403 lines
14 KiB
C++
403 lines
14 KiB
C++
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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Header: FGJSBBase.h
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Author: Jon S. Berndt
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Date started: 07/01/01
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------------- Copyright (C) 2001 Jon S. Berndt (jon@jsbsim.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 Lesser 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 Lesser General Public License for more
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details.
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You should have received a copy of the GNU Lesser 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 Lesser 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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07/01/01 JSB Created
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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SENTRY
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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#ifndef FGJSBBASE_H
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#define FGJSBBASE_H
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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INCLUDES
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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#include <float.h>
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#include <queue>
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#include <string>
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#include <cmath>
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#include "input_output/string_utilities.h"
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#ifndef M_PI
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# define M_PI 3.14159265358979323846
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#endif
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#define IDENT(a,b) static const char* const (a)[] = {b,(a)[0]}
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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DEFINITIONS
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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#define ID_JSBBASE "$Id: FGJSBBase.h,v 1.45 2016/01/10 12:07:49 bcoconni Exp $"
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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FORWARD DECLARATIONS
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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namespace JSBSim {
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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CLASS DOCUMENTATION
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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/** JSBSim Base class.
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* This class provides universal constants, utility functions, messaging
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* functions, and enumerated constants to JSBSim.
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@author Jon S. Berndt
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@version $Id: FGJSBBase.h,v 1.45 2016/01/10 12:07:49 bcoconni Exp $
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*/
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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CLASS DECLARATION
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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class FGJSBBase {
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public:
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/// Constructor for FGJSBBase.
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FGJSBBase() {};
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/// Destructor for FGJSBBase.
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virtual ~FGJSBBase() {};
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/// JSBSim Message structure
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class Message {
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public:
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unsigned int fdmId;
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unsigned int messageId;
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std::string text;
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std::string subsystem;
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enum mType {eText, eInteger, eDouble, eBool} type;
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bool bVal;
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int iVal;
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double dVal;
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};
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/// First order, (low pass / lag) filter
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class Filter {
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double prev_in;
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double prev_out;
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double ca;
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double cb;
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public: Filter(void) {}
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public: Filter(double coeff, double dt) {
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prev_in = prev_out = 0.0;
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double denom = 2.0 + coeff*dt;
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ca = coeff*dt/denom;
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cb = (2.0 - coeff*dt)/denom;
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}
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public: double execute(double in) {
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double out = (in + prev_in)*ca + prev_out*cb;
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prev_in = in;
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prev_out = out;
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return out;
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}
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};
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///@name JSBSim console output highlighting terms.
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//@{
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/// highlights text
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static char highint[5];
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/// low intensity text
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static char halfint[5];
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/// normal intensity text
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static char normint[6];
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/// resets text properties
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static char reset[5];
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/// underlines text
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static char underon[5];
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/// underline off
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static char underoff[6];
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/// blue text
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static char fgblue[6];
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/// cyan text
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static char fgcyan[6];
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/// red text
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static char fgred[6];
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/// green text
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static char fggreen[6];
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/// default text
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static char fgdef[6];
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//@}
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///@name JSBSim Messaging functions
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//@{
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/** Places a Message structure on the Message queue.
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@param msg pointer to a Message structure
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@return pointer to a Message structure */
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void PutMessage(const Message& msg);
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/** Creates a message with the given text and places it on the queue.
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@param text message text
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@return pointer to a Message structure */
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void PutMessage(const std::string& text);
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/** Creates a message with the given text and boolean value and places it on the queue.
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@param text message text
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@param bVal boolean value associated with the message
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@return pointer to a Message structure */
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void PutMessage(const std::string& text, bool bVal);
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/** Creates a message with the given text and integer value and places it on the queue.
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@param text message text
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@param iVal integer value associated with the message
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@return pointer to a Message structure */
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void PutMessage(const std::string& text, int iVal);
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/** Creates a message with the given text and double value and places it on the queue.
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@param text message text
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@param dVal double value associated with the message
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@return pointer to a Message structure */
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void PutMessage(const std::string& text, double dVal);
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/** Reads the message on the queue (but does not delete it).
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@return 1 if some messages */
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int SomeMessages(void) { return !Messages.empty(); }
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/** Reads the message on the queue and removes it from the queue.
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This function also prints out the message.*/
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void ProcessMessage(void);
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/** Reads the next message on the queue and removes it from the queue.
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This function also prints out the message.
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@return a pointer to the message, or NULL if there are no messages.*/
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Message* ProcessNextMessage(void);
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//@}
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/** Returns the version number of JSBSim.
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* @return The version number of JSBSim. */
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std::string GetVersion(void) {return JSBSim_version;}
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/// Disables highlighting in the console output.
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void disableHighLighting(void);
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static short debug_lvl;
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/** Converts from degrees Kelvin to degrees Fahrenheit.
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* @param kelvin The temperature in degrees Kelvin.
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* @return The temperature in Fahrenheit. */
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static double KelvinToFahrenheit (double kelvin) {
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return 1.8*kelvin - 459.4;
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}
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/** Converts from degrees Celsius to degrees Rankine.
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* @param celsius The temperature in degrees Celsius.
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* @return The temperature in Rankine. */
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static double CelsiusToRankine (double celsius) {
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return celsius * 1.8 + 491.67;
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}
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/** Converts from degrees Rankine to degrees Celsius.
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* @param rankine The temperature in degrees Rankine.
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* @return The temperature in Celsius. */
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static double RankineToCelsius (double rankine) {
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return (rankine - 491.67)/1.8;
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}
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/** Converts from degrees Kelvin to degrees Rankine.
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* @param kelvin The temperature in degrees Kelvin.
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* @return The temperature in Rankine. */
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static double KelvinToRankine (double kelvin) {
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return kelvin * 1.8;
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}
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/** Converts from degrees Rankine to degrees Kelvin.
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* @param rankine The temperature in degrees Rankine.
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* @return The temperature in Kelvin. */
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static double RankineToKelvin (double rankine) {
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return rankine/1.8;
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}
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/** Converts from degrees Fahrenheit to degrees Celsius.
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* @param fahrenheit The temperature in degrees Fahrenheit.
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* @return The temperature in Celsius. */
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static double FahrenheitToCelsius (double fahrenheit) {
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return (fahrenheit - 32.0)/1.8;
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}
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/** Converts from degrees Celsius to degrees Fahrenheit.
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* @param celsius The temperature in degrees Celsius.
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* @return The temperature in Fahrenheit. */
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static double CelsiusToFahrenheit (double celsius) {
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return celsius * 1.8 + 32.0;
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}
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/** Converts from degrees Celsius to degrees Kelvin
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* @param celsius The temperature in degrees Celsius.
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* @return The temperature in Kelvin. */
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static double CelsiusToKelvin (double celsius) {
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return celsius + 273.15;
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}
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/** Converts from degrees Kelvin to degrees Celsius
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* @param celsius The temperature in degrees Kelvin.
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* @return The temperature in Celsius. */
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static double KelvinToCelsius (double kelvin) {
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return kelvin - 273.15;
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}
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/** Converts from feet to meters
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* @param measure The length in feet.
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* @return The length in meters. */
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static double FeetToMeters (double measure) {
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return measure*0.3048;
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}
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/** Compute the total pressure in front of the Pitot tube. It uses the
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* Rayleigh formula for supersonic speeds (See "Introduction to Aerodynamics
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* of a Compressible Fluid - H.W. Liepmann, A.E. Puckett - Wiley & sons
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* (1947)" §5.4 pp 75-80)
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* @param mach The Mach number
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* @param p Pressure in psf
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* @return The total pressure in front of the Pitot tube in psf */
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static double PitotTotalPressure(double mach, double p);
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/** Calculate the calibrated airspeed from the Mach number. It uses the
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* Rayleigh formula for supersonic speeds (See "Introduction to Aerodynamics
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* of a Compressible Fluid - H.W. Liepmann, A.E. Puckett - Wiley & sons
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* (1947)" §5.4 pp 75-80)
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* @param mach The Mach number
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* @param p Pressure in psf
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* @param psl Pressure at sea level in psf
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* @param rhosl Density at sea level in slugs/ft^3
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* @return The calibrated airspeed (CAS) in ft/s
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* */
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static double VcalibratedFromMach(double mach, double p, double psl, double rhosl);
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/** Calculate the Mach number from the calibrated airspeed. For subsonic
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* speeds, the reversed formula has a closed form. For supersonic speeds, the
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* Rayleigh formula is reversed by the Newton-Raphson algorithm.
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* @param vcas The calibrated airspeed (CAS) in ft/s
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* @param p Pressure in psf
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* @param psl Pressure at sea level in psf
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* @param rhosl Density at sea level in slugs/ft^3
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* @return The Mach number
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* */
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static double MachFromVcalibrated(double vcas, double p, double psl, double rhosl);
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/** Finite precision comparison.
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@param a first value to compare
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@param b second value to compare
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@return if the two values can be considered equal up to roundoff */
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static bool EqualToRoundoff(double a, double b) {
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double eps = 2.0*DBL_EPSILON;
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return std::fabs(a - b) <= eps * std::max<double>(std::fabs(a), std::fabs(b));
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}
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/** Finite precision comparison.
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@param a first value to compare
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@param b second value to compare
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@return if the two values can be considered equal up to roundoff */
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static bool EqualToRoundoff(float a, float b) {
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float eps = 2.0*FLT_EPSILON;
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return std::fabs(a - b) <= eps * std::max<double>(std::fabs(a), std::fabs(b));
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}
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/** Finite precision comparison.
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@param a first value to compare
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@param b second value to compare
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@return if the two values can be considered equal up to roundoff */
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static bool EqualToRoundoff(float a, double b) {
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return EqualToRoundoff(a, (float)b);
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}
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/** Finite precision comparison.
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@param a first value to compare
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@param b second value to compare
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@return if the two values can be considered equal up to roundoff */
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static bool EqualToRoundoff(double a, float b) {
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return EqualToRoundoff((float)a, b);
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}
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/** Constrain a value between a minimum and a maximum value.
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*/
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static double Constrain(double min, double value, double max) {
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return value<min?(min):(value>max?(max):(value));
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}
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static double sign(double num) {return num>=0.0?1.0:-1.0;}
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static double GaussianRandomNumber(void);
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protected:
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static Message localMsg;
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static std::queue <Message> Messages;
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void Debug(int) {};
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static unsigned int messageId;
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static const double radtodeg;
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static const double degtorad;
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static const double hptoftlbssec;
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static const double psftoinhg;
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static const double psftopa;
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static const double fpstokts;
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static const double ktstofps;
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static const double inchtoft;
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static const double in3tom3;
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static const double m3toft3;
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static const double inhgtopa;
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static const double fttom;
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static double Reng; // Specific Gas Constant,ft^2/(sec^2*R)
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static double Rstar;
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static double Mair;
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static const double SHRatio;
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static const double lbtoslug;
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static const double slugtolb;
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static const double kgtolb;
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static const double kgtoslug;
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static const std::string needed_cfg_version;
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static const std::string JSBSim_version;
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static std::string CreateIndexedPropertyName(const std::string& Property, int index);
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static int gaussian_random_number_phase;
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public:
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/// Moments L, M, N
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enum {eL = 1, eM, eN };
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/// Rates P, Q, R
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enum {eP = 1, eQ, eR };
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/// Velocities U, V, W
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enum {eU = 1, eV, eW };
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/// Positions X, Y, Z
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enum {eX = 1, eY, eZ };
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/// Euler angles Phi, Theta, Psi
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enum {ePhi = 1, eTht, ePsi };
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/// Stability axis forces, Drag, Side force, Lift
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enum {eDrag = 1, eSide, eLift };
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/// Local frame orientation Roll, Pitch, Yaw
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enum {eRoll = 1, ePitch, eYaw };
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/// Local frame position North, East, Down
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enum {eNorth = 1, eEast, eDown };
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/// Locations Radius, Latitude, Longitude
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enum {eLat = 1, eLong, eRad };
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/// Conversion specifiers
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enum {inNone = 0, inDegrees, inRadians, inMeters, inFeet };
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};
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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#endif
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