246 lines
9.5 KiB
C++
246 lines
9.5 KiB
C++
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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Header: FGFDMExec.h
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Author: Jon Berndt
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Date started: 11/17/98
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------------- Copyright (C) 1999 Jon S. Berndt (jsb@hal-pc.org) -------------
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This program is free software; you can redistribute it and/or modify it under
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the terms of the GNU General Public License as published by the Free Software
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Foundation; either version 2 of the License, or (at your option) any later
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version.
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This program is distributed in the hope that it will be useful, but WITHOUT
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ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
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details.
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You should have received a copy of the GNU General Public License along with
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this program; if not, write to the Free Software Foundation, Inc., 59 Temple
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Place - Suite 330, Boston, MA 02111-1307, USA.
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Further information about the GNU General Public License can also be found on
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the world wide web at http://www.gnu.org.
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HISTORY
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--------------------------------------------------------------------------------
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11/17/98 JSB Created
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7/31/99 TP Added RunIC function that runs the sim so that every frame
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begins with the IC values from the given FGInitialCondition
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object and dt=0.
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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SENTRY
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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#ifndef FGFDMEXEC_HEADER_H
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#define FGFDMEXEC_HEADER_H
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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INCLUDES
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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#include "FGModel.h"
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#include "FGInitialCondition.h"
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#include "FGJSBBase.h"
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#include <vector>
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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DEFINITIONS
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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#define ID_FDMEXEC "$Id$"
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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FORWARD DECLARATIONS
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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class FGInitialCondition;
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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COMMENTS, REFERENCES, and NOTES [use "class documentation" below for API docs]
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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CLASS DOCUMENTATION
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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/** Encapsulates the JSBSim simulation executive.
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@author Jon S. Berndt
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@version $Id$
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@doc This class is the interface class through which all other simulation classes
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are instantiated, initialized, and run. When integrated with FlightGear (or
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other flight simulator) this class is typically instantiated by an interface
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class on the simulator side.
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When an aircraft model is loaded the config file is parsed and for each of the
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sections of the config file (propulsion, flight control, etc.) the
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corresponding "ReadXXX()" method is called. From within this method the
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"Load()" method of that system is called (e.g. LoadFCS).
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<h4>JSBSim Debugging Directives</h4>
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This describes to any interested entity the debug level
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requested by setting the JSBSIM_DEBUG environment variable.
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The bitmasked value choices are as follows:<ol>
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<li><b>unset</b>: In this case (the default) JSBSim would only print
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out the normally expected messages, essentially echoing
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the config files as they are read. If the environment
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variable is not set, debug_lvl is set to 1 internally</li>
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<li><b>0</b>: This requests JSBSim not to output any messages
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whatsoever.</li>
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<li><b>1</b>: This value explicity requests the normal JSBSim
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startup messages</li>
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<li><b>2</b>: This value asks for a message to be printed out when
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a class is instantiated</li>
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<li><b>4</b>: When this value is set, a message is displayed when a
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FGModel object executes its Run() method</li>
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<li><b>8</b>: When this value is set, various runtime state variables
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are printed out periodically</li>
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<li><b>16</b>: When set various parameters are sanity checked and
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a message is printed out when they go out of bounds</li>
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</ol>
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*/
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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CLASS DECLARATION
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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class FGFDMExec : public FGJSBBase
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{
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public:
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/// Default constructor
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FGFDMExec(void);
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/// Default destructor
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~FGFDMExec();
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/** This routine places a model into the runlist at the specified rate. The
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"rate" is not really a clock rate. It represents how many calls to the
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FGFDMExec::Run() method must be made before the model is executed. A
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value of 1 means that the model will be executed for each call to the
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exec's Run() method. A value of 5 means that the model will only be
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executed every 5th call to the exec's Run() method.
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@param model A pointer to the model being scheduled.
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@param rate The rate at which to execute the model as described above.
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@return Currently returns 0 always. */
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int Schedule(FGModel* model, int rate);
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/** This executes each scheduled model in succession.
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@return true if successful, false if sim should be ended */
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bool Run(void);
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/** Initializes the sim with a set of initial conditions.
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@param fgic A pointer to a filled out initial conditions class which
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describes the desired initial conditions.
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@return true if successful
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*/
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bool RunIC(FGInitialCondition *fgic);
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/// Freezes the sim
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void Freeze(void) {frozen = true;}
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/// Resumes the sim
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void Resume(void) {frozen = false;}
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/** Loads an aircraft model.
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@param AircraftPath path to the aircraft directory. For instance:
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"aircraft". Under aircraft, then, would be directories for various
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modeled aircraft such as C172/, x15/, etc.
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@param EnginePath path to the directory under which engine config
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files are kept, for instance "engine"
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@param model the name of the aircraft model itself. This file will
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be looked for in the directory specified in the AircraftPath variable,
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and in turn under the directory with the same name as the model. For
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instance: "aircraft/x15/x15.xml"
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@return true if successful*/
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bool LoadModel(string AircraftPath, string EnginePath, string model);
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bool SetEnginePath(string path) {EnginePath = path; return true;}
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bool SetAircraftPath(string path) {AircraftPath = path; return true;}
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/// @name Top-level executive State and Model retrieval mechanism
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//@{
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/// Returns the FGState pointer.
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inline FGState* GetState(void) {return State;}
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/// Returns the FGAtmosphere pointer.
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inline FGAtmosphere* GetAtmosphere(void) {return Atmosphere;}
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/// Returns the FGFCS pointer.
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inline FGFCS* GetFCS(void) {return FCS;}
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/// Returns the FGPropulsion pointer.
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inline FGPropulsion* GetPropulsion(void) {return Propulsion;}
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/// Returns the FGAircraft pointer.
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inline FGMassBalance* GetMassBalance(void) {return MassBalance;}
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/// Returns the FGAerodynamics pointer
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inline FGAerodynamics* GetAerodynamics(void){return Aerodynamics;}
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/// Returns the FGInertial pointer.
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inline FGInertial* GetInertial(void) {return Inertial;}
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/// Returns the FGGroundReactions pointer.
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inline FGGroundReactions* GetGroundReactions(void) {return GroundReactions;}
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/// Returns the FGAircraft pointer.
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inline FGAircraft* GetAircraft(void) {return Aircraft;}
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/// Returns the FGTranslation pointer.
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inline FGTranslation* GetTranslation(void) {return Translation;}
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/// Returns the FGRotation pointer.
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inline FGRotation* GetRotation(void) {return Rotation;}
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/// Returns the FGPosition pointer.
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inline FGPosition* GetPosition(void) {return Position;}
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/// Returns the FGAuxiliary pointer.
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inline FGAuxiliary* GetAuxiliary(void) {return Auxiliary;}
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/// Returns the FGOutput pointer.
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inline FGOutput* GetOutput(void) {return Output;}
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//@}
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/// Retrieves the engine path.
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inline string GetEnginePath(void) {return EnginePath;}
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/// Retrieves the aircraft path.
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inline string GetAircraftPath(void) {return AircraftPath;}
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private:
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FGModel* FirstModel;
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bool frozen;
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bool terminate;
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int Error;
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unsigned int Frame;
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unsigned int IdFDM;
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static unsigned int FDMctr;
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bool modelLoaded;
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string AircraftPath;
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string EnginePath;
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string CFGVersion;
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FGState* State;
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FGAtmosphere* Atmosphere;
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FGFCS* FCS;
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FGPropulsion* Propulsion;
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FGMassBalance* MassBalance;
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FGAerodynamics* Aerodynamics;
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FGInertial* Inertial;
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FGGroundReactions* GroundReactions;
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FGAircraft* Aircraft;
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FGTranslation* Translation;
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FGRotation* Rotation;
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FGPosition* Position;
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FGAuxiliary* Auxiliary;
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FGOutput* Output;
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bool ReadMetrics(FGConfigFile*);
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bool ReadPropulsion(FGConfigFile*);
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bool ReadFlightControls(FGConfigFile*);
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bool ReadAerodynamics(FGConfigFile*);
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bool ReadUndercarriage(FGConfigFile*);
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bool ReadPrologue(FGConfigFile*);
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bool ReadOutput(FGConfigFile*);
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bool Allocate(void);
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bool DeAllocate(void);
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void Debug(int from);
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};
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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#endif
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