Header: FGFDMExec.h
Author: Jon Berndt
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 General Public License as published by the Free Software
+ the terms of the GNU Lesser General Public License as published by the Free Software
Foundation; either version 2 of the License, or (at your option) any later
version.
This program is distributed in the hope that it will be useful, but WITHOUT
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
- FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
+ FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
details.
- You should have received a copy of the GNU General Public License along with
+ You should have received a copy of the GNU Lesser General Public License along with
this program; if not, write to the Free Software Foundation, Inc., 59 Temple
Place - Suite 330, Boston, MA 02111-1307, USA.
- Further information about the GNU General Public License can also be found on
+ Further information about the GNU Lesser General Public License can also be found on
the world wide web at http://www.gnu.org.
HISTORY
INCLUDES
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-#include "FGModel.h"
-#include "FGTrim.h"
-#include "FGInitialCondition.h"
+#include "models/FGModel.h"
+#include "models/FGOutput.h"
+#include "models/FGInput.h"
+#include "initialization/FGTrim.h"
+#include "initialization/FGInitialCondition.h"
#include "FGJSBBase.h"
-#include "FGPropertyManager.h"
+#include "input_output/FGPropertyManager.h"
+#include "input_output/FGGroundCallback.h"
+#include "input_output/FGXMLFileRead.h"
+#include "models/FGPropagate.h"
+#include "math/FGColumnVector3.h"
#include <vector>
+#include <string>
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
DEFINITIONS
namespace JSBSim {
+class FGScript;
+class FGTrim;
+
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DOCUMENTATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
/** Encapsulates the JSBSim simulation executive.
- This class is the interface class through which all other simulation classes
+ This class is the executive 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
+ At the time of simulation initialization, the interface
+ class creates an instance of this executive class. The
+ executive is subsequently directed to load the chosen aircraft specification
+ file:
+
+ @code
+ fdmex = new FGFDMExec( \85 );
+ result = fdmex->LoadModel( \85 );
+ @endcode
+
+ 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).
+ corresponding Load() method is called (e.g. FGFCS::Load()).
+
+ Subsequent to the creation of the executive and loading of the model,
+ initialization is performed. Initialization involves copying control inputs
+ into the appropriate JSBSim data storage locations, configuring it for the set
+ of user supplied initial conditions, and then copying state variables from
+ JSBSim. The state variables are used to drive the instrument displays and to
+ place the vehicle model in world space for visual rendering:
+
+ @code
+ copy_to_JSBsim(); // copy control inputs to JSBSim
+ fdmex->RunIC(); // loop JSBSim once w/o integrating
+ copy_from_JSBsim(); // update the bus
+ @endcode
+
+ Once initialization is complete, cyclic execution proceeds:
+
+ @code
+ copy_to_JSBsim(); // copy control inputs to JSBSim
+ fdmex->Run(); // execute JSBSim
+ copy_from_JSBsim(); // update the bus
+ @endcode
+
+ JSBSim can be used in a standalone mode by creating a compact stub program
+ that effectively performs the same progression of steps as outlined above for
+ the integrated version, but with two exceptions. First, the copy_to_JSBSim()
+ and copy_from_JSBSim() functions are not used because the control inputs are
+ handled directly by the scripting facilities and outputs are handled by the
+ output (data logging) class. Second, the name of a script file can be supplied
+ to the stub program. Scripting (see FGScript) provides a way to supply command
+ inputs to the simulation:
+
+ @code
+ FDMExec = new JSBSim::FGFDMExec();
+ FDMExec->LoadScript( ScriptName ); // the script loads the aircraft and ICs
+ result = FDMExec->Run();
+ while (result) { // cyclic execution
+ result = FDMExec->Run(); // execute JSBSim
+ }
+ @endcode
- <h4>JSBSim Debugging Directives</h4>
+ The standalone mode has been useful for verifying changes before committing
+ updates to the source code repository. It is also useful for running sets of
+ tests that reveal some aspects of simulated aircraft performance, such as
+ range, time-to-climb, takeoff distance, etc.
+
+ <h3>JSBSim Debugging Directives</h3>
This describes to any interested entity the debug level
requested by setting the JSBSIM_DEBUG environment variable.
- <b>16</b>: When set various parameters are sanity checked and
a message is printed out when they go out of bounds
+ <h3>Properties</h3>
+ @property simulator/do_trim (write only) Can be set to the integer equivalent to one of
+ tLongitudinal (0), tFull (1), tGround (2), tPullup (3),
+ tCustom (4), tTurn (5). Setting this to a legal value
+ (such as by a script) causes a trim to be performed. This
+ property actually maps toa function call of DoTrim().
+
@author Jon S. Berndt
- @version $Id$
+ @version $Revision$
*/
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DECLARATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-class FGFDMExec : public FGJSBBase
+class FGFDMExec : public FGJSBBase, public FGXMLFileRead
{
+ struct childData {
+ FGFDMExec* exec;
+ 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::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.
+ executed every 5th call to the exec's Run() method. Use of a rate other than
+ 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.
@return Currently returns 0 always. */
- int Schedule(FGModel* model, int rate);
+ void Schedule(FGModel* model, int rate);
- /** This executes each scheduled model in succession.
+ /** This function 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
- */
+ @return true if successful */
bool RunIC(void);
- /// Freezes the sim
- void Freeze(void) {frozen = true;}
-
- /// Resumes the sim
- void Resume(void) {frozen = false;}
+ /** Sets the ground callback pointer.
+ @param gc A pointer to a ground callback object. */
+ void SetGroundCallback(FGGroundCallback* gc);
/** Loads an aircraft model.
- @param AircraftPath path to the aircraft directory. For instance:
+ @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 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
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);
-
+ @return true if successful */
+ bool LoadModel(string AircraftPath, string EnginePath, string SystemsPath,
+ 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
@return true if successful*/
bool LoadModel(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);
/** 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"
- */
+ 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.
- */
+ 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; }
-
-
+
+ /** 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; }
+
/// @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 FGInertial* GetInertial(void) {return Inertial;}
/// Returns the FGGroundReactions pointer.
inline FGGroundReactions* GetGroundReactions(void) {return GroundReactions;}
+ /// Returns the FGExternalReactions pointer.
+ inline FGExternalReactions* GetExternalReactions(void) {return ExternalReactions;}
+ /// Returns the FGBuoyantForces pointer.
+ inline FGBuoyantForces* GetBuoyantForces(void) {return BuoyantForces;}
/// Returns the FGAircraft pointer.
inline FGAircraft* GetAircraft(void) {return Aircraft;}
/// Returns the FGPropagate pointer.
- inline FGPropagate* GetPropagate(void) {return Propagate;}
+ 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 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;}
+ /// Retrieves the script object
+ inline FGScript* GetScript(void) {return Script;}
// Returns a pointer to the FGInitialCondition object
inline FGInitialCondition* GetIC(void) {return IC;}
// Returns a pointer to the FGTrim object
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;}
-
+ /// Retrieves the systems path.
+ inline string GetSystemsPath(void) {return SystemsPath;}
+ /// Retrieves the full aircraft path name.
+ inline 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);}
+
+ /** 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);
+ }
+
+ /// Returns the model name.
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);
- void SetSlave(void) {IsSlave = true;}
+ /// Gets the number of child FDMs.
+ int GetFDMCount(void) {return 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.
+ 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
+ the FGOutput object associated with this run. The call to this function
+ should be made prior to loading an aircraft model. This call results in an
+ FGOutput object being built as the first Output object in the FDMExec-managed
+ list of Output objects that may be created for an aircraft model. If this call
+ is made after an aircraft model is loaded, there is no effect. Any Output
+ objects added by the aircraft model itself (in an <output> element) will be
+ added after this one. Care should be taken not to refer to the same file
+ name.
+ An output directives file contains an <output> </output> element, within
+ which should be specified the parameters or parameter groups that should
+ be logged.
+ @param fname the filename of an output directives file.
+ */
+ bool SetOutputDirectives(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) {
+ if (Outputs.size() > 0) Outputs[0]->SetOutputFileName(fname);
+ else return false;
+ return true;
+ }
+
+ /** Retrieves the current output filename.
+ @return the name of the output file for the first 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("");
+ }
+
+ /** Executes trimming in the selected mode.
+ * @param mode Specifies how to trim:
+ * - tLongitudinal=0
+ * - tFull
+ * - tGround
+ * - tPullup
+ * - tCustom
+ * - tTurn
+ * - tNone */
+ void DoTrim(int mode);
+// void DoTrimAnalysis(int mode);
+
+ /// Disables data logging to all outputs.
+ void DisableOutput(void);
+ /// Enables data logging to all outputs.
+ void EnableOutput(void);
+ /// Pauses execution by preventing time from incrementing.
+ void Hold(void) {holding = true;}
+ /// 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;
+ /// The node for the property.
+ FGPropertyManager *node;
+ };
-private:
- FGModel* FirstModel;
+ /** Builds a catalog of properties.
+ * This function descends the property tree and creates a list (an STL vector)
+ * containing the name and node for all properties.
+ * @param pcs The "root" property catalog structure pointer. */
+ void BuildPropertyCatalog(struct PropertyCatalogStructure* pcs);
- bool frozen;
- bool terminate;
- int Error;
- unsigned int Frame;
- unsigned int IdFDM;
- static unsigned int FDMctr;
- bool modelLoaded;
- string modelName;
- bool IsSlave;
- static FGPropertyManager *master;
- FGPropertyManager *instance;
+ /** Retrieves property or properties matching the supplied string.
+ * A string is returned that contains a carriage return delimited list of all
+ * strings in the property catalog that matches the supplied check string.
+ * @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);
- struct slaveData {
- FGFDMExec* exec;
- string info;
- double x, y, z;
- double roll, pitch, yaw;
- bool mated;
+ // Print the contents of the property catalog for the loaded aircraft.
+ void PrintPropertyCatalog(void);
- slaveData(void) {
- info = "";
- x = y = z = 0.0;
- roll = pitch = yaw = 0.0;
- mated = true;
- }
+ /// Use the MSIS atmosphere model.
+ void UseAtmosphereMSIS(void);
- ~slaveData(void) {
- delete exec;
- }
- };
+ /// 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; }
+private:
+ static unsigned int FDMctr;
+ int Error;
+ unsigned int Frame;
+ unsigned int IdFDM;
+ unsigned short Terminate;
+ bool holding;
+ bool Constructing;
+ bool modelLoaded;
+ bool IsChild;
+ string modelName;
string AircraftPath;
+ string FullAircraftPath;
string EnginePath;
-// string ControlPath;
-
+ string SystemsPath;
string CFGVersion;
string Release;
- FGState* State;
- FGAtmosphere* Atmosphere;
- FGFCS* FCS;
- FGPropulsion* Propulsion;
- FGMassBalance* MassBalance;
- FGAerodynamics* Aerodynamics;
- FGInertial* Inertial;
- FGGroundReactions* GroundReactions;
- FGAircraft* Aircraft;
- FGPropagate* Propagate;
- FGAuxiliary* Auxiliary;
- FGOutput* Output;
+ bool trim_status;
+ int ta_mode;
+ static FGPropertyManager *master;
+
+ FGGroundCallback* GroundCallback;
+ FGState* State;
+ FGAtmosphere* Atmosphere;
+ FGFCS* FCS;
+ FGPropulsion* Propulsion;
+ FGMassBalance* MassBalance;
+ FGAerodynamics* Aerodynamics;
+ FGInertial* Inertial;
+ FGGroundReactions* GroundReactions;
+ FGExternalReactions* ExternalReactions;
+ FGBuoyantForces* BuoyantForces;
+ FGAircraft* Aircraft;
+ FGPropagate* Propagate;
+ FGAuxiliary* Auxiliary;
+ FGInput* Input;
+ FGScript* Script;
FGInitialCondition* IC;
- FGTrim *Trim;
+ FGTrim* Trim;
- vector <slaveData*> SlaveFDMList;
+ FGPropertyManager* Root;
+ FGPropertyManager* instance;
- bool ReadMetrics(FGConfigFile*);
- bool ReadSlave(FGConfigFile*);
- bool ReadPropulsion(FGConfigFile*);
- bool ReadFlightControls(FGConfigFile*);
- bool ReadAerodynamics(FGConfigFile*);
- bool ReadUndercarriage(FGConfigFile*);
- bool ReadPrologue(FGConfigFile*);
- bool ReadOutput(FGConfigFile*);
+ vector <string> PropertyCatalog;
+ vector <FGOutput*> Outputs;
+ vector <childData*> ChildFDMList;
+ vector <FGModel*> Models;
+ bool ReadFileHeader(Element*);
+ bool ReadChild(Element*);
+ bool ReadPrologue(Element*);
+ void ResetToInitialConditions(int mode);
bool Allocate(void);
bool DeAllocate(void);
+
void Debug(int from);
};
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
#endif
-
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