/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 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 (jsb@hal-pc.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 #include #include #include #include #include #include #include #include /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% DEFINITIONS %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ #define ID_FDMEXEC "$Id$" /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% FORWARD DECLARATIONS %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ namespace JSBSim { class FGScript; /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 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 $Revision$ */ /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% CLASS DECLARATION %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ class FGFDMExec : public FGJSBBase, public FGXMLFileRead { public: /// Default constructor FGFDMExec(FGPropertyManager* root = 0); /// Default destructor ~FGFDMExec(); /** 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. @return Currently returns 0 always. */ int Schedule(FGModel* model, int rate); /** 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 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(string AircraftPath, string EnginePath, 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(string model, bool addModelToPath = true); /** Loads a script @param Script the full path name and file name for the script to be loaded. @return true if successfully loadsd; false otherwise. */ bool LoadScript(string Script); /** 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(string path) { EnginePath = 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(string path) { AircraftPath = path; return true; } /// @name Top-level executive State and Model retrieval mechanism //@{ /// Returns the FGAtmosphere pointer. inline FGAtmosphere* GetAtmosphere(void) {return Atmosphere;} /// Returns the FGFCS pointer. inline FGFCS* GetFCS(void) {return FCS;} /// Returns the FGPropulsion pointer. inline FGPropulsion* GetPropulsion(void) {return Propulsion;} /// Returns the FGAircraft pointer. inline FGMassBalance* GetMassBalance(void) {return MassBalance;} /// Returns the FGAerodynamics pointer inline FGAerodynamics* GetAerodynamics(void){return Aerodynamics;} /// Returns the FGInertial pointer. inline FGInertial* GetInertial(void) {return Inertial;} /// Returns the FGGroundReactions pointer. inline FGGroundReactions* GetGroundReactions(void) {return GroundReactions;} /// Returns the FGAircraft pointer. inline FGAircraft* GetAircraft(void) {return Aircraft;} /// Returns the FGPropagate pointer. inline FGPropagate* GetPropagate(void) {return Propagate;} /// Returns the FGAuxiliary pointer. inline FGAuxiliary* GetAuxiliary(void) {return Auxiliary;} /// Returns the FGInput pointer. inline FGInput* GetInput(void) {return Input;} /// Returns the FGGroundCallback pointer. inline FGGroundCallback* GetGroundCallback(void) {return GroundCallback;} /// Returns the FGState pointer. inline FGState* GetState(void) {return State;} // Returns a pointer to the FGInitialCondition object inline FGInitialCondition* GetIC(void) {return IC;} // Returns a pointer to the FGTrim object inline FGTrim* GetTrim(void); //@} /// Retrieves the engine path. inline string GetEnginePath(void) {return EnginePath;} /// Retrieves the aircraft path. inline string GetAircraftPath(void) {return AircraftPath;} /// Retrieves the full aircraft path name. inline 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(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(string property, double value) { instance->SetDouble(property, value); } /// Returns the model name. 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); /// Marks this instance of the Exec object as a "slave" object. void SetSlave(bool s) {IsSlave = s;} /** 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(string fname); /** 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(string fname) { if (Outputs.size() > 0) Outputs[0]->SetOutputFileName(fname); else return false; return true; } /** 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) { if (Outputs.size() > 0) return Outputs[0]->GetOutputFileName(); else return string(""); } /** 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;} /// 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(string check); // Print the contents of the property catalog for the loaded aircraft. void PrintPropertyCatalog(void); /// Use the MSIS atmosphere model. void UseAtmosphereMSIS(void); /// Use the Mars atmosphere model. (Not operative yet.) void UseAtmosphereMars(void); private: static unsigned int FDMctr; int Error; unsigned int Frame; unsigned int IdFDM; unsigned short Terminate; bool holding; bool Constructing; bool modelLoaded; bool IsSlave; string modelName; string AircraftPath; string FullAircraftPath; string EnginePath; string CFGVersion; string Release; struct slaveData { FGFDMExec* exec; string info; double x, y, z; double roll, pitch, yaw; bool mated; slaveData(void) { info = ""; x = y = z = 0.0; roll = pitch = yaw = 0.0; mated = true; } ~slaveData(void) { delete exec; } }; static FGPropertyManager *master; FGModel* FirstModel; FGGroundCallback* GroundCallback; FGState* State; FGAtmosphere* Atmosphere; FGFCS* FCS; FGPropulsion* Propulsion; FGMassBalance* MassBalance; FGAerodynamics* Aerodynamics; FGInertial* Inertial; FGGroundReactions* GroundReactions; FGAircraft* Aircraft; FGPropagate* Propagate; FGAuxiliary* Auxiliary; FGInput* Input; FGScript* Script; FGInitialCondition* IC; FGTrim* Trim; FGPropertyManager* Root; FGPropertyManager* instance; vector PropertyCatalog; vector Outputs; vector SlaveFDMList; bool ReadFileHeader(Element*); bool ReadSlave(Element*); bool ReadPrologue(Element*); bool Allocate(void); bool DeAllocate(void); void Debug(int from); }; } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% #endif