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)
122 char* num = getenv("JSBSIM_DEBUG");
123 if (!num) debug_lvl = 1;
124 else debug_lvl = atoi(num); // set debug level
125 } catch (...) { // if error set to 1
129 if (root == 0) master= new FGPropertyManager;
132 instance = master->GetNode("/fdm/jsbsim",IdFDM,true);
133 instance->SetDouble("zero",0);
137 // this is here to catch errors in binding member functions
138 // to the property tree.
141 } catch ( string msg ) {
142 cout << "Caught error: " << msg << endl;
147 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
149 FGFDMExec::~FGFDMExec()
153 } catch ( string msg ) {
154 cout << "Caught error: " << msg << endl;
157 for (unsigned int i=1; i<SlaveFDMList.size(); i++) delete SlaveFDMList[i]->exec;
158 SlaveFDMList.clear();
163 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
165 bool FGFDMExec::Allocate(void)
169 Atmosphere = new FGAtmosphere(this);
170 FCS = new FGFCS(this);
171 Propulsion = new FGPropulsion(this);
172 MassBalance = new FGMassBalance(this);
173 Aerodynamics = new FGAerodynamics (this);
174 Inertial = new FGInertial(this);
175 GroundReactions = new FGGroundReactions(this);
176 Aircraft = new FGAircraft(this);
177 Translation = new FGTranslation(this);
178 Rotation = new FGRotation(this);
179 Position = new FGPosition(this);
180 Auxiliary = new FGAuxiliary(this);
181 Output = new FGOutput(this);
183 State = new FGState(this); // This must be done here, as the FGState
184 // class needs valid pointers to the above
187 // Initialize models so they can communicate with each other
189 if (!Atmosphere->InitModel()) {
190 cerr << fgred << "Atmosphere model init failed" << fgdef << endl;
192 if (!FCS->InitModel()) {
193 cerr << fgred << "FCS model init failed" << fgdef << endl;
195 if (!Propulsion->InitModel()) {
196 cerr << fgred << "FGPropulsion model init failed" << fgdef << endl;
198 if (!MassBalance->InitModel()) {
199 cerr << fgred << "FGMassBalance model init failed" << fgdef << endl;
201 if (!Aerodynamics->InitModel()) {
202 cerr << fgred << "FGAerodynamics model init failed" << fgdef << endl;
204 if (!Inertial->InitModel()) {
205 cerr << fgred << "FGInertial model init failed" << fgdef << endl;
207 if (!GroundReactions->InitModel()) {
208 cerr << fgred << "Ground Reactions model init failed" << fgdef << endl;
210 if (!Aircraft->InitModel()) {
211 cerr << fgred << "Aircraft model init failed" << fgdef << endl;
213 if (!Translation->InitModel()) {
214 cerr << fgred << "Translation model init failed" << fgdef << endl;
216 if (!Rotation->InitModel()) {
217 cerr << fgred << "Rotation model init failed" << fgdef << endl;
219 if (!Position->InitModel()) {
220 cerr << fgred << "Position model init failed" << fgdef << endl;
222 if (!Auxiliary->InitModel()) {
223 cerr << fgred << "Auxiliary model init failed" << fgdef << endl;
225 if (!Output->InitModel()) {
226 cerr << fgred << "Output model init failed" << fgdef << endl;
229 if (Error > 0) result = false;
231 // Schedule a model. The second arg (the integer) is the pass number. For
232 // instance, the atmosphere model gets executed every fifth pass it is called
233 // by the executive. Everything else here gets executed each pass.
235 Schedule(Atmosphere, 1);
237 Schedule(Propulsion, 1);
238 Schedule(MassBalance, 1);
239 Schedule(Aerodynamics, 1);
240 Schedule(Inertial, 1);
241 Schedule(GroundReactions, 1);
242 Schedule(Aircraft, 1);
243 Schedule(Rotation, 1);
244 Schedule(Translation, 1);
245 Schedule(Position, 1);
246 Schedule(Auxiliary, 1);
254 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
256 bool FGFDMExec::DeAllocate(void) {
258 if ( Atmosphere != 0 ) delete Atmosphere;
259 if ( FCS != 0 ) delete FCS;
260 if ( Propulsion != 0) delete Propulsion;
261 if ( MassBalance != 0) delete MassBalance;
262 if ( Aerodynamics != 0) delete Aerodynamics;
263 if ( Inertial != 0) delete Inertial;
264 if ( GroundReactions != 0) delete GroundReactions;
265 if ( Aircraft != 0 ) delete Aircraft;
266 if ( Translation != 0 ) delete Translation;
267 if ( Rotation != 0 ) delete Rotation;
268 if ( Position != 0 ) delete Position;
269 if ( Auxiliary != 0 ) delete Auxiliary;
270 if ( Output != 0 ) delete Output;
271 if ( State != 0 ) delete State;
295 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
297 int FGFDMExec::Schedule(FGModel* model, int rate)
299 FGModel* model_iterator;
301 model_iterator = FirstModel;
303 if (model_iterator == 0L) { // this is the first model
306 FirstModel->NextModel = 0L;
307 FirstModel->SetRate(rate);
309 } else { // subsequent model
311 while (model_iterator->NextModel != 0L) {
312 model_iterator = model_iterator->NextModel;
314 model_iterator->NextModel = model;
315 model_iterator->NextModel->SetRate(rate);
322 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
324 bool FGFDMExec::Run(void)
326 FGModel* model_iterator;
328 if (frozen) return true;
330 model_iterator = FirstModel;
331 if (model_iterator == 0L) return false;
335 for (unsigned int i=0; i<SlaveFDMList.size(); i++) {
340 while (!model_iterator->Run()) {
341 model_iterator = model_iterator->NextModel;
342 if (model_iterator == 0L) break;
350 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
352 bool FGFDMExec::RunIC(FGInitialCondition *fgic)
355 State->Initialize(fgic);
361 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
363 void FGFDMExec::TransferState(int idxFDM)
365 SlaveFDMList[idxFDM]->exec->GetRotation()->SetEuler(Rotation->GetEuler());
366 SlaveFDMList[idxFDM]->exec->GetRotation()->SetAeroPQR(Rotation->GetAeroPQR());
367 SlaveFDMList[idxFDM]->exec->GetTranslation()->SetAeroUVW(Translation->GetAeroUVW());
368 SlaveFDMList[idxFDM]->exec->GetRotation()->SetEuler(Rotation->GetEuler());
371 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
373 vector <string> FGFDMExec::EnumerateFDMs(void)
375 vector <string> FDMList;
377 FDMList.push_back(Aircraft->GetAircraftName());
379 for (unsigned int i=1; i<SlaveFDMList.size(); i++) {
380 FDMList.push_back(SlaveFDMList[i]->exec->GetAircraft()->GetAircraftName());
386 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
388 bool FGFDMExec::LoadModel(string APath, string EPath, string model)
392 string aircraftCfgFileName;
394 AircraftPath = APath;
398 aircraftCfgFileName = AircraftPath + "/" + model + "/" + model + ".xml";
400 aircraftCfgFileName = AircraftPath + ";" + model + ";" + model + ".xml";
403 FGConfigFile AC_cfg(aircraftCfgFileName);
404 if (!AC_cfg.IsOpen()) return false;
411 if (!ReadPrologue(&AC_cfg)) return false;
413 while ((AC_cfg.GetNextConfigLine() != string("EOF")) &&
414 (token = AC_cfg.GetValue()) != string("/FDM_CONFIG")) {
415 if (token == "METRICS") {
416 if (debug_lvl > 0) cout << fgcyan << "\n Reading Metrics" << fgdef << endl;
417 if (!ReadMetrics(&AC_cfg)) result = false;
418 } else if (token == "SLAVE") {
419 if (debug_lvl > 0) cout << fgcyan << "\n Reading Slave flight vehicle: " << fgdef
420 << AC_cfg.GetValue("NAME") << endl;
421 if (!ReadSlave(&AC_cfg)) result = false;
422 } else if (token == "AERODYNAMICS") {
423 if (debug_lvl > 0) cout << fgcyan << "\n Reading Aerodynamics" << fgdef << endl;
424 if (!ReadAerodynamics(&AC_cfg)) result = false;
425 } else if (token == "UNDERCARRIAGE") {
426 if (debug_lvl > 0) cout << fgcyan << "\n Reading Landing Gear" << fgdef << endl;
427 if (!ReadUndercarriage(&AC_cfg)) result = false;
428 } else if (token == "PROPULSION") {
429 if (debug_lvl > 0) cout << fgcyan << "\n Reading Propulsion" << fgdef << endl;
430 if (!ReadPropulsion(&AC_cfg)) result = false;
431 } else if (token == "FLIGHT_CONTROL") {
432 if (debug_lvl > 0) cout << fgcyan << "\n Reading Flight Control" << fgdef << endl;
433 if (!ReadFlightControls(&AC_cfg)) result = false;
434 } else if (token == "OUTPUT") {
435 if (debug_lvl > 0) cout << fgcyan << "\n Reading Output directives" << fgdef << endl;
436 if (!ReadOutput(&AC_cfg)) result = false;
445 << " FGFDMExec: Failed to load aircraft and/or engine model"
452 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
454 bool FGFDMExec::ReadPrologue(FGConfigFile* AC_cfg)
456 string token = AC_cfg->GetValue();
460 AircraftName = AC_cfg->GetValue("NAME");
461 Aircraft->SetAircraftName(AircraftName);
463 if (debug_lvl > 0) cout << underon << "Reading Aircraft Configuration File"
464 << underoff << ": " << highint << AircraftName << normint << endl;
465 scratch = AC_cfg->GetValue("VERSION").c_str();
467 CFGVersion = AC_cfg->GetValue("VERSION");
470 cout << " Version: " << highint << CFGVersion
472 if (CFGVersion != needed_cfg_version) {
473 cerr << endl << fgred << "YOU HAVE AN INCOMPATIBLE CFG FILE FOR THIS AIRCRAFT."
474 " RESULTS WILL BE UNPREDICTABLE !!" << endl;
475 cerr << "Current version needed is: " << needed_cfg_version << endl;
476 cerr << " You have version: " << CFGVersion << endl << fgdef << endl;
483 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
485 bool FGFDMExec::ReadSlave(FGConfigFile* AC_cfg)
487 // Add a new slaveData object to the slave FDM list
488 // Populate that slaveData element with a new FDMExec object
489 // Set the IsSlave flag for that FDMExec object
490 // Get the aircraft name
491 // set debug level to print out no additional data for slave objects
492 // Load the model given the aircraft name
493 // reset debug level to prior setting
495 int saved_debug_lvl = debug_lvl;
497 SlaveFDMList.push_back(new slaveData);
498 SlaveFDMList.back()->exec = new FGFDMExec();
499 SlaveFDMList.back()->exec->SetSlave();
501 string AircraftName = AC_cfg->GetValue("FILE");
504 SlaveFDMList.back()->exec->LoadModel("aircraft", "engine", AircraftName);
505 debug_lvl = saved_debug_lvl;
510 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
512 bool FGFDMExec::ReadPropulsion(FGConfigFile* AC_cfg)
514 if (!Propulsion->Load(AC_cfg)) {
515 cerr << " Propulsion not successfully loaded" << endl;
521 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
523 bool FGFDMExec::ReadFlightControls(FGConfigFile* AC_cfg)
525 if (!FCS->Load(AC_cfg)) {
526 cerr << " Flight Controls not successfully loaded" << endl;
532 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
534 bool FGFDMExec::ReadAerodynamics(FGConfigFile* AC_cfg)
536 if (!Aerodynamics->Load(AC_cfg)) {
537 cerr << " Aerodynamics not successfully loaded" << endl;
543 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
545 bool FGFDMExec::ReadUndercarriage(FGConfigFile* AC_cfg)
547 if (!GroundReactions->Load(AC_cfg)) {
548 cerr << " Ground Reactions not successfully loaded" << endl;
554 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
556 bool FGFDMExec::ReadMetrics(FGConfigFile* AC_cfg)
558 if (!Aircraft->Load(AC_cfg)) {
559 cerr << " Aircraft metrics not successfully loaded" << endl;
565 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
567 bool FGFDMExec::ReadOutput(FGConfigFile* AC_cfg)
569 if (!Output->Load(AC_cfg)) {
570 cerr << " Output not successfully loaded" << endl;
576 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
578 FGPropertyManager* FGFDMExec::GetPropertyManager(void) {
582 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
583 // The bitmasked value choices are as follows:
584 // unset: In this case (the default) JSBSim would only print
585 // out the normally expected messages, essentially echoing
586 // the config files as they are read. If the environment
587 // variable is not set, debug_lvl is set to 1 internally
588 // 0: This requests JSBSim not to output any messages
590 // 1: This value explicity requests the normal JSBSim
592 // 2: This value asks for a message to be printed out when
593 // a class is instantiated
594 // 4: When this value is set, a message is displayed when a
595 // FGModel object executes its Run() method
596 // 8: When this value is set, various runtime state variables
597 // are printed out periodically
598 // 16: When set various parameters are sanity checked and
599 // a message is printed out when they go out of bounds
601 void FGFDMExec::Debug(int from)
603 if (debug_lvl <= 0) return;
605 if (debug_lvl & 1) { // Standard console startup message output
606 if (from == 0) { // Constructor
607 cout << "\n\n " << highint << underon << "JSBSim Flight Dynamics Model v"
608 << JSBSim_version << underoff << normint << endl;
609 cout << halfint << " [cfg file spec v" << needed_cfg_version << "]\n\n";
610 cout << normint << "JSBSim startup beginning ...\n\n";
611 } else if (from == 3) {
612 cout << "\n\nJSBSim startup complete\n\n";
615 if (debug_lvl & 2 ) { // Instantiation/Destruction notification
616 if (from == 0) cout << "Instantiated: FGFDMExec" << endl;
617 if (from == 1) cout << "Destroyed: FGFDMExec" << endl;
619 if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
621 cout << "================== Frame: " << Frame << " Time: "
622 << State->Getsim_time() << endl;
625 if (debug_lvl & 8 ) { // Runtime state variables
627 if (debug_lvl & 16) { // Sanity checking
629 if (debug_lvl & 64) {
630 if (from == 0) { // Constructor
631 cout << IdSrc << endl;
632 cout << IdHdr << endl;