/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% Header: FGJSBBase.h Author: Jon S. Berndt Date started: 07/01/01 ------------- Copyright (C) 2001 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 -------------------------------------------------------------------------------- 07/01/01 JSB Created %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% SENTRY %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ #ifndef FGJSBBASE_H #define FGJSBBASE_H /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% INCLUDES %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ #include #include #include #include using std::min; using std::max; #include "input_output/string_utilities.h" #ifndef M_PI # define M_PI 3.14159265358979323846 #endif #define IDENT(a,b) static const char* const (a)[] = {b,(a)[0]} /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% DEFINITIONS %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ #define ID_JSBBASE "$Id: FGJSBBase.h,v 1.41 2014/09/03 17:35:04 bcoconni Exp $" /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% FORWARD DECLARATIONS %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ namespace JSBSim { /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% CLASS DOCUMENTATION %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ /** JSBSim Base class. * This class provides universal constants, utility functions, messaging * functions, and enumerated constants to JSBSim. @author Jon S. Berndt @version $Id: FGJSBBase.h,v 1.41 2014/09/03 17:35:04 bcoconni Exp $ */ /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% CLASS DECLARATION %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ class FGJSBBase { public: /// Constructor for FGJSBBase. FGJSBBase() {}; /// Destructor for FGJSBBase. virtual ~FGJSBBase() {}; /// JSBSim Message structure class Message { public: unsigned int fdmId; unsigned int messageId; std::string text; std::string subsystem; enum mType {eText, eInteger, eDouble, eBool} type; bool bVal; int iVal; double dVal; }; /// First order, (low pass / lag) filter class Filter { double prev_in; double prev_out; double ca; double cb; public: Filter(void) {} public: Filter(double coeff, double dt) { prev_in = prev_out = 0.0; double denom = 2.0 + coeff*dt; ca = coeff*dt/denom; cb = (2.0 - coeff*dt)/denom; } public: double execute(double in) { double out = (in + prev_in)*ca + prev_out*cb; prev_in = in; prev_out = out; return out; } }; ///@name JSBSim console output highlighting terms. //@{ /// highlights text static char highint[5]; /// low intensity text static char halfint[5]; /// normal intensity text static char normint[6]; /// resets text properties static char reset[5]; /// underlines text static char underon[5]; /// underline off static char underoff[6]; /// blue text static char fgblue[6]; /// cyan text static char fgcyan[6]; /// red text static char fgred[6]; /// green text static char fggreen[6]; /// default text static char fgdef[6]; //@} ///@name JSBSim Messaging functions //@{ /** Places a Message structure on the Message queue. @param msg pointer to a Message structure @return pointer to a Message structure */ void PutMessage(const Message& msg); /** Creates a message with the given text and places it on the queue. @param text message text @return pointer to a Message structure */ void PutMessage(const std::string& text); /** Creates a message with the given text and boolean value and places it on the queue. @param text message text @param bVal boolean value associated with the message @return pointer to a Message structure */ void PutMessage(const std::string& text, bool bVal); /** Creates a message with the given text and integer value and places it on the queue. @param text message text @param iVal integer value associated with the message @return pointer to a Message structure */ void PutMessage(const std::string& text, int iVal); /** Creates a message with the given text and double value and places it on the queue. @param text message text @param dVal double value associated with the message @return pointer to a Message structure */ void PutMessage(const std::string& text, double dVal); /** Reads the message on the queue (but does not delete it). @return 1 if some messages */ int SomeMessages(void); /** Reads the message on the queue and removes it from the queue. This function also prints out the message.*/ void ProcessMessage(void); /** Reads the next message on the queue and removes it from the queue. This function also prints out the message. @return a pointer to the message, or NULL if there are no messages.*/ Message* ProcessNextMessage(void); //@} /** Returns the version number of JSBSim. * @return The version number of JSBSim. */ std::string GetVersion(void) {return JSBSim_version;} /// Disables highlighting in the console output. void disableHighLighting(void); static short debug_lvl; /** Converts from degrees Kelvin to degrees Fahrenheit. * @param kelvin The temperature in degrees Kelvin. * @return The temperature in Fahrenheit. */ static double KelvinToFahrenheit (double kelvin) { return 1.8*kelvin - 459.4; } /** Converts from degrees Celsius to degrees Rankine. * @param celsius The temperature in degrees Celsius. * @return The temperature in Rankine. */ static double CelsiusToRankine (double celsius) { return celsius * 1.8 + 491.67; } /** Converts from degrees Rankine to degrees Celsius. * @param rankine The temperature in degrees Rankine. * @return The temperature in Celsius. */ static double RankineToCelsius (double rankine) { return (rankine - 491.67)/1.8; } /** Converts from degrees Kelvin to degrees Rankine. * @param kelvin The temperature in degrees Kelvin. * @return The temperature in Rankine. */ static double KelvinToRankine (double kelvin) { return kelvin * 1.8; } /** Converts from degrees Rankine to degrees Kelvin. * @param rankine The temperature in degrees Rankine. * @return The temperature in Kelvin. */ static double RankineToKelvin (double rankine) { return rankine/1.8; } /** Converts from degrees Fahrenheit to degrees Celsius. * @param fahrenheit The temperature in degrees Fahrenheit. * @return The temperature in Celsius. */ static double FahrenheitToCelsius (double fahrenheit) { return (fahrenheit - 32.0)/1.8; } /** Converts from degrees Celsius to degrees Fahrenheit. * @param celsius The temperature in degrees Celsius. * @return The temperature in Fahrenheit. */ static double CelsiusToFahrenheit (double celsius) { return celsius * 1.8 + 32.0; } /** Converts from degrees Celsius to degrees Kelvin * @param celsius The temperature in degrees Celsius. * @return The temperature in Kelvin. */ static double CelsiusToKelvin (double celsius) { return celsius + 273.15; } /** Converts from degrees Kelvin to degrees Celsius * @param celsius The temperature in degrees Kelvin. * @return The temperature in Celsius. */ static double KelvinToCelsius (double kelvin) { return kelvin - 273.15; } /** Converts from feet to meters * @param measure The length in feet. * @return The length in meters. */ static double FeetToMeters (double measure) { return measure*0.3048; } /** Calculate the calibrated airspeed from the Mach number. It uses the * Rayleigh formula for supersonic speeds (See "Introduction to Aerodynamics * of a Compressible Fluid - H.W. Liepmann, A.E. Puckett - Wiley & sons * (1947)" ยง5.4 pp 75-80) * @param mach The Mach number * @param p Pressure in psf * @param psl Pressure at sea level in psf * @param rhosl Density at sea level in slugs/ft^3 * @return The calibrated airspeed (CAS) in ft/s * */ static double VcalibratedFromMach(double mach, double p, double psl, double rhosl); /** Calculate the Mach number from the calibrated airspeed. For subsonic * speeds, the reversed formula has a closed form. For supersonic speeds, the * Rayleigh formula is reversed by the Newton-Raphson algorithm. * @param vcas The calibrated airspeed (CAS) in ft/s * @param p Pressure in psf * @param psl Pressure at sea level in psf * @param rhosl Density at sea level in slugs/ft^3 * @return The Mach number * */ static double MachFromVcalibrated(double vcas, double p, double psl, double rhosl); /** Finite precision comparison. @param a first value to compare @param b second value to compare @return if the two values can be considered equal up to roundoff */ static bool EqualToRoundoff(double a, double b) { double eps = 2.0*DBL_EPSILON; return std::fabs(a - b) <= eps * max(std::fabs(a), std::fabs(b)); } /** Finite precision comparison. @param a first value to compare @param b second value to compare @return if the two values can be considered equal up to roundoff */ static bool EqualToRoundoff(float a, float b) { float eps = 2.0*FLT_EPSILON; return std::fabs(a - b) <= eps * max(std::fabs(a), std::fabs(b)); } /** Finite precision comparison. @param a first value to compare @param b second value to compare @return if the two values can be considered equal up to roundoff */ static bool EqualToRoundoff(float a, double b) { return EqualToRoundoff(a, (float)b); } /** Finite precision comparison. @param a first value to compare @param b second value to compare @return if the two values can be considered equal up to roundoff */ static bool EqualToRoundoff(double a, float b) { return EqualToRoundoff((float)a, b); } /** Constrain a value between a minimum and a maximum value. */ static double Constrain(double min, double value, double max) { return valuemax?(max):(value)); } static double sign(double num) {return num>=0.0?1.0:-1.0;} static double GaussianRandomNumber(void); protected: static Message localMsg; static std::queue Messages; void Debug(int) {}; static unsigned int messageId; static const double radtodeg; static const double degtorad; static const double hptoftlbssec; static const double psftoinhg; static const double psftopa; static const double fpstokts; static const double ktstofps; static const double inchtoft; static const double in3tom3; static const double m3toft3; static const double inhgtopa; static const double fttom; static double Reng; // Specific Gas Constant,ft^2/(sec^2*R) static double Rstar; static double Mair; static const double SHRatio; static const double lbtoslug; static const double slugtolb; static const double kgtolb; static const double kgtoslug; static const std::string needed_cfg_version; static const std::string JSBSim_version; static std::string CreateIndexedPropertyName(const std::string& Property, int index); static int gaussian_random_number_phase; public: /// Moments L, M, N enum {eL = 1, eM, eN }; /// Rates P, Q, R enum {eP = 1, eQ, eR }; /// Velocities U, V, W enum {eU = 1, eV, eW }; /// Positions X, Y, Z enum {eX = 1, eY, eZ }; /// Euler angles Phi, Theta, Psi enum {ePhi = 1, eTht, ePsi }; /// Stability axis forces, Drag, Side force, Lift enum {eDrag = 1, eSide, eLift }; /// Local frame orientation Roll, Pitch, Yaw enum {eRoll = 1, ePitch, eYaw }; /// Local frame position North, East, Down enum {eNorth = 1, eEast, eDown }; /// Locations Radius, Latitude, Longitude enum {eLat = 1, eLong, eRad }; /// Conversion specifiers enum {inNone = 0, inDegrees, inRadians, inMeters, inFeet }; }; } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% #endif