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
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-#include "FGModel.h"
-#include "FGTrim.h"
-#include "FGInitialCondition.h"
-#include "FGJSBBase.h"
-#include "FGPropertyManager.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 <input_output/FGPropertyManager.h>
+#include <input_output/FGXMLParse.h>
+#include <input_output/FGGroundCallback.h>
+#include <models/FGPropagate.h>
#include <vector>
+
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
DEFINITIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
FORWARD DECLARATIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-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 $Id$
- @see <a href="http://cvs.sourceforge.net/cgi-bin/viewcvs.cgi/jsbsim/JSBSim/FGFDMExec.h?rev=HEAD&content-type=text/vnd.viewcvs-markup">
- Header File </a>
- @see <a href="http://cvs.sourceforge.net/cgi-bin/viewcvs.cgi/jsbsim/JSBSim/FGFDMExec.cpp?rev=HEAD&content-type=text/vnd.viewcvs-markup">
- Source File </a>
-
- @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.
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. 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 $Id$
*/
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
/// Default constructor
FGFDMExec(FGPropertyManager* root = 0);
-
+
/// Default destructor
~FGFDMExec();
/** 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;}
+ /** Sets the ground callback pointer.
+ @param gc A pointer to a ground callback object. */
+ void SetGroundCallback(FGGroundCallback* gc);
- /// Resumes the sim
- void Resume(void) {frozen = false;}
-
- /** Loads an aircraft model.
+ /** 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.
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 an aircraft model. The paths to the aircraft and engine
config file directories must be set prior to calling this. See
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 LoadModel(string model, bool addModelToPath = true);
/** Sets the path to the engine config file directories.
- @param EnginePath path to the directory under which engine config
- files are kept, for instance "engine"
- */
+ @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 AircraftPath path to the aircraft directory. For instance:
+ @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 ControlPath 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 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 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;}
// Returns a pointer to the FGInitialCondition object
inline FGInitialCondition* GetIC(void) {return IC;}
// Returns a pointer to the FGTrim object
- FGTrim* GetTrim(void);
+ inline 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;}
-
+
+ /// Returns the model name.
string GetModelName(void) { return modelName; }
-
+
+ /// 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);
+ /// Marks this instance of the Exec object as a "slave" object.
void SetSlave(void) {IsSlave = true;}
-
+
+ /** Executes trimming in the selected mode.
+ * @param mode Specifies how to trim:
+ * - tLongitudinal=0
+ * - tFull
+ * - tGround
+ * - tPullup
+ * - tCustom
+ * - tTurn
+ * - tNone
+ */
+ void DoTrim(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;}
+
+ struct PropertyCatalogStructure {
+ /// Name of the property.
+ string base_string;
+ /// The node for the property.
+ FGPropertyManager *node;
+ };
+
+ /** 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);
+
+ /** 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 chack 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);
+
+ /// Use the MSIS atmosphere model.
+ void UseAtmosphereMSIS(void);
+
+ /// Use the Mars atmosphere model. (Not operative yet.)
+ void UseAtmosphereMars(void);
+
private:
FGModel* FirstModel;
- bool frozen;
bool terminate;
+ bool holding;
+ bool Constructing;
int Error;
unsigned int Frame;
unsigned int IdFDM;
+ FGPropertyManager* Root;
static unsigned int FDMctr;
bool modelLoaded;
string modelName;
bool IsSlave;
static FGPropertyManager *master;
FGPropertyManager *instance;
-
+ vector <string> PropertyCatalog;
+
struct slaveData {
FGFDMExec* exec;
string info;
string AircraftPath;
string EnginePath;
- string ControlPath;
-
+
string CFGVersion;
+ string Release;
+ FGGroundCallback* GroundCallback;
FGState* State;
FGAtmosphere* Atmosphere;
FGFCS* FCS;
FGInertial* Inertial;
FGGroundReactions* GroundReactions;
FGAircraft* Aircraft;
- FGTranslation* Translation;
- FGRotation* Rotation;
- FGPosition* Position;
+ FGPropagate* Propagate;
FGAuxiliary* Auxiliary;
- FGOutput* Output;
-
+ FGInput* Input;
+ vector <FGOutput*> Outputs;
+
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 ReadFileHeader(Element*);
+ bool ReadSlave(Element*);
+ bool ReadPrologue(Element*);
bool Allocate(void);
bool DeAllocate(void);
void Debug(int from);
};
-
+}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
#endif
projects / flightgear.git / blobdiff