-/*******************************************************************************
-
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
Header: FGFDMExec.h
Author: Jon Berndt
Date started: 11/17/98
HISTORY
--------------------------------------------------------------------------------
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.
-********************************************************************************
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
SENTRY
-*******************************************************************************/
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#ifndef FGFDMEXEC_HEADER_H
#define FGFDMEXEC_HEADER_H
-/*******************************************************************************
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
INCLUDES
-*******************************************************************************/
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#include "FGModel.h"
+#include "FGTrim.h"
+#include "FGInitialCondition.h"
+#include "FGJSBBase.h"
+#include "FGGroundCallback.h"
+#include "FGPropertyManager.h"
+#include "FGPropagate.h"
+
+#include <vector>
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+DEFINITIONS
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+#define ID_FDMEXEC "$Id$"
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+FORWARD DECLARATIONS
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+namespace JSBSim {
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+CLASS DOCUMENTATION
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+/** Encapsulates the JSBSim simulation executive.
+ 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:
+ - <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
+ - <b>0</b>: This requests JSBSim not to output any messages
+ whatsoever
+ - <b>1</b>: This value explicity requests the normal JSBSim
+ startup messages
+ - <b>2</b>: This value asks for a message to be printed out when
+ a class is instantiated
+ - <b>4</b>: When this value is set, a message is displayed when a
+ FGModel object executes its Run() method
+ - <b>8</b>: When this value is set, various runtime state variables
+ are printed out periodically
+ - <b>16</b>: When set various parameters are sanity checked and
+ a message is printed out when they go out of bounds
-using namespace std;
+ @author Jon S. Berndt
+ @version $Id$
+*/
-/*******************************************************************************
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DECLARATION
-*******************************************************************************/
-
-class FGState;
-class FGAtmosphere;
-class FGFCS;
-class FGAircraft;
-class FGTranslation;
-class FGRotation;
-class FGPosition;
-class FGAuxiliary;
-class FGOutput;
-
-class FGFDMExec
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+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 from the initial condition object and executes
+ each scheduled model without integrating i.e. dt=0.
+ @return true if successful
+ */
+ bool RunIC(void);
+
+ /// Freezes the sim
void Freeze(void) {frozen = true;}
+
+ /// Resumes the sim
void Resume(void) {frozen = false;}
- 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;}
+ void SetGroundCallback(FGGroundCallback*);
+
+ /** 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"
+ @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 addModelToPath = true);
+
+
+ /** Loads an aircraft model. The paths to the aircraft and engine
+ config file directories must be set prior to calling this. See
+ below.
+ @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"
+ @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);
+
+
+ /** 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; }
+
+ /** 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; }
+
+ /** Sets the path to the autopilot config file directories.
+ @param path path to the control directory. For instance:
+ "control".
+ */
+// bool SetControlPath(string path) { ControlPath = 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 FGGroundCallback pointer.
+ inline FGGroundCallback* GetGroundCallback(void) {return GroundCallback;}
+ /// 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 FGPropagate pointer.
+ inline FGPropagate* GetPropagate(void) {return Propagate;}
+ /// Returns the FGAuxiliary pointer.
+ inline FGAuxiliary* GetAuxiliary(void) {return Auxiliary;}
+ /// Returns the FGOutput pointer.
+ inline FGOutput* GetOutput(void) {return Output;}
+ // Returns a pointer to the FGInitialCondition object
+ inline 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;}
+ /// Retrieves the aircraft path.
+ inline string GetAircraftPath(void) {return AircraftPath;}
+// /// Retrieves the control path.
+// inline string GetControlPath(void) {return ControlPath;}
+
+ string GetModelName(void) { return modelName; }
+
+ FGPropertyManager* GetPropertyManager(void);
+ vector <string> EnumerateFDMs(void);
+ void SetSlave(void) {IsSlave = true;}
private:
+ FGModel* FirstModel;
+
bool frozen;
bool terminate;
- int Error;
-
- FGState* State;
- FGAtmosphere* Atmosphere;
- FGFCS* FCS;
- FGAircraft* Aircraft;
- FGTranslation* Translation;
- FGRotation* Rotation;
- FGPosition* Position;
- FGAuxiliary* Auxiliary;
- FGOutput* Output;
-
-protected:
-};
+ int Error;
+ unsigned int Frame;
+ unsigned int IdFDM;
+ static unsigned int FDMctr;
+ bool modelLoaded;
+ string modelName;
+ 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 ControlPath;
+
+ string CFGVersion;
+ string Release;
+
+ FGState* State;
+ FGAtmosphere* Atmosphere;
+ FGFCS* FCS;
+ FGGroundCallback* GroundCallback;
+ FGPropulsion* Propulsion;
+ FGMassBalance* MassBalance;
+ FGAerodynamics* Aerodynamics;
+ FGInertial* Inertial;
+ FGGroundReactions* GroundReactions;
+ FGAircraft* Aircraft;
+ FGPropagate* Propagate;
+ FGAuxiliary* Auxiliary;
+ FGOutput* Output;
+
+ FGInitialCondition* IC;
+ FGTrim *Trim;
+
+ 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);
+ void Debug(int from);
+};
+}
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
#endif
+
projects / flightgear.git / blobdiff