X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FFDM%2FJSBSim%2FFGJSBBase.h;h=2049a3cadb5ec2af5e8d4e76ae164e4d80bb7bf8;hb=4b494b1d0842bc53d7295f74c44cf4f7a3185446;hp=4b522d3f2cfebc22624114b88fda93753cb78f0d;hpb=1ca94a72c008cc422a1464beaf1f20d5f1d6ff96;p=flightgear.git diff --git a/src/FDM/JSBSim/FGJSBBase.h b/src/FDM/JSBSim/FGJSBBase.h index 4b522d3f2..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 @@ -38,42 +38,24 @@ SENTRY INCLUDES %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -#ifdef FGFS -# include -# include -# include -# include STL_STRING +#include +#include +#include +#include -SG_USING_STD(string); -SG_USING_STD(queue); +#include "input_output/string_utilities.h" -#else - -# include -# include -# if defined(sgi) && !defined(__GNUC__) -# include -# else -# include -# endif - -using std::string; -using std::queue; -#endif - -#ifndef M_PI -# include -# define M_PI SG_PI +#ifndef M_PI +# define M_PI 3.14159265358979323846 #endif -#ifdef __FreeBSD__ // define gcvt on FreeBSD - -#include - -static char *gcvt(double number, size_t ndigit, char *buf) +#if defined(_MSC_VER) && (_MSC_VER < 1300) +namespace std { - sprintf(buf, "%f", number); - return buf; + template inline T max(const T& a, const T& b) + { + return (a > b) ? a : b; + } } #endif @@ -81,121 +63,23 @@ static char *gcvt(double number, size_t ndigit, char *buf) DEFINITIONS %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -#define ID_JSBBASE "$Id$" +#define ID_JSBBASE "$Id: FGJSBBase.h,v 1.30 2010/07/01 23:13:19 jberndt Exp $" /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% FORWARD DECLARATIONS %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -enum eParam { - FG_UNDEF = 0, - FG_TIME, - FG_QBAR, - FG_WINGAREA, - FG_WINGSPAN, - FG_CBAR, - FG_ALPHA, - FG_ALPHADOT, - FG_BETA, - FG_ABETA, - FG_BETADOT, - FG_PHI, - FG_THT, - FG_PSI, - FG_PITCHRATE, - FG_ROLLRATE, - FG_YAWRATE, - FG_AEROP, - FG_AEROQ, - FG_AEROR, - FG_CL_SQRD, - FG_MACH, - FG_ALTITUDE, - FG_BI2VEL, - FG_CI2VEL, - FG_ELEVATOR_POS, - FG_AELEVATOR_POS, - FG_NELEVATOR_POS, - FG_AILERON_POS, - FG_AAILERON_POS, - FG_NAILERON_POS, - FG_LEFT_AILERON_POS, - FG_ALEFT_AILERON_POS, - FG_NLEFT_AILERON_POS, - FG_RIGHT_AILERON_POS, - FG_ARIGHT_AILERON_POS, - FG_NRIGHT_AILERON_POS, - FG_RUDDER_POS, - FG_ARUDDER_POS, - FG_NRUDDER_POS, - FG_SPDBRAKE_POS, - FG_NSPDBRAKE_POS, - FG_SPOILERS_POS, - FG_NSPOILERS_POS, - FG_FLAPS_POS, - FG_NFLAPS_POS, - FG_ELEVATOR_CMD, - FG_AILERON_CMD, - FG_RUDDER_CMD, - FG_SPDBRAKE_CMD, - FG_SPOILERS_CMD, - FG_FLAPS_CMD, - FG_THROTTLE_CMD, - FG_THROTTLE_POS, - FG_MIXTURE_CMD, - FG_MIXTURE_POS, - FG_MAGNETO_CMD, - FG_STARTER_CMD, - FG_ACTIVE_ENGINE, - FG_HOVERB, - FG_PITCH_TRIM_CMD, - FG_YAW_TRIM_CMD, - FG_ROLL_TRIM_CMD, - FG_LEFT_BRAKE_CMD, - FG_CENTER_BRAKE_CMD, - FG_RIGHT_BRAKE_CMD, - FG_SET_LOGGING, - FG_ALPHAH, - FG_ALPHAW, - FG_LBARH, //normalized horizontal tail arm - FG_LBARV, //normalized vertical tail arm - FG_HTAILAREA, - FG_VTAILAREA, - FG_VBARH, //horizontal tail volume - FG_VBARV, //vertical tail volume - FG_GEAR_CMD, - FG_GEAR_POS, - FG_HYSTPARM, - AP_ELEVATOR_CMD, - AP_AILERON_CMD, - AP_RUDDER_CMD, - AP_THROTTLE_CMD, - AP_SET_ATTITUDE, - AP_SET_ALTITUDE, - AP_SET_HEADING, - AP_SET_AIRSPEED, - AP_ACQUIRE_ATTITUDE, - AP_ACQUIRE_ALTITUDE, - AP_ACQUIRE_HEADING, - AP_ACQUIRE_AIRSPEED, - AP_ATTITUDE_HOLD_ON, - AP_ALTITUDE_HOLD_ON, - AP_HEADING_HOLD_ON, - AP_AIRSPEED_HOLD_ON, - AP_WINGSLEVEL_HOLD_ON -}; - -/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -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 $ */ /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% @@ -205,43 +89,45 @@ CLASS DECLARATION class FGJSBBase { public: /// Constructor for FGJSBBase. - FGJSBBase(); + FGJSBBase() {}; /// Destructor for FGJSBBase. - virtual ~FGJSBBase() {}; + ~FGJSBBase() {}; /// JSBSim Message structure - typedef struct Msg { + class Message { + public: unsigned int fdmId; unsigned int messageId; - string text; - string subsystem; + std::string text; + std::string subsystem; enum mType {eText, eInteger, eDouble, eBool} type; bool bVal; int iVal; double dVal; - } Message; + }; + + /// 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 Enums. - //@{ - /// 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 }; - //@} - ///@name JSBSim console output highlighting terms. //@{ /// highlights text @@ -273,62 +159,211 @@ public: /** Places a Message structure on the Message queue. @param msg pointer to a Message structure @return pointer to a Message structure */ - Message* PutMessage(Message* msg); + 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 */ - Message* PutMessage(string text); + 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 */ - Message* PutMessage(string text, bool bVal); + 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 */ - Message* PutMessage(string text, int iVal); + 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 */ - Message* PutMessage(string text, double dVal); + void PutMessage(const std::string& text, double dVal); /** Reads the message on the queue (but does not delete it). - @return pointer to a Message structure (or NULL if no mesage) */ - Message* ReadMessage(void); + @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); + 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); //@} - string GetVersion(void) {return JSBSim_version;} - + + /** 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; + + /** 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 queue Messages; - virtual void Debug(int from) {}; + static std::queue Messages; + + void Debug(int) {}; - static short debug_lvl; - static unsigned int frame; 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 Reng; // Specific Gas Constant,ft^2/(sec^2*R) + 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 string needed_cfg_version; - static const string JSBSim_version; + 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