------------- Copyright (C) 2001 Jon S. Berndt (jsb@hal-pc.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
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-#ifdef FGFS
-# include <simgear/compiler.h>
-# include <math.h>
-#else
-# if defined(sgi) && !defined(__GNUC__)
-# include <math.h>
-# else
-# include <cmath>
-# endif
+#include <float.h>
+#include <queue>
+#include <string>
+#include <sstream>
+#include <cmath>
+
+using std::fabs;
+using std::string;
+
+#ifndef M_PI
+# define M_PI 3.14159265358979323846
#endif
-#ifndef M_PI
-# include <simgear/constants.h>
-# define M_PI SG_PI
+#if !defined(WIN32) || defined(__GNUC__) || (defined(_MSC_VER) && (_MSC_VER >= 1300))
+ using std::max;
#endif
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FORWARD DECLARATIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-COMMENTS, REFERENCES, and NOTES [use "class documentation" below for API docs]
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+namespace JSBSim {
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DOCUMENTATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
/** JSBSim Base class.
+* This class provides universal constants, utility functions, messaging
+* functions, and enumerated constants to JSBSim.
@author Jon S. Berndt
@version $Id$
*/
/// Constructor for FGJSBBase.
FGJSBBase() {};
- /// Destructor for FGJSBBase
- virtual ~FGJSBBase() {};
+ /// Destructor for FGJSBBase.
+ ~FGJSBBase() {};
- enum {eL = 1, eM, eN };
- enum {eP = 1, eQ, eR };
- enum {eU = 1, eV, eW };
- enum {eX = 1, eY, eZ };
- enum {ePhi = 1, eTht, ePsi };
- enum {eDrag = 1, eSide, eLift };
- enum {eRoll = 1, ePitch, eYaw };
- enum {eNorth = 1, eEast, eDown };
+ /// JSBSim Message structure
+ class Message {
+ public:
+ unsigned int fdmId;
+ unsigned int messageId;
+ string text;
+ string subsystem;
+ enum mType {eText, eInteger, eDouble, eBool} type;
+ bool bVal;
+ int iVal;
+ double dVal;
+ };
+ /// First order, (low pass / lag) filter
+ class Filter {
+ double prev_in;
+ double prev_out;
+ double ca;
+ double cb;
+ public: Filter(void) {}
+ public: Filter(double coeff, double dt) {
+ prev_in = prev_out = 0.0;
+ double denom = 2.0 + coeff*dt;
+ ca = coeff*dt/denom;
+ cb = (2.0 - coeff*dt)/denom;
+ }
+ public: double execute(double in) {
+ double out = (in + prev_in)*ca + prev_out*cb;
+ prev_in = in;
+ prev_out = out;
+ return out;
+ }
+ };
+
+ ///@name JSBSim console output highlighting terms.
+ //@{
+ /// highlights text
static char highint[5];
+ /// low intensity text
static char halfint[5];
+ /// normal intensity text
static char normint[6];
+ /// resets text properties
static char reset[5];
+ /// underlines text
static char underon[5];
+ /// underline off
static char underoff[6];
+ /// blue text
static char fgblue[6];
+ /// cyan text
static char fgcyan[6];
+ /// red text
static char fgred[6];
+ /// green text
static char fggreen[6];
+ /// default text
static char fgdef[6];
+ //@}
-protected:
- virtual void Debug(void) {};
+ ///@name JSBSim Messaging functions
+ //@{
+ /** Places a Message structure on the Message queue.
+ @param msg pointer to a Message structure
+ @return pointer to a Message structure */
+void PutMessage(const Message& msg);
+ /** Creates a message with the given text and places it on the queue.
+ @param text message text
+ @return pointer to a Message structure */
+ void PutMessage(const string& text);
+ /** Creates a message with the given text and boolean value and places it on the queue.
+ @param text message text
+ @param bVal boolean value associated with the message
+ @return pointer to a Message structure */
+void PutMessage(const string& text, bool bVal);
+ /** Creates a message with the given text and integer value and places it on the queue.
+ @param text message text
+ @param iVal integer value associated with the message
+ @return pointer to a Message structure */
+void PutMessage(const string& text, int iVal);
+ /** Creates a message with the given text and double value and places it on the queue.
+ @param text message text
+ @param dVal double value associated with the message
+ @return pointer to a Message structure */
+void PutMessage(const string& text, double dVal);
+ /** Reads the message on the queue (but does not delete it).
+ @return 1 if some messages */
+ int SomeMessages(void);
+ /** Reads the message on the queue and removes it from the queue.
+ @return pointer to a Message structure (or NULL if no mesage) */
+ Message* ProcessMessage(void);
+ //@}
+
+ /** Returns the version number of JSBSim.
+ * @return The version number of JSBSim. */
+ string GetVersion(void) {return JSBSim_version;}
+
+ /// Disables highlighting in the console output.
+ void disableHighLighting(void);
static short debug_lvl;
- static int frame;
+
+ /** Converts from degrees Kelvin to degrees Fahrenheit.
+ * @param kelvin The temperature in degrees Kelvin.
+ * @return The temperature in Fahrenheit. */
+ static double KelvinToFahrenheit (double kelvin) {
+ return 1.8*kelvin - 459.4;
+ }
+
+ /** Converts from degrees Celsius to degrees Rankine.
+ * @param celsius The temperature in degrees Celsius.
+ * @return The temperature in Rankine. */
+ static double CelsiusToRankine (double celsius) {
+ return celsius * 1.8 + 491.67;
+ }
+
+ /** Converts from degrees Rankine to degrees Celsius.
+ * @param rankine The temperature in degrees Rankine.
+ * @return The temperature in Celsius. */
+ static double RankineToCelsius (double rankine) {
+ return (rankine - 491.67)/1.8;
+ }
+
+ /** Converts from degrees Kelvin to degrees Rankine.
+ * @param kelvin The temperature in degrees Kelvin.
+ * @return The temperature in Rankine. */
+ static double KelvinToRankine (double kelvin) {
+ return kelvin * 1.8;
+ }
+
+ /** Converts from degrees Rankine to degrees Kelvin.
+ * @param rankine The temperature in degrees Rankine.
+ * @return The temperature in Kelvin. */
+ static double RankineToKelvin (double rankine) {
+ return rankine/1.8;
+ }
+
+ /** Converts from degrees Fahrenheit to degrees Celsius.
+ * @param fahrenheit The temperature in degrees Fahrenheit.
+ * @return The temperature in Celsius. */
+ static double FahrenheitToCelsius (double fahrenheit) {
+ return (fahrenheit - 32.0)/1.8;
+ }
+
+ /** Converts from degrees Celsius to degrees Fahrenheit.
+ * @param celsius The temperature in degrees Celsius.
+ * @return The temperature in Fahrenheit. */
+ static double CelsiusToFahrenheit (double celsius) {
+ return celsius * 1.8 + 32.0;
+ }
+
+ /** Converts from degrees Celsius to degrees Kelvin
+ * @param celsius The temperature in degrees Celsius.
+ * @return The temperature in Kelvin. */
+ static double CelsiusToKelvin (double celsius) {
+ return celsius + 273.15;
+ }
+
+ /** Converts from degrees Kelvin to degrees Celsius
+ * @param celsius The temperature in degrees Kelvin.
+ * @return The temperature in Celsius. */
+ static double KelvinToCelsius (double kelvin) {
+ return kelvin - 273.15;
+ }
+
+ /** Finite precision comparison.
+ @param a first value to compare
+ @param b second value to compare
+ @return if the two values can be considered equal up to roundoff */
+ static bool EqualToRoundoff(double a, double b) {
+ double eps = 2.0*DBL_EPSILON;
+ return fabs(a - b) <= eps*max(fabs(a), fabs(b));
+ }
+
+ /** Finite precision comparison.
+ @param a first value to compare
+ @param b second value to compare
+ @return if the two values can be considered equal up to roundoff */
+ static bool EqualToRoundoff(float a, float b) {
+ float eps = 2.0*FLT_EPSILON;
+ return fabs(a - b) <= eps*max(fabs(a), fabs(b));
+ }
+
+ /** Finite precision comparison.
+ @param a first value to compare
+ @param b second value to compare
+ @return if the two values can be considered equal up to roundoff */
+ static bool EqualToRoundoff(float a, double b) {
+ return EqualToRoundoff(a, (float)b);
+ }
+
+ /** Finite precision comparison.
+ @param a first value to compare
+ @param b second value to compare
+ @return if the two values can be considered equal up to roundoff */
+ static bool EqualToRoundoff(double a, float b) {
+ return EqualToRoundoff((float)a, b);
+ }
+
+ /** Constrain a value between a minimum and a maximum value.
+ */
+ static double Constrain(double min, double value, double max) {
+ return value<min?(min):(value>max?(max):(value));
+ }
+
+protected:
+ static Message localMsg;
+
+ static std::queue <Message> Messages;
+
+ void Debug(int from) {};
+
+ static unsigned int messageId;
+
+ static const double radtodeg;
+ static const double degtorad;
+ static const double hptoftlbssec;
+ static const double psftoinhg;
+ static const double psftopa;
+ static const double fpstokts;
+ static const double ktstofps;
+ static const double inchtoft;
+ static const double in3tom3;
+ static const double m3toft3;
+ static const double inhgtopa;
+ static const double fttom;
+ static double Reng; // Specific Gas Constant,ft^2/(sec^2*R)
+ static const double SHRatio;
+ static const double lbtoslug;
+ static const double slugtolb;
+ static const double kgtolb;
+ static const double kgtoslug;
+ static const string needed_cfg_version;
+ static const string JSBSim_version;
+
+ static string CreateIndexedPropertyName(string Property, int index)
+ {
+ std::stringstream str;
+ str << index;
+ string tmp;
+ str >> tmp;
+ return Property + "[" + tmp + "]";
+ }
+
+public:
+/// Moments L, M, N
+enum {eL = 1, eM, eN };
+/// Rates P, Q, R
+enum {eP = 1, eQ, eR };
+/// Velocities U, V, W
+enum {eU = 1, eV, eW };
+/// Positions X, Y, Z
+enum {eX = 1, eY, eZ };
+/// Euler angles Phi, Theta, Psi
+enum {ePhi = 1, eTht, ePsi };
+/// Stability axis forces, Drag, Side force, Lift
+enum {eDrag = 1, eSide, eLift };
+/// Local frame orientation Roll, Pitch, Yaw
+enum {eRoll = 1, ePitch, eYaw };
+/// Local frame position North, East, Down
+enum {eNorth = 1, eEast, eDown };
+/// Locations Radius, Latitude, Longitude
+enum {eLat = 1, eLong, eRad };
+/// Conversion specifiers
+enum {inNone = 0, inDegrees, inRadians, inMeters, inFeet };
+
};
+}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
#endif
projects / flightgear.git / blobdiff