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flightgear/src/FDM/JSBSim/FGJSBBase.h
Erik Hofman 7375166c2b New version of JSBSim, a big rewrite.
2011-09-11 11:42:21 +02:00

364 lines
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
Header: FGJSBBase.h
Author: Jon S. Berndt
Date started: 07/01/01
------------- 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 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
--------------------------------------------------------------------------------
07/01/01 JSB Created
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
SENTRY
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#ifndef FGJSBBASE_H
#define FGJSBBASE_H
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
INCLUDES
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#include <float.h>
#include <queue>
#include <string>
#include <cmath>
using std::min;
using std::max;
#include "input_output/string_utilities.h"
#ifndef M_PI
# define M_PI 3.14159265358979323846
#endif
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
DEFINITIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#define ID_JSBBASE "$Id: FGJSBBase.h,v 1.33 2011/06/27 03:14:25 jberndt Exp $"
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FORWARD DECLARATIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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: FGJSBBase.h,v 1.33 2011/06/27 03:14:25 jberndt Exp $
*/
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DECLARATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
class FGJSBBase {
public:
/// Constructor for FGJSBBase.
FGJSBBase() {};
/// Destructor for FGJSBBase.
virtual ~FGJSBBase() {};
/// 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];
//@}
///@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;
/** 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 * 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 * 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 value<min?(min):(value>max?(max):(value));
}
static double sign(double num) {return num>=0.0?1.0:-1.0;}
protected:
static Message localMsg;
static std::queue <Message> 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 double Rstar;
static double Mair;
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
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