JSBSim.hxx

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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
 Header:        JSBSim.hxx
 Author:        Curtis L. Olson
 Maintained by: Tony Peden, Curt Olson
 Date started:  02/01/1999
 
------ Copyright (C) 1999 - 2000  Curtis L. Olson (curt@flightgear.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., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301, USA.
 
HISTORY
--------------------------------------------------------------------------------
02/01/1999   CLO   Created
Additional log messages stored in CVS
 
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
SENTRY
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
#ifndef _JSBSIM_HXX
#define _JSBSIM_HXX
 
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
INCLUDES
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
#undef MAX_ENGINES
 
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
DEFINITIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
#define ID_JSBSIMXX "$Header JSBSim.hxx,v 1.4 2000/10/22 14:02:16 jsb Exp $"
 
#define METERS_TO_FEET 3.2808398950
#define RADTODEG 57.2957795
 
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FORWARD DECLARATIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
#include <simgear/props/props.hxx>
 
#include <FDM/JSBSim/FGFDMExec.h>
#include "FDM/AIWake/AircraftMesh.hxx"
 
namespace JSBSim {
class FGAtmosphere;
class FGWinds;
class FGFCS;
class FGPropulsion;
class FGMassBalance;
class FGAerodynamics;
class FGInertial;
class FGAircraft;
class FGPropagate;
class FGAuxiliary;
class FGOutput;
class FGInitialCondition;
class FGLocation;
class FGAccelerations;
class FGPropertyManager;
class FGColumnVector3;
}
 
// Adding it here will cause a namespace clash in FlightGear -EMH-
// using namespace JSBSim;
 
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DOCUMENTATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/

 
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DECLARATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
class FGJSBsim : public FGInterface
{
public:
    FGJSBsim( double dt );

    ~FGJSBsim();
 
    // Subsystem API.
    void init() override;
    void resume() override;
    void suspend() override;
    void unbind() override;
    void update(double dt) override;
 
    // Subsystem identification.
    static const char* staticSubsystemClassId() { return "jsb"; }

    bool copy_to_JSBsim();

    bool copy_from_JSBsim();



    void set_Latitude(double lat);  // geocentric

    void set_Longitude(double lon);

    void set_Altitude(double alt);        // triggers re-calc of AGL altitude
 
    //void set_AltitudeAGL(double altagl); // and vice-versa



    void set_V_calibrated_kts(double vc);

    void set_Mach_number(double mach);

    void set_Velocities_Local( double north, double east, double down );

    void set_Velocities_Body( double u, double v, double w);

    void set_Euler_Angles( double phi, double theta, double psi );



    void set_Climb_Rate( double roc);

    void set_Gamma_vert_rad( double gamma);
 



//     void set_Static_pressure(double p);

//     void set_Static_temperature(double T);

//     void set_Density(double rho);


 
    bool ToggleDataLogging(bool state);
    bool ToggleDataLogging(void);
 
    double get_agl_ft(double t, const JSBSim::FGColumnVector3& loc,
                      double alt_off, double contact[3], double normal[3],
                      double vel[3], double angularVel[3]);
 
private:
    JSBSim::FGFDMExec *fdmex;
    JSBSim::FGInitialCondition *fgic;
    bool needTrim;
 
    JSBSim::FGAtmosphere*      Atmosphere;
    JSBSim::FGWinds*           Winds;
    JSBSim::FGFCS*             FCS;
    JSBSim::FGPropulsion*      Propulsion;
    JSBSim::FGMassBalance*     MassBalance;
    JSBSim::FGAircraft*        Aircraft;
    JSBSim::FGPropagate*       Propagate;
    JSBSim::FGAuxiliary*       Auxiliary;
    JSBSim::FGAerodynamics*    Aerodynamics;
    JSBSim::FGGroundReactions* GroundReactions;
    JSBSim::FGInertial*        Inertial;
    JSBSim::FGAccelerations*   Accelerations;
    JSBSim::FGPropertyManager* PropertyManager;
 
    // disabling unused members
    /*
    int runcount;
    double trim_elev;
    double trim_throttle;
     */
 
    SGPropertyNode_ptr startup_trim;
    SGPropertyNode_ptr trimmed;
    SGPropertyNode_ptr pitch_trim;
    SGPropertyNode_ptr throttle_trim;
    SGPropertyNode_ptr aileron_trim;
    SGPropertyNode_ptr rudder_trim;
    SGPropertyNode_ptr stall_warning;
 
    /* SGPropertyNode_ptr elevator_pos_deg;
    SGPropertyNode_ptr left_aileron_pos_deg;
    SGPropertyNode_ptr right_aileron_pos_deg;
    SGPropertyNode_ptr rudder_pos_deg;
    SGPropertyNode_ptr flap_pos_deg; */
 
 
    SGPropertyNode_ptr elevator_pos_pct;
    SGPropertyNode_ptr left_aileron_pos_pct;
    SGPropertyNode_ptr right_aileron_pos_pct;
    SGPropertyNode_ptr rudder_pos_pct;
    SGPropertyNode_ptr flap_pos_pct;
    SGPropertyNode_ptr speedbrake_pos_pct;
    SGPropertyNode_ptr spoilers_pos_pct;
 
    SGPropertyNode_ptr override_fg_brake_prop;
    SGPropertyNode_ptr ab_brake_engaged;
    SGPropertyNode_ptr ab_brake_left_pct;
    SGPropertyNode_ptr ab_brake_right_pct;
 
    SGPropertyNode_ptr gear_pos_pct;
    SGPropertyNode_ptr wing_fold_pos_pct;
    SGPropertyNode_ptr tailhook_pos_pct;
 
    SGConstPropertyNode_ptr altitude;
    SGPropertyNode_ptr precipitation;
    SGPropertyNode_ptr temperature;
    SGPropertyNode_ptr pressure;
    SGPropertyNode_ptr pressureSL;
    SGPropertyNode_ptr dew_point;
    SGPropertyNode_ptr ground_wind;
    SGPropertyNode_ptr turbulence_gain;
    SGPropertyNode_ptr turbulence_rate;
    SGPropertyNode_ptr turbulence_model;
 
    SGPropertyNode_ptr wind_from_north;
    SGPropertyNode_ptr wind_from_east;
    SGPropertyNode_ptr wind_from_down;
 
    SGPropertyNode_ptr arrestor_wire_engaged_hook;
    SGPropertyNode_ptr release_hook;
 
    SGPropertyNode_ptr slaved;
 
    SGPropertyNode_ptr terrain;
 
    static std::map<std::string,int> TURBULENCE_TYPE_NAMES;
 
    double last_hook_tip[3];
    double last_hook_root[3];
    JSBSim::FGColumnVector3 hook_root_struct;
    double hook_length;
 
    bool crashed;
 
    AircraftMesh_ptr mesh;
    SGPropertyNode_ptr _ai_wake_enabled;
    SGPropertyNode_ptr _fmag{nullptr}, _mmag{nullptr};
    SGPropertyNode_ptr _fbx{nullptr}, _fby{nullptr}, _fbz{nullptr};
    SGPropertyNode_ptr _mbx{nullptr}, _mby{nullptr}, _mbz{nullptr};
 
    void do_trim(void);
 
    bool update_ground_cache(const JSBSim::FGLocation& cart, double dt);
    void init_gear(void);
    void update_gear(void);
 
    void update_external_forces(double t_off);
};
 
#endif // _JSBSIM_HXX