/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% Header: FGFDMExec.h Author: Jon Berndt Date started: 11/17/98 file The header file for the JSBSim executive. ------------- Copyright (C) 1999 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 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 Lesser General Public License for more details. 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 Lesser General Public License can also be found on the world wide web at http://www.gnu.org. HISTORY -------------------------------------------------------------------------------- 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. %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% SENTRY %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ #ifndef FGFDMEXEC_HEADER_H #define FGFDMEXEC_HEADER_H /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% INCLUDES %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ #include #include #include "initialization/FGTrim.h" #include "FGJSBBase.h" #include "input_output/FGPropertyManager.h" #include "input_output/FGGroundCallback.h" #include "input_output/FGXMLFileRead.h" #include "models/FGPropagate.h" #include "math/FGColumnVector3.h" /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% DEFINITIONS %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ #define ID_FDMEXEC "$Id: FGFDMExec.h,v 1.71 2011/09/07 02:37:04 jberndt Exp $" /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% FORWARD DECLARATIONS %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ namespace JSBSim { class FGScript; class FGTrim; class FGAerodynamics; class FGAircraft; class FGAtmosphere; class FGAccelerations; class FGWinds; class FGAuxiliary; class FGBuoyantForces; class FGExternalReactions; class FGGroundReactions; class FGFCS; class FGInertial; class FGInput; class FGOutput; class FGPropagate; class FGPropulsion; class FGMassBalance; /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% CLASS DOCUMENTATION %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ /** Encapsulates the JSBSim simulation executive. This class is the executive 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. At the time of simulation initialization, the interface class creates an instance of this executive class. The executive is subsequently directed to load the chosen aircraft specification file: @code fdmex = new FGFDMExec( ... ); result = fdmex->LoadModel( ... ); @endcode 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 Load() method is called (e.g. FGFCS::Load()). Subsequent to the creation of the executive and loading of the model, initialization is performed. Initialization involves copying control inputs into the appropriate JSBSim data storage locations, configuring it for the set of user supplied initial conditions, and then copying state variables from JSBSim. The state variables are used to drive the instrument displays and to place the vehicle model in world space for visual rendering: @code copy_to_JSBsim(); // copy control inputs to JSBSim fdmex->RunIC(); // loop JSBSim once w/o integrating copy_from_JSBsim(); // update the bus @endcode Once initialization is complete, cyclic execution proceeds: @code copy_to_JSBsim(); // copy control inputs to JSBSim fdmex->Run(); // execute JSBSim copy_from_JSBsim(); // update the bus @endcode JSBSim can be used in a standalone mode by creating a compact stub program that effectively performs the same progression of steps as outlined above for the integrated version, but with two exceptions. First, the copy_to_JSBSim() and copy_from_JSBSim() functions are not used because the control inputs are handled directly by the scripting facilities and outputs are handled by the output (data logging) class. Second, the name of a script file can be supplied to the stub program. Scripting (see FGScript) provides a way to supply command inputs to the simulation: @code FDMExec = new JSBSim::FGFDMExec(); FDMExec->LoadScript( ScriptName ); // the script loads the aircraft and ICs result = FDMExec->Run(); while (result) { // cyclic execution result = FDMExec->Run(); // execute JSBSim } @endcode The standalone mode has been useful for verifying changes before committing updates to the source code repository. It is also useful for running sets of tests that reveal some aspects of simulated aircraft performance, such as range, time-to-climb, takeoff distance, etc.

JSBSim Debugging Directives

This describes to any interested entity the debug level requested by setting the JSBSIM_DEBUG environment variable. The bitmasked value choices are as follows: - unset: 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 - 0: This requests JSBSim not to output any messages whatsoever - 1: This value explicity requests the normal JSBSim startup messages - 2: This value asks for a message to be printed out when a class is instantiated - 4: When this value is set, a message is displayed when a FGModel object executes its Run() method - 8: When this value is set, various runtime state variables are printed out periodically - 16: When set various parameters are sanity checked and a message is printed out when they go out of bounds

Properties

@property simulator/do_trim (write only) Can be set to the integer equivalent to one of tLongitudinal (0), tFull (1), tGround (2), tPullup (3), tCustom (4), tTurn (5). Setting this to a legal value (such as by a script) causes a trim to be performed. This property actually maps toa function call of DoTrim(). @author Jon S. Berndt @version $Revision: 1.71 $ */ /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% CLASS DECLARATION %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ class FGFDMExec : public FGJSBBase, public FGXMLFileRead { struct childData { FGFDMExec* exec; string info; FGColumnVector3 Loc; FGColumnVector3 Orient; bool mated; bool internal; childData(void) { info = ""; Loc = FGColumnVector3(0,0,0); Orient = FGColumnVector3(0,0,0); mated = true; internal = false; } void Run(void) {exec->Run();} void AssignState(FGPropagate* source_prop) { exec->GetPropagate()->SetVState(source_prop->GetVState()); } ~childData(void) { delete exec; } }; public: /// Default constructor FGFDMExec(FGPropertyManager* root = 0, unsigned int* fdmctr = 0); /// Default destructor ~FGFDMExec(); // This list of enums is very important! The order in which models are listed here // determines the order of execution of the models. enum eModels { ePropagate=0, eInput, eInertial, eAtmosphere, eWinds, eAuxiliary, eSystems, ePropulsion, eAerodynamics, eGroundReactions, eExternalReactions, eBuoyantForces, eMassBalance, eAircraft, eAccelerations, eNumStandardModels }; /** Unbind all tied JSBSim properties. */ void Unbind(void) {instance->Unbind();} /** 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. Use of a rate other than one is at this time not recommended. @param model A pointer to the model being scheduled. @param rate The rate at which to execute the model as described above. Default is every frame (rate=1). @return Currently returns 0 always. */ void Schedule(FGModel* model, int rate=1); /** This function executes each scheduled model in succession. @return true if successful, false if sim should be ended */ bool Run(void); /** Initializes the sim from the initial condition object and executes each scheduled model without integrating i.e. dt=0. @return true if successful */ bool RunIC(void); /** Sets the ground callback pointer. @param gc A pointer to a ground callback object. */ void SetGroundCallback(FGGroundCallback* gc); /** 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 SystemsPath path to the directory under which systems config files are kept, for instance "systems" @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" @param addModelToPath set to true to add the model name to the AircraftPath, defaults to true @return true if successful */ bool LoadModel(const string& AircraftPath, const string& EnginePath, const string& SystemsPath, const 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 below. @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" @param addModelToPath set to true to add the model name to the AircraftPath, defaults to true @return true if successful*/ bool LoadModel(const string& model, bool addModelToPath = true); /** Loads a script @param Script the full path name and file name for the script to be loaded. @param deltaT The simulation integration step size, if given. If no value is supplied then 0.0 is used and the value is expected to be supplied in the script file itself. @return true if successfully loadsd; false otherwise. */ bool LoadScript(const string& Script, double deltaT=0.0); /** Sets the path to the engine config file directories. @param path path to the directory under which engine config files are kept, for instance "engine" */ bool SetEnginePath(const string& path) { EnginePath = RootDir + path; return true; } /** Sets the path to the aircraft config file directories. @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. */ bool SetAircraftPath(const string& path) { AircraftPath = RootDir + path; return true; } /** Sets the path to the systems config file directories. @param path path to the directory under which systems config files are kept, for instance "systems" */ bool SetSystemsPath(const string& path) { SystemsPath = RootDir + path; return true; } /// @name Top-level executive State and Model retrieval mechanism //@{ /// Returns the FGAtmosphere pointer. FGAtmosphere* GetAtmosphere(void) {return (FGAtmosphere*)Models[eAtmosphere];} /// Returns the FGAccelerations pointer. FGAccelerations* GetAccelerations(void) {return (FGAccelerations*)Models[eAccelerations];} /// Returns the FGWinds pointer. FGWinds* GetWinds(void) {return (FGWinds*)Models[eWinds];} /// Returns the FGFCS pointer. FGFCS* GetFCS(void) {return (FGFCS*)Models[eSystems];} /// Returns the FGPropulsion pointer. FGPropulsion* GetPropulsion(void) {return (FGPropulsion*)Models[ePropulsion];} /// Returns the FGAircraft pointer. FGMassBalance* GetMassBalance(void) {return (FGMassBalance*)Models[eMassBalance];} /// Returns the FGAerodynamics pointer FGAerodynamics* GetAerodynamics(void){return (FGAerodynamics*)Models[eAerodynamics];} /// Returns the FGInertial pointer. FGInertial* GetInertial(void) {return (FGInertial*)Models[eInertial];} /// Returns the FGGroundReactions pointer. FGGroundReactions* GetGroundReactions(void) {return (FGGroundReactions*)Models[eGroundReactions];} /// Returns the FGExternalReactions pointer. FGExternalReactions* GetExternalReactions(void) {return (FGExternalReactions*)Models[eExternalReactions];} /// Returns the FGBuoyantForces pointer. FGBuoyantForces* GetBuoyantForces(void) {return (FGBuoyantForces*)Models[eBuoyantForces];} /// Returns the FGAircraft pointer. FGAircraft* GetAircraft(void) {return (FGAircraft*)Models[eAircraft];} /// Returns the FGPropagate pointer. FGPropagate* GetPropagate(void) {return (FGPropagate*)Models[ePropagate];} /// Returns the FGAuxiliary pointer. FGAuxiliary* GetAuxiliary(void) {return (FGAuxiliary*)Models[eAuxiliary];} /// Returns the FGInput pointer. FGInput* GetInput(void) {return (FGInput*)Models[eInput];} /// Returns the FGGroundCallback pointer. FGGroundCallback* GetGroundCallback(void) {return GroundCallback;} /// Retrieves the script object FGScript* GetScript(void) {return Script;} // Returns a pointer to the FGInitialCondition object FGInitialCondition* GetIC(void) {return IC;} // Returns a pointer to the FGTrim object FGTrim* GetTrim(void); //@} /// Retrieves the engine path. const string& GetEnginePath(void) {return EnginePath;} /// Retrieves the aircraft path. const string& GetAircraftPath(void) {return AircraftPath;} /// Retrieves the systems path. const string& GetSystemsPath(void) {return SystemsPath;} /// Retrieves the full aircraft path name. const string& GetFullAircraftPath(void) {return FullAircraftPath;} /** Retrieves the value of a property. @param property the name of the property @result the value of the specified property */ inline double GetPropertyValue(const string& property) {return instance->GetDouble(property);} /** Sets a property value. @param property the property to be set @param value the value to set the property to */ inline void SetPropertyValue(const string& property, double value) { instance->SetDouble(property, value); } /// Returns the model name. const string& GetModelName(void) { return modelName; } /* /// Returns the current time. double GetSimTime(void); /// Returns the current frame time (delta T). double GetDeltaT(void); */ /// 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 EnumerateFDMs(void); /// Gets the number of child FDMs. int GetFDMCount(void) {return (int)ChildFDMList.size();} /// Gets a particular child FDM. childData* GetChildFDM(int i) {return ChildFDMList[i];} /// Marks this instance of the Exec object as a "child" object. void SetChild(bool ch) {IsChild = ch;} /** Sets the output (logging) mechanism for this run. Calling this function passes the name of an output directives file to the FGOutput object associated with this run. The call to this function should be made prior to loading an aircraft model. This call results in an FGOutput object being built as the first Output object in the FDMExec-managed list of Output objects that may be created for an aircraft model. If this call is made after an aircraft model is loaded, there is no effect. Any Output objects added by the aircraft model itself (in an <output> element) will be added after this one. Care should be taken not to refer to the same file name. An output directives file contains an <output> </output> element, within which should be specified the parameters or parameter groups that should be logged. @param fname the filename of an output directives file. */ bool SetOutputDirectives(const string& fname); /** Forces the specified output object to print its items once */ void ForceOutput(int idx=0); /** Sets (or overrides) the output filename @param fname the name of the file to output data to @return true if successful, false if there is no output specified for the flight model */ bool SetOutputFileName(const string& fname); /** Retrieves the current output filename. @return the name of the output file for the first output specified by the flight model. If none is specified, the empty string is returned. */ string GetOutputFileName(void); /** 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;} /// Resets the initial conditions object and prepares the simulation to run again. void ResetToInitialConditions(void); /// Sets the debug level. void SetDebugLevel(int level) {debug_lvl = level;} 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 check 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(const string& check); // Print the contents of the property catalog for the loaded aircraft. void PrintPropertyCatalog(void); vector& GetPropertyCatalog(void) {return PropertyCatalog;} void SetTrimStatus(bool status){ trim_status = status; } bool GetTrimStatus(void) const { return trim_status; } void SetTrimMode(int mode){ ta_mode = mode; } int GetTrimMode(void) const { return ta_mode; } string GetPropulsionTankReport(); /// Returns the cumulative simulation time in seconds. double GetSimTime(void) const { return sim_time; } /// Returns the simulation delta T. double GetDeltaT(void) {return dT;} /// Suspends the simulation and sets the delta T to zero. void SuspendIntegration(void) {saved_dT = dT; dT = 0.0;} /// Resumes the simulation by resetting delta T to the correct value. void ResumeIntegration(void) {dT = saved_dT;} /** Returns the simulation suspension state. @return true if suspended, false if executing */ bool IntegrationSuspended(void) {return dT == 0.0;} /** Sets the current sim time. @param cur_time the current time @return the current simulation time. */ double Setsim_time(double cur_time) { sim_time = cur_time; return sim_time; } /** Sets the integration time step for the simulation executive. @param delta_t the time step in seconds. */ void Setdt(double delta_t) { dT = delta_t; } /** Sets the root directory where JSBSim starts looking for its system directories. @param rootDir the string containing the root directory. */ void SetRootDir(const string& rootDir) {RootDir = rootDir;} /** Retrieves the Root Directory. @return the string representing the root (base) JSBSim directory. */ const string& GetRootDir(void) const {return RootDir;} /** Increments the simulation time if not in Holding mode. The Frame counter is also incremented. @return the new simulation time. */ double IncrTime(void) { if (!holding) sim_time += dT; Frame++; return sim_time; } /** Retrieves the current debug level setting. */ int GetDebugLevel(void) const {return debug_lvl;}; private: int Error; unsigned int Frame; unsigned int IdFDM; unsigned short Terminate; double dT; double saved_dT; double sim_time; bool holding; bool Constructing; bool modelLoaded; bool IsChild; bool firstPass; string modelName; string AircraftPath; string FullAircraftPath; string EnginePath; string SystemsPath; string CFGVersion; string Release; string RootDir; // Standard Model pointers - shortcuts for internal executive use only. FGPropagate* Propagate; FGInertial* Inertial; FGAtmosphere* Atmosphere; FGWinds* Winds; FGAuxiliary* Auxiliary; FGFCS* FCS; FGPropulsion* Propulsion; FGAerodynamics* Aerodynamics; FGGroundReactions* GroundReactions; FGExternalReactions* ExternalReactions; FGBuoyantForces* BuoyantForces; FGMassBalance* MassBalance; FGAircraft* Aircraft; FGAccelerations* Accelerations; bool trim_status; int ta_mode; FGGroundCallback* GroundCallback; FGScript* Script; FGInitialCondition* IC; FGTrim* Trim; FGPropertyManager* Root; bool StandAlone; FGPropertyManager* instance; // The FDM counter is used to give each child FDM an unique ID. The root FDM has the ID 0 unsigned int* FDMctr; vector PropertyCatalog; vector Outputs; vector ChildFDMList; vector Models; bool ReadFileHeader(Element*); bool ReadChild(Element*); bool ReadPrologue(Element*); void ResetToInitialConditions(int mode); void LoadInputs(unsigned int idx); void LoadPlanetConstants(void); void LoadModelConstants(void); bool Allocate(void); bool DeAllocate(void); void Initialize(FGInitialCondition *FGIC); void Debug(int from); }; } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% #endif