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14a75508a3
Changed all header file once include variables to follow the same naming convention and not start with any underscores. Also deleted old incorrect copyright notices. Also removed $Id: tags from all files. Fixes #14. Fixes #22.
427 lines
15 KiB
C++
427 lines
15 KiB
C++
/*
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PURPOSE:
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( Integrator "Sim object" )
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PROGRAMMERS:
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(((Alex Lin) (NASA) (2009)))
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(((John Penn) (L3) (2010)))
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(((Donna Panter) (L3) (2012)))
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(((David Hammen) (Odyssey) (2013)))
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*/
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#ifndef INTEGLOOPSCHEDULER_HH
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#define INTEGLOOPSCHEDULER_HH
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// Local includes
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#include "IntegLoopManager.hh"
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#include "Integrator.hh"
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#include "IntegAlgorithms.hh"
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// Trick includes
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#include "sim_services/SimObject/include/SimObject.hh"
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#include "sim_services/Scheduler/include/Scheduler.hh"
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// System includes
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#include <vector>
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#include <string>
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#include <map>
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#include <cstdarg>
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#ifdef SWIG
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// We want SWIG to ignore add_sim_object(Trick::SimObject *)
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// so only add_sim_object(Trick::SimObject &) can be called in input file.
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%ignore Trick::IntegLoopScheduler::add_sim_object(Trick::SimObject *) ;
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#endif
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namespace Trick {
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class IntegrationManager;
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class SimObject;
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/**
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* This class is a Scheduler that provides the ability to integrate a
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* collection of sim object instances over time. The IntegLoopScheduler
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* schedules for following job classes:
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* - Pre-integration jobs.\n
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* The pre-integration jobs are the set of jobs that are to be called
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* prior to advancing state.
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* - Derivative jobs and integration jobs.\n
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* State is advanced by repeatedly calling all of the derivative class
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* jobs and then all of the integration class jobs until the integration
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* jobs indicate that the target time has been reached.
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* - Dynamic event jobs.\n
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* The dynamic event jobs are used to search for events that
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* intrinsically change the behaviors of the derivatives. Since such
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* events change behavior, state is be integrated back to the point
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* where the event occurs and then integrated forward to the desired
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* target time.
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* - Post-integration jobs.\n
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* The post-integration jobs are called after state is advanced to the
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* target time.
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* .
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*
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* The set of sim objects to be integrated by an IntegLoopScheduler can be
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* specified at construction time, but can be also changed during runtime.
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* Sim objects can be added to or removed from an IntegLoopScheduler, and
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* can be moved from one IntegLoopScheduler to another.
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*/
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class IntegLoopScheduler : public Scheduler {
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public:
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// Types
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/**
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* Vector of sim object pointers.
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*/
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typedef std::vector<Trick::SimObject*> SimObjectVector;
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// Member data
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/**
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* Output verbosity, defaults to zero (no debug output).
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*/
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int verbosity; //!< trick_units(--)
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/**
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* Indicates whether derivative jobs need to be called just prior
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* to calling the post-integration class jobs.
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*/
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bool last_step_deriv; //!< trick_units(--)
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/**
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* Not used.
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* @warn: Deprecated. Very deprecated.
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*/
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bool first_step_deriv; //!< trick_units(--)
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/**
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* Pointer to the Trick::Integrator object that directs
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* the integration process.
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* @warn: Deprecated.
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*/
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Trick::Integrator* integ_ptr; // trick_units(--)
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/**
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* The sim objects integrated by this IntegLoopScheduler.
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* This is public so it can be checkpointed and restored.
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*/
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SimObjectVector sim_objects; //!< trick_io(**)
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// Member functions
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/**
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* Non-default constructor.
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* @param cycle The time interval at which the loop's integrate
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* function will be called.
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* @param parent_so The Trick simulation object that contains this
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* IntegLoopScheduler object.
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*/
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IntegLoopScheduler (double in_cycle, Trick::SimObject * parent_so);
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/**
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* Default constructor.
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* @note This exists for checkpoint/restart. Other users should
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* not call this function.
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*/
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IntegLoopScheduler ();
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/**
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* Destructor.
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*/
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virtual ~IntegLoopScheduler () {}
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/**
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* Add the jobs from the provided sim object that are related to
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* integration jobs to the appropriate integration job queues.
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* @param sim_object Sim object to be integrated.
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* @return Zero.
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* @warn Deprecated.@n
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* This function exists for backward compatibility
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* and will be deleted in a future release. It is incompatible
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* with the add_sim_object / remove_sim_object schema.
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*/
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int add_integ_jobs_from_sim_object (Trick::SimObject * sim_object);
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/**
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* Call the derivative jobs.
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*/
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void call_deriv_jobs ();
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/**
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* Integrate state to the current simulation time.
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* Simulation time is advanced prior to calling this function.
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*/
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int integrate ();
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/**
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Overload of Scheduler::add_sim_object(Trick::SimObject *) routine.
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This class does not add sim_objects with this routine. Sim_objects
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are added to the integrator through the add_integ_sim_object call.
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*/
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virtual int add_sim_object (Trick::SimObject * sim_obj);
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/**
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* Add the sim object to the set of such to be integrated by this
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* integration loop.
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* A simulation object defines the level granularity for what is /
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* is not integrated by an integration loop object. The integration
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* loop object forms job queues based on the sim objects assigned
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* to the integration loop object via this function.
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* @param sim_obj Object to be integrated by this object.
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* @return Zero = success, non-zero = failure (object not added).
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*/
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virtual int add_sim_object (Trick::SimObject &sim_obj);
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/**
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* Remove the sim object from the set of such to be integrated by
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* this integration loop.
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* @param sim_obj Object not to be integrated by this object.
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* @return Zero = success, non-zero = failure (object not removed).
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*/
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virtual int remove_sim_object (Trick::SimObject &sim_obj);
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/**
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* Rebuild the integration loop's job queues.
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* This function should be called externally as an S_define level
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* call during initialization and as a restart job.
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*
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* This function is called internally when a sim object is
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* added to or deleted from the set of objects to be integrated
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* during runtime.
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*/
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virtual void rebuild_jobs ();
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/**
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* Prepare for a restart from a checkpoint.
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* This function should be called externally as an S_define level
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* preload_checkpoint job.
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*/
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virtual void restart_checkpoint ();
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/**
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* Determine if any integrators need derivatives on the first step.
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* @return True if any integrator needs first step derivatives,
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* false if no integrator needs them.
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*/
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bool get_first_step_deriv_from_integrator ();
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/**
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* Deprecated.
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* Very, very deprecated.
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* This function does nothing.
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*/
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void set_first_step_deriv (bool first_step __attribute__ ((unused))) {}
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/**
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* Determine derivatives should be computed just before
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* calling the post-integration jobs.
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* @return True if the last_deriv_flag is set or if any integrator
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* has it's last_step_deriv flag set; false otherwise.
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*/
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bool get_last_step_deriv ();
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/**
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* Sets the last_deriv_flag to the specified value.
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* @param last_step New value for the last_deriv_flag
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*/
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void set_last_step_deriv (bool last_step) {
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last_step_deriv = last_step;
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}
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/**
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* Set the verbosity of each integrator associated with this
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* integ_loop scheduler to the specified level.
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* @param level Verbosity level.
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*/
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void set_verbosity (int level) {
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verbosity = level;
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}
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/**
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* Creates an integrator object for use by some integration class
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* job associated with this integration loop.
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* @param alg Integration technique.
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* @param state_size State vector size.
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*/
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Trick::Integrator * getIntegrator (
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Integrator_type alg, unsigned int state_size);
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/**
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* Get the interval between calls to the integ_loop job.
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* @return Integration cycle time, in Trick seconds.
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*/
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double get_integ_cycle () const {
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return next_cycle;
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}
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/**
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* Change the interval between calls to the integ_loop job.
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* @param cycle New integration cycle time, in Trick seconds.
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*/
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virtual int set_integ_cycle (double cycle);
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/**
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* Writes the S_job_execution file, which details the jobs known to
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* the scheduler at the end of initialization.
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* @return always 0
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*/
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virtual int write_s_job_execution (FILE * fp);
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/**
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* Adds the specified instrumentation job before each job in each of
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* the job queues related to integration.
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* Requirement [@ref r_exec_instrument_0]
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* @return always 0
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*/
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virtual int instrument_job_before (Trick::JobData * instrument_job);
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/**
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* Adds the specified instrumentation job after each job in each of
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* the job queues related to integration.
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* Requirement [@ref r_exec_instrument_2]
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* @return always 0
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*/
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virtual int instrument_job_after (Trick::JobData * instrument_job);
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/**
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* Removes an instrumentation job with the name in_job from each of
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* the job queues related to integration.
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* Requirement [@ref r_exec_instrument_3]
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* @return always 0
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*/
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virtual int instrument_job_remove (std::string in_job);
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protected:
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// Types
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/**
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* Vector of sim object pointers.
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*/
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typedef std::vector<Trick::Integrator*> IntegratorVector;
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// Static member data
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/**
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* The singleton IntegrationManager object that keeps track of all
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* sim objects, including
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* - The jobs related to integration specified in the sim objects.
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* - Which, if any, IntegrationLoop integrates the sim object.
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*/
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static Trick::IntegrationManager manager; // trick_units(--)
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// Member data
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/**
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* Interval at which the integration_loop function is to be called
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* nominally, in simulation engine seconds.
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*/
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double nominal_cycle; //!< trick_units(s)
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/**
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* Interval at which the integration_loop function is to be called
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* the next time around, in simulation engine seconds.
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*/
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double next_cycle; //!< trick_units(s)
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/**
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* The sim object that contains this IntegLoopScheduler.
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*/
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SimObject * parent_sim_object; //!< trick_units(--)
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/**
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* Pre-integration jobs managed by this loop.
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*/
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Trick::ScheduledJobQueue pre_integ_jobs; //!< trick_units(--)
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/**
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* Derivative jobs managed by this loop.
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*/
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Trick::ScheduledJobQueue deriv_jobs; //!< trick_units(--)
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/**
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* Integration jobs managed by this loop.
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*/
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Trick::ScheduledJobQueue integ_jobs; //!< trick_units(--)
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/**
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* Dynamic event jobs managed by this loop.
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*/
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Trick::ScheduledJobQueue dynamic_event_jobs; //!< trick_units(--)
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/**
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* Post-integration jobs managed by this loop.
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*/
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Trick::ScheduledJobQueue post_integ_jobs; //!< trick_units(--)
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// Member functions
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/**
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* Complete the construction of an integration loop.
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* All constructors but the copy constructor call this method.
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*/
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void complete_construction (void);
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/**
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* Empty a job queue in anticipation of the queue being rebuilt.
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*/
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void clear_queue (Trick::ScheduledJobQueue & job_queue);
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/**
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* Find the specified sim object in the set of integrated objects.
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* @return Iterator pointing to the object,
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* or to sim_objects.end() if not found.
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* @param sim_obj Object to be found.
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*/
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SimObjectVector::iterator find_sim_object (
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Trick::SimObject & sim_obj);
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/**
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* Integrate sim objects over the specified time span.
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* This is an overridable internal integration function that is
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* called by the externally-visible integrate method.
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*
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* @return Zero/non-zero success indicator.
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* Out-of-sync integrators cause a non-zero return.
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* @param beg_time Time at the start of the integration interval.
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* @param del_time Time span of the integration interval.
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*/
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virtual int integrate_dt (double beg_time, double del_time);
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/**
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* Process dynamic events.
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*
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* @return Zero/non-zero success indicator.
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* Out-of-sync integrators cause a non-zero return.
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* @param end_time Time at the end of the integration interval.
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*/
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int process_dynamic_events (double end_time);
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};
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}
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/**
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* The integrator currently being integrated.
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* This global is used by the C language interface to the integration functions.
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*/
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extern Trick::Integrator* trick_curr_integ; //!< trick_io(**)
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#endif
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