INCLUDES
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-#include "models/FGModel.h"
+#include <vector>
+#include <string>
+
+//#include "models/FGModel.h"
#include "models/FGOutput.h"
#include "models/FGInput.h"
#include "initialization/FGTrim.h"
#include "models/FGPropagate.h"
#include "math/FGColumnVector3.h"
-#include <vector>
-#include <string>
-
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
DEFINITIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-#define ID_FDMEXEC "$Id$"
+#define ID_FDMEXEC "$Id: FGFDMExec.h,v 1.56 2010/11/18 20:37:10 jberndt Exp $"
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FORWARD DECLARATIONS
class FGScript;
class FGTrim;
+class FGAerodynamics;
+class FGAircraft;
+class FGAtmosphere;
+class FGAuxiliary;
+class FGBuoyantForces;
+class FGExternalReactions;
+class FGGroundReactions;
+class FGFCS;
+class FGInertial;
+class FGInput;
+class FGOutput;
+class FGPropagate;
+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: 1.56 $
*/
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
public:
/// Default constructor
- FGFDMExec(FGPropertyManager* root = 0);
+ FGFDMExec(FGPropertyManager* root = 0, unsigned int* fdmctr = 0);
/// Default destructor
~FGFDMExec();
+ /** 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
@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);
+ void Schedule(FGModel* model, int rate);
/** This function executes each scheduled model in succession.
@return true if successful, false if sim should be ended */
@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 SystemsPath,
- string model, bool addModelToPath = true);
+ bool LoadModel(const string& AircraftPath, const string& EnginePath, const string& SystemsPath,
+ const 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
@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 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);
+ bool LoadScript(const string& Script, double deltaT);
/** 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 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 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(string path) { SystemsPath = path; return true; }
+ bool SetSystemsPath(const 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 Atmosphere;}
/// Returns the FGFCS pointer.
- inline FGFCS* GetFCS(void) {return FCS;}
+ FGFCS* GetFCS(void) {return FCS;}
/// Returns the FGPropulsion pointer.
- inline FGPropulsion* GetPropulsion(void) {return Propulsion;}
+ FGPropulsion* GetPropulsion(void) {return Propulsion;}
/// Returns the FGAircraft pointer.
- inline FGMassBalance* GetMassBalance(void) {return MassBalance;}
+ FGMassBalance* GetMassBalance(void) {return MassBalance;}
/// Returns the FGAerodynamics pointer
- inline FGAerodynamics* GetAerodynamics(void){return Aerodynamics;}
+ FGAerodynamics* GetAerodynamics(void){return Aerodynamics;}
/// Returns the FGInertial pointer.
- inline FGInertial* GetInertial(void) {return Inertial;}
+ FGInertial* GetInertial(void) {return Inertial;}
/// Returns the FGGroundReactions pointer.
- inline FGGroundReactions* GetGroundReactions(void) {return GroundReactions;}
+ FGGroundReactions* GetGroundReactions(void) {return GroundReactions;}
/// Returns the FGExternalReactions pointer.
- inline FGExternalReactions* GetExternalReactions(void) {return ExternalReactions;}
+ FGExternalReactions* GetExternalReactions(void) {return ExternalReactions;}
/// Returns the FGBuoyantForces pointer.
- inline FGBuoyantForces* GetBuoyantForces(void) {return BuoyantForces;}
+ FGBuoyantForces* GetBuoyantForces(void) {return BuoyantForces;}
/// Returns the FGAircraft pointer.
- inline FGAircraft* GetAircraft(void) {return Aircraft;}
+ FGAircraft* GetAircraft(void) {return Aircraft;}
/// Returns the FGPropagate pointer.
- inline FGPropagate* GetPropagate(void) {return Propagate;}
+ FGPropagate* GetPropagate(void) {return Propagate;}
/// Returns the FGAuxiliary pointer.
- inline FGAuxiliary* GetAuxiliary(void) {return Auxiliary;}
+ FGAuxiliary* GetAuxiliary(void) {return Auxiliary;}
/// Returns the FGInput pointer.
- inline FGInput* GetInput(void) {return Input;}
+ 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;}
+ FGGroundCallback* GetGroundCallback(void) {return GroundCallback;}
/// Retrieves the script object
- inline FGScript* GetScript(void) {return Script;}
+ FGScript* GetScript(void) {return Script;}
// Returns a pointer to the FGInitialCondition object
- inline FGInitialCondition* GetIC(void) {return IC;}
+ 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 string& GetEnginePath(void) {return EnginePath;}
/// Retrieves the aircraft path.
- inline string GetAircraftPath(void) {return AircraftPath;}
+ const string& GetAircraftPath(void) {return AircraftPath;}
/// Retrieves the systems path.
- inline string GetSystemsPath(void) {return SystemsPath;}
+ const string& GetSystemsPath(void) {return SystemsPath;}
/// Retrieves the full aircraft path name.
- inline string GetFullAircraftPath(void) {return FullAircraftPath;}
+ const 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 string& property) {return instance->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) {
+ inline void SetPropertyValue(const string& property, double value) {
instance->SetDouble(property, value);
}
/// Returns the model name.
- string GetModelName(void) { return modelName; }
-
+ const string& GetModelName(void) { 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);
/// Gets the number of child FDMs.
- int GetFDMCount(void) {return ChildFDMList.size();}
+ int GetFDMCount(void) {return (int)ChildFDMList.size();}
/// Gets a particular child FDM.
childData* GetChildFDM(int i) {return ChildFDMList[i];}
/// Marks this instance of the Exec object as a "child" object.
be logged.
@param fname the filename of an output directives file.
*/
- bool SetOutputDirectives(string fname);
+ bool SetOutputDirectives(const string& fname);
/** 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) {
+ bool SetOutputFileName(const string& fname) {
if (Outputs.size() > 0) Outputs[0]->SetOutputFileName(fname);
else return false;
return true;
* @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);
+ string QueryPropertyCatalog(const string& check);
// Print the contents of the property catalog for the loaded aircraft.
void PrintPropertyCatalog(void);
+ vector<string>& GetPropertyCatalog(void) {return PropertyCatalog;}
+
/// Use the MSIS atmosphere model.
void UseAtmosphereMSIS(void);
void SetTrimMode(int mode){ ta_mode = mode; }
int GetTrimMode(void) const { return ta_mode; }
+ /// Returns the cumulative simulation time in seconds.
+ double GetSimTime(void) const { return sim_time; }
+
+ /// Returns the simulation delta T.
+ double GetDeltaT(void) {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) {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 string& rootDir) {RootDir = rootDir;}
+
+ /** Retrieves teh Root Directory.
+ @return the string representing the root (base) JSBSim directory. */
+ const string& GetRootDir(void) const {return RootDir;}
+
+ /** Increments the simulation time.
+ @return the new simulation time. */
+ double IncrTime(void) {
+ sim_time += dT;
+ return sim_time;
+ }
+
+ /** Retrieves the current debug level setting. */
+ int GetDebugLevel(void) const {return debug_lvl;};
+
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 Constructing;
bool modelLoaded;
string SystemsPath;
string CFGVersion;
string Release;
+ string RootDir;
bool trim_status;
int ta_mode;
- static FGPropertyManager *master;
-
- FGModel* FirstModel;
FGGroundCallback* GroundCallback;
- FGState* State;
FGAtmosphere* Atmosphere;
FGFCS* FCS;
FGPropulsion* Propulsion;
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 <childData*> ChildFDMList;
+ vector <FGModel*> Models;
bool ReadFileHeader(Element*);
bool ReadChild(Element*);
void ResetToInitialConditions(int mode);
bool Allocate(void);
bool DeAllocate(void);
+ void Initialize(FGInitialCondition *FGIC);
void Debug(int from);
};
projects / flightgear.git / blobdiff