src/FDM/JSBSim/FGFDMExec.cpp

   1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
   2
   3  Module:       FGFDMExec.cpp
   4  Author:       Jon S. Berndt
   5  Date started: 11/17/98
   6  Purpose:      Schedules and runs the model routines.
   7  Called by:    The GUI.
   8
   9  ------------- Copyright (C) 1999  Jon S. Berndt (jsb@hal-pc.org) -------------
  10
  11  This program is free software; you can redistribute it and/or modify it under
  12  the terms of the GNU General Public License as published by the Free Software
  13  Foundation; either version 2 of the License, or (at your option) any later
  14  version.
  15
  16  This program is distributed in the hope that it will be useful, but WITHOUT
  17  ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
  18  FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
  19  details.
  20
  21  You should have received a copy of the GNU General Public License along with
  22  this program; if not, write to the Free Software Foundation, Inc., 59 Temple
  23  Place - Suite 330, Boston, MA  02111-1307, USA.
  24
  25  Further information about the GNU General Public License can also be found on
  26  the world wide web at http://www.gnu.org.
  27
  28 FUNCTIONAL DESCRIPTION
  29 --------------------------------------------------------------------------------
  30
  31 This class wraps up the simulation scheduling routines.
  32
  33 HISTORY
  34 --------------------------------------------------------------------------------
  35 11/17/98   JSB   Created
  36
  37 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  38 COMMENTS, REFERENCES,  and NOTES
  39 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  40
  41 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  42 INCLUDES
  43 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  44
  45 #ifdef FGFS
  46 #  include <simgear/compiler.h>
  47 #  include STL_IOSTREAM
  48 #  include STL_ITERATOR
  49 #else
  50 #  if defined(sgi) && !defined(__GNUC__)
  51 #    include <iostream.h>
  52 #  else
  53 #    include <iostream>
  54 #  endif
  55 #  include <iterator>
  56 #endif
  57
  58 #include "FGFDMExec.h"
  59 #include "FGState.h"
  60 #include "FGAtmosphere.h"
  61 #include "FGFCS.h"
  62 #include "FGPropulsion.h"
  63 #include "FGMassBalance.h"
  64 #include "FGGroundReactions.h"
  65 #include "FGAerodynamics.h"
  66 #include "FGInertial.h"
  67 #include "FGAircraft.h"
  68 #include "FGTranslation.h"
  69 #include "FGRotation.h"
  70 #include "FGPosition.h"
  71 #include "FGAuxiliary.h"
  72 #include "FGOutput.h"
  73 #include "FGConfigFile.h"
  74 #include "FGInitialCondition.h"
  75
  76 static const char *IdSrc = "$Id$";
  77 static const char *IdHdr = ID_FDMEXEC;
  78
  79 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  80 GLOBAL DECLARATIONS
  81 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  82
  83 short debug_lvl;  // This describes to any interested entity the debug level
  84                   // requested by setting the JSBSIM_DEBUG environment variable.
  85                   // The bitmasked value choices are as follows:
  86                   // a) unset: In this case (the default) JSBSim would only print
  87                   //    out the normally expected messages, essentially echoing
  88                   //    the config files as they are read. If the environment
  89                   //    variable is not set, debug_lvl is set to 1 internally
  90                   // b) 0: This requests JSBSim not to output any messages
  91                   //    whatsoever.
  92                   // c) 1: This value explicity requests the normal JSBSim
  93                   //    startup messages
  94                   // d) 2: This value asks for a message to be printed out when
  95                   //    a class is instantiated
  96                   // e) 4: When this value is set, a message is displayed when a
  97                   //    FGModel object executes its Run() method
  98                   // f) 8: When this value is set, various runtime state variables
  99                   //    are printed out periodically
 100                   // g) 16: When set various parameters are sanity checked and
 101                   //    a message is printed out when they go out of bounds.
 102
 103 unsigned int FGFDMExec::FDMctr = 0;
 104
 105 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 106 CLASS IMPLEMENTATION
 107 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 108
 109 // Constructor
 110
 111 FGFDMExec::FGFDMExec(void)
 112 {
 113   Frame           = 0;
 114   FirstModel      = 0;
 115   Error           = 0;
 116   State           = 0;
 117   Atmosphere      = 0;
 118   FCS             = 0;
 119   Propulsion      = 0;
 120   MassBalance     = 0;
 121   Aerodynamics    = 0;
 122   Inertial        = 0;
 123   GroundReactions = 0;
 124   Aircraft        = 0;
 125   Translation     = 0;
 126   Rotation        = 0;
 127   Position        = 0;
 128   Auxiliary       = 0;
 129   Output          = 0;
 130
 131   terminate = false;
 132   frozen = false;
 133   modelLoaded = false;
 134   Scripted = false;
 135
 136   IdFDM = FDMctr;
 137   FDMctr++;
 138
 139   try {
 140     char* num = getenv("JSBSIM_DEBUG");
 141     if (!num) debug_lvl = 1;
 142     else debug_lvl = atoi(num); // set debug level
 143   } catch (...) {               // if error set to 1
 144     debug_lvl = 1;
 145   }
 146
 147   Debug(0);
 148
 149   Allocate();
 150 }
 151
 152 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 153
 154 FGFDMExec::~FGFDMExec()
 155 {
 156   DeAllocate();
 157
 158   Debug(1);
 159 }
 160
 161 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 162
 163 bool FGFDMExec::Allocate(void)
 164 {
 165   bool result=true;
 166
 167   Atmosphere      = new FGAtmosphere(this);
 168   FCS             = new FGFCS(this);
 169   Propulsion      = new FGPropulsion(this);
 170   MassBalance     = new FGMassBalance(this);
 171   Aerodynamics    = new FGAerodynamics (this);
 172   Inertial        = new FGInertial(this);
 173   GroundReactions = new FGGroundReactions(this);
 174   Aircraft        = new FGAircraft(this);
 175   Translation     = new FGTranslation(this);
 176   Rotation        = new FGRotation(this);
 177   Position        = new FGPosition(this);
 178   Auxiliary       = new FGAuxiliary(this);
 179   Output          = new FGOutput(this);
 180
 181   State        = new FGState(this); // This must be done here, as the FGState
 182                                     // class needs valid pointers to the above
 183                                     // model classes
 184
 185   // Initialize models so they can communicate with each other
 186
 187   if (!Atmosphere->InitModel()) {
 188     cerr << fgred << "Atmosphere model init failed" << fgdef << endl;
 189     Error+=1;}
 190   if (!FCS->InitModel())        {
 191     cerr << fgred << "FCS model init failed" << fgdef << endl;
 192     Error+=2;}
 193   if (!Propulsion->InitModel()) {
 194     cerr << fgred << "FGPropulsion model init failed" << fgdef << endl;
 195     Error+=4;}
 196   if (!MassBalance->InitModel()) {
 197     cerr << fgred << "FGMassBalance model init failed" << fgdef << endl;
 198     Error+=8;}
 199   if (!Aerodynamics->InitModel()) {
 200     cerr << fgred << "FGAerodynamics model init failed" << fgdef << endl;
 201     Error+=16;}
 202   if (!Inertial->InitModel()) {
 203     cerr << fgred << "FGInertial model init failed" << fgdef << endl;
 204     Error+=32;}
 205   if (!GroundReactions->InitModel())   {
 206     cerr << fgred << "Ground Reactions model init failed" << fgdef << endl;
 207     Error+=64;}
 208   if (!Aircraft->InitModel())   {
 209     cerr << fgred << "Aircraft model init failed" << fgdef << endl;
 210     Error+=128;}
 211   if (!Translation->InitModel()){
 212     cerr << fgred << "Translation model init failed" << fgdef << endl;
 213     Error+=256;}
 214   if (!Rotation->InitModel())   {
 215     cerr << fgred << "Rotation model init failed" << fgdef << endl;
 216     Error+=512;}
 217   if (!Position->InitModel())   {
 218     cerr << fgred << "Position model init failed" << fgdef << endl;
 219     Error+=1024;}
 220   if (!Auxiliary->InitModel())  {
 221     cerr << fgred << "Auxiliary model init failed" << fgdef << endl;
 222     Error+=2058;}
 223   if (!Output->InitModel())     {
 224     cerr << fgred << "Output model init failed" << fgdef << endl;
 225     Error+=4096;}
 226
 227   if (Error > 0) result = false;
 228
 229   // Schedule a model. The second arg (the integer) is the pass number. For
 230   // instance, the atmosphere model gets executed every fifth pass it is called
 231   // by the executive. Everything else here gets executed each pass.
 232
 233   Schedule(Atmosphere,      1);
 234   Schedule(FCS,             1);
 235   Schedule(Propulsion,      1);
 236   Schedule(MassBalance,     1);
 237   Schedule(Aerodynamics,    1);
 238   Schedule(Inertial,        1);
 239   Schedule(GroundReactions, 1);
 240   Schedule(Aircraft,        1);
 241   Schedule(Rotation,        1);
 242   Schedule(Translation,     1);
 243   Schedule(Position,        1);
 244   Schedule(Auxiliary,       1);
 245   Schedule(Output,          1);
 246
 247   modelLoaded = false;
 248
 249   return result;
 250 }
 251
 252 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 253
 254 bool FGFDMExec::DeAllocate(void) {
 255
 256   if ( Atmosphere != 0 )     delete Atmosphere;
 257   if ( FCS != 0 )            delete FCS;
 258   if ( Propulsion != 0)      delete Propulsion;
 259   if ( MassBalance != 0)     delete MassBalance;
 260   if ( Aerodynamics != 0)    delete Aerodynamics;
 261   if ( Inertial != 0)        delete Inertial;
 262   if ( GroundReactions != 0) delete GroundReactions;
 263   if ( Aircraft != 0 )       delete Aircraft;
 264   if ( Translation != 0 )    delete Translation;
 265   if ( Rotation != 0 )       delete Rotation;
 266   if ( Position != 0 )       delete Position;
 267   if ( Auxiliary != 0 )      delete Auxiliary;
 268   if ( Output != 0 )         delete Output;
 269   if ( State != 0 )          delete State;
 270
 271   FirstModel  = 0L;
 272   Error       = 0;
 273
 274   State           = 0;
 275   Atmosphere      = 0;
 276   FCS             = 0;
 277   Propulsion      = 0;
 278   MassBalance     = 0;
 279   Aerodynamics    = 0;
 280   Inertial        = 0;
 281   GroundReactions = 0;
 282   Aircraft        = 0;
 283   Translation     = 0;
 284   Rotation        = 0;
 285   Position        = 0;
 286   Auxiliary       = 0;
 287   Output          = 0;
 288
 289   modelLoaded = false;
 290   return modelLoaded;
 291 }
 292
 293 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 294
 295 int FGFDMExec::Schedule(FGModel* model, int rate)
 296 {
 297   FGModel* model_iterator;
 298
 299   model_iterator = FirstModel;
 300
 301   if (model_iterator == 0L) {                  // this is the first model
 302
 303     FirstModel = model;
 304     FirstModel->NextModel = 0L;
 305     FirstModel->SetRate(rate);
 306
 307   } else {                                     // subsequent model
 308
 309     while (model_iterator->NextModel != 0L) {
 310       model_iterator = model_iterator->NextModel;
 311     }
 312     model_iterator->NextModel = model;
 313     model_iterator->NextModel->SetRate(rate);
 314
 315   }
 316
 317   return 0;
 318 }
 319
 320 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 321
 322 bool FGFDMExec::Run(void)
 323 {
 324   FGModel* model_iterator;
 325
 326   if (frozen) return true;
 327
 328   model_iterator = FirstModel;
 329   if (model_iterator == 0L) return false;
 330
 331   if (Scripted) {
 332     RunScript();
 333     if (State->Getsim_time() >= EndTime) return false;
 334   }
 335
 336   Debug(2);
 337
 338   while (!model_iterator->Run()) {
 339     model_iterator = model_iterator->NextModel;
 340     if (model_iterator == 0L) break;
 341   }
 342
 343   frame = Frame++;
 344   State->IncrTime();
 345
 346   return true;
 347 }
 348
 349 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 350
 351 bool FGFDMExec::RunIC(FGInitialCondition *fgic)
 352 {
 353   State->Suspend();
 354   State->Initialize(fgic);
 355   Run();
 356   State->Resume();
 357   return true;
 358 }
 359
 360 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 361
 362 bool FGFDMExec::LoadModel(string APath, string EPath, string model)
 363 {
 364   bool result = false;
 365
 366   string aircraftCfgFileName;
 367
 368   AircraftPath = APath;
 369   EnginePath   = EPath;
 370
 371 # ifndef macintosh
 372   aircraftCfgFileName = AircraftPath + "/" + model + "/" + model + ".xml";
 373 # else
 374   aircraftCfgFileName = AircraftPath + ";" + model + ";" + model + ".xml";
 375 # endif
 376
 377   FGConfigFile AC_cfg(aircraftCfgFileName);
 378   if (!AC_cfg.IsOpen()) return false;
 379
 380   if (modelLoaded) {
 381     DeAllocate();
 382     Allocate();
 383   }
 384
 385   result = Aircraft->Load(&AC_cfg);
 386
 387   if (result) {
 388     modelLoaded = true;
 389     Debug(3);
 390   } else {
 391     cerr << fgred
 392          << "  FGFDMExec: Failed to load aircraft and/or engine model"
 393          << fgdef << endl;
 394   }
 395
 396   return result;
 397 }
 398
 399 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 400
 401 bool FGFDMExec::LoadScript(string script)
 402 {
 403   FGConfigFile Script(script);
 404   string token="";
 405   string aircraft="";
 406   string initialize="";
 407   bool result = false;
 408   double dt = 0.0;
 409   unsigned i;
 410   struct condition *newCondition;
 411
 412   if (!Script.IsOpen()) return false;
 413
 414   Script.GetNextConfigLine();
 415   ScriptName = Script.GetValue("name");
 416   Scripted = true;
 417   if (debug_lvl > 0) cout << "Reading Script File " << ScriptName << endl;
 418
 419   while (Script.GetNextConfigLine() != string("EOF") && Script.GetValue() != string("/runscript")) {
 420     token = Script.GetValue();
 421     if (token == "use") {
 422       if ((token = Script.GetValue("aircraft")) != string("")) {
 423         aircraft = token;
 424         if (debug_lvl > 0) cout << "  Use aircraft: " << token << endl;
 425       } else if ((token = Script.GetValue("initialize")) != string("")) {
 426         initialize = token;
 427         if (debug_lvl > 0) cout << "  Use reset file: " << token << endl;
 428       } else {
 429         cerr << "Unknown 'use' keyword: \"" << token << "\"" << endl;
 430       }
 431     } else if (token == "run") {
 432       StartTime = strtod(Script.GetValue("start").c_str(), NULL);
 433       State->Setsim_time(StartTime);
 434       EndTime   = strtod(Script.GetValue("end").c_str(), NULL);
 435       dt        = strtod(Script.GetValue("dt").c_str(), NULL);
 436       State->Setdt(dt);
 437       Script.GetNextConfigLine();
 438       token = Script.GetValue();
 439       while (token != string("/run")) {
 440
 441         if (token == "when") {
 442           Script.GetNextConfigLine();
 443           token = Script.GetValue();
 444           newCondition = new struct condition();
 445           while (token != string("/when")) {
 446             if (token == "parameter") {
 447               newCondition->TestParam.push_back(State->GetParameterIndex(Script.GetValue("name")));
 448               newCondition->TestValue.push_back(strtod(Script.GetValue("value").c_str(), NULL));
 449               newCondition->Comparison.push_back(Script.GetValue("comparison"));
 450             } else if (token == "set") {
 451               newCondition->SetParam.push_back(State->GetParameterIndex(Script.GetValue("name")));
 452               newCondition->SetValue.push_back(strtod(Script.GetValue("value").c_str(), NULL));
 453               newCondition->Triggered.push_back(false);
 454               newCondition->OriginalValue.push_back(0.0);
 455               newCondition->newValue.push_back(0.0);
 456               newCondition->StartTime.push_back(0.0);
 457               newCondition->EndTime.push_back(0.0);
 458               string tempCompare = Script.GetValue("type");
 459               if      (tempCompare == "FG_DELTA") newCondition->Type.push_back(FG_DELTA);
 460               else if (tempCompare == "FG_BOOL")  newCondition->Type.push_back(FG_BOOL);
 461               else if (tempCompare == "FG_VALUE") newCondition->Type.push_back(FG_VALUE);
 462               else                                newCondition->Type.push_back((eType)0);
 463               tempCompare = Script.GetValue("action");
 464               if      (tempCompare == "FG_RAMP") newCondition->Action.push_back(FG_RAMP);
 465               else if (tempCompare == "FG_STEP") newCondition->Action.push_back(FG_STEP);
 466               else if (tempCompare == "FG_EXP")  newCondition->Action.push_back(FG_EXP);
 467               else                               newCondition->Action.push_back((eAction)0);
 468
 469               if (Script.GetValue("persistent") == "true")
 470                 newCondition->Persistent.push_back(true);
 471               else
 472                 newCondition->Persistent.push_back(false);
 473
 474               newCondition->TC.push_back(strtod(Script.GetValue("tc").c_str(), NULL));
 475
 476             } else {
 477               cerr << "Unrecognized keyword in script file: \" [when] " << token << "\"" << endl;
 478             }
 479             Script.GetNextConfigLine();
 480             token = Script.GetValue();
 481           }
 482           Conditions.push_back(*newCondition);
 483           Script.GetNextConfigLine();
 484           token = Script.GetValue();
 485
 486         } else {
 487           cerr << "Error reading script file: expected \"when\", got \"" << token << "\"" << endl;
 488         }
 489
 490       }
 491     } else if (token.empty()) {
 492      // do nothing
 493     } else {
 494       cerr << "Unrecognized keyword in script file: \"" << token << "\" [runscript] " << endl;
 495     }
 496   }
 497
 498   if (aircraft == "") {
 499     cerr << "Aircraft file not loaded in script" << endl;
 500     exit(-1);
 501   }
 502
 503   Debug(4);
 504
 505   result = LoadModel("aircraft", "engine", aircraft);
 506   if (!result) {
 507     cerr << "Aircraft file " << aircraft << " was not found" << endl;
 508           exit(-1);
 509   }
 510
 511   FGInitialCondition IC(this);
 512   if ( ! IC.Load("aircraft", aircraft, initialize)) {
 513     cerr << "Initialization unsuccessful" << endl;
 514     exit(-1);
 515   }
 516
 517   return true;
 518 }
 519
 520 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 521
 522 void FGFDMExec::RunScript(void)
 523 {
 524   vector <struct condition>::iterator iC = Conditions.begin();
 525   bool truth = false;
 526   bool WholeTruth = false;
 527   unsigned i;
 528
 529   double currentTime = State->Getsim_time();
 530   double newSetValue = 0;
 531
 532   while (iC < Conditions.end()) {
 533     // determine whether the set of conditional tests for this condition equate
 534     // to true
 535     for (i=0; i<iC->TestValue.size(); i++) {
 536            if (iC->Comparison[i] == "lt")
 537               truth = State->GetParameter(iC->TestParam[i]) <  iC->TestValue[i];
 538       else if (iC->Comparison[i] == "le")
 539               truth = State->GetParameter(iC->TestParam[i]) <= iC->TestValue[i];
 540       else if (iC->Comparison[i] == "eq")
 541               truth = State->GetParameter(iC->TestParam[i]) == iC->TestValue[i];
 542       else if (iC->Comparison[i] == "ge")
 543               truth = State->GetParameter(iC->TestParam[i]) >= iC->TestValue[i];
 544       else if (iC->Comparison[i] == "gt")
 545               truth = State->GetParameter(iC->TestParam[i]) >  iC->TestValue[i];
 546       else if (iC->Comparison[i] == "ne")
 547               truth = State->GetParameter(iC->TestParam[i]) != iC->TestValue[i];
 548       else
 549               cerr << "Bad comparison" << endl;
 550
 551       if (i == 0) WholeTruth = truth;
 552       else        WholeTruth = WholeTruth && truth;
 553
 554       if (!truth && iC->Persistent[i] && iC->Triggered[i]) iC->Triggered[i] = false;
 555     }
 556
 557     // if the conditions are true, do the setting of the desired parameters
 558
 559     if (WholeTruth) {
 560       for (i=0; i<iC->SetValue.size(); i++) {
 561         if ( ! iC->Triggered[i]) {
 562           iC->OriginalValue[i] = State->GetParameter(iC->SetParam[i]);
 563           switch (iC->Type[i]) {
 564           case FG_VALUE:
 565             iC->newValue[i] = iC->SetValue[i];
 566             break;
 567           case FG_DELTA:
 568             iC->newValue[i] = iC->OriginalValue[i] + iC->SetValue[i];
 569             break;
 570           case FG_BOOL:
 571             iC->newValue[i] = iC->SetValue[i];
 572             break;
 573           default:
 574             cerr << "Invalid Type specified" << endl;
 575             break;
 576           }
 577           iC->Triggered[i] = true;
 578           iC->StartTime[i] = currentTime;
 579         }
 580
 581         switch (iC->Action[i]) {
 582         case FG_RAMP:
 583         newSetValue = (currentTime - iC->StartTime[i])/(iC->TC[i])
 584                       * (iC->newValue[i] - iC->OriginalValue[i]) + iC->OriginalValue[i];
 585           if (newSetValue > iC->newValue[i]) newSetValue = iC->newValue[i];
 586           break;
 587         case FG_STEP:
 588           newSetValue = iC->newValue[i];
 589           break;
 590         case FG_EXP:
 591           newSetValue = (1 - exp(-(currentTime - iC->StartTime[i])/(iC->TC[i])))
 592               * (iC->newValue[i] - iC->OriginalValue[i]) + iC->OriginalValue[i];
 593           break;
 594         default:
 595           cerr << "Invalid Action specified" << endl;
 596           break;
 597         }
 598         State->SetParameter(iC->SetParam[i], newSetValue);
 599       }
 600     }
 601     iC++;
 602   }
 603 }
 604
 605 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 606 //    The bitmasked value choices are as follows:
 607 //    unset: In this case (the default) JSBSim would only print
 608 //       out the normally expected messages, essentially echoing
 609 //       the config files as they are read. If the environment
 610 //       variable is not set, debug_lvl is set to 1 internally
 611 //    0: This requests JSBSim not to output any messages
 612 //       whatsoever.
 613 //    1: This value explicity requests the normal JSBSim
 614 //       startup messages
 615 //    2: This value asks for a message to be printed out when
 616 //       a class is instantiated
 617 //    4: When this value is set, a message is displayed when a
 618 //       FGModel object executes its Run() method
 619 //    8: When this value is set, various runtime state variables
 620 //       are printed out periodically
 621 //    16: When set various parameters are sanity checked and
 622 //       a message is printed out when they go out of bounds
 623
 624 void FGFDMExec::Debug(int from)
 625 {
 626   unsigned int i;
 627
 628   if (debug_lvl <= 0) return;
 629
 630   if (debug_lvl & 1) { // Standard console startup message output
 631     if (from == 0) { // Constructor
 632       cout << "\n\n     " << highint << underon << "JSBSim Flight Dynamics Model v"
 633                                      << JSBSim_version << underoff << normint << endl;
 634       cout << halfint << "            [cfg file spec v" << needed_cfg_version << "]\n\n";
 635       cout << normint << "JSBSim startup beginning ...\n\n";
 636     } else if (from == 3) {
 637       cout << "\n\nJSBSim startup complete\n\n";
 638     } else if (from == 4)  { // print out script data
 639       vector <struct condition>::iterator iterConditions = Conditions.begin();
 640       int count=0;
 641
 642       cout << "\n  Script goes from " << StartTime << " to " << EndTime
 643            << " with dt = " << State->Getdt() << endl << endl;
 644
 645       while (iterConditions < Conditions.end()) {
 646         cout << "  Condition: " << count++ << endl;
 647         cout << "    if (";
 648
 649         for (i=0; i<iterConditions->TestValue.size(); i++) {
 650           if (i>0) cout << " and" << endl << "        ";
 651           cout << "(" << State->paramdef[iterConditions->TestParam[i]]
 652                       << iterConditions->Comparison[i] << " "
 653                       << iterConditions->TestValue[i] << ")";
 654         }
 655         cout << ") then {";
 656
 657         for (i=0; i<iterConditions->SetValue.size(); i++) {
 658           cout << endl << "      set" << State->paramdef[iterConditions->SetParam[i]]
 659                << "to " << iterConditions->SetValue[i];
 660
 661           switch (iterConditions->Type[i]) {
 662           case FG_VALUE:
 663             cout << " (constant";
 664             break;
 665           case FG_DELTA:
 666             cout << " (delta";
 667             break;
 668           case FG_BOOL:
 669             cout << " (boolean";
 670             break;
 671           default:
 672             cout << " (unspecified type";
 673           }
 674
 675           switch (iterConditions->Action[i]) {
 676           case FG_RAMP:
 677             cout << " via ramp";
 678             break;
 679           case FG_STEP:
 680             cout << " via step";
 681             break;
 682           case FG_EXP:
 683             cout << " via exponential approach";
 684             break;
 685           default:
 686             cout << " via unspecified action";
 687           }
 688
 689           if (!iterConditions->Persistent[i]) cout << endl
 690                              << "                              once";
 691           else cout << endl
 692                              << "                              repeatedly";
 693
 694           if (iterConditions->Action[i] == FG_RAMP ||
 695               iterConditions->Action[i] == FG_EXP) cout << endl
 696                              << "                              with time constant "
 697                              << iterConditions->TC[i];
 698         }
 699         cout << ")" << endl << "    }" << endl << endl;
 700
 701         iterConditions++;
 702       }
 703
 704       cout << endl;
 705     }
 706   }
 707   if (debug_lvl & 2 ) { // Instantiation/Destruction notification
 708     if (from == 0) cout << "Instantiated: FGFDMExec" << endl;
 709     if (from == 1) cout << "Destroyed:    FGFDMExec" << endl;
 710   }
 711   if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
 712     if (from == 2) {
 713       cout << "================== Frame: " << Frame << "  Time: "
 714            << State->Getsim_time() << endl;
 715     }
 716   }
 717   if (debug_lvl & 8 ) { // Runtime state variables
 718   }
 719   if (debug_lvl & 16) { // Sanity checking
 720   }
 721 }