriptPath = path;}
+ /// Resumes the sim
+ void Resume(void) {frozen = false;}
+ /** Loads an aircraft model.
+ @param AircraftPath path to the aircraft directory. For instance:
+ "aircraft". Under aircraft, then, would be directories for various
+ modeled aircraft such as C172/, x15/, etc.
+ @param EnginePath path to the directory under which engine config
+ files are kept, for instance "engine"
+ @param model the name of the aircraft model itself. This file will
+ be looked for in the directory specified in the AircraftPath variable,
+ and in turn under the directory with the same name as the model. For
+ instance: "aircraft/x15/x15.xml"
+ @return true if successful*/
bool LoadModel(string AircraftPath, string EnginePath, string model);
- bool RunScript(string script);
-
- inline FGState* GetState(void) {return State;}
- inline FGAtmosphere* GetAtmosphere(void) {return Atmosphere;}
- inline FGFCS* GetFCS(void) {return FCS;}
- inline FGAircraft* GetAircraft(void) {return Aircraft;}
- inline FGTranslation* GetTranslation(void) {return Translation;}
- inline FGRotation* GetRotation(void) {return Rotation;}
- inline FGPosition* GetPosition(void) {return Position;}
- inline FGAuxiliary* GetAuxiliary(void) {return Auxiliary;}
- inline FGOutput* GetOutput(void) {return Output;}
+
+ bool SetEnginePath(string path) {EnginePath = path; return true;}
+ bool SetAircraftPath(string path) {AircraftPath = path; return true;}
+
+ /// @name Top-level executive State and Model retrieval mechanism
+ //@{
+ /// Returns the FGState pointer.
+ inline FGState* GetState(void) {return State;}
+ /// Returns the FGAtmosphere pointer.
+ inline FGAtmosphere* GetAtmosphere(void) {return Atmosphere;}
+ /// Returns the FGFCS pointer.
+ inline FGFCS* GetFCS(void) {return FCS;}
+ /// Returns the FGPropulsion pointer.
+ inline FGPropulsion* GetPropulsion(void) {return Propulsion;}
+ /// Returns the FGAircraft pointer.
+ inline FGMassBalance* GetMassBalance(void) {return MassBalance;}
+ /// Returns the FGAerodynamics pointer
+ inline FGAerodynamics* GetAerodynamics(void){return Aerodynamics;}
+ /// Returns the FGInertial pointer.
+ inline FGInertial* GetInertial(void) {return Inertial;}
+ /// Returns the FGGroundReactions pointer.
+ inline FGGroundReactions* GetGroundReactions(void) {return GroundReactions;}
+ /// Returns the FGAircraft pointer.
+ inline FGAircraft* GetAircraft(void) {return Aircraft;}
+ /// Returns the FGTranslation pointer.
+ inline FGTranslation* GetTranslation(void) {return Translation;}
+ /// Returns the FGRotation pointer.
+ inline FGRotation* GetRotation(void) {return Rotation;}
+ /// Returns the FGPosition pointer.
+ inline FGPosition* GetPosition(void) {return Position;}
+ /// Returns the FGAuxiliary pointer.
+ inline FGAuxiliary* GetAuxiliary(void) {return Auxiliary;}
+ /// Returns the FGOutput pointer.
+ inline FGOutput* GetOutput(void) {return Output;}
+ //@}
+
+ /// Retrieves the engine path.
inline string GetEnginePath(void) {return EnginePath;}
+ /// Retrieves the aircraft path.
inline string GetAircraftPath(void) {return AircraftPath;}
-
+
+ FGPropertyManager* GetPropertyManager(void);
+ vector <string> EnumerateFDMs(void);
+ void SetSlave(void) {IsSlave = true;}
+
private:
+ FGModel* FirstModel;
+
bool frozen;
bool terminate;
- int Error;
+ int Error;
+ unsigned int Frame;
+ unsigned int IdFDM;
+ static unsigned int FDMctr;
bool modelLoaded;
+ bool IsSlave;
+ static FGPropertyManager *master;
+ FGPropertyManager *instance;
+
+ struct slaveData {
+ FGFDMExec* exec;
+ string info;
+ double x, y, z;
+ double roll, pitch, yaw;
+ bool mated;
+
+ slaveData(void) {
+ info = "";
+ x = y = z = 0.0;
+ roll = pitch = yaw = 0.0;
+ mated = true;
+ }
+
+ ~slaveData(void) {
+ delete exec;
+ }
+ };
string AircraftPath;
string EnginePath;
- string ScriptPath;
-
- FGState* State;
- FGAtmosphere* Atmosphere;
- FGFCS* FCS;
- FGAircraft* Aircraft;
- FGTranslation* Translation;
- FGRotation* Rotation;
- FGPosition* Position;
- FGAuxiliary* Auxiliary;
- FGOutput* Output;
-
+ string CFGVersion;
+
+ FGState* State;
+ FGAtmosphere* Atmosphere;
+ FGFCS* FCS;
+ FGPropulsion* Propulsion;
+ FGMassBalance* MassBalance;
+ FGAerodynamics* Aerodynamics;
+ FGInertial* Inertial;
+ FGGroundReactions* GroundReactions;
+ FGAircraft* Aircraft;
+ FGTranslation* Translation;
+ FGRotation* Rotation;
+ FGPosition* Position;
+ FGAuxiliary* Auxiliary;
+ FGOutput* Output;
+
+ vector <slaveData*> SlaveFDMList;
+
+ bool ReadMetrics(FGConfigFile*);
+ bool ReadSlave(FGConfigFile*);
+ bool ReadPropulsion(FGConfigFile*);
+ bool ReadFlightControls(FGConfigFile*);
+ bool ReadAerodynamics(FGConfigFile*);
+ bool ReadUndercarriage(FGConfigFile*);
+ bool ReadPrologue(FGConfigFile*);
+ bool ReadOutput(FGConfigFile*);
+
bool Allocate(void);
bool DeAllocate(void);
-
-protected:
+ void Debug(int from);
};
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
#endif
+
projects / flightgear.git / blobdiff