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1 : : /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
2 : : Header: FGFDMExec.h
3 : : Author: Jon Berndt
4 : : Date started: 11/17/98
5 : : file The header file for the JSBSim executive.
6 : :
7 : : ------------- Copyright (C) 1999 Jon S. Berndt (jon@jsbsim.org) -------------
8 : :
9 : : This program is free software; you can redistribute it and/or modify it under
10 : : the terms of the GNU Lesser General Public License as published by the Free Software
11 : : Foundation; either version 2 of the License, or (at your option) any later
12 : : version.
13 : :
14 : : This program is distributed in the hope that it will be useful, but WITHOUT
15 : : ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
16 : : FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
17 : : details.
18 : :
19 : : You should have received a copy of the GNU Lesser General Public License along with
20 : : this program; if not, write to the Free Software Foundation, Inc., 59 Temple
21 : : Place - Suite 330, Boston, MA 02111-1307, USA.
22 : :
23 : : Further information about the GNU Lesser General Public License can also be found on
24 : : the world wide web at http://www.gnu.org.
25 : :
26 : : HISTORY
27 : : --------------------------------------------------------------------------------
28 : : 11/17/98 JSB Created
29 : : 7/31/99 TP Added RunIC function that runs the sim so that every frame
30 : : begins with the IC values from the given FGInitialCondition
31 : : object and dt=0.
32 : :
33 : : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
34 : : SENTRY
35 : : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
36 : :
37 : : #ifndef FGFDMEXEC_HEADER_H
38 : : #define FGFDMEXEC_HEADER_H
39 : :
40 : : /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
41 : : INCLUDES
42 : : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
43 : :
44 : : #include "models/FGModel.h"
45 : : #include "models/FGOutput.h"
46 : : #include "models/FGInput.h"
47 : : #include "initialization/FGTrim.h"
48 : : #include "initialization/FGInitialCondition.h"
49 : : #include "FGJSBBase.h"
50 : : #include "input_output/FGPropertyManager.h"
51 : : #include "input_output/FGGroundCallback.h"
52 : : #include "input_output/FGXMLFileRead.h"
53 : : #include "models/FGPropagate.h"
54 : : #include "math/FGColumnVector3.h"
55 : :
56 : : #include <vector>
57 : : #include <string>
58 : :
59 : : /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
60 : : DEFINITIONS
61 : : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
62 : :
63 : : #define ID_FDMEXEC "$Id: FGFDMExec.h,v 1.52 2010/07/04 13:50:21 jberndt Exp $"
64 : :
65 : : /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
66 : : FORWARD DECLARATIONS
67 : : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
68 : :
69 : : namespace JSBSim {
70 : :
71 : : class FGScript;
72 : : class FGTrim;
73 : :
74 : : /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
75 : : CLASS DOCUMENTATION
76 : : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
77 : :
78 : : /** Encapsulates the JSBSim simulation executive.
79 : : This class is the executive class through which all other simulation classes
80 : : are instantiated, initialized, and run. When integrated with FlightGear (or
81 : : other flight simulator) this class is typically instantiated by an interface
82 : : class on the simulator side.
83 : :
84 : : At the time of simulation initialization, the interface
85 : : class creates an instance of this executive class. The
86 : : executive is subsequently directed to load the chosen aircraft specification
87 : : file:
88 : :
89 : : @code
90 : : fdmex = new FGFDMExec( … );
91 : : result = fdmex->LoadModel( … );
92 : : @endcode
93 : :
94 : : When an aircraft model is loaded, the config file is parsed and for each of the
95 : : sections of the config file (propulsion, flight control, etc.) the
96 : : corresponding Load() method is called (e.g. FGFCS::Load()).
97 : :
98 : : Subsequent to the creation of the executive and loading of the model,
99 : : initialization is performed. Initialization involves copying control inputs
100 : : into the appropriate JSBSim data storage locations, configuring it for the set
101 : : of user supplied initial conditions, and then copying state variables from
102 : : JSBSim. The state variables are used to drive the instrument displays and to
103 : : place the vehicle model in world space for visual rendering:
104 : :
105 : : @code
106 : : copy_to_JSBsim(); // copy control inputs to JSBSim
107 : : fdmex->RunIC(); // loop JSBSim once w/o integrating
108 : : copy_from_JSBsim(); // update the bus
109 : : @endcode
110 : :
111 : : Once initialization is complete, cyclic execution proceeds:
112 : :
113 : : @code
114 : : copy_to_JSBsim(); // copy control inputs to JSBSim
115 : : fdmex->Run(); // execute JSBSim
116 : : copy_from_JSBsim(); // update the bus
117 : : @endcode
118 : :
119 : : JSBSim can be used in a standalone mode by creating a compact stub program
120 : : that effectively performs the same progression of steps as outlined above for
121 : : the integrated version, but with two exceptions. First, the copy_to_JSBSim()
122 : : and copy_from_JSBSim() functions are not used because the control inputs are
123 : : handled directly by the scripting facilities and outputs are handled by the
124 : : output (data logging) class. Second, the name of a script file can be supplied
125 : : to the stub program. Scripting (see FGScript) provides a way to supply command
126 : : inputs to the simulation:
127 : :
128 : : @code
129 : : FDMExec = new JSBSim::FGFDMExec();
130 : : FDMExec->LoadScript( ScriptName ); // the script loads the aircraft and ICs
131 : : result = FDMExec->Run();
132 : : while (result) { // cyclic execution
133 : : result = FDMExec->Run(); // execute JSBSim
134 : : }
135 : : @endcode
136 : :
137 : : The standalone mode has been useful for verifying changes before committing
138 : : updates to the source code repository. It is also useful for running sets of
139 : : tests that reveal some aspects of simulated aircraft performance, such as
140 : : range, time-to-climb, takeoff distance, etc.
141 : :
142 : : <h3>JSBSim Debugging Directives</h3>
143 : :
144 : : This describes to any interested entity the debug level
145 : : requested by setting the JSBSIM_DEBUG environment variable.
146 : : The bitmasked value choices are as follows:
147 : : - <b>unset</b>: In this case (the default) JSBSim would only print
148 : : out the normally expected messages, essentially echoing
149 : : the config files as they are read. If the environment
150 : : variable is not set, debug_lvl is set to 1 internally
151 : : - <b>0</b>: This requests JSBSim not to output any messages
152 : : whatsoever
153 : : - <b>1</b>: This value explicity requests the normal JSBSim
154 : : startup messages
155 : : - <b>2</b>: This value asks for a message to be printed out when
156 : : a class is instantiated
157 : : - <b>4</b>: When this value is set, a message is displayed when a
158 : : FGModel object executes its Run() method
159 : : - <b>8</b>: When this value is set, various runtime state variables
160 : : are printed out periodically
161 : : - <b>16</b>: When set various parameters are sanity checked and
162 : : a message is printed out when they go out of bounds
163 : :
164 : : <h3>Properties</h3>
165 : : @property simulator/do_trim (write only) Can be set to the integer equivalent to one of
166 : : tLongitudinal (0), tFull (1), tGround (2), tPullup (3),
167 : : tCustom (4), tTurn (5). Setting this to a legal value
168 : : (such as by a script) causes a trim to be performed. This
169 : : property actually maps toa function call of DoTrim().
170 : :
171 : : @author Jon S. Berndt
172 : : @version $Revision: 1.52 $
173 : : */
174 : :
175 : : /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
176 : : CLASS DECLARATION
177 : : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
178 : :
179 : : class FGFDMExec : public FGJSBBase, public FGXMLFileRead
180 : : {
181 : : struct childData {
182 : : FGFDMExec* exec;
183 : : string info;
184 : : FGColumnVector3 Loc;
185 : : FGColumnVector3 Orient;
186 : : bool mated;
187 : : bool internal;
188 : :
189 : 0 : childData(void) {
190 : 0 : info = "";
191 : 0 : Loc = FGColumnVector3(0,0,0);
192 : 0 : Orient = FGColumnVector3(0,0,0);
193 : 0 : mated = true;
194 : 0 : internal = false;
195 : 0 : }
196 : :
197 : 0 : void Run(void) {exec->Run();}
198 : : void AssignState(FGPropagate* source_prop) {
199 : 0 : exec->GetPropagate()->SetVState(source_prop->GetVState());
200 : : }
201 : :
202 : : ~childData(void) {
203 : : delete exec;
204 : : }
205 : : };
206 : :
207 : : public:
208 : :
209 : : /// Default constructor
210 : : FGFDMExec(FGPropertyManager* root = 0);
211 : :
212 : : /// Default destructor
213 : : ~FGFDMExec();
214 : :
215 : : /** This routine places a model into the runlist at the specified rate. The
216 : : "rate" is not really a clock rate. It represents how many calls to the
217 : : FGFDMExec::Run() method must be made before the model is executed. A
218 : : value of 1 means that the model will be executed for each call to the
219 : : exec's Run() method. A value of 5 means that the model will only be
220 : : executed every 5th call to the exec's Run() method. Use of a rate other than
221 : : one is at this time not recommended.
222 : : @param model A pointer to the model being scheduled.
223 : : @param rate The rate at which to execute the model as described above.
224 : : @return Currently returns 0 always. */
225 : : void Schedule(FGModel* model, int rate);
226 : :
227 : : /** This function executes each scheduled model in succession.
228 : : @return true if successful, false if sim should be ended */
229 : : bool Run(void);
230 : :
231 : : /** Initializes the sim from the initial condition object and executes
232 : : each scheduled model without integrating i.e. dt=0.
233 : : @return true if successful */
234 : : bool RunIC(void);
235 : :
236 : : /** Sets the ground callback pointer.
237 : : @param gc A pointer to a ground callback object. */
238 : : void SetGroundCallback(FGGroundCallback* gc);
239 : :
240 : : /** Loads an aircraft model.
241 : : @param AircraftPath path to the aircraft/ directory. For instance:
242 : : "aircraft". Under aircraft, then, would be directories for various
243 : : modeled aircraft such as C172/, x15/, etc.
244 : : @param EnginePath path to the directory under which engine config
245 : : files are kept, for instance "engine"
246 : : @param SystemsPath path to the directory under which systems config
247 : : files are kept, for instance "systems"
248 : : @param model the name of the aircraft model itself. This file will
249 : : be looked for in the directory specified in the AircraftPath variable,
250 : : and in turn under the directory with the same name as the model. For
251 : : instance: "aircraft/x15/x15.xml"
252 : : @param addModelToPath set to true to add the model name to the
253 : : AircraftPath, defaults to true
254 : : @return true if successful */
255 : : bool LoadModel(string AircraftPath, string EnginePath, string SystemsPath,
256 : : string model, bool addModelToPath = true);
257 : :
258 : : /** Loads an aircraft model. The paths to the aircraft and engine
259 : : config file directories must be set prior to calling this. See
260 : : below.
261 : : @param model the name of the aircraft model itself. This file will
262 : : be looked for in the directory specified in the AircraftPath variable,
263 : : and in turn under the directory with the same name as the model. For
264 : : instance: "aircraft/x15/x15.xml"
265 : : @param addModelToPath set to true to add the model name to the
266 : : AircraftPath, defaults to true
267 : : @return true if successful*/
268 : : bool LoadModel(string model, bool addModelToPath = true);
269 : :
270 : : /** Loads a script
271 : : @param Script the full path name and file name for the script to be loaded.
272 : : @return true if successfully loadsd; false otherwise. */
273 : : bool LoadScript(string Script, double deltaT);
274 : :
275 : : /** Sets the path to the engine config file directories.
276 : : @param path path to the directory under which engine config
277 : : files are kept, for instance "engine" */
278 : 2 : bool SetEnginePath(string path) { EnginePath = RootDir + path; return true; }
279 : :
280 : : /** Sets the path to the aircraft config file directories.
281 : : @param path path to the aircraft directory. For instance:
282 : : "aircraft". Under aircraft, then, would be directories for various
283 : : modeled aircraft such as C172/, x15/, etc. */
284 : 2 : bool SetAircraftPath(string path) { AircraftPath = RootDir + path; return true; }
285 : :
286 : : /** Sets the path to the systems config file directories.
287 : : @param path path to the directory under which systems config
288 : : files are kept, for instance "systems" */
289 : 2 : bool SetSystemsPath(string path) { SystemsPath = RootDir + path; return true; }
290 : :
291 : : /// @name Top-level executive State and Model retrieval mechanism
292 : : //@{
293 : : /// Returns the FGAtmosphere pointer.
294 : 648093 : inline FGAtmosphere* GetAtmosphere(void) {return Atmosphere;}
295 : : /// Returns the FGFCS pointer.
296 : 26 : inline FGFCS* GetFCS(void) {return FCS;}
297 : : /// Returns the FGPropulsion pointer.
298 : 27 : inline FGPropulsion* GetPropulsion(void) {return Propulsion;}
299 : : /// Returns the FGAircraft pointer.
300 : 648074 : inline FGMassBalance* GetMassBalance(void) {return MassBalance;}
301 : : /// Returns the FGAerodynamics pointer
302 : 14 : inline FGAerodynamics* GetAerodynamics(void){return Aerodynamics;}
303 : : /// Returns the FGInertial pointer.
304 : 15 : inline FGInertial* GetInertial(void) {return Inertial;}
305 : : /// Returns the FGGroundReactions pointer.
306 : 14 : inline FGGroundReactions* GetGroundReactions(void) {return GroundReactions;}
307 : : /// Returns the FGExternalReactions pointer.
308 : 14 : inline FGExternalReactions* GetExternalReactions(void) {return ExternalReactions;}
309 : : /// Returns the FGBuoyantForces pointer.
310 : 14 : inline FGBuoyantForces* GetBuoyantForces(void) {return BuoyantForces;}
311 : : /// Returns the FGAircraft pointer.
312 : 26 : inline FGAircraft* GetAircraft(void) {return Aircraft;}
313 : : /// Returns the FGPropagate pointer.
314 : 108038 : inline FGPropagate* GetPropagate(void) {return Propagate;}
315 : : /// Returns the FGAuxiliary pointer.
316 : 26 : inline FGAuxiliary* GetAuxiliary(void) {return Auxiliary;}
317 : : /// Returns the FGInput pointer.
318 : 0 : inline FGInput* GetInput(void) {return Input;}
319 : : /// Returns the FGGroundCallback pointer.
320 : 58917 : inline FGGroundCallback* GetGroundCallback(void) {return GroundCallback;}
321 : : /// Retrieves the script object
322 : : inline FGScript* GetScript(void) {return Script;}
323 : : // Returns a pointer to the FGInitialCondition object
324 : 108011 : inline FGInitialCondition* GetIC(void) {return IC;}
325 : : // Returns a pointer to the FGTrim object
326 : : FGTrim* GetTrim(void);
327 : : //@}
328 : :
329 : : /// Retrieves the engine path.
330 : 24 : inline string GetEnginePath(void) {return EnginePath;}
331 : : /// Retrieves the aircraft path.
332 : : inline string GetAircraftPath(void) {return AircraftPath;}
333 : : /// Retrieves the systems path.
334 : 4 : inline string GetSystemsPath(void) {return SystemsPath;}
335 : : /// Retrieves the full aircraft path name.
336 : 29 : inline string GetFullAircraftPath(void) {return FullAircraftPath;}
337 : :
338 : : /** Retrieves the value of a property.
339 : : @param property the name of the property
340 : : @result the value of the specified property */
341 : : inline double GetPropertyValue(string property) {return instance->GetDouble(property);}
342 : :
343 : : /** Sets a property value.
344 : : @param property the property to be set
345 : : @param value the value to set the property to */
346 : : inline void SetPropertyValue(string property, double value) {
347 : 0 : instance->SetDouble(property, value);
348 : : }
349 : :
350 : : /// Returns the model name.
351 : : string GetModelName(void) { return modelName; }
352 : : /*
353 : : /// Returns the current time.
354 : : double GetSimTime(void);
355 : :
356 : : /// Returns the current frame time (delta T).
357 : : double GetDeltaT(void);
358 : : */
359 : : /// Returns a pointer to the property manager object.
360 : : FGPropertyManager* GetPropertyManager(void);
361 : : /// Returns a vector of strings representing the names of all loaded models (future)
362 : : vector <string> EnumerateFDMs(void);
363 : : /// Gets the number of child FDMs.
364 : 108014 : int GetFDMCount(void) {return (int)ChildFDMList.size();}
365 : : /// Gets a particular child FDM.
366 : 0 : childData* GetChildFDM(int i) {return ChildFDMList[i];}
367 : : /// Marks this instance of the Exec object as a "child" object.
368 : 0 : void SetChild(bool ch) {IsChild = ch;}
369 : :
370 : : /** Sets the output (logging) mechanism for this run.
371 : : Calling this function passes the name of an output directives file to
372 : : the FGOutput object associated with this run. The call to this function
373 : : should be made prior to loading an aircraft model. This call results in an
374 : : FGOutput object being built as the first Output object in the FDMExec-managed
375 : : list of Output objects that may be created for an aircraft model. If this call
376 : : is made after an aircraft model is loaded, there is no effect. Any Output
377 : : objects added by the aircraft model itself (in an <output> element) will be
378 : : added after this one. Care should be taken not to refer to the same file
379 : : name.
380 : : An output directives file contains an <output> </output> element, within
381 : : which should be specified the parameters or parameter groups that should
382 : : be logged.
383 : : @param fname the filename of an output directives file.
384 : : */
385 : : bool SetOutputDirectives(string fname);
386 : :
387 : : /** Sets (or overrides) the output filename
388 : : @param fname the name of the file to output data to
389 : : @return true if successful, false if there is no output specified for the flight model */
390 : : bool SetOutputFileName(string fname) {
391 [ # # ]: 0 : if (Outputs.size() > 0) Outputs[0]->SetOutputFileName(fname);
392 : 0 : else return false;
393 : 0 : return true;
394 : : }
395 : :
396 : : /** Retrieves the current output filename.
397 : : @return the name of the output file for the first output specified by the flight model.
398 : : If none is specified, the empty string is returned. */
399 : : string GetOutputFileName(void) {
400 [ # # ]: 0 : if (Outputs.size() > 0) return Outputs[0]->GetOutputFileName();
401 : 0 : else return string("");
402 : : }
403 : :
404 : : /** Executes trimming in the selected mode.
405 : : * @param mode Specifies how to trim:
406 : : * - tLongitudinal=0
407 : : * - tFull
408 : : * - tGround
409 : : * - tPullup
410 : : * - tCustom
411 : : * - tTurn
412 : : * - tNone */
413 : : void DoTrim(int mode);
414 : : // void DoTrimAnalysis(int mode);
415 : :
416 : : /// Disables data logging to all outputs.
417 : : void DisableOutput(void);
418 : : /// Enables data logging to all outputs.
419 : : void EnableOutput(void);
420 : : /// Pauses execution by preventing time from incrementing.
421 : 0 : void Hold(void) {holding = true;}
422 : : /// Resumes execution from a "Hold".
423 : 0 : void Resume(void) {holding = false;}
424 : : /// Returns true if the simulation is Holding (i.e. simulation time is not moving).
425 : 760981 : bool Holding(void) {return holding;}
426 : : /// Resets the initial conditions object and prepares the simulation to run again.
427 : : void ResetToInitialConditions(void);
428 : : /// Sets the debug level.
429 : 0 : void SetDebugLevel(int level) {debug_lvl = level;}
430 : :
431 : 110 : struct PropertyCatalogStructure {
432 : : /// Name of the property.
433 : : string base_string;
434 : : /// The node for the property.
435 : : FGPropertyManager *node;
436 : : };
437 : :
438 : : /** Builds a catalog of properties.
439 : : * This function descends the property tree and creates a list (an STL vector)
440 : : * containing the name and node for all properties.
441 : : * @param pcs The "root" property catalog structure pointer. */
442 : : void BuildPropertyCatalog(struct PropertyCatalogStructure* pcs);
443 : :
444 : : /** Retrieves property or properties matching the supplied string.
445 : : * A string is returned that contains a carriage return delimited list of all
446 : : * strings in the property catalog that matches the supplied check string.
447 : : * @param check The string to search for in the property catalog.
448 : : * @return the carriage-return-delimited string containing all matching strings
449 : : * in the catalog. */
450 : : string QueryPropertyCatalog(string check);
451 : :
452 : : // Print the contents of the property catalog for the loaded aircraft.
453 : : void PrintPropertyCatalog(void);
454 : :
455 : : vector<string>& GetPropertyCatalog(void) {return PropertyCatalog;}
456 : :
457 : : /// Use the MSIS atmosphere model.
458 : : void UseAtmosphereMSIS(void);
459 : :
460 : : /// Use the Mars atmosphere model. (Not operative yet.)
461 : : void UseAtmosphereMars(void);
462 : :
463 : : void SetTrimStatus(bool status){ trim_status = status; }
464 : : bool GetTrimStatus(void) const { return trim_status; }
465 : : void SetTrimMode(int mode){ ta_mode = mode; }
466 : : int GetTrimMode(void) const { return ta_mode; }
467 : :
468 : : /// Returns the cumulative simulation time in seconds.
469 : 490945 : double GetSimTime(void) const { return sim_time; }
470 : :
471 : : /// Returns the simulation delta T.
472 : 1899027 : double GetDeltaT(void) {return dT;}
473 : :
474 : : /// Suspends the simulation and sets the delta T to zero.
475 : 1 : void SuspendIntegration(void) {saved_dT = dT; dT = 0.0;}
476 : :
477 : : /// Resumes the simulation by resetting delta T to the correct value.
478 : 1 : void ResumeIntegration(void) {dT = saved_dT;}
479 : :
480 : : /** Returns the simulation suspension state.
481 : : @return true if suspended, false if executing */
482 : 58915 : bool IntegrationSuspended(void) {return dT == 0.0;}
483 : :
484 : : /** Sets the current sim time.
485 : : @param cur_time the current time
486 : : @return the current simulation time. */
487 : : double Setsim_time(double cur_time) {
488 : 1 : sim_time = cur_time;
489 : 1 : return sim_time;
490 : : }
491 : :
492 : : /** Sets the integration time step for the simulation executive.
493 : : @param delta_t the time step in seconds. */
494 : 2 : void Setdt(double delta_t) { dT = delta_t; }
495 : :
496 : : /** Sets the root directory where JSBSim starts looking for its system directories.
497 : : @param rootDir the string containing the root directory. */
498 : 1 : void SetRootDir(string rootDir) {RootDir = rootDir;}
499 : :
500 : : /** Retrieves teh Root Directory.
501 : : @return the string representing the root (base) JSBSim directory. */
502 : 1 : string GetRootDir(void) const {return RootDir;}
503 : :
504 : : /** Increments the simulation time.
505 : : @return the new simulation time. */
506 : : double IncrTime(void) {
507 : 54005 : sim_time += dT;
508 : 54005 : return sim_time;
509 : : }
510 : :
511 : : /** Retrieves the current debug level setting. */
512 : 1 : int GetDebugLevel(void) const {return debug_lvl;};
513 : :
514 : : private:
515 : : static unsigned int FDMctr;
516 : : int Error;
517 : : unsigned int Frame;
518 : : unsigned int IdFDM;
519 : : unsigned short Terminate;
520 : : double dT;
521 : : double saved_dT;
522 : : double sim_time;
523 : : bool holding;
524 : : bool Constructing;
525 : : bool modelLoaded;
526 : : bool IsChild;
527 : : string modelName;
528 : : string AircraftPath;
529 : : string FullAircraftPath;
530 : : string EnginePath;
531 : : string SystemsPath;
532 : : string CFGVersion;
533 : : string Release;
534 : : string RootDir;
535 : :
536 : : bool trim_status;
537 : : int ta_mode;
538 : :
539 : : static FGPropertyManager *master;
540 : :
541 : : FGGroundCallback* GroundCallback;
542 : : FGAtmosphere* Atmosphere;
543 : : FGFCS* FCS;
544 : : FGPropulsion* Propulsion;
545 : : FGMassBalance* MassBalance;
546 : : FGAerodynamics* Aerodynamics;
547 : : FGInertial* Inertial;
548 : : FGGroundReactions* GroundReactions;
549 : : FGExternalReactions* ExternalReactions;
550 : : FGBuoyantForces* BuoyantForces;
551 : : FGAircraft* Aircraft;
552 : : FGPropagate* Propagate;
553 : : FGAuxiliary* Auxiliary;
554 : : FGInput* Input;
555 : : FGScript* Script;
556 : : FGInitialCondition* IC;
557 : : FGTrim* Trim;
558 : :
559 : : FGPropertyManager* Root;
560 : : FGPropertyManager* instance;
561 : :
562 : : vector <string> PropertyCatalog;
563 : : vector <FGOutput*> Outputs;
564 : : vector <childData*> ChildFDMList;
565 : : vector <FGModel*> Models;
566 : :
567 : : bool ReadFileHeader(Element*);
568 : : bool ReadChild(Element*);
569 : : bool ReadPrologue(Element*);
570 : : void ResetToInitialConditions(int mode);
571 : : bool Allocate(void);
572 : : bool DeAllocate(void);
573 : : void Initialize(FGInitialCondition *FGIC);
574 : :
575 : : void Debug(int from);
576 : : };
577 : : }
578 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
579 : : #endif
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