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.
+ object and dt=0.
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
SENTRY
INCLUDES
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-#ifdef FGFS
-# include <simgear/compiler.h>
-# ifdef SG_HAVE_STD_INCLUDES
-# include <vector>
-# else
-# include <vector.h>
-# endif
-#else
-# include <vector>
-#endif
-
#include "FGModel.h"
+#include "FGTrim.h"
#include "FGInitialCondition.h"
+#include "FGJSBBase.h"
+#include "FGGroundCallback.h"
+#include "FGPropertyManager.h"
+#include "FGPropagate.h"
+
+#include <vector>
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
DEFINITIONS
FORWARD DECLARATIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-class FGState;
-class FGAtmosphere;
-class FGFCS;
-class FGPropulsion;
-class FGMassBalance;
-class FGAerodynamics;
-class FGInertial;
-class FGAircraft;
-class FGTranslation;
-class FGRotation;
-class FGPosition;
-class FGAuxiliary;
-class FGOutput;
-class FGInitialCondition;
-
-struct condition {
- vector <eParam> TestParam;
- vector <eParam> SetParam;
- vector <float> TestValue;
- vector <float> SetValue;
- vector <string> Comparison;
- vector <float> TC;
- vector <bool> Persistent;
- vector <eAction> Action;
- vector <eType> Type;
- vector <bool> Triggered;
- vector <float> newValue;
- vector <float> OriginalValue;
- vector <float> StartTime;
- vector <float> EndTime;
-
- condition() {
- }
-};
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-COMMENTS, REFERENCES, and NOTES [use "class documentation" below for API docs]
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+namespace JSBSim {
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DOCUMENTATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
/** Encapsulates the JSBSim simulation executive.
- @author Jon S. Berndt
- @version $Id$
-
- @doc This class is the interface class through which all other simulation classes
+ 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.
- <h4>Scripting support provided in the Executive</h4>
-
- <p>There is simple scripting support provided in the FGFDMExec
- class. Commands are specified using the <u>Simple Scripting
- Directives for JSBSim</u> (SSDJ). The script file is in XML
- format. A test condition (or conditions) can be set up in the
- script and when the condition evaluates to true, the specified
- action[s] is/are taken. A test condition can be <em>persistent</em>,
- meaning that if a test condition evaluates to true, then passes
- and evaluates to false, the condition is reset and may again be
- triggered. When the set of tests evaluates to true for a given
- condition, an item may be set to another value. This value might
- be a boolean, a value, or a delta value, and the change from the
- current value to the new value can be either via a step function,
- a ramp, or an exponential approach. The speed of a ramp or
- approach is specified via the time constant. Here is the format
- of the script file:</p>
-
- <pre><strong><?xml version="1.0"?>
- <runscript name="C172-01A">
-
- <!--
- This run is for testing C172 runs
- -->
-
- <use aircraft="c172">
- <use initialize="reset00">
-
- <run start="0.0" end="4.5" dt="0.05">
- <when>
- <parameter name="FG_TIME" comparison="ge" value="0.25">
- <parameter name="FG_TIME" comparison="le" value="0.50">
- <set name="FG_AILERON_CMD" type="FG_VALUE" value="0.25"
- action="FG_STEP" persistent="false" tc ="0.25">
- </when>
- <when>
- <parameter name="FG_TIME" comparison="ge" value="0.5">
- <parameter name="FG_TIME" comparison="le" value="1.5">
- <set name="FG_AILERON_CMD" type="FG_DELTA" value="0.5"
- action="FG_EXP" persistent="false" tc ="0.5">
- </when>
- <when>
- <parameter name="FG_TIME" comparison="ge" value="1.5">
- <parameter name="FG_TIME" comparison="le" value="2.5">
- <set name="FG_RUDDER_CMD" type="FG_DELTA" value="0.5"
- action="FG_RAMP" persistent="false" tc ="0.5">
- </when>
- </run>
-
- </runscript></strong></pre>
-
- <p>The first line must always be present. The second line
- identifies this file as a script file, and gives a descriptive
- name to the script file. Comments are next, delineated by the
- <!-- and --> symbols. The aircraft and initialization files
- to be used are specified in the "use" lines. Next,
- comes the "run" section, where the conditions are
- described in "when" clauses.</p>
+ 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
+ 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</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>
+ 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
+ @author Jon S. Berndt
+ @version $Id$
*/
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DECLARATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-class FGFDMExec
+class FGFDMExec : public FGJSBBase
{
public:
+
/// Default constructor
- FGFDMExec(void);
+ FGFDMExec(FGPropertyManager* root = 0);
/// Default destructor
~FGFDMExec();
@return Currently returns 0 always. */
int Schedule(FGModel* model, int rate);
- /** This executes each scheduled model in succession, as well as running any
- scripts which are loaded.
+ /** 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.
+ /** 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(FGInitialCondition *fgic);
+ bool RunIC(void);
/// Freezes the sim
void Freeze(void) {frozen = true;}
/// Resumes the sim
void Resume(void) {frozen = false;}
+ 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
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 LoadModel(string AircraftPath, string EnginePath, string model,
+ bool addModelToPath = true);
- /** Loads a script to drive JSBSim (usually in standalone mode).
- The language is the Simple Script Directives for JSBSim (SSDJ).
- @param script the filename (including path name, if any) for the script.
- @return true if successful */
- bool LoadScript(string script);
- /** This function is called each pass through the executive Run() method IF
- scripting is enabled. */
- void RunScript(void);
+ /** 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; }
- bool SetEnginePath(string path) {EnginePath = path; return true;}
- bool SetAircraftPath(string path) {AircraftPath = path; return true;}
- bool SetScriptPath(string path) {ScriptPath = path; return true;}
/// @name Top-level executive State and Model retrieval mechanism
//@{
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 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 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;
- int Frame;
+ unsigned int Frame;
+ unsigned int IdFDM;
+ static unsigned int FDMctr;
bool modelLoaded;
- bool Scripted;
+ 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 ScriptPath;
- string ScriptName;
- float StartTime;
- float EndTime;
- vector <struct condition> Conditions;
-
- FGState* State;
- FGAtmosphere* Atmosphere;
- FGFCS* FCS;
- FGPropulsion* Propulsion;
- FGMassBalance* MassBalance;
- FGAerodynamics* Aerodynamics;
- FGInertial* Inertial;
- FGAircraft* Aircraft;
- FGTranslation* Translation;
- FGRotation* Rotation;
- FGPosition* Position;
- FGAuxiliary* Auxiliary;
- FGOutput* Output;
+// 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(void);
+ void Debug(int from);
};
-
+}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
#endif
projects / flightgear.git / blobdiff