1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
6 Purpose: Schedules and runs the model routines.
8 ------------- Copyright (C) 1999 Jon S. Berndt (jon@jsbsim.org) -------------
10 This program is free software; you can redistribute it and/or modify it under
11 the terms of the GNU Lesser 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 Lesser General Public License for more
20 You should have received a copy of the GNU Lesser 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 Lesser 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 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
44 #include "FGFDMExec.h"
45 #include "models/FGAtmosphere.h"
46 #include "models/atmosphere/FGMSIS.h"
47 #include "models/atmosphere/FGMars.h"
48 #include "models/FGFCS.h"
49 #include "models/FGPropulsion.h"
50 #include "models/FGMassBalance.h"
51 #include "models/FGGroundReactions.h"
52 #include "models/FGExternalReactions.h"
53 #include "models/FGBuoyantForces.h"
54 #include "models/FGAerodynamics.h"
55 #include "models/FGInertial.h"
56 #include "models/FGAircraft.h"
57 #include "models/FGPropagate.h"
58 #include "models/FGAuxiliary.h"
59 #include "models/FGInput.h"
60 #include "models/FGOutput.h"
61 #include "initialization/FGInitialCondition.h"
62 //#include "initialization/FGTrimAnalysis.h" // Remove until later
63 #include "input_output/FGPropertyManager.h"
64 #include "input_output/FGScript.h"
74 static const char *IdSrc = "$Id: FGFDMExec.cpp,v 1.91 2011/04/05 20:20:21 andgi Exp $";
75 static const char *IdHdr = ID_FDMEXEC;
77 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
79 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
81 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
84 FGFDMExec::FGFDMExec(FGPropertyManager* root, unsigned int* fdmctr) : Root(root), FDMctr(fdmctr)
97 ExternalReactions = 0;
116 dT = 1.0/120.0; // a default timestep size. This is needed for when JSBSim is
117 // run in standalone mode with no initialization file.
119 AircraftPath = "aircraft";
120 EnginePath = "engine";
121 SystemsPath = "systems";
124 char* num = getenv("JSBSIM_DEBUG");
125 if (num) debug_lvl = atoi(num); // set debug level
126 } catch (...) { // if error set to 1
130 if (Root == 0) { // Then this is the root FDM
131 Root = new FGPropertyManager; // Create the property manager
136 FDMctr = new unsigned int; // Create and initialize the child FDM counter
140 // Store this FDM's ID
141 IdFDM = (*FDMctr); // The main (parent) JSBSim instance is always the "zeroth"
143 // Prepare FDMctr for the next child FDM id
144 (*FDMctr)++; // instance. "child" instances are loaded last.
146 instance = Root->GetNode("/fdm/jsbsim",IdFDM,true);
148 // this is to catch errors in binding member functions to the property tree.
151 } catch ( string msg ) {
152 cout << "Caught error: " << msg << endl;
160 typedef int (FGFDMExec::*iPMF)(void) const;
161 // instance->Tie("simulation/do_trim_analysis", this, (iPMF)0, &FGFDMExec::DoTrimAnalysis, false);
162 instance->Tie("simulation/do_simple_trim", this, (iPMF)0, &FGFDMExec::DoTrim, false);
163 instance->Tie("simulation/reset", this, (iPMF)0, &FGFDMExec::ResetToInitialConditions, false);
164 instance->Tie("simulation/terminate", (int *)&Terminate);
165 instance->Tie("simulation/sim-time-sec", this, &FGFDMExec::GetSimTime);
166 instance->Tie("simulation/jsbsim-debug", this, &FGFDMExec::GetDebugLevel, &FGFDMExec::SetDebugLevel);
167 instance->Tie("simulation/frame", (int *)&Frame, false);
169 Constructing = false;
172 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
174 FGFDMExec::~FGFDMExec()
180 if (IdFDM == 0) { // Meaning this is no child FDM
191 } catch ( string msg ) {
192 cout << "Caught error: " << msg << endl;
195 for (unsigned int i=1; i<ChildFDMList.size(); i++) delete ChildFDMList[i]->exec;
196 ChildFDMList.clear();
198 PropertyCatalog.clear();
205 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
207 bool FGFDMExec::Allocate(void)
211 Atmosphere = new FGAtmosphere(this);
212 FCS = new FGFCS(this);
213 Propulsion = new FGPropulsion(this);
214 MassBalance = new FGMassBalance(this);
215 Aerodynamics = new FGAerodynamics (this);
216 Inertial = new FGInertial(this);
218 GroundCallback = new FGGroundCallback(Inertial->GetRefRadius());
220 GroundReactions = new FGGroundReactions(this);
221 ExternalReactions = new FGExternalReactions(this);
222 BuoyantForces = new FGBuoyantForces(this);
223 Aircraft = new FGAircraft(this);
224 Propagate = new FGPropagate(this);
225 Auxiliary = new FGAuxiliary(this);
226 Input = new FGInput(this);
228 // Schedule a model. The second arg (the integer) is the pass number. For
229 // instance, the atmosphere model could get executed every fifth pass it is called.
232 Schedule(Atmosphere, 1);
234 Schedule(Propulsion, 1);
235 Schedule(MassBalance, 1);
236 Schedule(Aerodynamics, 1);
237 Schedule(Inertial, 1);
238 Schedule(GroundReactions, 1);
239 Schedule(ExternalReactions, 1);
240 Schedule(BuoyantForces, 1);
241 Schedule(Aircraft, 1);
242 Schedule(Propagate, 1);
243 Schedule(Auxiliary, 1);
245 // Initialize models so they can communicate with each other
247 vector <FGModel*>::iterator it;
248 for (it = Models.begin(); it != Models.end(); ++it) (*it)->InitModel();
250 IC = new FGInitialCondition(this);
257 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
259 bool FGFDMExec::DeAllocate(void)
268 delete GroundReactions;
269 delete ExternalReactions;
270 delete BuoyantForces;
276 for (unsigned i=0; i<Outputs.size(); i++) delete Outputs[i];
282 delete GroundCallback;
294 ExternalReactions = 0;
307 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
309 void FGFDMExec::Schedule(FGModel* model, int rate)
311 model->SetRate(rate);
312 Models.push_back(model);
315 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
317 bool FGFDMExec::Run(void)
323 for (unsigned int i=1; i<ChildFDMList.size(); i++) {
324 ChildFDMList[i]->AssignState(Propagate); // Transfer state to the child FDM
325 ChildFDMList[i]->Run();
328 // returns true if success, false if complete
329 if (Script != 0 && !IntegrationSuspended()) success = Script->RunScript();
331 vector <FGModel*>::iterator it;
332 for (it = Models.begin(); it != Models.end(); ++it) (*it)->Run();
335 if (!Holding()) IncrTime();
336 if (Terminate) success = false;
341 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
342 // This call will cause the sim time to reset to 0.0
344 bool FGFDMExec::RunIC(void)
346 SuspendIntegration(); // saves the integration rate, dt, then sets it to 0.0.
349 ResumeIntegration(); // Restores the integration rate to what it was.
354 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
356 void FGFDMExec::Initialize(FGInitialCondition *FGIC)
360 Propagate->SetInitialState( FGIC );
363 Atmosphere->SetWindNED( FGIC->GetWindNFpsIC(),
364 FGIC->GetWindEFpsIC(),
365 FGIC->GetWindDFpsIC() );
367 FGColumnVector3 vAeroUVW;
369 //ToDo: move this to the Auxiliary class !?
371 vAeroUVW = Propagate->GetUVW() + Propagate->GetTl2b()*Atmosphere->GetTotalWindNED();
374 if (vAeroUVW(eW) != 0.0)
375 alpha = vAeroUVW(eU)*vAeroUVW(eU) > 0.0 ? atan2(vAeroUVW(eW), vAeroUVW(eU)) : 0.0;
378 if (vAeroUVW(eV) != 0.0)
379 beta = vAeroUVW(eU)*vAeroUVW(eU)+vAeroUVW(eW)*vAeroUVW(eW) > 0.0 ? atan2(vAeroUVW(eV), (fabs(vAeroUVW(eU))/vAeroUVW(eU))*sqrt(vAeroUVW(eU)*vAeroUVW(eU) + vAeroUVW(eW)*vAeroUVW(eW))) : 0.0;
383 Auxiliary->SetAB(alpha, beta);
385 double Vt = vAeroUVW.Magnitude();
386 Auxiliary->SetVt(Vt);
388 Auxiliary->SetMach(Vt/Atmosphere->GetSoundSpeed());
390 double qbar = 0.5*Vt*Vt*Atmosphere->GetDensity();
391 Auxiliary->Setqbar(qbar);
394 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
396 // A private, internal function call for Tie-ing to a property, so it needs an
399 void FGFDMExec::ResetToInitialConditions(int mode)
402 for (unsigned int i=0; i<Outputs.size(); i++) {
403 Outputs[i]->SetStartNewFile(true);
407 ResetToInitialConditions();
410 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
412 void FGFDMExec::ResetToInitialConditions(void)
414 if (Constructing) return;
416 vector <FGModel*>::iterator it;
417 for (it = Models.begin(); it != Models.end(); ++it) (*it)->InitModel();
420 if (Script) Script->ResetEvents();
423 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
425 void FGFDMExec::SetGroundCallback(FGGroundCallback* p)
427 delete GroundCallback;
431 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
433 vector <string> FGFDMExec::EnumerateFDMs(void)
435 vector <string> FDMList;
437 FDMList.push_back(Aircraft->GetAircraftName());
439 for (unsigned int i=1; i<ChildFDMList.size(); i++) {
440 FDMList.push_back(ChildFDMList[i]->exec->GetAircraft()->GetAircraftName());
446 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
448 bool FGFDMExec::LoadScript(const string& script, double deltaT)
452 Script = new FGScript(this);
453 result = Script->LoadScript(RootDir + script, deltaT);
458 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
460 bool FGFDMExec::LoadModel(const string& AircraftPath, const string& EnginePath, const string& SystemsPath,
461 const string& model, bool addModelToPath)
463 FGFDMExec::AircraftPath = RootDir + AircraftPath;
464 FGFDMExec::EnginePath = RootDir + EnginePath;
465 FGFDMExec::SystemsPath = RootDir + SystemsPath;
467 return LoadModel(model, addModelToPath);
470 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
472 bool FGFDMExec::LoadModel(const string& model, bool addModelToPath)
475 string aircraftCfgFileName;
476 Element* element = 0L;
477 bool result = false; // initialize result to false, indicating input file not yet read
479 modelName = model; // Set the class modelName attribute
481 if( AircraftPath.empty() || EnginePath.empty() || SystemsPath.empty()) {
482 cerr << "Error: attempted to load aircraft with undefined ";
483 cerr << "aircraft, engine, and system paths" << endl;
487 FullAircraftPath = AircraftPath;
488 if (addModelToPath) FullAircraftPath += "/" + model;
489 aircraftCfgFileName = FullAircraftPath + "/" + model + ".xml";
496 int saved_debug_lvl = debug_lvl;
498 document = LoadXMLDocument(aircraftCfgFileName); // "document" is a class member
500 if (IsChild) debug_lvl = 0;
502 ReadPrologue(document);
504 if (IsChild) debug_lvl = saved_debug_lvl;
506 // Process the fileheader element in the aircraft config file. This element is OPTIONAL.
507 element = document->FindElement("fileheader");
509 result = ReadFileHeader(element);
511 cerr << endl << "Aircraft fileheader element has problems in file " << aircraftCfgFileName << endl;
516 if (IsChild) debug_lvl = 0;
518 // Process the metrics element. This element is REQUIRED.
519 element = document->FindElement("metrics");
521 result = Aircraft->Load(element);
523 cerr << endl << "Aircraft metrics element has problems in file " << aircraftCfgFileName << endl;
527 cerr << endl << "No metrics element was found in the aircraft config file." << endl;
531 // Process the mass_balance element. This element is REQUIRED.
532 element = document->FindElement("mass_balance");
534 result = MassBalance->Load(element);
536 cerr << endl << "Aircraft mass_balance element has problems in file " << aircraftCfgFileName << endl;
540 cerr << endl << "No mass_balance element was found in the aircraft config file." << endl;
544 // Process the ground_reactions element. This element is REQUIRED.
545 element = document->FindElement("ground_reactions");
547 result = GroundReactions->Load(element);
549 cerr << endl << "Aircraft ground_reactions element has problems in file " << aircraftCfgFileName << endl;
553 cerr << endl << "No ground_reactions element was found in the aircraft config file." << endl;
557 // Process the external_reactions element. This element is OPTIONAL.
558 element = document->FindElement("external_reactions");
560 result = ExternalReactions->Load(element);
562 cerr << endl << "Aircraft external_reactions element has problems in file " << aircraftCfgFileName << endl;
567 // Process the buoyant_forces element. This element is OPTIONAL.
568 element = document->FindElement("buoyant_forces");
570 result = BuoyantForces->Load(element);
572 cerr << endl << "Aircraft buoyant_forces element has problems in file " << aircraftCfgFileName << endl;
577 // Process the propulsion element. This element is OPTIONAL.
578 element = document->FindElement("propulsion");
580 result = Propulsion->Load(element);
582 cerr << endl << "Aircraft propulsion element has problems in file " << aircraftCfgFileName << endl;
587 // Process the system element[s]. This element is OPTIONAL, and there may be more than one.
588 element = document->FindElement("system");
590 result = FCS->Load(element, FGFCS::stSystem);
592 cerr << endl << "Aircraft system element has problems in file " << aircraftCfgFileName << endl;
595 element = document->FindNextElement("system");
598 // Process the autopilot element. This element is OPTIONAL.
599 element = document->FindElement("autopilot");
601 result = FCS->Load(element, FGFCS::stAutoPilot);
603 cerr << endl << "Aircraft autopilot element has problems in file " << aircraftCfgFileName << endl;
608 // Process the flight_control element. This element is OPTIONAL.
609 element = document->FindElement("flight_control");
611 result = FCS->Load(element, FGFCS::stFCS);
613 cerr << endl << "Aircraft flight_control element has problems in file " << aircraftCfgFileName << endl;
618 // Process the aerodynamics element. This element is OPTIONAL, but almost always expected.
619 element = document->FindElement("aerodynamics");
621 result = Aerodynamics->Load(element);
623 cerr << endl << "Aircraft aerodynamics element has problems in file " << aircraftCfgFileName << endl;
627 cerr << endl << "No expected aerodynamics element was found in the aircraft config file." << endl;
630 // Process the input element. This element is OPTIONAL.
631 element = document->FindElement("input");
633 result = Input->Load(element);
635 cerr << endl << "Aircraft input element has problems in file " << aircraftCfgFileName << endl;
640 // Process the output element[s]. This element is OPTIONAL, and there may be more than one.
642 typedef double (FGOutput::*iOPMF)(void) const;
643 typedef int (FGFDMExec::*iOPV)(void) const;
644 typedef void (FGFDMExec::*vOPI)(int) const;
645 element = document->FindElement("output");
647 if (debug_lvl > 0) cout << endl << " Output data set: " << idx << " ";
648 FGOutput* Output = new FGOutput(this);
651 result = Output->Load(element);
653 cerr << endl << "Aircraft output element has problems in file " << aircraftCfgFileName << endl;
656 Outputs.push_back(Output);
657 string outputProp = CreateIndexedPropertyName("simulation/output",idx);
658 instance->Tie(outputProp+"/log_rate_hz", Output, (iOPMF)0, &FGOutput::SetRate, false);
659 instance->Tie("simulation/force-output", this, (iOPV)0, &FGFDMExec::ForceOutput, false);
662 element = document->FindNextElement("output");
665 // Lastly, process the child element. This element is OPTIONAL - and NOT YET SUPPORTED.
666 element = document->FindElement("child");
668 result = ReadChild(element);
670 cerr << endl << "Aircraft child element has problems in file " << aircraftCfgFileName << endl;
678 MassBalance->Run(); // Update all mass properties for the report.
679 MassBalance->GetMassPropertiesReport();
681 cout << endl << fgblue << highint
682 << "End of vehicle configuration loading." << endl
683 << "-------------------------------------------------------------------------------"
687 if (IsChild) debug_lvl = saved_debug_lvl;
691 << " JSBSim failed to open the configuration file: " << aircraftCfgFileName
696 struct PropertyCatalogStructure masterPCS;
697 masterPCS.base_string = "";
698 masterPCS.node = (FGPropertyManager*)Root;
699 BuildPropertyCatalog(&masterPCS);
705 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
707 void FGFDMExec::BuildPropertyCatalog(struct PropertyCatalogStructure* pcs)
709 struct PropertyCatalogStructure* pcsNew = new struct PropertyCatalogStructure;
712 for (int i=0; i<pcs->node->nChildren(); i++) {
713 pcsNew->base_string = pcs->base_string + "/" + pcs->node->getChild(i)->getName();
714 node_idx = pcs->node->getChild(i)->getIndex();
716 pcsNew->base_string = CreateIndexedPropertyName(pcsNew->base_string, node_idx);
718 if (pcs->node->getChild(i)->nChildren() == 0) {
719 if (pcsNew->base_string.substr(0,11) == string("/fdm/jsbsim")) {
720 pcsNew->base_string = pcsNew->base_string.erase(0,12);
722 PropertyCatalog.push_back(pcsNew->base_string);
724 pcsNew->node = (FGPropertyManager*)pcs->node->getChild(i);
725 BuildPropertyCatalog(pcsNew);
731 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
733 string FGFDMExec::QueryPropertyCatalog(const string& in)
736 for (unsigned i=0; i<PropertyCatalog.size(); i++) {
737 if (PropertyCatalog[i].find(in) != string::npos) results += PropertyCatalog[i] + "\n";
739 if (results.empty()) return "No matches found\n";
743 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
745 void FGFDMExec::PrintPropertyCatalog(void)
748 cout << " " << fgblue << highint << underon << "Property Catalog for "
749 << modelName << reset << endl << endl;
750 for (unsigned i=0; i<PropertyCatalog.size(); i++) {
751 cout << " " << PropertyCatalog[i] << endl;
755 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
757 bool FGFDMExec::ReadFileHeader(Element* el)
759 bool result = true; // true for success
761 if (debug_lvl == 0) return result;
764 cout << endl <<highint << fgblue << "Reading child model: " << IdFDM << reset << endl << endl;
767 if (el->FindElement("description"))
768 cout << " Description: " << el->FindElement("description")->GetDataLine() << endl;
769 if (el->FindElement("author"))
770 cout << " Model Author: " << el->FindElement("author")->GetDataLine() << endl;
771 if (el->FindElement("filecreationdate"))
772 cout << " Creation Date: " << el->FindElement("filecreationdate")->GetDataLine() << endl;
773 if (el->FindElement("version"))
774 cout << " Version: " << el->FindElement("version")->GetDataLine() << endl;
779 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
781 bool FGFDMExec::ReadPrologue(Element* el) // el for ReadPrologue is the document element
783 bool result = true; // true for success
785 if (!el) return false;
787 string AircraftName = el->GetAttributeValue("name");
788 Aircraft->SetAircraftName(AircraftName);
790 if (debug_lvl & 1) cout << underon << "Reading Aircraft Configuration File"
791 << underoff << ": " << highint << AircraftName << normint << endl;
793 CFGVersion = el->GetAttributeValue("version");
794 Release = el->GetAttributeValue("release");
797 cout << " Version: " << highint << CFGVersion
799 if (CFGVersion != needed_cfg_version) {
800 cerr << endl << fgred << "YOU HAVE AN INCOMPATIBLE CFG FILE FOR THIS AIRCRAFT."
801 " RESULTS WILL BE UNPREDICTABLE !!" << endl;
802 cerr << "Current version needed is: " << needed_cfg_version << endl;
803 cerr << " You have version: " << CFGVersion << endl << fgdef << endl;
807 if (Release == "ALPHA" && (debug_lvl & 1)) {
809 << highint << "This aircraft model is an " << fgred << Release
810 << reset << highint << " release!!!" << endl << endl << reset
811 << "This aircraft model may not even properly load, and probably"
812 << " will not fly as expected." << endl << endl
813 << fgred << highint << "Use this model for development purposes ONLY!!!"
814 << normint << reset << endl << endl;
815 } else if (Release == "BETA" && (debug_lvl & 1)) {
817 << highint << "This aircraft model is a " << fgred << Release
818 << reset << highint << " release!!!" << endl << endl << reset
819 << "This aircraft model probably will not fly as expected." << endl << endl
820 << fgblue << highint << "Use this model for development purposes ONLY!!!"
821 << normint << reset << endl << endl;
822 } else if (Release == "PRODUCTION" && (debug_lvl & 1)) {
824 << highint << "This aircraft model is a " << fgblue << Release
825 << reset << highint << " release." << endl << endl << reset;
826 } else if (debug_lvl & 1) {
828 << highint << "This aircraft model is an " << fgred << Release
829 << reset << highint << " release!!!" << endl << endl << reset
830 << "This aircraft model may not even properly load, and probably"
831 << " will not fly as expected." << endl << endl
832 << fgred << highint << "Use this model for development purposes ONLY!!!"
833 << normint << reset << endl << endl;
839 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
841 bool FGFDMExec::ReadChild(Element* el)
843 // Add a new childData object to the child FDM list
844 // Populate that childData element with a new FDMExec object
845 // Set the IsChild flag for that FDMExec object
846 // Get the aircraft name
847 // set debug level to print out no additional data for child objects
848 // Load the model given the aircraft name
849 // reset debug level to prior setting
853 struct childData* child = new childData;
855 child->exec = new FGFDMExec(Root, FDMctr);
856 child->exec->SetChild(true);
858 string childAircraft = el->GetAttributeValue("name");
859 string sMated = el->GetAttributeValue("mated");
860 if (sMated == "false") child->mated = false; // child objects are mated by default.
861 string sInternal = el->GetAttributeValue("internal");
862 if (sInternal == "true") child->internal = true; // child objects are external by default.
864 child->exec->SetAircraftPath( AircraftPath );
865 child->exec->SetEnginePath( EnginePath );
866 child->exec->SetSystemsPath( SystemsPath );
867 child->exec->LoadModel(childAircraft);
869 Element* location = el->FindElement("location");
871 child->Loc = location->FindElementTripletConvertTo("IN");
873 cerr << endl << highint << fgred << " No location was found for this child object!" << reset << endl;
877 Element* orientation = el->FindElement("orient");
879 child->Orient = orientation->FindElementTripletConvertTo("RAD");
880 } else if (debug_lvl > 0) {
881 cerr << endl << highint << " No orientation was found for this child object! Assuming 0,0,0." << reset << endl;
884 ChildFDMList.push_back(child);
889 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
891 FGPropertyManager* FGFDMExec::GetPropertyManager(void)
896 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
898 FGTrim* FGFDMExec::GetTrim(void)
901 Trim = new FGTrim(this,tNone);
905 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
907 void FGFDMExec::DisableOutput(void)
909 for (unsigned i=0; i<Outputs.size(); i++) {
910 Outputs[i]->Disable();
914 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
916 void FGFDMExec::EnableOutput(void)
918 for (unsigned i=0; i<Outputs.size(); i++) {
919 Outputs[i]->Enable();
923 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
925 void FGFDMExec::ForceOutput(int idx)
927 if (idx >= 0 && idx < Outputs.size()) Outputs[idx]->Print();
930 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
932 bool FGFDMExec::SetOutputDirectives(const string& fname)
936 FGOutput* Output = new FGOutput(this);
937 Output->SetDirectivesFile(RootDir + fname);
940 result = Output->Load(0);
943 Outputs.push_back(Output);
944 typedef double (FGOutput::*iOPMF)(void) const;
945 string outputProp = CreateIndexedPropertyName("simulation/output",Outputs.size()-1);
946 instance->Tie(outputProp+"/log_rate_hz", Output, (iOPMF)0, &FGOutput::SetRate, false);
952 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
954 void FGFDMExec::DoTrim(int mode)
958 if (Constructing) return;
960 if (mode < 0 || mode > JSBSim::tNone) {
961 cerr << endl << "Illegal trimming mode!" << endl << endl;
964 saved_time = sim_time;
965 FGTrim trim(this, (JSBSim::TrimMode)mode);
966 if ( !trim.DoTrim() ) cerr << endl << "Trim Failed" << endl << endl;
968 sim_time = saved_time;
971 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
973 void FGFDMExec::DoTrimAnalysis(int mode)
976 if (Constructing) return;
978 if (mode < 0 || mode > JSBSim::taNone) {
979 cerr << endl << "Illegal trimming mode!" << endl << endl;
982 saved_time = sim_time;
984 FGTrimAnalysis trimAnalysis(this, (JSBSim::TrimAnalysisMode)mode);
986 if ( !trimAnalysis.Load(IC->GetInitFile(), false) ) {
987 cerr << "A problem occurred with trim configuration file " << trimAnalysis.Load(IC->GetInitFile()) << endl;
991 bool result = trimAnalysis.DoTrim();
993 if ( !result ) cerr << endl << "Trim Failed" << endl << endl;
995 trimAnalysis.Report();
996 Setsim_time(saved_time);
999 cout << "\nOutput: " << GetOutputFileName() << endl;
1003 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
1005 void FGFDMExec::UseAtmosphereMSIS(void)
1007 FGAtmosphere *oldAtmosphere = Atmosphere;
1008 Atmosphere = new MSIS(this);
1009 if (!Atmosphere->InitModel()) {
1010 cerr << fgred << "MSIS Atmosphere model init failed" << fgdef << endl;
1013 delete oldAtmosphere;
1016 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
1018 void FGFDMExec::UseAtmosphereMars(void)
1021 FGAtmosphere *oldAtmosphere = Atmosphere;
1022 Atmosphere = new FGMars(this);
1023 if (!Atmosphere->InitModel()) {
1024 cerr << fgred << "Mars Atmosphere model init failed" << fgdef << endl;
1027 delete oldAtmosphere;
1031 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
1032 // The bitmasked value choices are as follows:
1033 // unset: In this case (the default) JSBSim would only print
1034 // out the normally expected messages, essentially echoing
1035 // the config files as they are read. If the environment
1036 // variable is not set, debug_lvl is set to 1 internally
1037 // 0: This requests JSBSim not to output any messages
1039 // 1: This value explicity requests the normal JSBSim
1041 // 2: This value asks for a message to be printed out when
1042 // a class is instantiated
1043 // 4: When this value is set, a message is displayed when a
1044 // FGModel object executes its Run() method
1045 // 8: When this value is set, various runtime state variables
1046 // are printed out periodically
1047 // 16: When set various parameters are sanity checked and
1048 // a message is printed out when they go out of bounds
1050 void FGFDMExec::Debug(int from)
1052 if (debug_lvl <= 0) return;
1054 if (debug_lvl & 1 && IdFDM == 0) { // Standard console startup message output
1055 if (from == 0) { // Constructor
1056 cout << "\n\n " << highint << underon << "JSBSim Flight Dynamics Model v"
1057 << JSBSim_version << underoff << normint << endl;
1058 cout << halfint << " [JSBSim-ML v" << needed_cfg_version << "]\n\n";
1059 cout << normint << "JSBSim startup beginning ...\n\n";
1060 } else if (from == 3) {
1061 cout << "\n\nJSBSim startup complete\n\n";
1064 if (debug_lvl & 2 ) { // Instantiation/Destruction notification
1065 if (from == 0) cout << "Instantiated: FGFDMExec" << endl;
1066 if (from == 1) cout << "Destroyed: FGFDMExec" << endl;
1068 if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
1070 cout << "================== Frame: " << Frame << " Time: "
1071 << sim_time << " dt: " << dT << endl;
1074 if (debug_lvl & 8 ) { // Runtime state variables
1076 if (debug_lvl & 16) { // Sanity checking
1078 if (debug_lvl & 64) {
1079 if (from == 0) { // Constructor
1080 cout << IdSrc << endl;
1081 cout << IdHdr << endl;