FGFDMExec.h

/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 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 <models/FGModel.h>
#include <models/FGOutput.h>
#include <models/FGInput.h>
#include <initialization/FGTrim.h>
#include <initialization/FGInitialCondition.h>
#include <FGJSBBase.h>
#include <input_output/FGPropertyManager.h>
#include <input_output/FGGroundCallback.h>
#include <input_output/FGXMLFileRead.h>
#include <models/FGPropagate.h>
#include <math/FGColumnVector3.h>

#include <vector>
#include <string>

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

#define ID_FDMEXEC "$Id: FGFDMExec.h,v 1.43 2009/05/17 13:55:48 jberndt Exp $"

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

namespace JSBSim {

class FGScript;
class FGTrim;

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

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

class FGFDMExec : public FGJSBBase, public FGXMLFileRead
{
  struct childData {
    FGFDMExec* exec;
    string info;
    FGColumnVector3 Loc;
    FGColumnVector3 Orient;
    bool mated;
    bool internal;

    childData(void) {
      info = "";
      Loc = FGColumnVector3(0,0,0);
      Orient = FGColumnVector3(0,0,0);
      mated = true;
      internal = false;
    }
    
    void Run(void) {exec->Run();}
    void AssignState(FGPropagate* source_prop) {
      exec->GetPropagate()->SetVState(source_prop->GetVState());
    }

    ~childData(void) {
      delete exec;
    }
  };

public:

  FGFDMExec(FGPropertyManager* root = 0);

  ~FGFDMExec();

  int  Schedule(FGModel* model, int rate);

  bool Run(void);

  bool RunIC(void);

  void SetGroundCallback(FGGroundCallback* gc);

  bool LoadModel(string AircraftPath, string EnginePath, string SystemsPath,
                 string model, bool addModelToPath = true);

  bool LoadModel(string model, bool addModelToPath = true);

  bool LoadScript(string Script);

  bool SetEnginePath(string path)   { EnginePath = path; return true; }

  bool SetAircraftPath(string path) { AircraftPath = path; return true; }
  
  bool SetSystemsPath(string path)   { SystemsPath = path; return true; }
  


  inline FGAtmosphere* GetAtmosphere(void)    {return Atmosphere;}
  inline FGFCS* GetFCS(void)                  {return FCS;}
  inline FGPropulsion* GetPropulsion(void)    {return Propulsion;}
  inline FGMassBalance* GetMassBalance(void)  {return MassBalance;}
  inline FGAerodynamics* GetAerodynamics(void){return Aerodynamics;}
  inline FGInertial* GetInertial(void)        {return Inertial;}
  inline FGGroundReactions* GetGroundReactions(void) {return GroundReactions;}
  inline FGExternalReactions* GetExternalReactions(void) {return ExternalReactions;}
  inline FGBuoyantForces* GetBuoyantForces(void) {return BuoyantForces;}
  inline FGAircraft* GetAircraft(void)        {return Aircraft;}
  inline FGPropagate* GetPropagate(void)      {return Propagate;}
  inline FGAuxiliary* GetAuxiliary(void)      {return Auxiliary;}
  inline FGInput* GetInput(void)              {return Input;}
  inline FGGroundCallback* GetGroundCallback(void) {return GroundCallback;}
  inline FGState* GetState(void)              {return State;}
  inline FGScript* GetScript(void) {return Script;}
  // Returns a pointer to the FGInitialCondition object
  inline FGInitialCondition* GetIC(void)      {return IC;}
  // Returns a pointer to the FGTrim object
  FGTrim* GetTrim(void);

  inline string GetEnginePath(void)          {return EnginePath;}
  inline string GetAircraftPath(void)        {return AircraftPath;}
  inline string GetSystemsPath(void)         {return SystemsPath;}
  inline string GetFullAircraftPath(void)    {return FullAircraftPath;}

  inline double GetPropertyValue(string property) {return instance->GetDouble(property);}

  inline void SetPropertyValue(string property, double value) {
    instance->SetDouble(property, value);
  }

  string GetModelName(void) { return modelName; }

  double GetSimTime(void);

  double GetDeltaT(void);
  
  FGPropertyManager* GetPropertyManager(void);
  vector <string> EnumerateFDMs(void);
  int GetFDMCount(void) {return ChildFDMList.size();}
  childData* GetChildFDM(int i) {return ChildFDMList[i];}
  void SetChild(bool ch) {IsChild = ch;}

  bool SetOutputDirectives(string fname);

  bool SetOutputFileName(string fname) {
    if (Outputs.size() > 0) Outputs[0]->SetOutputFileName(fname);
    else return false;
    return true;
  }

  string GetOutputFileName(void) {
    if (Outputs.size() > 0) return Outputs[0]->GetOutputFileName();
    else return string("");
  }

  void DoTrim(int mode);
//  void DoTrimAnalysis(int mode);

  void DisableOutput(void);
  void EnableOutput(void);
  void Hold(void) {holding = true;}
  void Resume(void) {holding = false;}
  bool Holding(void) {return holding;}
  void ResetToInitialConditions(void);
  void SetDebugLevel(int level) {debug_lvl = level;}

  struct PropertyCatalogStructure {
    string base_string;
    FGPropertyManager *node;
  };

  void BuildPropertyCatalog(struct PropertyCatalogStructure* pcs);

  string QueryPropertyCatalog(string check);

  // Print the contents of the property catalog for the loaded aircraft.
  void PrintPropertyCatalog(void);

  void UseAtmosphereMSIS(void);

  void UseAtmosphereMars(void);

  void SetTrimStatus(bool status){ trim_status = status; }
  bool GetTrimStatus(void) const { return trim_status; }
  void SetTrimMode(int mode){ ta_mode = mode; }
  int GetTrimMode(void) const { return ta_mode; }

private:
  static unsigned int FDMctr;
  int Error;
  unsigned int Frame;
  unsigned int IdFDM;
  unsigned short Terminate;
  bool holding;
  bool Constructing;
  bool modelLoaded;
  bool IsChild;
  string modelName;
  string AircraftPath;
  string FullAircraftPath;
  string EnginePath;
  string SystemsPath;
  string CFGVersion;
  string Release;

  bool trim_status;
  int ta_mode;

  static FGPropertyManager *master;

  FGModel*            FirstModel;
  FGGroundCallback*   GroundCallback;
  FGState*            State;
  FGAtmosphere*       Atmosphere;
  FGFCS*              FCS;
  FGPropulsion*       Propulsion;
  FGMassBalance*      MassBalance;
  FGAerodynamics*     Aerodynamics;
  FGInertial*         Inertial;
  FGGroundReactions*  GroundReactions;
  FGExternalReactions* ExternalReactions;
  FGBuoyantForces*    BuoyantForces;
  FGAircraft*         Aircraft;
  FGPropagate*        Propagate;
  FGAuxiliary*        Auxiliary;
  FGInput*            Input;
  FGScript*           Script;
  FGInitialCondition* IC;
  FGTrim*             Trim;

  FGPropertyManager* Root;
  FGPropertyManager* instance;

  vector <string> PropertyCatalog;
  vector <FGOutput*> Outputs;
  vector <childData*> ChildFDMList;

  bool ReadFileHeader(Element*);
  bool ReadChild(Element*);
  bool ReadPrologue(Element*);
  void ResetToInitialConditions(int mode);
  bool Allocate(void);
  bool DeAllocate(void);

  void Debug(int from);
};
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
#endif

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