X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FFDM%2FJSBSim%2FFGJSBBase.h;h=2049a3cadb5ec2af5e8d4e76ae164e4d80bb7bf8;hb=1cf207e0540712d3344c48f936a7aade3c5c2797;hp=a852258e094d797e59f01ff6fc3766e4759d0d29;hpb=2297c706e8c707c050f75696d5e399798b103434;p=flightgear.git diff --git a/src/FDM/JSBSim/FGJSBBase.h b/src/FDM/JSBSim/FGJSBBase.h index a852258e0..2049a3cad 100644 --- a/src/FDM/JSBSim/FGJSBBase.h +++ b/src/FDM/JSBSim/FGJSBBase.h @@ -4,23 +4,23 @@ Author: Jon S. Berndt Date started: 07/01/01 - ------------- Copyright (C) 2001 Jon S. Berndt (jsb@hal-pc.org) ------------- + ------------- Copyright (C) 2001 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 @@ -38,43 +38,48 @@ SENTRY INCLUDES %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -#ifdef FGFS -# include -# include -#else -# if defined(sgi) && !defined(__GNUC__) -# include -# else -# include -# endif +#include +#include +#include +#include + +#include "input_output/string_utilities.h" + +#ifndef M_PI +# define M_PI 3.14159265358979323846 #endif -#ifndef M_PI -# include -# define M_PI SG_PI +#if defined(_MSC_VER) && (_MSC_VER < 1300) +namespace std +{ + template inline T max(const T& a, const T& b) + { + return (a > b) ? a : b; + } +} #endif /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% DEFINITIONS %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -#define ID_JSBBASE "$Id$" +#define ID_JSBBASE "$Id: FGJSBBase.h,v 1.30 2010/07/01 23:13:19 jberndt Exp $" /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 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 $Id$ + @version $Id: FGJSBBase.h,v 1.30 2010/07/01 23:13:19 jberndt Exp $ */ /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% @@ -86,37 +91,279 @@ public: /// 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; + std::string text; + std::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 std::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 std::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 std::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 std::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. + This function also prints out the message.*/ + void ProcessMessage(void); + /** Reads the next message on the queue and removes it from the queue. + This function also prints out the message. + @return a pointer to the message, or NULL if there are no messages.*/ + Message* ProcessNextMessage(void); + //@} + + /** Returns the version number of JSBSim. + * @return The version number of JSBSim. */ + std::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 std::fabs(a - b) <= eps*std::max(std::fabs(a), std::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 std::fabs(a - b) <= eps*std::max(std::fabs(a), std::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 valuemax?(max):(value)); + } + + static double sign(double num) {return num>=0.0?1.0:-1.0;} + +protected: + static Message localMsg; + + static std::queue Messages; + + void Debug(int) {}; + + 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 std::string needed_cfg_version; + static const std::string JSBSim_version; + + static std::string CreateIndexedPropertyName(const std::string& Property, int index); + + static double GaussianRandomNumber(void); + +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