1 /**************************************************************************
2 * ls_interface.c -- the FG interface to the LaRCsim routines
3 * This is a heavily modified version of LaRCsim.c
4 * As a result there is much old baggage left in this file.
6 * Originally Written 921230 by Bruce Jackson
7 * Modified by Curtis Olson, started May 1997.
9 * This program is free software; you can redistribute it and/or
10 * modify it under the terms of the GNU General Public License as
11 * published by the Free Software Foundation; either version 2 of the
12 * License, or (at your option) any later version.
14 * This program is distributed in the hope that it will be useful, but
15 * WITHOUT ANY WARRANTY; without even the implied warranty of
16 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
17 * General Public License for more details.
19 * You should have received a copy of the GNU General Public License
20 * along with this program; if not, write to the Free Software
21 * Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
24 * (Log is kept at end of this file)
25 **************************************************************************/
27 /* Original headers follow: */
29 /***************************************************************************
33 ----------------------------------------------------------------------------
35 FUNCTION: Top level routine for LaRCSIM. Includes
36 global variable declarations.
38 ----------------------------------------------------------------------------
40 MODULE STATUS: Developmental
42 ----------------------------------------------------------------------------
44 GENEALOGY: Written 921230 by Bruce Jackson
46 ----------------------------------------------------------------------------
54 ----------------------------------------------------------------------------
60 930111 Added "progname" variable to keep name of invoking command.
62 931012 Removed altitude < 0. test to support gear development. EBJ
63 931214 Added various pressures (Impact, Dynamic, Static, etc.) EBJ
64 931215 Adopted new generic variable structure. EBJ
65 931218 Added command line options decoding. EBJ
66 940110 Changed file type of matrix file to ".m" EBJ
67 940513 Renamed this routine "LaRCsim.c" from "ls_main.c" EBJ
68 940513 Added time_stamp routine, t_stamp. EBJ
69 950225 Added options flag, 'i', to set I/O output rate. EBJ
70 950306 Added calls to ls_get_settings() and ls_put_settings() EBJ
71 950314 Options flag 'i' now reads IC file; 'o' is output rate EBJ
72 950406 Many changes: added definition of default value macros;
73 removed local variables term_update_hz, model_dt, endtime,
74 substituted sim_control_ globals for these; removed
75 initialization of sim_control_.tape_channels; moved optarg
76 to generic extern; added mod_end_time & mod_buf_size flags
77 and temporary buffer_time and data_rate locals to
78 ls_checkopts(); added additional command line switches '-s'
79 and '-b'; made psuedo-mandatory file names for data output
80 switches; considerable rewrite of logic for setting data
81 buffer length and interleave parameters; updated '-h' help
82 output message; added protection logic to calculations of
83 these parameters; added check of return value on first call
84 to ls_cockpit() so <esc> abort works from initial pause
85 state; added call to ls_unsync() immediately following
86 first ls_sync() call, if paused (to avoid alarm clock
87 timeout); moved call to ls_record() into non-paused
88 multiloop path (was filling buffer with identical data
89 during pause); put check of paused flag before calling sync
90 routine ls_pause(); and added call to exit() on termination.
94 $Original log: LaRCsim.c,v $
95 * Revision 1.4.1.7 1995/04/07 01:04:37 bjax
96 * Many changes made to support storage of sim options from run to run,
97 * as well as restructuring storage buffer sizing and some loop logic
98 * changes. See the modification log for details.
100 * Revision 1.4.1.6 1995/03/29 16:12:09 bjax
101 * Added argument to -o switch; changed run loop to pass dt=0
102 * if in paused mode. EBj
104 * Revision 1.4.1.5 1995/03/15 12:30:20 bjax
105 * Set paused flag to non-zero by default; moved 'i' I/O rate flag
106 * switch to 'o'; made 'i' an initial conditions file switch; added
107 * null string to ls_get_settings() call so that default settings
108 * file will be read. EBJ
110 * Revision 1.4.1.4 1995/03/08 12:31:34 bjax
111 * Added userid retrieval and proper termination of time & date strings.
113 * Revision 1.4.1.3 1995/03/08 12:00:21 bjax
114 * Moved setting of default options to ls_setdefopts from
115 * ls_checkopts; rearranged order of ls_get_settings() call
116 * to between ls_setdefopts and ls_checkopts, so command
117 * line options will override settings file options.
120 * Revision 1.4.1.2 1995/03/06 18:48:49 bjax
121 * Added calles to ls_get_settings() and ls_put_settings(); added
122 * passing of dt and init flags in ls_model(). EBJ
124 * Revision 1.4.1.1 1995/03/03 02:23:08 bjax
125 * Beta version for LaRCsim, version 1.4
127 * Revision 1.3.2.7 1995/02/27 20:00:21 bjax
130 * Revision 1.3.2.6 1995/02/25 16:52:31 bjax
131 * Added 'i' option to set I/O iteration rate. EBJ
133 * Revision 1.3.2.5 1995/02/06 19:33:15 bjax
136 * Revision 1.3.2.4 1995/02/06 19:30:30 bjax
137 * Oops, should really compile these before checking in. Fixed capitailzation of
138 * Initialize in ls_loop parameter.
140 * Revision 1.3.2.3 1995/02/06 19:25:44 bjax
141 * Moved main simulation loop into subroutine ls_loop. EBJ
143 * Revision 1.3.2.2 1994/05/20 21:46:45 bjax
144 * A little better logic on checking for option arguments.
146 * Revision 1.3.2.1 1994/05/20 19:29:51 bjax
147 * Added options arguments to command line.
149 * Revision 1.3.1.16 1994/05/17 15:08:45 bjax
150 * Corrected so that full name to directyr and file is saved
151 * in new global variable "fullname"; this allows symbol table
152 * to be extracted when in another default directory.
154 * Revision 1.3.1.15 1994/05/17 14:50:24 bjax
157 * Revision 1.3.1.14 1994/05/17 14:50:23 bjax
160 * Revision 1.3.1.13 1994/05/17 14:50:21 bjax
163 * Revision 1.3.1.12 1994/05/17 14:50:20 bjax
166 * Revision 1.3.1.11 1994/05/17 13:56:24 bjax
169 * Revision 1.3.1.10 1994/05/17 13:23:03 bjax
172 * Revision 1.3.1.9 1994/05/17 13:20:03 bjax
175 * Revision 1.3.1.8 1994/05/17 13:19:23 bjax
178 * Revision 1.3.1.7 1994/05/17 13:18:29 bjax
181 * Revision 1.3.1.6 1994/05/17 13:16:30 bjax
184 * Revision 1.3.1.5 1994/05/17 13:03:44 bjax
187 * Revision 1.3.1.4 1994/05/17 13:03:38 bjax
190 * Revision 1.3.1.3 1994/05/17 12:49:08 bjax
193 * Revision 1.3.1.2 1994/05/17 12:48:45 bjax
194 * *** empty log message ***
196 * Revision 1.3.1.1 1994/05/13 20:39:17 bjax
199 * Revision 1.2 1994/05/13 19:51:50 bjax
203 ----------------------------------------------------------------------------
207 ----------------------------------------------------------------------------
211 ----------------------------------------------------------------------------
215 ----------------------------------------------------------------------------
219 ----------------------------------------------------------------------------
223 --------------------------------------------------------------------------*/
225 /* #include <sys/types.h> */
226 /* #include <sys/stat.h> */
232 #include "ls_types.h"
233 #include "ls_constants.h"
234 #include "ls_generic.h"
235 #include "ls_sim_control.h"
236 #include "ls_cockpit.h"
237 #include "ls_interface.h"
239 #include "ls_accel.h"
241 #include "ls_model.h"
244 // #include <Flight/flight.h>
245 // #include <Aircraft/aircraft.h>
246 // #include <Debug/fg_debug.h>
249 /* global variable declarations */
253 SIM_CONTROL sim_control_;
258 #define DEFAULT_TERM_UPDATE_HZ 20
259 #define DEFAULT_MODEL_HZ 120
260 #define DEFAULT_END_TIME 3600.
261 #define DEFAULT_SAVE_SPACING 8
262 #define DEFAULT_WRITE_SPACING 1
263 #define MAX_FILE_NAME_LENGTH 80
265 /* global variables */
270 /* file variables - default simulation settings */
272 static double model_dt;
273 static double speedup;
274 static char asc1name[MAX_FILE_NAME_LENGTH] = "run.asc1";
275 static char tabname[MAX_FILE_NAME_LENGTH] = "run.dat";
276 static char fltname[MAX_FILE_NAME_LENGTH] = "run.flt";
277 static char matname[MAX_FILE_NAME_LENGTH] = "run.m";
281 void ls_stamp( void ) {
282 char rcsid[] = "$Id$";
283 char revid[] = "$Revision$";
284 char dateid[] = "$Date$";
289 /* report version of LaRCsim*/
290 printf("\nLaRCsim %s, %s\n\n", revid, dateid);
292 nowtime_t = time( 0 );
293 nowtime = localtime( &nowtime_t ); /* set fields to correct time values */
294 date = (nowtime->tm_year)*10000
295 + (nowtime->tm_mon + 1)*100
296 + (nowtime->tm_mday);
297 sprintf(sim_control_.date_string, "%06d\0", date);
298 sprintf(sim_control_.time_stamp, "%02d:%02d:%02d\0",
299 nowtime->tm_hour, nowtime->tm_min, nowtime->tm_sec);
300 #ifdef COMPILE_THIS_CODE_THIS_USELESS_CODE
301 cuserid( sim_control_.userid ); /* set up user id */
302 #endif /* COMPILE_THIS_CODE_THIS_USELESS_CODE */
306 void ls_setdefopts( void ) {
307 /* set default values for most options */
309 sim_control_.debug = 0; /* change to non-zero if in dbx! */
310 sim_control_.vision = 0;
311 sim_control_.write_av = 0; /* write Agile-Vu '.flt' file */
312 sim_control_.write_mat = 0; /* write matrix-x/matlab script */
313 sim_control_.write_tab = 0; /* write tab delim. history file */
314 sim_control_.write_asc1 = 0; /* write GetData file */
315 sim_control_.save_spacing = DEFAULT_SAVE_SPACING;
316 /* interpolation on recording */
317 sim_control_.write_spacing = DEFAULT_WRITE_SPACING;
318 /* interpolation on output */
319 sim_control_.end_time = DEFAULT_END_TIME;
320 sim_control_.model_hz = DEFAULT_MODEL_HZ;
321 sim_control_.term_update_hz = DEFAULT_TERM_UPDATE_HZ;
322 sim_control_.time_slices = (long int)(DEFAULT_END_TIME * DEFAULT_MODEL_HZ /
323 DEFAULT_SAVE_SPACING);
324 sim_control_.paused = 0;
330 /* return result codes from ls_checkopts */
335 #ifdef COMPILE_THIS_CODE_THIS_USELESS_CODE
340 int ls_checkopts(argc, argv) /* check and set options flags */
346 int mod_end_time = 0;
347 int mod_buf_size = 0;
348 float buffer_time, data_rate;
350 /* set default values */
352 buffer_time = sim_control_.time_slices * sim_control_.save_spacing /
353 sim_control_.model_hz;
354 data_rate = sim_control_.model_hz / sim_control_.save_spacing;
356 while ((c = getopt(argc, argv, "Aa:b:de:f:hi:kmo:r:s:t:x:")) != EOF)
359 if (sim_control_.sim_type == GLmouse)
361 fprintf(stderr, "Cannot specify both keyboard (k) and ACES (A) cockpits option\n");
362 fprintf(stderr, "Keyboard operation assumed.\n");
365 sim_control_.sim_type = cockpit;
368 sim_control_.write_av = 1;
371 strncpy(fltname, optarg, MAX_FILE_NAME_LENGTH);
376 buffer_time = atof(optarg);
377 if (buffer_time <= 0.) opt_err = -1;
381 sim_control_.debug = 1;
384 sim_control_.end_time = atof(optarg);
388 sim_control_.model_hz = atof(optarg);
394 /* ls_get_settings( optarg ); */
397 sim_control_.sim_type = GLmouse;
400 sim_control_.vision = 1;
403 sim_control_.term_update_hz = atof(optarg);
404 if (sim_control_.term_update_hz <= 0.) opt_err = 1;
407 sim_control_.write_mat = 1;
410 strncpy(matname, optarg, MAX_FILE_NAME_LENGTH);
415 data_rate = atof(optarg);
416 if (data_rate <= 0.) opt_err = -1;
419 sim_control_.write_tab = 1;
422 strncpy(tabname, optarg, MAX_FILE_NAME_LENGTH);
427 sim_control_.write_asc1 = 1;
430 strncpy(asc1name, optarg, MAX_FILE_NAME_LENGTH);
441 fprintf(stderr, "Usage: %s [-options]\n", progname);
442 fprintf(stderr, "\n");
443 fprintf(stderr, " where [-options] is zero or more of the following:\n");
444 fprintf(stderr, "\n");
445 fprintf(stderr, " [A|k] Run mode: [A]CES cockpit [default]\n");
446 fprintf(stderr, " or [k]eyboard\n");
447 fprintf(stderr, "\n");
448 fprintf(stderr, " [i <filename>] [i]nitial conditions filename\n");
449 fprintf(stderr, "\n");
450 fprintf(stderr, " [f <value>] Iteration rate [f]requency, Hz (default is %5.2f Hz)\n",
451 sim_control_.model_hz);
452 fprintf(stderr, "\n");
453 fprintf(stderr, " [o <value>] Display [o]utput frequency, Hz (default is %5.2f Hz)\n",
454 sim_control_.term_update_hz);
455 fprintf(stderr, "\n");
456 fprintf(stderr, " [s <value>] Data storage frequency, Hz (default is %5.2f Hz)\n",
458 fprintf(stderr, "\n");
459 fprintf(stderr, " [e <value>] [e]nd time in seconds (default %5.1f seconds)\n",
460 sim_control_.end_time);
461 fprintf(stderr, "\n");
462 fprintf(stderr, " [b <value>] circular time history storage [b]uffer size, in seconds \n");
463 fprintf(stderr, " (default %5.1f seconds) (normally same as end time)\n",
464 sim_control_.time_slices*sim_control_.save_spacing/
465 sim_control_.model_hz);
466 fprintf(stderr, "\n");
467 fprintf(stderr, " [atxr [<filename>]] Output: [a]gile-vu (default name: %s )\n", fltname);
468 fprintf(stderr, " and/or [t]ab delimited ( '' name: %s )\n", tabname);
469 fprintf(stderr, " and/or [x]plot (default name: %s)\n", asc1name);
470 fprintf(stderr, " and/or mat[r]ix script ( '' name: %s )\n", matname);
471 fprintf(stderr, "\n");
475 /* calculate additional controls */
477 sim_control_.save_spacing = (int) (0.5 + sim_control_.model_hz / data_rate);
478 if (sim_control_.save_spacing < 1) sim_control_.save_spacing = 1;
480 sim_control_.time_slices = buffer_time * sim_control_.model_hz /
481 sim_control_.save_spacing;
482 if (sim_control_.time_slices < 2) sim_control_.time_slices = 2;
486 #endif /* COMPILE_THIS_CODE_THIS_USELESS_CODE */
489 void ls_loop( SCALAR dt, int initialize ) {
490 /* printf (" In ls_loop()\n"); */
491 ls_step( dt, initialize );
492 /* if (sim_control_.sim_type == cockpit ) ls_ACES(); */
494 ls_model( dt, initialize );
500 int ls_cockpit( void ) {
503 sim_control_.paused = 0;
505 // c = current_aircraft.controls;
507 // Lat_control = FG_Aileron;
508 // Long_control = FG_Elevator;
509 // Long_trim = FG_Elev_Trim;
510 // Rudder_pedal = FG_Rudder;
511 // Throttle_pct = FG_Throttle[0];
513 /* printf("Mach = %.2f ", Mach_number);
514 printf("%.4f,%.4f,%.2f ", Latitude, Longitude, Altitude);
515 printf("%.2f,%.2f,%.2f\n", Phi, Theta, Psi); */
521 /* Initialize the LaRCsim flight model, dt is the time increment for
522 each subsequent iteration through the EOM */
523 int ls_toplevel_init(double dt) {
526 ls_setdefopts(); /* set default options */
528 ls_stamp(); /* ID stamp; record time and date of run */
530 if (speedup == 0.0) {
531 fprintf(stderr, "%s: Cannot run with speedup of 0.\n", progname);
535 /* printf("LS pre Init pos = %.2f\n", Latitude); */
539 /* printf("LS post Init pos = %.2f\n", Latitude); */
542 /* Initialize (get) cockpit (controls) settings */
550 /* Run an iteration of the EOM (equations of motion) */
551 int ls_update(int multiloop) {
558 for ( i = 0; i < multiloop; i++ ) {
559 ls_loop( model_dt, 0);
566 /* Set the altitude (force) */
567 int ls_ForceAltitude(double alt_feet) {
569 ls_geod_to_geoc( Latitude, Altitude, &Sea_level_radius, &Lat_geocentric);
570 Radius_to_vehicle = Altitude + Sea_level_radius;
574 /* Flight Gear Modification Log
577 * Revision 1.25 1999/01/19 20:57:02 curt
578 * MacOS portability changes contributed by "Robert Puyol" <puyol@abvent.fr>
580 * Revision 1.24 1998/12/14 13:27:47 curt
581 * Removed some old, outdated, no longer needed code.
583 * Revision 1.23 1998/10/16 23:27:44 curt
586 * Revision 1.22 1998/09/29 02:02:59 curt
587 * Added a brake + autopilot mods.
589 * Revision 1.21 1998/08/22 14:49:56 curt
590 * Attempting to iron out seg faults and crashes.
591 * Did some shuffling to fix a initialization order problem between view
592 * position, scenery elevation.
594 * Revision 1.20 1998/07/12 03:11:03 curt
595 * Removed some printf()'s.
596 * Fixed the autopilot integration so it should be able to update it's control
597 * positions every time the internal flight model loop is run, and not just
598 * once per rendered frame.
599 * Added a routine to do the necessary stuff to force an arbitrary altitude
601 * Gave the Navion engine just a tad more power.
603 * Revision 1.19 1998/05/11 18:17:28 curt
604 * Output message tweaking.
606 * Revision 1.18 1998/04/21 16:59:38 curt
607 * Integrated autopilot.
608 * Prepairing for C++ integration.
610 * Revision 1.17 1998/02/23 19:07:58 curt
611 * Incorporated Durk's Astro/ tweaks. Includes unifying the sun position
612 * calculation code between sun display, and other FG sections that use this
613 * for things like lighting.
615 * Revision 1.16 1998/02/07 15:29:38 curt
616 * Incorporated HUD changes and struct/typedef changes from Charlie Hotchkiss
617 * <chotchkiss@namg.us.anritsu.com>
619 * Revision 1.15 1998/01/22 22:03:47 curt
620 * Removed #include <sys/stat.h>
622 * Revision 1.14 1998/01/19 19:27:04 curt
623 * Merged in make system changes from Bob Kuehne <rpk@sgi.com>
624 * This should simplify things tremendously.
626 * Revision 1.13 1998/01/19 18:40:26 curt
627 * Tons of little changes to clean up the code and to remove fatal errors
628 * when building with the c++ compiler.
630 * Revision 1.12 1998/01/06 01:20:16 curt
631 * Tweaks to help building with MSVC++
633 * Revision 1.11 1998/01/05 22:19:26 curt
634 * #ifdef'd out some unused code that was problematic for MSVC++ to compile.
636 * Revision 1.10 1997/12/10 22:37:43 curt
637 * Prepended "fg" on the name of all global structures that didn't have it yet.
638 * i.e. "struct WEATHER {}" became "struct fgWEATHER {}"
640 * Revision 1.9 1997/08/27 03:30:08 curt
641 * Changed naming scheme of basic shared structures.
643 * Revision 1.8 1997/06/21 17:12:50 curt
644 * Capitalized subdirectory names.
646 * Revision 1.7 1997/05/31 19:16:28 curt
647 * Elevator trim added.
649 * Revision 1.6 1997/05/31 04:13:53 curt
652 * Continuing work on the LaRCsim flight model integration.
653 * Added some MSFS-like keyboard input handling.
655 * Revision 1.5 1997/05/30 23:26:25 curt
656 * Added elevator/aileron controls.
658 * Revision 1.4 1997/05/30 19:30:15 curt
659 * The LaRCsim flight model is starting to look like it is working.
661 * Revision 1.3 1997/05/30 03:54:12 curt
662 * Made a bit more progress towards integrating the LaRCsim flight model.
664 * Revision 1.2 1997/05/29 22:39:59 curt
665 * Working on incorporating the LaRCsim flight model.
667 * Revision 1.1 1997/05/29 00:09:57 curt
668 * Initial Flight Gear revision.