1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
6 Purpose: Schedules and runs the model routines.
8 ------------- Copyright (C) 1999 Jon S. Berndt (jsb@hal-pc.org) -------------
10 This program is free software; you can redistribute it and/or modify it under
11 the terms of the GNU General Public License as published by the Free Software
12 Foundation; either version 2 of the License, or (at your option) any later
15 This program is distributed in the hope that it will be useful, but WITHOUT
16 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
17 FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
20 You should have received a copy of the GNU General Public License along with
21 this program; if not, write to the Free Software Foundation, Inc., 59 Temple
22 Place - Suite 330, Boston, MA 02111-1307, USA.
24 Further information about the GNU General Public License can also be found on
25 the world wide web at http://www.gnu.org.
27 FUNCTIONAL DESCRIPTION
28 --------------------------------------------------------------------------------
30 This class wraps up the simulation scheduling routines.
33 --------------------------------------------------------------------------------
36 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
37 COMMENTS, REFERENCES, and NOTES
38 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
40 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
42 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
45 # include <simgear/compiler.h>
46 # include STL_IOSTREAM
47 # include STL_ITERATOR
49 # if defined(sgi) && !defined(__GNUC__)
50 # include <iostream.h>
57 #include "FGFDMExec.h"
59 #include "FGAtmosphere.h"
61 #include "FGPropulsion.h"
62 #include "FGMassBalance.h"
63 #include "FGGroundReactions.h"
64 #include "FGAerodynamics.h"
65 #include "FGInertial.h"
66 #include "FGAircraft.h"
67 #include "FGTranslation.h"
68 #include "FGRotation.h"
69 #include "FGPosition.h"
70 #include "FGAuxiliary.h"
72 #include "FGConfigFile.h"
73 #include "FGInitialCondition.h"
74 #include "FGPropertyManager.h"
76 static const char *IdSrc = "$Id$";
77 static const char *IdHdr = ID_FDMEXEC;
79 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
81 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
83 unsigned int FGFDMExec::FDMctr = 0;
84 FGPropertyManager* FGFDMExec::master=0;
86 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
88 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
92 FGFDMExec::FGFDMExec(FGPropertyManager* root)
124 char* num = getenv("JSBSIM_DEBUG");
125 if (!num) debug_lvl = 1;
126 else debug_lvl = atoi(num); // set debug level
127 } catch (...) { // if error set to 1
131 if (root == 0) master= new FGPropertyManager;
134 instance = master->GetNode("/fdm/jsbsim",IdFDM,true);
135 instance->SetDouble("zero",0);
139 // this is here to catch errors in binding member functions
140 // to the property tree.
143 } catch ( string msg ) {
144 cout << "Caught error: " << msg << endl;
149 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
151 FGFDMExec::~FGFDMExec()
155 } catch ( string msg ) {
156 cout << "Caught error: " << msg << endl;
159 for (unsigned int i=1; i<SlaveFDMList.size(); i++) delete SlaveFDMList[i]->exec;
160 SlaveFDMList.clear();
165 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
167 bool FGFDMExec::Allocate(void)
171 Atmosphere = new FGAtmosphere(this);
172 FCS = new FGFCS(this);
173 Propulsion = new FGPropulsion(this);
174 MassBalance = new FGMassBalance(this);
175 Aerodynamics = new FGAerodynamics (this);
176 Inertial = new FGInertial(this);
177 GroundReactions = new FGGroundReactions(this);
178 Aircraft = new FGAircraft(this);
179 Translation = new FGTranslation(this);
180 Rotation = new FGRotation(this);
181 Position = new FGPosition(this);
182 Auxiliary = new FGAuxiliary(this);
183 Output = new FGOutput(this);
185 State = new FGState(this); // This must be done here, as the FGState
186 // class needs valid pointers to the above
189 // Initialize models so they can communicate with each other
191 if (!Atmosphere->InitModel()) {
192 cerr << fgred << "Atmosphere model init failed" << fgdef << endl;
194 if (!FCS->InitModel()) {
195 cerr << fgred << "FCS model init failed" << fgdef << endl;
197 if (!Propulsion->InitModel()) {
198 cerr << fgred << "FGPropulsion model init failed" << fgdef << endl;
200 if (!MassBalance->InitModel()) {
201 cerr << fgred << "FGMassBalance model init failed" << fgdef << endl;
203 if (!Aerodynamics->InitModel()) {
204 cerr << fgred << "FGAerodynamics model init failed" << fgdef << endl;
206 if (!Inertial->InitModel()) {
207 cerr << fgred << "FGInertial model init failed" << fgdef << endl;
209 if (!GroundReactions->InitModel()) {
210 cerr << fgred << "Ground Reactions model init failed" << fgdef << endl;
212 if (!Aircraft->InitModel()) {
213 cerr << fgred << "Aircraft model init failed" << fgdef << endl;
215 if (!Translation->InitModel()) {
216 cerr << fgred << "Translation model init failed" << fgdef << endl;
218 if (!Rotation->InitModel()) {
219 cerr << fgred << "Rotation model init failed" << fgdef << endl;
221 if (!Position->InitModel()) {
222 cerr << fgred << "Position model init failed" << fgdef << endl;
224 if (!Auxiliary->InitModel()) {
225 cerr << fgred << "Auxiliary model init failed" << fgdef << endl;
227 if (!Output->InitModel()) {
228 cerr << fgred << "Output model init failed" << fgdef << endl;
231 if (Error > 0) result = false;
233 IC = new FGInitialCondition(this);
234 //Trim is allocated as needed by GetTrim()
237 // Schedule a model. The second arg (the integer) is the pass number. For
238 // instance, the atmosphere model gets executed every fifth pass it is called
239 // by the executive. Everything else here gets executed each pass.
241 Schedule(Atmosphere, 1);
243 Schedule(Propulsion, 1);
244 Schedule(MassBalance, 1);
245 Schedule(Aerodynamics, 1);
246 Schedule(Inertial, 1);
247 Schedule(GroundReactions, 1);
248 Schedule(Aircraft, 1);
249 Schedule(Rotation, 1);
250 Schedule(Translation, 1);
251 Schedule(Position, 1);
252 Schedule(Auxiliary, 1);
254 //IC and Trim are *not* scheduled objects
263 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
265 bool FGFDMExec::DeAllocate(void) {
273 delete GroundReactions;
307 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
309 int FGFDMExec::Schedule(FGModel* model, int rate)
311 FGModel* model_iterator;
313 model_iterator = FirstModel;
315 if (model_iterator == 0L) { // this is the first model
318 FirstModel->NextModel = 0L;
319 FirstModel->SetRate(rate);
321 } else { // subsequent model
323 while (model_iterator->NextModel != 0L) {
324 model_iterator = model_iterator->NextModel;
326 model_iterator->NextModel = model;
327 model_iterator->NextModel->SetRate(rate);
334 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
336 bool FGFDMExec::Run(void)
338 FGModel* model_iterator;
340 if (frozen) return true;
342 model_iterator = FirstModel;
343 if (model_iterator == 0L) return false;
347 for (unsigned int i=1; i<SlaveFDMList.size(); i++) {
348 // SlaveFDMList[i]->exec->State->Initialize(); // Transfer state to the slave FDM
349 // SlaveFDMList[i]->exec->Run();
352 while (model_iterator != 0L) {
353 model_iterator->Run();
354 model_iterator = model_iterator->NextModel;
362 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
364 bool FGFDMExec::RunIC(void)
367 State->Initialize(IC);
373 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
375 vector <string> FGFDMExec::EnumerateFDMs(void)
377 vector <string> FDMList;
379 FDMList.push_back(Aircraft->GetAircraftName());
381 for (unsigned int i=1; i<SlaveFDMList.size(); i++) {
382 FDMList.push_back(SlaveFDMList[i]->exec->GetAircraft()->GetAircraftName());
388 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
390 bool FGFDMExec::LoadModel(string AircraftPath, string EnginePath, string model) {
391 FGFDMExec::AircraftPath=AircraftPath;
392 FGFDMExec::EnginePath=EnginePath;
393 return LoadModel(model);
396 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
398 bool FGFDMExec::LoadModel(string model)
402 string aircraftCfgFileName;
404 if( AircraftPath.empty() || EnginePath.empty() ) {
405 cerr << "Error: attempted to load aircraft with undefined ";
406 cerr << "aircraft and engine paths" << endl;
411 aircraftCfgFileName = AircraftPath + "/" + model + "/" + model + ".xml";
413 aircraftCfgFileName = AircraftPath + ";" + model + ";" + model + ".xml";
416 FGConfigFile AC_cfg(aircraftCfgFileName);
417 if (!AC_cfg.IsOpen()) return false;
426 if (!ReadPrologue(&AC_cfg)) return false;
428 while ((AC_cfg.GetNextConfigLine() != string("EOF")) &&
429 (token = AC_cfg.GetValue()) != string("/FDM_CONFIG")) {
430 if (token == "METRICS") {
431 if (debug_lvl > 0) cout << fgcyan << "\n Reading Metrics" << fgdef << endl;
432 if (!ReadMetrics(&AC_cfg)) result = false;
433 } else if (token == "SLAVE") {
434 if (debug_lvl > 0) cout << fgcyan << "\n Reading Slave flight vehicle: " << fgdef
435 << AC_cfg.GetValue("NAME") << endl;
436 if (!ReadSlave(&AC_cfg)) result = false;
437 } else if (token == "AERODYNAMICS") {
438 if (debug_lvl > 0) cout << fgcyan << "\n Reading Aerodynamics" << fgdef << endl;
439 if (!ReadAerodynamics(&AC_cfg)) result = false;
440 } else if (token == "UNDERCARRIAGE") {
441 if (debug_lvl > 0) cout << fgcyan << "\n Reading Landing Gear" << fgdef << endl;
442 if (!ReadUndercarriage(&AC_cfg)) result = false;
443 } else if (token == "PROPULSION") {
444 if (debug_lvl > 0) cout << fgcyan << "\n Reading Propulsion" << fgdef << endl;
445 if (!ReadPropulsion(&AC_cfg)) result = false;
446 } else if (token == "FLIGHT_CONTROL") {
447 if (debug_lvl > 0) cout << fgcyan << "\n Reading Flight Control" << fgdef << endl;
448 if (!ReadFlightControls(&AC_cfg)) result = false;
449 } else if (token == "AUTOPILOT") {
450 if (debug_lvl > 0) cout << fgcyan << "\n Reading Autopilot" << fgdef << endl;
451 if (!ReadFlightControls(&AC_cfg)) result = false;
452 } else if (token == "OUTPUT") {
453 if (debug_lvl > 0) cout << fgcyan << "\n Reading Output directives" << fgdef << endl;
454 if (!ReadOutput(&AC_cfg)) result = false;
463 << " FGFDMExec: Failed to load aircraft and/or engine model"
470 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
472 bool FGFDMExec::ReadPrologue(FGConfigFile* AC_cfg)
474 string token = AC_cfg->GetValue();
478 AircraftName = AC_cfg->GetValue("NAME");
479 Aircraft->SetAircraftName(AircraftName);
481 if (debug_lvl > 0) cout << underon << "Reading Aircraft Configuration File"
482 << underoff << ": " << highint << AircraftName << normint << endl;
483 scratch = AC_cfg->GetValue("VERSION").c_str();
485 CFGVersion = AC_cfg->GetValue("VERSION");
488 cout << " Version: " << highint << CFGVersion
490 if (CFGVersion != needed_cfg_version) {
491 cerr << endl << fgred << "YOU HAVE AN INCOMPATIBLE CFG FILE FOR THIS AIRCRAFT."
492 " RESULTS WILL BE UNPREDICTABLE !!" << endl;
493 cerr << "Current version needed is: " << needed_cfg_version << endl;
494 cerr << " You have version: " << CFGVersion << endl << fgdef << endl;
501 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
503 bool FGFDMExec::ReadSlave(FGConfigFile* AC_cfg)
505 // Add a new slaveData object to the slave FDM list
506 // Populate that slaveData element with a new FDMExec object
507 // Set the IsSlave flag for that FDMExec object
508 // Get the aircraft name
509 // set debug level to print out no additional data for slave objects
510 // Load the model given the aircraft name
511 // reset debug level to prior setting
513 int saved_debug_lvl = debug_lvl;
516 SlaveFDMList.push_back(new slaveData);
517 SlaveFDMList.back()->exec = new FGFDMExec();
518 SlaveFDMList.back()->exec->SetSlave();
520 string AircraftName = AC_cfg->GetValue("FILE");
522 debug_lvl = 0; // turn off debug output for slave vehicle
524 SlaveFDMList.back()->exec->SetAircraftPath( AircraftPath );
525 SlaveFDMList.back()->exec->SetEnginePath( EnginePath );
526 SlaveFDMList.back()->exec->LoadModel(AircraftName);
527 debug_lvl = saved_debug_lvl; // turn debug output back on for master vehicle
529 AC_cfg->GetNextConfigLine();
530 while ((token = AC_cfg->GetValue()) != string("/SLAVE")) {
532 if (token == "XLOC") { *AC_cfg >> SlaveFDMList.back()->x; }
533 else if (token == "YLOC") { *AC_cfg >> SlaveFDMList.back()->y; }
534 else if (token == "ZLOC") { *AC_cfg >> SlaveFDMList.back()->z; }
535 else if (token == "PITCH") { *AC_cfg >> SlaveFDMList.back()->pitch;}
536 else if (token == "YAW") { *AC_cfg >> SlaveFDMList.back()->yaw; }
537 else if (token == "ROLL") { *AC_cfg >> SlaveFDMList.back()->roll; }
538 else cerr << "Unknown identifier: " << token << " in slave vehicle definition" << endl;
542 cout << " X = " << SlaveFDMList.back()->x << endl;
543 cout << " Y = " << SlaveFDMList.back()->y << endl;
544 cout << " Z = " << SlaveFDMList.back()->z << endl;
545 cout << " Pitch = " << SlaveFDMList.back()->pitch << endl;
546 cout << " Yaw = " << SlaveFDMList.back()->yaw << endl;
547 cout << " Roll = " << SlaveFDMList.back()->roll << endl;
553 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
555 bool FGFDMExec::ReadPropulsion(FGConfigFile* AC_cfg)
557 if (!Propulsion->Load(AC_cfg)) {
558 cerr << " Propulsion not successfully loaded" << endl;
564 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
566 bool FGFDMExec::ReadFlightControls(FGConfigFile* AC_cfg)
568 if (!FCS->Load(AC_cfg)) {
569 cerr << " Flight Controls not successfully loaded" << endl;
575 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
577 bool FGFDMExec::ReadAerodynamics(FGConfigFile* AC_cfg)
579 if (!Aerodynamics->Load(AC_cfg)) {
580 cerr << " Aerodynamics not successfully loaded" << endl;
586 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
588 bool FGFDMExec::ReadUndercarriage(FGConfigFile* AC_cfg)
590 if (!GroundReactions->Load(AC_cfg)) {
591 cerr << " Ground Reactions not successfully loaded" << endl;
597 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
599 bool FGFDMExec::ReadMetrics(FGConfigFile* AC_cfg)
601 if (!Aircraft->Load(AC_cfg)) {
602 cerr << " Aircraft metrics not successfully loaded" << endl;
608 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
610 bool FGFDMExec::ReadOutput(FGConfigFile* AC_cfg)
612 if (!Output->Load(AC_cfg)) {
613 cerr << " Output not successfully loaded" << endl;
619 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
621 FGPropertyManager* FGFDMExec::GetPropertyManager(void) {
625 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
627 FGTrim* FGFDMExec::GetTrim(void) {
629 Trim = new FGTrim(this,tNone);
633 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
634 // The bitmasked value choices are as follows:
635 // unset: In this case (the default) JSBSim would only print
636 // out the normally expected messages, essentially echoing
637 // the config files as they are read. If the environment
638 // variable is not set, debug_lvl is set to 1 internally
639 // 0: This requests JSBSim not to output any messages
641 // 1: This value explicity requests the normal JSBSim
643 // 2: This value asks for a message to be printed out when
644 // a class is instantiated
645 // 4: When this value is set, a message is displayed when a
646 // FGModel object executes its Run() method
647 // 8: When this value is set, various runtime state variables
648 // are printed out periodically
649 // 16: When set various parameters are sanity checked and
650 // a message is printed out when they go out of bounds
652 void FGFDMExec::Debug(int from)
654 if (debug_lvl <= 0) return;
656 if (debug_lvl & 1 && IdFDM == 0) { // Standard console startup message output
657 if (from == 0) { // Constructor
658 cout << "\n\n " << highint << underon << "JSBSim Flight Dynamics Model v"
659 << JSBSim_version << underoff << normint << endl;
660 cout << halfint << " [cfg file spec v" << needed_cfg_version << "]\n\n";
661 cout << normint << "JSBSim startup beginning ...\n\n";
662 } else if (from == 3) {
663 cout << "\n\nJSBSim startup complete\n\n";
666 if (debug_lvl & 2 ) { // Instantiation/Destruction notification
667 if (from == 0) cout << "Instantiated: FGFDMExec" << endl;
668 if (from == 1) cout << "Destroyed: FGFDMExec" << endl;
670 if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
672 cout << "================== Frame: " << Frame << " Time: "
673 << State->Getsim_time() << endl;
676 if (debug_lvl & 8 ) { // Runtime state variables
678 if (debug_lvl & 16) { // Sanity checking
680 if (debug_lvl & 64) {
681 if (from == 0) { // Constructor
682 cout << IdSrc << endl;
683 cout << IdHdr << endl;