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 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"
46 #include <models/FGAtmosphere.h>
47 #include <models/atmosphere/FGMSIS.h>
48 #include <models/atmosphere/FGMars.h>
49 #include <models/FGFCS.h>
50 #include <models/FGPropulsion.h>
51 #include <models/FGMassBalance.h>
52 #include <models/FGGroundReactions.h>
53 #include <models/FGExternalReactions.h>
54 #include <models/FGBuoyantForces.h>
55 #include <models/FGAerodynamics.h>
56 #include <models/FGInertial.h>
57 #include <models/FGAircraft.h>
58 #include <models/FGPropagate.h>
59 #include <models/FGAuxiliary.h>
60 #include <models/FGInput.h>
61 #include <models/FGOutput.h>
62 #include <initialization/FGInitialCondition.h>
63 //#include <initialization/FGTrimAnalysis.h> // Remove until later
64 #include <input_output/FGPropertyManager.h>
65 #include <input_output/FGScript.h>
72 static const char *IdSrc = "$Id$";
73 static const char *IdHdr = ID_FDMEXEC;
75 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
77 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
79 unsigned int FGFDMExec::FDMctr = 0;
80 FGPropertyManager* FGFDMExec::master=0;
82 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
84 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
86 void checkTied ( FGPropertyManager *node )
88 int N = node->nChildren();
91 for (int i=0; i<N; i++) {
92 if (node->getChild(i)->nChildren() ) {
93 checkTied( (FGPropertyManager*)node->getChild(i) );
94 } else if ( node->getChild(i)->isTied() ) {
95 name = ((FGPropertyManager*)node->getChild(i))->GetFullyQualifiedName();
101 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
104 FGFDMExec::FGFDMExec(FGPropertyManager* root) : Root(root)
119 ExternalReactions = 0;
134 IdFDM = FDMctr; // The main (parent) JSBSim instance is always the "zeroth"
135 FDMctr++; // instance. "child" instances are loaded last.
138 char* num = getenv("JSBSIM_DEBUG");
139 if (num) debug_lvl = atoi(num); // set debug level
140 } catch (...) { // if error set to 1
146 master = new FGPropertyManager;
150 instance = Root->GetNode("/fdm/jsbsim",IdFDM,true);
152 // this is to catch errors in binding member functions to the property tree.
155 } catch ( string msg ) {
156 cout << "Caught error: " << msg << endl;
164 typedef int (FGFDMExec::*iPMF)(void) const;
165 // instance->Tie("simulation/do_trim_analysis", this, (iPMF)0, &FGFDMExec::DoTrimAnalysis);
166 instance->Tie("simulation/do_simple_trim", this, (iPMF)0, &FGFDMExec::DoTrim);
167 instance->Tie("simulation/reset", this, (iPMF)0, &FGFDMExec::ResetToInitialConditions);
168 instance->Tie("simulation/terminate", (int *)&Terminate);
169 Constructing = false;
172 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
174 FGFDMExec::~FGFDMExec()
177 checkTied( instance );
179 if (Root == 0) delete master;
180 } catch ( string msg ) {
181 cout << "Caught error: " << msg << endl;
184 for (unsigned int i=1; i<ChildFDMList.size(); i++) delete ChildFDMList[i]->exec;
185 ChildFDMList.clear();
187 PropertyCatalog.clear();
192 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
194 bool FGFDMExec::Allocate(void)
198 Atmosphere = new FGAtmosphere(this);
199 FCS = new FGFCS(this);
200 Propulsion = new FGPropulsion(this);
201 MassBalance = new FGMassBalance(this);
202 Aerodynamics = new FGAerodynamics (this);
203 Inertial = new FGInertial(this);
205 GroundCallback = new FGGroundCallback(Inertial->GetRefRadius());
207 GroundReactions = new FGGroundReactions(this);
208 ExternalReactions = new FGExternalReactions(this);
209 BuoyantForces = new FGBuoyantForces(this);
210 Aircraft = new FGAircraft(this);
211 Propagate = new FGPropagate(this);
212 Auxiliary = new FGAuxiliary(this);
213 Input = new FGInput(this);
215 State = new FGState(this); // This must be done here, as the FGState
216 // class needs valid pointers to the above
219 // Initialize models so they can communicate with each other
221 Atmosphere->InitModel();
223 Propulsion->InitModel();
224 MassBalance->InitModel();
225 Aerodynamics->InitModel();
226 Inertial->InitModel();
227 GroundReactions->InitModel();
228 ExternalReactions->InitModel();
229 BuoyantForces->InitModel();
230 Aircraft->InitModel();
231 Propagate->InitModel();
232 Auxiliary->InitModel();
235 IC = new FGInitialCondition(this);
237 // Schedule a model. The second arg (the integer) is the pass number. For
238 // instance, the atmosphere model could get executed every fifth pass it is called
239 // by the executive. IC and Trim objects are NOT scheduled.
242 Schedule(Atmosphere, 1);
244 Schedule(Propulsion, 1);
245 Schedule(MassBalance, 1);
246 Schedule(Aerodynamics, 1);
247 Schedule(Inertial, 1);
248 Schedule(GroundReactions, 1);
249 Schedule(ExternalReactions, 1);
250 Schedule(BuoyantForces, 1);
251 Schedule(Aircraft, 1);
252 Schedule(Propagate, 1);
253 Schedule(Auxiliary, 1);
260 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
262 bool FGFDMExec::DeAllocate(void)
271 delete GroundReactions;
272 delete ExternalReactions;
273 delete BuoyantForces;
280 for (unsigned i=0; i<Outputs.size(); i++) delete Outputs[i];
286 delete GroundCallback;
300 ExternalReactions = 0;
311 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
313 int FGFDMExec::Schedule(FGModel* model, int rate)
315 FGModel* model_iterator;
317 model_iterator = FirstModel;
319 if (model_iterator == 0L) { // this is the first model
322 FirstModel->NextModel = 0L;
323 FirstModel->SetRate(rate);
325 } else { // subsequent model
327 while (model_iterator->NextModel != 0L) {
328 model_iterator = model_iterator->NextModel;
330 model_iterator->NextModel = model;
331 model_iterator->NextModel->SetRate(rate);
338 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
340 bool FGFDMExec::Run(void)
343 FGModel* model_iterator;
345 model_iterator = FirstModel;
346 if (model_iterator == 0L) return false;
350 for (unsigned int i=1; i<ChildFDMList.size(); i++) {
351 ChildFDMList[i]->AssignState(Propagate); // Transfer state to the child FDM
352 ChildFDMList[i]->Run();
355 // returns true if success
357 if (Script != 0 && !State->IntegrationSuspended()) success = Script->RunScript();
359 while (model_iterator != 0L) {
360 model_iterator->Run();
361 model_iterator = model_iterator->NextModel;
365 if (!Holding()) State->IncrTime();
366 if (Terminate) success = false;
371 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
372 // This call will cause the sim time to reset to 0.0
374 bool FGFDMExec::RunIC(void)
376 State->SuspendIntegration();
377 State->Initialize(IC);
379 State->ResumeIntegration();
384 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
386 // A private, internal function call for Tie-ing to a property, so it needs an
389 void FGFDMExec::ResetToInitialConditions(int mode)
392 for (unsigned int i=0; i<Outputs.size(); i++) {
393 Outputs[i]->SetStartNewFile(true);
397 ResetToInitialConditions();
400 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
402 void FGFDMExec::ResetToInitialConditions(void)
404 FGModel* model_iterator;
406 model_iterator = FirstModel;
407 if (model_iterator == 0L || Constructing) return;
409 while (model_iterator != 0L) {
410 model_iterator->InitModel();
411 model_iterator = model_iterator->NextModel;
415 if (Script) Script->ResetEvents();
418 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
420 void FGFDMExec::SetGroundCallback(FGGroundCallback* p)
422 delete GroundCallback;
426 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
428 double FGFDMExec::GetSimTime(void)
430 return (State->Getsim_time());
433 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
435 double FGFDMExec::GetDeltaT(void)
437 return (State->Getdt());
440 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
442 vector <string> FGFDMExec::EnumerateFDMs(void)
444 vector <string> FDMList;
446 FDMList.push_back(Aircraft->GetAircraftName());
448 for (unsigned int i=1; i<ChildFDMList.size(); i++) {
449 FDMList.push_back(ChildFDMList[i]->exec->GetAircraft()->GetAircraftName());
455 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
457 bool FGFDMExec::LoadScript(string script)
461 Script = new FGScript(this);
462 result = Script->LoadScript(script);
467 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
469 bool FGFDMExec::LoadModel(string AircraftPath, string EnginePath, string SystemsPath,
470 string model, bool addModelToPath)
472 FGFDMExec::AircraftPath = AircraftPath;
473 FGFDMExec::EnginePath = EnginePath;
474 FGFDMExec::SystemsPath = SystemsPath;
476 return LoadModel(model, addModelToPath);
479 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
481 bool FGFDMExec::LoadModel(string model, bool addModelToPath)
484 string aircraftCfgFileName;
485 string separator = "/";
486 Element* element = 0L;
487 bool result = false; // initialize result to false, indicating input file not yet read
489 modelName = model; // Set the class modelName attribute
491 if( AircraftPath.empty() || EnginePath.empty() || SystemsPath.empty()) {
492 cerr << "Error: attempted to load aircraft with undefined ";
493 cerr << "aircraft, engine, and system paths" << endl;
497 FullAircraftPath = AircraftPath;
498 if (addModelToPath) FullAircraftPath += separator + model;
499 aircraftCfgFileName = FullAircraftPath + separator + model + ".xml";
506 int saved_debug_lvl = debug_lvl;
508 document = LoadXMLDocument(aircraftCfgFileName); // "document" is a class member
510 if (IsChild) debug_lvl = 0;
512 ReadPrologue(document);
514 if (IsChild) debug_lvl = saved_debug_lvl;
516 // Process the fileheader element in the aircraft config file. This element is OPTIONAL.
517 element = document->FindElement("fileheader");
519 result = ReadFileHeader(element);
521 cerr << endl << "Aircraft fileheader element has problems in file " << aircraftCfgFileName << endl;
526 if (IsChild) debug_lvl = 0;
528 // Process the metrics element. This element is REQUIRED.
529 element = document->FindElement("metrics");
531 result = Aircraft->Load(element);
533 cerr << endl << "Aircraft metrics element has problems in file " << aircraftCfgFileName << endl;
537 cerr << endl << "No metrics element was found in the aircraft config file." << endl;
541 // Process the mass_balance element. This element is REQUIRED.
542 element = document->FindElement("mass_balance");
544 result = MassBalance->Load(element);
546 cerr << endl << "Aircraft mass_balance element has problems in file " << aircraftCfgFileName << endl;
550 cerr << endl << "No mass_balance element was found in the aircraft config file." << endl;
554 // Process the ground_reactions element. This element is REQUIRED.
555 element = document->FindElement("ground_reactions");
557 result = GroundReactions->Load(element);
559 cerr << endl << "Aircraft ground_reactions element has problems in file " << aircraftCfgFileName << endl;
563 cerr << endl << "No ground_reactions element was found in the aircraft config file." << endl;
567 // Process the external_reactions element. This element is OPTIONAL.
568 element = document->FindElement("external_reactions");
570 result = ExternalReactions->Load(element);
572 cerr << endl << "Aircraft external_reactions element has problems in file " << aircraftCfgFileName << endl;
577 // Process the buoyant_forces element. This element is OPTIONAL.
578 element = document->FindElement("buoyant_forces");
580 result = BuoyantForces->Load(element);
582 cerr << endl << "Aircraft buoyant_forces element has problems in file " << aircraftCfgFileName << endl;
587 // Process the propulsion element. This element is OPTIONAL.
588 element = document->FindElement("propulsion");
590 result = Propulsion->Load(element);
592 cerr << endl << "Aircraft propulsion element has problems in file " << aircraftCfgFileName << endl;
597 // Process the system element[s]. This element is OPTIONAL, and there may be more than one.
598 element = document->FindElement("system");
600 result = FCS->Load(element, FGFCS::stSystem);
602 cerr << endl << "Aircraft system element has problems in file " << aircraftCfgFileName << endl;
605 element = document->FindNextElement("system");
608 // Process the autopilot element. This element is OPTIONAL.
609 element = document->FindElement("autopilot");
611 result = FCS->Load(element, FGFCS::stAutoPilot);
613 cerr << endl << "Aircraft autopilot element has problems in file " << aircraftCfgFileName << endl;
618 // Process the flight_control element. This element is OPTIONAL.
619 element = document->FindElement("flight_control");
621 result = FCS->Load(element, FGFCS::stFCS);
623 cerr << endl << "Aircraft flight_control element has problems in file " << aircraftCfgFileName << endl;
628 // Process the aerodynamics element. This element is OPTIONAL, but almost always expected.
629 element = document->FindElement("aerodynamics");
631 result = Aerodynamics->Load(element);
633 cerr << endl << "Aircraft aerodynamics element has problems in file " << aircraftCfgFileName << endl;
637 cerr << endl << "No expected aerodynamics element was found in the aircraft config file." << endl;
640 // Process the input element. This element is OPTIONAL.
641 element = document->FindElement("input");
643 result = Input->Load(element);
645 cerr << endl << "Aircraft input element has problems in file " << aircraftCfgFileName << endl;
650 // Process the output element[s]. This element is OPTIONAL, and there may be more than one.
651 element = document->FindElement("output");
653 FGOutput* Output = new FGOutput(this);
656 result = Output->Load(element);
657 Outputs.push_back(Output);
659 cerr << endl << "Aircraft output element has problems in file " << aircraftCfgFileName << endl;
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 cout << endl << fgblue << highint
679 << "End of vehicle configuration loading." << endl
680 << "-------------------------------------------------------------------------------"
684 if (IsChild) debug_lvl = saved_debug_lvl;
688 << " JSBSim failed to open the configuration file: " << aircraftCfgFileName
692 struct PropertyCatalogStructure masterPCS;
693 masterPCS.base_string = "";
694 masterPCS.node = (FGPropertyManager*)Root;
696 BuildPropertyCatalog(&masterPCS);
701 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
703 void FGFDMExec::BuildPropertyCatalog(struct PropertyCatalogStructure* pcs)
705 struct PropertyCatalogStructure* pcsNew = new struct PropertyCatalogStructure;
709 for (unsigned int i=0; i<pcs->node->nChildren(); i++) {
710 pcsNew->base_string = pcs->base_string + "/" + pcs->node->getChild(i)->getName();
711 node_idx = pcs->node->getChild(i)->getIndex();
712 sprintf(int_buf, "[%d]", node_idx);
713 if (node_idx != 0) pcsNew->base_string += string(int_buf);
714 if (pcs->node->getChild(i)->nChildren() == 0) {
715 if (pcsNew->base_string.substr(0,11) == string("/fdm/jsbsim")) {
716 pcsNew->base_string = pcsNew->base_string.erase(0,12);
718 PropertyCatalog.push_back(pcsNew->base_string);
720 pcsNew->node = (FGPropertyManager*)pcs->node->getChild(i);
721 BuildPropertyCatalog(pcsNew);
727 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
729 string FGFDMExec::QueryPropertyCatalog(string in)
732 for (unsigned i=0; i<PropertyCatalog.size(); i++) {
733 if (PropertyCatalog[i].find(in) != string::npos) results += PropertyCatalog[i] + "\n";
735 if (results.empty()) return "No matches found\n";
739 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
741 void FGFDMExec::PrintPropertyCatalog(void)
744 cout << " " << fgblue << highint << underon << "Property Catalog for "
745 << modelName << reset << endl << endl;
746 for (unsigned i=0; i<PropertyCatalog.size(); i++) {
747 cout << " " << PropertyCatalog[i] << endl;
751 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
753 bool FGFDMExec::ReadFileHeader(Element* el)
755 bool result = true; // true for success
757 if (debug_lvl == 0) return result;
760 cout << endl <<highint << fgblue << "Reading child model: " << IdFDM << reset << endl << endl;
763 if (el->FindElement("description"))
764 cout << " Description: " << el->FindElement("description")->GetDataLine() << endl;
765 if (el->FindElement("author"))
766 cout << " Model Author: " << el->FindElement("author")->GetDataLine() << endl;
767 if (el->FindElement("filecreationdate"))
768 cout << " Creation Date: " << el->FindElement("filecreationdate")->GetDataLine() << endl;
769 if (el->FindElement("version"))
770 cout << " Version: " << el->FindElement("version")->GetDataLine() << endl;
775 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
777 bool FGFDMExec::ReadPrologue(Element* el) // el for ReadPrologue is the document element
779 bool result = true; // true for success
781 if (!el) return false;
783 string AircraftName = el->GetAttributeValue("name");
784 Aircraft->SetAircraftName(AircraftName);
786 if (debug_lvl & 1) cout << underon << "Reading Aircraft Configuration File"
787 << underoff << ": " << highint << AircraftName << normint << endl;
789 CFGVersion = el->GetAttributeValue("version");
790 Release = el->GetAttributeValue("release");
793 cout << " Version: " << highint << CFGVersion
795 if (CFGVersion != needed_cfg_version) {
796 cerr << endl << fgred << "YOU HAVE AN INCOMPATIBLE CFG FILE FOR THIS AIRCRAFT."
797 " RESULTS WILL BE UNPREDICTABLE !!" << endl;
798 cerr << "Current version needed is: " << needed_cfg_version << endl;
799 cerr << " You have version: " << CFGVersion << endl << fgdef << endl;
803 if (Release == "ALPHA" && (debug_lvl & 1)) {
805 << highint << "This aircraft model is an " << fgred << Release
806 << reset << highint << " release!!!" << endl << endl << reset
807 << "This aircraft model may not even properly load, and probably"
808 << " will not fly as expected." << endl << endl
809 << fgred << highint << "Use this model for development purposes ONLY!!!"
810 << normint << reset << endl << endl;
811 } else if (Release == "BETA" && (debug_lvl & 1)) {
813 << highint << "This aircraft model is a " << fgred << Release
814 << reset << highint << " release!!!" << endl << endl << reset
815 << "This aircraft model probably will not fly as expected." << endl << endl
816 << fgblue << highint << "Use this model for development purposes ONLY!!!"
817 << normint << reset << endl << endl;
818 } else if (Release == "PRODUCTION" && (debug_lvl & 1)) {
820 << highint << "This aircraft model is a " << fgblue << Release
821 << reset << highint << " release." << endl << endl << reset;
822 } else if (debug_lvl & 1) {
824 << highint << "This aircraft model is an " << fgred << Release
825 << reset << highint << " release!!!" << endl << endl << reset
826 << "This aircraft model may not even properly load, and probably"
827 << " will not fly as expected." << endl << endl
828 << fgred << highint << "Use this model for development purposes ONLY!!!"
829 << normint << reset << endl << endl;
835 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
837 bool FGFDMExec::ReadChild(Element* el)
839 // Add a new childData object to the child FDM list
840 // Populate that childData element with a new FDMExec object
841 // Set the IsChild flag for that FDMExec object
842 // Get the aircraft name
843 // set debug level to print out no additional data for child objects
844 // Load the model given the aircraft name
845 // reset debug level to prior setting
849 struct childData* child = new childData;
851 child->exec = new FGFDMExec();
852 child->exec->SetChild(true);
854 string childAircraft = el->GetAttributeValue("name");
855 string sMated = el->GetAttributeValue("mated");
856 if (sMated == "false") child->mated = false; // child objects are mated by default.
857 string sInternal = el->GetAttributeValue("internal");
858 if (sInternal == "true") child->internal = true; // child objects are external by default.
860 child->exec->SetAircraftPath( AircraftPath );
861 child->exec->SetEnginePath( EnginePath );
862 child->exec->SetSystemsPath( SystemsPath );
863 child->exec->LoadModel(childAircraft);
865 Element* location = el->FindElement("location");
867 child->Loc = location->FindElementTripletConvertTo("IN");
869 cerr << endl << highint << fgred << " No location was found for this child object!" << reset << endl;
873 Element* orientation = el->FindElement("orient");
875 child->Orient = orientation->FindElementTripletConvertTo("RAD");
876 } else if (debug_lvl > 0) {
877 cerr << endl << highint << " No orientation was found for this child object! Assuming 0,0,0." << reset << endl;
880 ChildFDMList.push_back(child);
885 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
887 FGPropertyManager* FGFDMExec::GetPropertyManager(void)
892 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
894 FGTrim* FGFDMExec::GetTrim(void)
897 Trim = new FGTrim(this,tNone);
901 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
903 void FGFDMExec::DisableOutput(void)
905 for (unsigned i=0; i<Outputs.size(); i++) {
906 Outputs[i]->Disable();
910 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
912 void FGFDMExec::EnableOutput(void)
914 for (unsigned i=0; i<Outputs.size(); i++) {
915 Outputs[i]->Enable();
919 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
921 bool FGFDMExec::SetOutputDirectives(string fname)
925 FGOutput* Output = new FGOutput(this);
926 Output->SetDirectivesFile(fname);
929 result = Output->Load(0);
930 Outputs.push_back(Output);
935 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
937 void FGFDMExec::DoTrim(int mode)
941 if (Constructing) return;
943 if (mode < 0 || mode > JSBSim::tNone) {
944 cerr << endl << "Illegal trimming mode!" << endl << endl;
947 saved_time = State->Getsim_time();
948 FGTrim trim(this, (JSBSim::TrimMode)mode);
949 if ( !trim.DoTrim() ) cerr << endl << "Trim Failed" << endl << endl;
951 State->Setsim_time(saved_time);
954 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
956 void FGFDMExec::DoTrimAnalysis(int mode)
959 if (Constructing) return;
961 if (mode < 0 || mode > JSBSim::taNone) {
962 cerr << endl << "Illegal trimming mode!" << endl << endl;
965 saved_time = State->Getsim_time();
967 FGTrimAnalysis trimAnalysis(this, (JSBSim::TrimAnalysisMode)mode);
969 if ( !trimAnalysis.Load(IC->GetInitFile(), false) ) {
970 cerr << "A problem occurred with trim configuration file " << trimAnalysis.Load(IC->GetInitFile()) << endl;
974 bool result = trimAnalysis.DoTrim();
976 if ( !result ) cerr << endl << "Trim Failed" << endl << endl;
978 trimAnalysis.Report();
979 State->Setsim_time(saved_time);
982 cout << "\nOutput: " << GetOutputFileName() << endl;
986 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
988 void FGFDMExec::UseAtmosphereMSIS(void)
990 FGAtmosphere *oldAtmosphere = Atmosphere;
991 Atmosphere = new MSIS(this);
992 if (!Atmosphere->InitModel()) {
993 cerr << fgred << "MSIS Atmosphere model init failed" << fgdef << endl;
996 delete oldAtmosphere;
999 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
1001 void FGFDMExec::UseAtmosphereMars(void)
1004 FGAtmosphere *oldAtmosphere = Atmosphere;
1005 Atmosphere = new FGMars(this);
1006 if (!Atmosphere->InitModel()) {
1007 cerr << fgred << "Mars Atmosphere model init failed" << fgdef << endl;
1010 delete oldAtmosphere;
1014 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
1015 // The bitmasked value choices are as follows:
1016 // unset: In this case (the default) JSBSim would only print
1017 // out the normally expected messages, essentially echoing
1018 // the config files as they are read. If the environment
1019 // variable is not set, debug_lvl is set to 1 internally
1020 // 0: This requests JSBSim not to output any messages
1022 // 1: This value explicity requests the normal JSBSim
1024 // 2: This value asks for a message to be printed out when
1025 // a class is instantiated
1026 // 4: When this value is set, a message is displayed when a
1027 // FGModel object executes its Run() method
1028 // 8: When this value is set, various runtime state variables
1029 // are printed out periodically
1030 // 16: When set various parameters are sanity checked and
1031 // a message is printed out when they go out of bounds
1033 void FGFDMExec::Debug(int from)
1035 if (debug_lvl <= 0) return;
1037 if (debug_lvl & 1 && IdFDM == 0) { // Standard console startup message output
1038 if (from == 0) { // Constructor
1039 cout << "\n\n " << highint << underon << "JSBSim Flight Dynamics Model v"
1040 << JSBSim_version << underoff << normint << endl;
1041 cout << halfint << " [JSBSim-ML v" << needed_cfg_version << "]\n\n";
1042 cout << normint << "JSBSim startup beginning ...\n\n";
1043 } else if (from == 3) {
1044 cout << "\n\nJSBSim startup complete\n\n";
1047 if (debug_lvl & 2 ) { // Instantiation/Destruction notification
1048 if (from == 0) cout << "Instantiated: FGFDMExec" << endl;
1049 if (from == 1) cout << "Destroyed: FGFDMExec" << endl;
1051 if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
1053 cout << "================== Frame: " << Frame << " Time: "
1054 << State->Getsim_time() << " dt: " << State->Getdt() << endl;
1057 if (debug_lvl & 8 ) { // Runtime state variables
1059 if (debug_lvl & 16) { // Sanity checking
1061 if (debug_lvl & 64) {
1062 if (from == 0) { // Constructor
1063 cout << IdSrc << endl;
1064 cout << IdHdr << endl;