FGFCS.h

/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

 Header:       FGGFCS.h
 Author:       Jon S. Berndt
 Date started: 12/12/98

 ------------- Copyright (C) 1999  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
--------------------------------------------------------------------------------
12/12/98   JSB   Created

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
SENTRY
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/

#ifndef FGFCS_H
#define FGFCS_H

/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
INCLUDES
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/

#include <iosfwd>
#include <vector>
#include <string>

#include "models/FGModel.h"
#include "models/FGLGear.h"
#include "models/FGGroundReactions.h"

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

#define ID_FCS "$Id: FGFCS.h,v 1.54 2017/02/25 14:23:18 bcoconni Exp $"

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

namespace JSBSim {

class FGFCSChannel;
typedef enum { ofRad=0, ofDeg, ofNorm, ofMag , NForms} OutputForm;

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

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

class FGFCS : public FGModel
{

public:
  FGFCS(FGFDMExec*);
  ~FGFCS();

  bool InitModel(void);

  bool Run(bool Holding);



  double GetDaCmd(void) const { return DaCmd; }

  double GetDeCmd(void) const { return DeCmd; }

  double GetDrCmd(void) const { return DrCmd; }

   double GetDsCmd(void) const { return fdmex->GetGroundReactions()->GetDsCmd(); }

  double GetDfCmd(void) const { return DfCmd; }

  double GetDsbCmd(void) const { return DsbCmd; }

  double GetDspCmd(void) const { return DspCmd; }

  double GetThrottleCmd(int engine) const;

  const std::vector<double>& GetThrottleCmd() const {return ThrottleCmd;}

  double GetMixtureCmd(int engine) const { return MixtureCmd[engine]; }

  const std::vector<double>& GetMixtureCmd() const {return MixtureCmd;}

  double GetPropAdvanceCmd(int engine) const { return PropAdvanceCmd[engine]; }

  bool GetFeatherCmd(int engine) const { return PropFeatherCmd[engine]; }

  double GetPitchTrimCmd(void) const { return PTrimCmd; }

  double GetYawTrimCmd(void) const { return YTrimCmd; }

  double GetRollTrimCmd(void) const { return RTrimCmd; }

  double GetGearCmd(void) const { return GearCmd; }



  double GetDaLPos( int form = ofRad )
                         const { return DaLPos[form]; }

  double GetDaRPos( int form = ofRad )
                         const { return DaRPos[form]; }

  double GetDePos( int form = ofRad )
                         const { return DePos[form]; }

  double GetDrPos( int form = ofRad )
                         const { return DrPos[form]; }

  double GetDsbPos( int form = ofRad )
                         const { return DsbPos[form]; }

  double GetDspPos( int form = ofRad )
                         const { return DspPos[form]; }

  double GetDfPos( int form = ofRad )
                         const { return DfPos[form]; }

  double GetThrottlePos(int engine) const;

  const std::vector<double>& GetThrottlePos() const {return ThrottlePos;}

  double GetMixturePos(int engine) const { return MixturePos[engine]; }

  const std::vector<double>& GetMixturePos() const {return MixturePos;}

  double GetGearPos(void) const { return GearPos; }

  double GetTailhookPos(void) const { return TailhookPos; }

  double GetWingFoldPos(void) const { return WingFoldPos; }

  double GetPropAdvance(int engine) const { return PropAdvance[engine]; }

  const std::vector<double>& GetPropAdvance() const { return PropAdvance; }

  bool GetPropFeather(int engine) const { return PropFeather[engine]; }

  const std::vector<bool>& GetPropFeather() const { return PropFeather; }

  std::string GetComponentStrings(const std::string& delimiter) const;

  std::string GetComponentValues(const std::string& delimiter) const;



  void SetDaCmd( double cmd ) { DaCmd = cmd; }

  void SetDeCmd(double cmd ) { DeCmd = cmd; }

  void SetDrCmd(double cmd) { DrCmd = cmd; }

   void SetDsCmd(double cmd) { fdmex->GetGroundReactions()->SetDsCmd( cmd ); }

  void SetDfCmd(double cmd) { DfCmd = cmd; }

  void SetDsbCmd(double cmd) { DsbCmd = cmd; }

  void SetDspCmd(double cmd) { DspCmd = cmd; }

  void SetPitchTrimCmd(double cmd) { PTrimCmd = cmd; }

  void SetYawTrimCmd(double cmd) { YTrimCmd = cmd; }

  void SetRollTrimCmd(double cmd) { RTrimCmd = cmd; }

  void SetThrottleCmd(int engine, double cmd);

  void SetMixtureCmd(int engine, double cmd);

   void SetGearCmd(double gearcmd) { GearCmd = gearcmd; }

  void SetPropAdvanceCmd(int engine, double cmd);

  void SetFeatherCmd(int engine, bool cmd);



  void SetDaLPos( int form , double pos );

  void SetDaRPos( int form , double pos );

  void SetDePos( int form , double pos );

  void SetDrPos( int form , double pos );

  void SetDfPos( int form , double pos );

  void SetDsbPos( int form , double pos );

  void SetDspPos( int form , double pos );

  void SetThrottlePos(int engine, double cmd);

  void SetMixturePos(int engine, double cmd);

   void SetGearPos(double gearpos) { GearPos = gearpos; }

   void SetTailhookPos(double hookpos) { TailhookPos = hookpos; }

   void SetWingFoldPos(double foldpos) { WingFoldPos = foldpos; }

  void SetPropAdvance(int engine, double cmd);

  void SetPropFeather(int engine, bool cmd);



  void SetLBrake(double cmd) {BrakePos[FGLGear::bgLeft] = cmd;}

  void SetRBrake(double cmd) {BrakePos[FGLGear::bgRight] = cmd;}

  void SetCBrake(double cmd) {BrakePos[FGLGear::bgCenter] = cmd;}

  double GetBrake(FGLGear::BrakeGroup bg);

  const std::vector<double>& GetBrakePos() const {return BrakePos;}

  double GetLBrake(void) const {return BrakePos[FGLGear::bgLeft];}

  double GetRBrake(void) const {return BrakePos[FGLGear::bgRight];}

  double GetCBrake(void) const {return BrakePos[FGLGear::bgCenter];}

  enum SystemType { stFCS, stSystem, stAutoPilot }; 

  bool Load(Element* el);

  SGPath FindFullPathName(const SGPath& path) const;

  void AddThrottle(void);
  double GetDt(void) const;

  FGPropertyManager* GetPropertyManager(void) { return PropertyManager; }

  bool GetTrimStatus(void) const { return FDMExec->GetTrimStatus(); }
  double GetChannelDeltaT(void) const { return GetDt() * ChannelRate; }

private:
  double DaCmd, DeCmd, DrCmd, DfCmd, DsbCmd, DspCmd;
  double DePos[NForms], DaLPos[NForms], DaRPos[NForms], DrPos[NForms];
  double DfPos[NForms], DsbPos[NForms], DspPos[NForms];
  double PTrimCmd, YTrimCmd, RTrimCmd;
  std::vector <double> ThrottleCmd;
  std::vector <double> ThrottlePos;
  std::vector <double> MixtureCmd;
  std::vector <double> MixturePos;
  std::vector <double> PropAdvanceCmd;
  std::vector <double> PropAdvance;
  std::vector <bool> PropFeatherCmd;
  std::vector <bool> PropFeather;
  //double LeftBrake, RightBrake, CenterBrake; // Brake settings
  std::vector <double> BrakePos; // left, center, right - defined by FGLGear:: enum
  double GearCmd,GearPos;
  double TailhookPos, WingFoldPos;
  SystemType systype;
  int ChannelRate;
  FGFDMExec* fdmex;

  typedef std::vector <FGFCSChannel*> Channels;
  Channels SystemChannels;
  void bind(void);
  void bindThrottle(unsigned int);
  void Debug(int from);
};
}

#endif