/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

 Header:        JSBSim.hxx
 Author:        Curtis L. Olson
 Maintained by: Tony Peden, Curt Olson
 Date started:  02/01/1999

------ Copyright (C) 1999 - 2000  Curtis L. Olson (curt@flightgear.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 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 details.

 You should have received a copy of the GNU General Public License
 along with this program; if not, write to the Free Software
 Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.

HISTORY
--------------------------------------------------------------------------------
02/01/1999   CLO   Created
Additional log messages stored in CVS

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
SENTRY
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/

#ifndef _JSBSIM_HXX
#define _JSBSIM_HXX

/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
INCLUDES
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/

#include <FDM/JSBSim/FGFDMExec.h>
#include <FDM/JSBSim/FGInitialCondition.h>
#undef MAX_ENGINES
#include <Aircraft/aircraft.hxx>

/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
DEFINITIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/

#define ID_JSBSIMXX "$Header JSBSim.hxx,v 1.4 2000/10/22 14:02:16 jsb Exp $"

/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FORWARD DECLARATIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/

/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
COMMENTS, REFERENCES, and NOTES [use "class documentation" below for API docs]
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/

/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DOCUMENTATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/

/** FGFS / JSBSim interface (aka "The Bus")
    This class provides for an interface between FlightGear and its data
    structures and JSBSim and its data structures. This is the class which is
    used to command JSBSim when integrated with FlightGear. See the
    documentation for main for direction on running JSBSim apart from FlightGear.
    @author Curtis L. Olson (original)
    @author Tony Peden (Maintained and refined)
    @version $Id$
    @see main in file JSBSim.cpp (use main() wrapper for standalone usage)
*/

/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DECLARATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/

class FGJSBsim: public FGInterface {

    // The aircraft for this instance
    FGFDMExec *fdmex;
    FGInitialCondition *fgic;
    bool needTrim;
    
    bool trimmed;
    float trim_elev;
    float trim_throttle;

public:
    /// Constructor
    FGJSBsim::FGJSBsim(void);
    /// Destructor
    FGJSBsim::~FGJSBsim();

    /// copy FDM state to LaRCsim structures
    bool copy_to_JSBsim();

    /// copy FDM state from LaRCsim structures
    bool copy_from_JSBsim();

    /// Reset flight params to a specific position
    bool init( double dt );
    
    // Positions
    void set_Latitude(double lat);  // geocentric
    void set_Longitude(double lon);    
    void set_Altitude(double alt);        // triggers re-calc of AGL altitude
    //void set_AltitudeAGL(double altagl); // and vice-versa
    
    // Speeds -- setting any of these will trigger a re-calc of the rest
    void set_V_calibrated_kts(double vc);
    void set_Mach_number(double mach);
    void set_Velocities_Local( double north, double east, double down );
    void set_Velocities_Wind_Body( double u, double v, double w);
    
    // Euler angles 
    void set_Euler_Angles( double phi, double theta, double psi );
    
    // Flight Path
    void set_Climb_Rate( double roc);
    void set_Gamma_vert_rad( double gamma);
    
    // Earth
    void set_Sea_level_radius(double slr);
    void set_Runway_altitude(double ralt);
    
    // Atmosphere
    void set_Static_pressure(double p);
    void set_Static_temperature(double T);
    void set_Density(double rho);
    void set_Velocities_Local_Airmass (double wnorth, 
				       double weast, 
				       double wdown );

    // update position based on inputs, positions, velocities, etc.
    bool update( int multiloop );
};


#endif // _JSBSIM_HXX