-/*******************************************************************************
-
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
Header: FGFDMExec.h
Author: Jon Berndt
Date started: 11/17/98
--------------------------------------------------------------------------------
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.
+ begins with the IC values from the given FGInitialCondition
+ object and dt=0.
-********************************************************************************
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
SENTRY
-*******************************************************************************/
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#ifndef FGFDMEXEC_HEADER_H
#define FGFDMEXEC_HEADER_H
-/*******************************************************************************
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
INCLUDES
-*******************************************************************************/
-
-#define ID_FDMEXEC "$Header"
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#include "FGModel.h"
#include "FGInitialCondition.h"
+#include "FGJSBBase.h"
+#include <vector>
-/*******************************************************************************
-CLASS DECLARATION
-*******************************************************************************/
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+DEFINITIONS
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+#define ID_FDMEXEC "$Id$"
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+FORWARD DECLARATIONS
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
class FGState;
class FGAtmosphere;
class FGFCS;
+class FGPropulsion;
+class FGMassBalance;
+class FGAerodynamics;
+class FGInertial;
+class FGGroundReactions;
class FGAircraft;
class FGTranslation;
class FGRotation;
class FGOutput;
class FGInitialCondition;
-class FGFDMExec
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+COMMENTS, REFERENCES, and NOTES [use "class documentation" below for API docs]
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+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
+ 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>
+
+ <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
+ 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>
+
+*/
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+CLASS DECLARATION
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+class FGFDMExec : public FGJSBBase
{
public:
+ /// Default constructor
FGFDMExec(void);
- ~FGFDMExec(void);
- FGModel* FirstModel;
+ /// 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, as well as running any
+ scripts which are loaded.
+ @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.
+ @return true if successful
+ */
bool RunIC(FGInitialCondition *fgic);
+
+ /// Freezes the sim
void Freeze(void) {frozen = true;}
- void Resume(void) {frozen = false;}
- bool SetEnginePath(string path) {EnginePath = path;}
- bool SetAircraftPath(string path) {AircraftPath = path;}
- bool SetScriptPath(string path) {ScriptPath = path;}
+ /// Resumes the sim
+ void Resume(void) {frozen = false;}
+ /** 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"
+ @return true if successful*/
bool LoadModel(string AircraftPath, string EnginePath, string model);
- bool RunScript(string script);
-
- 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;}
-
-
+
+ /** 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);
+
+ 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
+ //@{
+ /// 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 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 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 FGAuxiliary pointer.
+ inline FGAuxiliary* GetAuxiliary(void) {return Auxiliary;}
+ /// Returns the FGOutput pointer.
+ inline FGOutput* GetOutput(void) {return Output;}
+ //@}
+
+ /// Retrieves the engine path.
+ inline string GetEnginePath(void) {return EnginePath;}
+ /// Retrieves the aircraft path.
+ inline string GetAircraftPath(void) {return AircraftPath;}
private:
+ enum eAction {
+ FG_RAMP = 1,
+ FG_STEP = 2,
+ FG_EXP = 3
+ };
+
+ enum eType {
+ FG_VALUE = 1,
+ FG_DELTA = 2,
+ FG_BOOL = 3
+ };
+
+ struct condition {
+ vector <eParam> TestParam;
+ vector <eParam> SetParam;
+ vector <double> TestValue;
+ vector <double> SetValue;
+ vector <string> Comparison;
+ vector <double> TC;
+ vector <bool> Persistent;
+ vector <eAction> Action;
+ vector <eType> Type;
+ vector <bool> Triggered;
+ vector <double> newValue;
+ vector <double> OriginalValue;
+ vector <double> StartTime;
+ vector <double> EndTime;
+
+ condition() {
+ }
+ };
+
+ FGModel* FirstModel;
+
bool frozen;
bool terminate;
- int Error;
+ int Error;
+ unsigned int Frame;
+ unsigned int IdFDM;
+ static unsigned int FDMctr;
bool modelLoaded;
+ bool Scripted;
string AircraftPath;
string EnginePath;
string ScriptPath;
+ string ScriptName;
+ double StartTime;
+ double EndTime;
+ vector <struct condition> Conditions;
+ FGState* State;
+ FGAtmosphere* Atmosphere;
+ FGFCS* FCS;
+ FGPropulsion* Propulsion;
+ FGMassBalance* MassBalance;
+ FGAerodynamics* Aerodynamics;
+ FGInertial* Inertial;
+ FGGroundReactions* GroundReactions;
+ FGAircraft* Aircraft;
+ FGTranslation* Translation;
+ FGRotation* Rotation;
+ FGPosition* Position;
+ FGAuxiliary* Auxiliary;
+ FGOutput* Output;
- FGState* State;
- FGAtmosphere* Atmosphere;
- FGFCS* FCS;
- FGAircraft* Aircraft;
- FGTranslation* Translation;
- FGRotation* Rotation;
- FGPosition* Position;
- FGAuxiliary* Auxiliary;
- FGOutput* Output;
-
bool Allocate(void);
bool DeAllocate(void);
-
-protected:
+ void Debug(int from);
};
-/******************************************************************************/
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
#endif
+
projects / flightgear.git / blobdiff