Date started: 11/17/98
file The header file for the JSBSim executive.
- ------------- Copyright (C) 1999 Jon S. Berndt (jsb@hal-pc.org) -------------
+ ------------- Copyright (C) 1999 Jon S. Berndt (jon@jsbsim.org) -------------
This program is free software; you can redistribute it and/or modify it under
the terms of the GNU Lesser General Public License as published by the Free Software
INCLUDES
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-#include <models/FGModel.h>
-#include <models/FGOutput.h>
-#include <models/FGInput.h>
-#include <initialization/FGTrim.h>
-#include <initialization/FGInitialCondition.h>
-#include <FGJSBBase.h>
-#include <input_output/FGPropertyManager.h>
-#include <input_output/FGGroundCallback.h>
-#include <input_output/FGXMLFileRead.h>
-#include <models/FGPropagate.h>
-
#include <vector>
+#include <string>
+
+#include "initialization/FGTrim.h"
+#include "FGJSBBase.h"
+#include "input_output/FGPropertyManager.h"
+#include "models/FGPropagate.h"
+#include "math/FGColumnVector3.h"
+#include "models/FGOutput.h"
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
DEFINITIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-#define ID_FDMEXEC "$Id$"
+#define ID_FDMEXEC "$Id: FGFDMExec.h,v 1.86 2014/01/02 21:37:14 bcoconni Exp $"
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FORWARD DECLARATIONS
namespace JSBSim {
class FGScript;
+class FGTrim;
+class FGAerodynamics;
+class FGAircraft;
+class FGAtmosphere;
+class FGAccelerations;
+class FGWinds;
+class FGAuxiliary;
+class FGBuoyantForces;
+class FGExternalReactions;
+class FGGroundReactions;
+class FGFCS;
+class FGInertial;
+class FGInput;
+class FGPropulsion;
+class FGMassBalance;
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DOCUMENTATION
file:
@code
- fdmex = new FGFDMExec( \85 );
- result = fdmex->LoadModel( \85 );
+ fdmex = new FGFDMExec( ... );
+ result = fdmex->LoadModel( ... );
@endcode
When an aircraft model is loaded, the config file is parsed and for each of the
property actually maps toa function call of DoTrim().
@author Jon S. Berndt
- @version $Revision$
+ @version $Revision: 1.86 $
*/
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DECLARATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-class FGFDMExec : public FGJSBBase, public FGXMLFileRead
+class FGFDMExec : public FGJSBBase
{
+ struct childData {
+ FGFDMExec* exec;
+ std::string info;
+ FGColumnVector3 Loc;
+ FGColumnVector3 Orient;
+ bool mated;
+ bool internal;
+
+ childData(void) {
+ info = "";
+ Loc = FGColumnVector3(0,0,0);
+ Orient = FGColumnVector3(0,0,0);
+ mated = true;
+ internal = false;
+ }
+
+ void Run(void) {exec->Run();}
+ void AssignState(FGPropagate* source_prop) {
+ exec->GetPropagate()->SetVState(source_prop->GetVState());
+ }
+
+ ~childData(void) {
+ delete exec;
+ }
+ };
+
public:
/// Default constructor
- FGFDMExec(FGPropertyManager* root = 0);
+ FGFDMExec(FGPropertyManager* root = 0, unsigned int* fdmctr = 0);
/// Default destructor
~FGFDMExec();
+ // This list of enums is very important! The order in which models are listed here
+ // determines the order of execution of the models.
+ enum eModels { ePropagate=0,
+ eInput,
+ eInertial,
+ eAtmosphere,
+ eWinds,
+ eAuxiliary,
+ eSystems,
+ ePropulsion,
+ eAerodynamics,
+ eGroundReactions,
+ eExternalReactions,
+ eBuoyantForces,
+ eMassBalance,
+ eAircraft,
+ eAccelerations,
+ eOutput,
+ eNumStandardModels };
+
+ /** Unbind all tied JSBSim properties. */
+ void Unbind(void) {instance->Unbind();}
+
/** 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
one is at this time not recommended.
@param model A pointer to the model being scheduled.
@param rate The rate at which to execute the model as described above.
+ Default is every frame (rate=1).
@return Currently returns 0 always. */
- int Schedule(FGModel* model, int rate);
+ void Schedule(FGModel* model, int rate=1);
/** This function executes each scheduled model in succession.
@return true if successful, false if sim should be ended */
@return true if successful */
bool RunIC(void);
- /** Sets the ground callback pointer.
- @param gc A pointer to a ground callback object. */
- void SetGroundCallback(FGGroundCallback* gc);
+ /** Sets the ground callback pointer. For optimal memory management, a shared
+ pointer is used internally that maintains a reference counter. The calling
+ application must therefore use FGGroundCallback_ptr 'smart pointers' to
+ manage their copy of the ground callback.
+ @param gc A pointer to a ground callback object
+ @see FGGroundCallback
+ */
+ void SetGroundCallback(FGGroundCallback* gc) { FGLocation::SetGroundCallback(gc); }
/** Loads an aircraft model.
@param AircraftPath path to the aircraft/ directory. For instance:
modeled aircraft such as C172/, x15/, etc.
@param EnginePath path to the directory under which engine config
files are kept, for instance "engine"
+ @param SystemsPath path to the directory under which systems config
+ files are kept, for instance "systems"
@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
@param addModelToPath set to true to add the model name to the
AircraftPath, defaults to true
@return true if successful */
- bool LoadModel(string AircraftPath, string EnginePath, string model,
+ bool LoadModel(const std::string& AircraftPath, const std::string& EnginePath,
+ const std::string& SystemsPath, const std::string& model,
bool addModelToPath = true);
/** Loads an aircraft model. The paths to the aircraft and engine
@param addModelToPath set to true to add the model name to the
AircraftPath, defaults to true
@return true if successful*/
- bool LoadModel(string model, bool addModelToPath = true);
+ bool LoadModel(const std::string& model, bool addModelToPath = true);
/** Loads a script
- @param Script the full path name and file name for the script to be loaded.
- @return true if successfully loadsd; false otherwise. */
- bool LoadScript(string Script);
+ @param Script The full path name and file name for the script to be loaded.
+ @param deltaT The simulation integration step size, if given. If no value is supplied
+ then 0.0 is used and the value is expected to be supplied in
+ the script file itself.
+ @param initfile The initialization file that will override the initialization file
+ specified in the script file. If no file name is given on the command line,
+ the file specified in the script will be used. If an initialization file
+ is not given in either place, an error will result.
+ @return true if successfully loads; false otherwise. */
+ bool LoadScript(const std::string& Script, double deltaT=0.0,
+ const std::string initfile="");
/** Sets the path to the engine config file directories.
@param path path to the directory under which engine config
files are kept, for instance "engine" */
- bool SetEnginePath(string path) { EnginePath = path; return true; }
+ bool SetEnginePath(const std::string& path) { EnginePath = RootDir + path; return true; }
/** Sets the path to the aircraft config file directories.
@param path path to the aircraft directory. For instance:
"aircraft". Under aircraft, then, would be directories for various
modeled aircraft such as C172/, x15/, etc. */
- bool SetAircraftPath(string path) { AircraftPath = path; return true; }
-
+ bool SetAircraftPath(const std::string& path) { AircraftPath = RootDir + path; return true; }
+
+ /** Sets the path to the systems config file directories.
+ @param path path to the directory under which systems config
+ files are kept, for instance "systems" */
+ bool SetSystemsPath(const std::string& path) { SystemsPath = RootDir + path; return true; }
+
/// @name Top-level executive State and Model retrieval mechanism
- //@{
+ ///@{
/// Returns the FGAtmosphere pointer.
- inline FGAtmosphere* GetAtmosphere(void) {return Atmosphere;}
+ FGAtmosphere* GetAtmosphere(void) {return (FGAtmosphere*)Models[eAtmosphere];}
+ /// Returns the FGAccelerations pointer.
+ FGAccelerations* GetAccelerations(void) {return (FGAccelerations*)Models[eAccelerations];}
+ /// Returns the FGWinds pointer.
+ FGWinds* GetWinds(void) {return (FGWinds*)Models[eWinds];}
/// Returns the FGFCS pointer.
- inline FGFCS* GetFCS(void) {return FCS;}
+ FGFCS* GetFCS(void) {return (FGFCS*)Models[eSystems];}
/// Returns the FGPropulsion pointer.
- inline FGPropulsion* GetPropulsion(void) {return Propulsion;}
+ FGPropulsion* GetPropulsion(void) {return (FGPropulsion*)Models[ePropulsion];}
/// Returns the FGAircraft pointer.
- inline FGMassBalance* GetMassBalance(void) {return MassBalance;}
+ FGMassBalance* GetMassBalance(void) {return (FGMassBalance*)Models[eMassBalance];}
/// Returns the FGAerodynamics pointer
- inline FGAerodynamics* GetAerodynamics(void){return Aerodynamics;}
+ FGAerodynamics* GetAerodynamics(void){return (FGAerodynamics*)Models[eAerodynamics];}
/// Returns the FGInertial pointer.
- inline FGInertial* GetInertial(void) {return Inertial;}
+ FGInertial* GetInertial(void) {return (FGInertial*)Models[eInertial];}
/// Returns the FGGroundReactions pointer.
- inline FGGroundReactions* GetGroundReactions(void) {return GroundReactions;}
+ FGGroundReactions* GetGroundReactions(void) {return (FGGroundReactions*)Models[eGroundReactions];}
+ /// Returns the FGExternalReactions pointer.
+ FGExternalReactions* GetExternalReactions(void) {return (FGExternalReactions*)Models[eExternalReactions];}
+ /// Returns the FGBuoyantForces pointer.
+ FGBuoyantForces* GetBuoyantForces(void) {return (FGBuoyantForces*)Models[eBuoyantForces];}
/// Returns the FGAircraft pointer.
- inline FGAircraft* GetAircraft(void) {return Aircraft;}
+ FGAircraft* GetAircraft(void) {return (FGAircraft*)Models[eAircraft];}
/// Returns the FGPropagate pointer.
- inline FGPropagate* GetPropagate(void) {return Propagate;}
+ FGPropagate* GetPropagate(void) {return (FGPropagate*)Models[ePropagate];}
/// Returns the FGAuxiliary pointer.
- inline FGAuxiliary* GetAuxiliary(void) {return Auxiliary;}
+ FGAuxiliary* GetAuxiliary(void) {return (FGAuxiliary*)Models[eAuxiliary];}
/// Returns the FGInput pointer.
- inline FGInput* GetInput(void) {return Input;}
- /// Returns the FGGroundCallback pointer.
- inline FGGroundCallback* GetGroundCallback(void) {return GroundCallback;}
- /// Returns the FGState pointer.
- inline FGState* GetState(void) {return State;}
- // Returns a pointer to the FGInitialCondition object
- inline FGInitialCondition* GetIC(void) {return IC;}
- // Returns a pointer to the FGTrim object
- inline FGTrim* GetTrim(void);
- //@}
+ FGInput* GetInput(void) {return (FGInput*)Models[eInput];}
+ /** Get a pointer to the ground callback currently used. It is recommanded
+ to store the returned pointer in a 'smart pointer' FGGroundCallback_ptr.
+ @return A pointer to the current ground callback object.
+ @see FGGroundCallback
+ */
+ FGGroundCallback* GetGroundCallback(void) {return FGLocation::GetGroundCallback();}
+ /// Retrieves the script object
+ FGScript* GetScript(void) {return Script;}
+ /// Returns a pointer to the FGInitialCondition object
+ FGInitialCondition* GetIC(void) {return IC;}
+ /// Returns a pointer to the FGTrim object
+ FGTrim* GetTrim(void);
+ ///@}
/// Retrieves the engine path.
- inline string GetEnginePath(void) {return EnginePath;}
+ const std::string& GetEnginePath(void) {return EnginePath;}
/// Retrieves the aircraft path.
- inline string GetAircraftPath(void) {return AircraftPath;}
+ const std::string& GetAircraftPath(void) {return AircraftPath;}
+ /// Retrieves the systems path.
+ const std::string& GetSystemsPath(void) {return SystemsPath;}
/// Retrieves the full aircraft path name.
- inline string GetFullAircraftPath(void) {return FullAircraftPath;}
+ const std::string& GetFullAircraftPath(void) {return FullAircraftPath;}
/** Retrieves the value of a property.
@param property the name of the property
@result the value of the specified property */
- inline double GetPropertyValue(string property) {return instance->GetDouble(property);}
+ inline double GetPropertyValue(const std::string& property)
+ { return instance->GetNode()->GetDouble(property); }
/** Sets a property value.
@param property the property to be set
@param value the value to set the property to */
- inline void SetPropertyValue(string property, double value) {
- instance->SetDouble(property, value);
+ inline void SetPropertyValue(const std::string& property, double value) {
+ instance->GetNode()->SetDouble(property, value);
}
/// Returns the model name.
- string GetModelName(void) { return modelName; }
-
+ const std::string& GetModelName(void) const { return modelName; }
+/*
/// Returns the current time.
double GetSimTime(void);
/// Returns the current frame time (delta T).
double GetDeltaT(void);
-
+*/
/// Returns a pointer to the property manager object.
FGPropertyManager* GetPropertyManager(void);
/// Returns a vector of strings representing the names of all loaded models (future)
- vector <string> EnumerateFDMs(void);
- /// Marks this instance of the Exec object as a "slave" object.
- void SetSlave(bool s) {IsSlave = s;}
+ std::vector <std::string> EnumerateFDMs(void);
+ /// Gets the number of child FDMs.
+ int GetFDMCount(void) const {return (int)ChildFDMList.size();}
+ /// Gets a particular child FDM.
+ childData* GetChildFDM(int i) const {return ChildFDMList[i];}
+ /// Marks this instance of the Exec object as a "child" object.
+ void SetChild(bool ch) {IsChild = ch;}
/** Sets the output (logging) mechanism for this run.
Calling this function passes the name of an output directives file to
be logged.
@param fname the filename of an output directives file.
*/
- bool SetOutputDirectives(string fname);
+ bool SetOutputDirectives(const std::string& fname)
+ {return Output->SetDirectivesFile(RootDir + fname);}
+
+ /** Forces the specified output object to print its items once */
+ void ForceOutput(int idx=0) { Output->ForceOutput(idx); }
+
+ /** Sets the logging rate for all output objects (if any). */
+ void SetLoggingRate(double rate) { Output->SetRate(rate); }
/** Sets (or overrides) the output filename
@param fname the name of the file to output data to
@return true if successful, false if there is no output specified for the flight model */
- bool SetOutputFileName(string fname) {
- if (Outputs.size() > 0) Outputs[0]->SetOutputFileName(fname);
- else return false;
- return true;
- }
+ bool SetOutputFileName(const int n, const std::string& fname) { return Output->SetOutputName(n, fname); }
/** Retrieves the current output filename.
- @return the name of the output file for the first output specified by the flight model.
+ @param n index of file
+ @return the name of the output file for the output specified by the flight model.
If none is specified, the empty string is returned. */
- string GetOutputFileName(void) {
- if (Outputs.size() > 0) return Outputs[0]->GetOutputFileName();
- else return string("");
- }
+ std::string GetOutputFileName(int n) const { return Output->GetOutputName(n); }
/** Executes trimming in the selected mode.
* @param mode Specifies how to trim:
* - tTurn
* - tNone */
void DoTrim(int mode);
+ void DoSimplexTrim(int mode);
+
+ /** Executes linearization with state-space output
+ * You must trim first to get an accurate state-space model
+ */
+ void DoLinearization(int mode);
/// Disables data logging to all outputs.
- void DisableOutput(void);
+ void DisableOutput(void) { Output->Disable(); }
/// Enables data logging to all outputs.
- void EnableOutput(void);
+ void EnableOutput(void) { Output->Enable(); }
/// Pauses execution by preventing time from incrementing.
void Hold(void) {holding = true;}
+ /// Turn on hold after increment
+ void EnableIncrementThenHold(int Timesteps) {TimeStepsUntilHold = Timesteps; IncrementThenHolding = true;}
+ /// Checks if required to hold afer increment
+ void CheckIncrementalHold(void);
/// Resumes execution from a "Hold".
void Resume(void) {holding = false;}
/// Returns true if the simulation is Holding (i.e. simulation time is not moving).
bool Holding(void) {return holding;}
+ /// Resets the initial conditions object and prepares the simulation to run again.
+ void ResetToInitialConditions(void);
/// Sets the debug level.
void SetDebugLevel(int level) {debug_lvl = level;}
struct PropertyCatalogStructure {
/// Name of the property.
- string base_string;
+ std::string base_string;
/// The node for the property.
- FGPropertyManager *node;
+ FGPropertyNode_ptr node;
};
/** Builds a catalog of properties.
* @param check The string to search for in the property catalog.
* @return the carriage-return-delimited string containing all matching strings
* in the catalog. */
- string QueryPropertyCatalog(string check);
+ std::string QueryPropertyCatalog(const std::string& check);
// Print the contents of the property catalog for the loaded aircraft.
void PrintPropertyCatalog(void);
- /// Use the MSIS atmosphere model.
- void UseAtmosphereMSIS(void);
+ std::vector<std::string>& GetPropertyCatalog(void) {return PropertyCatalog;}
- /// Use the Mars atmosphere model. (Not operative yet.)
- void UseAtmosphereMars(void);
+ void SetTrimStatus(bool status){ trim_status = status; }
+ bool GetTrimStatus(void) const { return trim_status; }
+ void SetTrimMode(int mode){ ta_mode = mode; }
+ int GetTrimMode(void) const { return ta_mode; }
+
+ std::string GetPropulsionTankReport();
+
+ /// Returns the cumulative simulation time in seconds.
+ double GetSimTime(void) const { return sim_time; }
+
+ /// Returns the simulation delta T.
+ double GetDeltaT(void) const {return dT;}
+
+ /// Suspends the simulation and sets the delta T to zero.
+ void SuspendIntegration(void) {saved_dT = dT; dT = 0.0;}
+
+ /// Resumes the simulation by resetting delta T to the correct value.
+ void ResumeIntegration(void) {dT = saved_dT;}
+
+ /** Returns the simulation suspension state.
+ @return true if suspended, false if executing */
+ bool IntegrationSuspended(void) const {return dT == 0.0;}
+
+ /** Sets the current sim time.
+ @param cur_time the current time
+ @return the current simulation time. */
+ double Setsim_time(double cur_time) {
+ sim_time = cur_time;
+ return sim_time;
+ }
+
+ /** Sets the integration time step for the simulation executive.
+ @param delta_t the time step in seconds. */
+ void Setdt(double delta_t) { dT = delta_t; }
+
+ /** Sets the root directory where JSBSim starts looking for its system directories.
+ @param rootDir the string containing the root directory. */
+ void SetRootDir(const std::string& rootDir) {RootDir = rootDir;}
+
+ /** Retrieves the Root Directory.
+ @return the string representing the root (base) JSBSim directory. */
+ const std::string& GetRootDir(void) const {return RootDir;}
+
+ /** Increments the simulation time if not in Holding mode. The Frame counter
+ is also incremented.
+ @return the new simulation time. */
+ double IncrTime(void) {
+ if (!holding) sim_time += dT;
+ Frame++;
+ return sim_time;
+ }
+
+ /** Retrieves the current debug level setting. */
+ int GetDebugLevel(void) const {return debug_lvl;};
+
+ /** Initializes the simulation with initial conditions
+ @param FGIC The initial conditions that will be passed to the simulation. */
+ void Initialize(FGInitialCondition *FGIC);
private:
- static unsigned int FDMctr;
int Error;
unsigned int Frame;
unsigned int IdFDM;
unsigned short Terminate;
+ double dT;
+ double saved_dT;
+ double sim_time;
bool holding;
+ bool IncrementThenHolding;
+ int TimeStepsUntilHold;
bool Constructing;
bool modelLoaded;
- bool IsSlave;
- string modelName;
- string AircraftPath;
- string FullAircraftPath;
- string EnginePath;
- string CFGVersion;
- string Release;
-
- 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;
- }
- };
+ bool IsChild;
+ std::string modelName;
+ std::string AircraftPath;
+ std::string FullAircraftPath;
+ std::string EnginePath;
+ std::string SystemsPath;
+ std::string CFGVersion;
+ std::string Release;
+ std::string RootDir;
+
+ // Standard Model pointers - shortcuts for internal executive use only.
+ FGPropagate* Propagate;
+ FGInertial* Inertial;
+ FGAtmosphere* Atmosphere;
+ FGWinds* Winds;
+ FGAuxiliary* Auxiliary;
+ FGFCS* FCS;
+ FGPropulsion* Propulsion;
+ FGAerodynamics* Aerodynamics;
+ FGGroundReactions* GroundReactions;
+ FGExternalReactions* ExternalReactions;
+ FGBuoyantForces* BuoyantForces;
+ FGMassBalance* MassBalance;
+ FGAircraft* Aircraft;
+ FGAccelerations* Accelerations;
+ FGOutput* Output;
+
+ bool trim_status;
+ int ta_mode;
+ unsigned int ResetMode;
- static FGPropertyManager *master;
-
- FGModel* FirstModel;
- FGGroundCallback* GroundCallback;
- FGState* State;
- FGAtmosphere* Atmosphere;
- FGFCS* FCS;
- FGPropulsion* Propulsion;
- FGMassBalance* MassBalance;
- FGAerodynamics* Aerodynamics;
- FGInertial* Inertial;
- FGGroundReactions* GroundReactions;
- FGAircraft* Aircraft;
- FGPropagate* Propagate;
- FGAuxiliary* Auxiliary;
- FGInput* Input;
FGScript* Script;
FGInitialCondition* IC;
FGTrim* Trim;
FGPropertyManager* Root;
+ bool StandAlone;
FGPropertyManager* instance;
+
+ // The FDM counter is used to give each child FDM an unique ID. The root FDM has the ID 0
+ unsigned int* FDMctr;
- vector <string> PropertyCatalog;
- vector <FGOutput*> Outputs;
- vector <slaveData*> SlaveFDMList;
+ std::vector <std::string> PropertyCatalog;
+ std::vector <childData*> ChildFDMList;
+ std::vector <FGModel*> Models;
bool ReadFileHeader(Element*);
- bool ReadSlave(Element*);
+ bool ReadChild(Element*);
bool ReadPrologue(Element*);
+ void SRand(int sr);
+ void LoadInputs(unsigned int idx);
+ void LoadPlanetConstants(void);
+ void LoadModelConstants(void);
bool Allocate(void);
bool DeAllocate(void);
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