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__) && (_COMPILER_VERSION < 740)
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"
78 static const char *IdSrc = "$Id$";
79 static const char *IdHdr = ID_FDMEXEC;
81 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
83 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
85 unsigned int FGFDMExec::FDMctr = 0;
86 FGPropertyManager* FGFDMExec::master=0;
88 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
90 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
92 void checkTied ( FGPropertyManager *node )
94 int N = node->nChildren();
97 for (int i=0; i<N; i++) {
98 if (node->getChild(i)->nChildren() ) {
99 checkTied( (FGPropertyManager*)node->getChild(i) );
100 } else if ( node->getChild(i)->isTied() ) {
101 name = ((FGPropertyManager*)node->getChild(i))->GetFullyQualifiedName();
102 cerr << name << " is tied" << endl;
107 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
110 FGFDMExec::FGFDMExec(FGPropertyManager* root)
142 char* num = getenv("JSBSIM_DEBUG");
143 if (num) debug_lvl = atoi(num); // set debug level
144 } catch (...) { // if error set to 1
148 if (root == 0) master= new FGPropertyManager;
151 instance = master->GetNode("/fdm/jsbsim",IdFDM,true);
156 // this is here to catch errors in binding member functions
157 // to the property tree.
160 } catch ( string msg ) {
161 cout << "Caught error: " << msg << endl;
166 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
168 FGFDMExec::~FGFDMExec()
172 checkTied( instance );
173 } catch ( string msg ) {
174 cout << "Caught error: " << msg << endl;
177 for (unsigned int i=1; i<SlaveFDMList.size(); i++) delete SlaveFDMList[i]->exec;
178 SlaveFDMList.clear();
183 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
185 bool FGFDMExec::Allocate(void)
189 Atmosphere = new FGAtmosphere(this);
190 FCS = new FGFCS(this);
191 Propulsion = new FGPropulsion(this);
192 MassBalance = new FGMassBalance(this);
193 Aerodynamics = new FGAerodynamics (this);
194 Inertial = new FGInertial(this);
195 GroundReactions = new FGGroundReactions(this);
196 Aircraft = new FGAircraft(this);
197 Translation = new FGTranslation(this);
198 Rotation = new FGRotation(this);
199 Position = new FGPosition(this);
200 Auxiliary = new FGAuxiliary(this);
201 Output = new FGOutput(this);
203 State = new FGState(this); // This must be done here, as the FGState
204 // class needs valid pointers to the above
207 // Initialize models so they can communicate with each other
209 if (!Atmosphere->InitModel()) {
210 cerr << fgred << "Atmosphere model init failed" << fgdef << endl;
212 if (!FCS->InitModel()) {
213 cerr << fgred << "FCS model init failed" << fgdef << endl;
215 if (!Propulsion->InitModel()) {
216 cerr << fgred << "FGPropulsion model init failed" << fgdef << endl;
218 if (!MassBalance->InitModel()) {
219 cerr << fgred << "FGMassBalance model init failed" << fgdef << endl;
221 if (!Aerodynamics->InitModel()) {
222 cerr << fgred << "FGAerodynamics model init failed" << fgdef << endl;
224 if (!Inertial->InitModel()) {
225 cerr << fgred << "FGInertial model init failed" << fgdef << endl;
227 if (!GroundReactions->InitModel()) {
228 cerr << fgred << "Ground Reactions model init failed" << fgdef << endl;
230 if (!Aircraft->InitModel()) {
231 cerr << fgred << "Aircraft model init failed" << fgdef << endl;
233 if (!Translation->InitModel()) {
234 cerr << fgred << "Translation model init failed" << fgdef << endl;
236 if (!Rotation->InitModel()) {
237 cerr << fgred << "Rotation model init failed" << fgdef << endl;
239 if (!Position->InitModel()) {
240 cerr << fgred << "Position model init failed" << fgdef << endl;
242 if (!Auxiliary->InitModel()) {
243 cerr << fgred << "Auxiliary model init failed" << fgdef << endl;
245 if (!Output->InitModel()) {
246 cerr << fgred << "Output model init failed" << fgdef << endl;
249 if (Error > 0) result = false;
251 IC = new FGInitialCondition(this);
253 // Schedule a model. The second arg (the integer) is the pass number. For
254 // instance, the atmosphere model gets executed every fifth pass it is called
255 // by the executive. Everything else here gets executed each pass.
256 // IC and Trim objects are NOT scheduled.
258 Schedule(Atmosphere, 1);
260 Schedule(Propulsion, 1);
261 Schedule(MassBalance, 1);
262 Schedule(Aerodynamics, 1);
263 Schedule(Inertial, 1);
264 Schedule(GroundReactions, 1);
265 Schedule(Aircraft, 1);
266 Schedule(Rotation, 1);
267 Schedule(Translation, 1);
268 Schedule(Position, 1);
269 Schedule(Auxiliary, 1);
277 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
279 bool FGFDMExec::DeAllocate(void)
287 delete GroundReactions;
321 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
323 int FGFDMExec::Schedule(FGModel* model, int rate)
325 FGModel* model_iterator;
327 model_iterator = FirstModel;
329 if (model_iterator == 0L) { // this is the first model
332 FirstModel->NextModel = 0L;
333 FirstModel->SetRate(rate);
335 } else { // subsequent model
337 while (model_iterator->NextModel != 0L) {
338 model_iterator = model_iterator->NextModel;
340 model_iterator->NextModel = model;
341 model_iterator->NextModel->SetRate(rate);
348 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
350 bool FGFDMExec::Run(void)
352 FGModel* model_iterator;
354 if (frozen) return true;
356 model_iterator = FirstModel;
357 if (model_iterator == 0L) return false;
361 for (unsigned int i=1; i<SlaveFDMList.size(); i++) {
362 // SlaveFDMList[i]->exec->State->Initialize(); // Transfer state to the slave FDM
363 // SlaveFDMList[i]->exec->Run();
366 while (model_iterator != 0L) {
367 model_iterator->Run();
368 model_iterator = model_iterator->NextModel;
376 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
378 bool FGFDMExec::RunIC(void)
381 State->Initialize(IC);
388 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
390 vector <string> FGFDMExec::EnumerateFDMs(void)
392 vector <string> FDMList;
394 FDMList.push_back(Aircraft->GetAircraftName());
396 for (unsigned int i=1; i<SlaveFDMList.size(); i++) {
397 FDMList.push_back(SlaveFDMList[i]->exec->GetAircraft()->GetAircraftName());
403 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
405 bool FGFDMExec::LoadModel(string AircraftPath, string EnginePath, string model)
407 FGFDMExec::AircraftPath = AircraftPath;
408 FGFDMExec::EnginePath = EnginePath;
410 return LoadModel(model);
413 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
415 bool FGFDMExec::LoadModel(string model)
419 string aircraftCfgFileName;
421 if( AircraftPath.empty() || EnginePath.empty() ) {
422 cerr << "Error: attempted to load aircraft with undefined ";
423 cerr << "aircraft and engine paths" << endl;
428 aircraftCfgFileName = AircraftPath + "/" + model + "/" + model + ".xml";
430 aircraftCfgFileName = AircraftPath + ";" + model + ";" + model + ".xml";
433 FGConfigFile AC_cfg(aircraftCfgFileName);
434 if (!AC_cfg.IsOpen()) return false;
443 if (!ReadPrologue(&AC_cfg)) return false;
445 while ((AC_cfg.GetNextConfigLine() != string("EOF")) &&
446 (token = AC_cfg.GetValue()) != string("/FDM_CONFIG")) {
447 if (token == "METRICS") {
448 if (debug_lvl > 0) cout << fgcyan << "\n Reading Metrics" << fgdef << endl;
449 if (!ReadMetrics(&AC_cfg)) result = false;
450 } else if (token == "SLAVE") {
451 if (debug_lvl > 0) cout << fgcyan << "\n Reading Slave flight vehicle: " << fgdef
452 << AC_cfg.GetValue("NAME") << endl;
453 if (!ReadSlave(&AC_cfg)) result = false;
454 } else if (token == "AERODYNAMICS") {
455 if (debug_lvl > 0) cout << fgcyan << "\n Reading Aerodynamics" << fgdef << endl;
456 if (!ReadAerodynamics(&AC_cfg)) result = false;
457 } else if (token == "UNDERCARRIAGE") {
458 if (debug_lvl > 0) cout << fgcyan << "\n Reading Landing Gear" << fgdef << endl;
459 if (!ReadUndercarriage(&AC_cfg)) result = false;
460 } else if (token == "PROPULSION") {
461 if (debug_lvl > 0) cout << fgcyan << "\n Reading Propulsion" << fgdef << endl;
462 if (!ReadPropulsion(&AC_cfg)) result = false;
463 } else if (token == "FLIGHT_CONTROL") {
464 if (debug_lvl > 0) cout << fgcyan << "\n Reading Flight Control" << fgdef << endl;
465 if (!ReadFlightControls(&AC_cfg)) result = false;
466 } else if (token == "AUTOPILOT") {
467 if (debug_lvl > 0) cout << fgcyan << "\n Reading Autopilot" << fgdef << endl;
468 if (!ReadFlightControls(&AC_cfg)) result = false;
469 } else if (token == "OUTPUT") {
470 if (debug_lvl > 0) cout << fgcyan << "\n Reading Output directives" << fgdef << endl;
471 if (!ReadOutput(&AC_cfg)) result = false;
480 << " FGFDMExec: Failed to load aircraft and/or engine model"
487 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
489 bool FGFDMExec::ReadPrologue(FGConfigFile* AC_cfg)
491 string token = AC_cfg->GetValue();
495 AircraftName = AC_cfg->GetValue("NAME");
496 Aircraft->SetAircraftName(AircraftName);
498 if (debug_lvl > 0) cout << underon << "Reading Aircraft Configuration File"
499 << underoff << ": " << highint << AircraftName << normint << endl;
500 scratch = AC_cfg->GetValue("VERSION").c_str();
502 CFGVersion = AC_cfg->GetValue("VERSION");
503 Release = AC_cfg->GetValue("RELEASE");
506 cout << " Version: " << highint << CFGVersion
508 if (CFGVersion != needed_cfg_version) {
509 cerr << endl << fgred << "YOU HAVE AN INCOMPATIBLE CFG FILE FOR THIS AIRCRAFT."
510 " RESULTS WILL BE UNPREDICTABLE !!" << endl;
511 cerr << "Current version needed is: " << needed_cfg_version << endl;
512 cerr << " You have version: " << CFGVersion << endl << fgdef << endl;
516 if (Release == "ALPHA") {
517 system("banner ALPHA");
519 << highint << "This aircraft model is an " << fgred << Release
520 << reset << highint << " release!!!" << endl << endl << reset
521 << "This aircraft model may not even properly load, and probably"
522 << " will not fly as expected." << endl << endl
523 << fgred << highint << "Use this model for development purposes ONLY!!!"
524 << normint << endl << endl;
525 } else if (Release == "BETA") {
526 system("banner BETA");
528 << highint << "This aircraft model is a " << fgred << Release
529 << reset << highint << " release!!!" << endl << endl << reset
530 << "This aircraft model probably will not fly as expected." << endl << endl
531 << fgblue << highint << "Use this model for development purposes ONLY!!!"
532 << normint << reset << endl << endl;
538 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
540 bool FGFDMExec::ReadSlave(FGConfigFile* AC_cfg)
542 // Add a new slaveData object to the slave FDM list
543 // Populate that slaveData element with a new FDMExec object
544 // Set the IsSlave flag for that FDMExec object
545 // Get the aircraft name
546 // set debug level to print out no additional data for slave objects
547 // Load the model given the aircraft name
548 // reset debug level to prior setting
550 int saved_debug_lvl = debug_lvl;
553 SlaveFDMList.push_back(new slaveData);
554 SlaveFDMList.back()->exec = new FGFDMExec();
555 SlaveFDMList.back()->exec->SetSlave();
557 string AircraftName = AC_cfg->GetValue("FILE");
559 debug_lvl = 0; // turn off debug output for slave vehicle
561 SlaveFDMList.back()->exec->SetAircraftPath( AircraftPath );
562 SlaveFDMList.back()->exec->SetEnginePath( EnginePath );
563 SlaveFDMList.back()->exec->LoadModel(AircraftName);
564 debug_lvl = saved_debug_lvl; // turn debug output back on for master vehicle
566 AC_cfg->GetNextConfigLine();
567 while ((token = AC_cfg->GetValue()) != string("/SLAVE")) {
569 if (token == "XLOC") { *AC_cfg >> SlaveFDMList.back()->x; }
570 else if (token == "YLOC") { *AC_cfg >> SlaveFDMList.back()->y; }
571 else if (token == "ZLOC") { *AC_cfg >> SlaveFDMList.back()->z; }
572 else if (token == "PITCH") { *AC_cfg >> SlaveFDMList.back()->pitch;}
573 else if (token == "YAW") { *AC_cfg >> SlaveFDMList.back()->yaw; }
574 else if (token == "ROLL") { *AC_cfg >> SlaveFDMList.back()->roll; }
575 else cerr << "Unknown identifier: " << token << " in slave vehicle definition" << endl;
579 cout << " X = " << SlaveFDMList.back()->x << endl;
580 cout << " Y = " << SlaveFDMList.back()->y << endl;
581 cout << " Z = " << SlaveFDMList.back()->z << endl;
582 cout << " Pitch = " << SlaveFDMList.back()->pitch << endl;
583 cout << " Yaw = " << SlaveFDMList.back()->yaw << endl;
584 cout << " Roll = " << SlaveFDMList.back()->roll << endl;
590 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
592 bool FGFDMExec::ReadPropulsion(FGConfigFile* AC_cfg)
594 if (!Propulsion->Load(AC_cfg)) {
595 cerr << " Propulsion not successfully loaded" << endl;
601 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
603 bool FGFDMExec::ReadFlightControls(FGConfigFile* AC_cfg)
605 if (!FCS->Load(AC_cfg)) {
606 cerr << " Flight Controls not successfully loaded" << endl;
612 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
614 bool FGFDMExec::ReadAerodynamics(FGConfigFile* AC_cfg)
616 if (!Aerodynamics->Load(AC_cfg)) {
617 cerr << " Aerodynamics not successfully loaded" << endl;
623 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
625 bool FGFDMExec::ReadUndercarriage(FGConfigFile* AC_cfg)
627 if (!GroundReactions->Load(AC_cfg)) {
628 cerr << " Ground Reactions not successfully loaded" << endl;
634 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
636 bool FGFDMExec::ReadMetrics(FGConfigFile* AC_cfg)
638 if (!Aircraft->Load(AC_cfg)) {
639 cerr << " Aircraft metrics not successfully loaded" << endl;
645 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
647 bool FGFDMExec::ReadOutput(FGConfigFile* AC_cfg)
649 if (!Output->Load(AC_cfg)) {
650 cerr << " Output not successfully loaded" << endl;
656 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
658 FGPropertyManager* FGFDMExec::GetPropertyManager(void) {
662 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
664 FGTrim* FGFDMExec::GetTrim(void) {
666 Trim = new FGTrim(this,tNone);
670 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
671 // The bitmasked value choices are as follows:
672 // unset: In this case (the default) JSBSim would only print
673 // out the normally expected messages, essentially echoing
674 // the config files as they are read. If the environment
675 // variable is not set, debug_lvl is set to 1 internally
676 // 0: This requests JSBSim not to output any messages
678 // 1: This value explicity requests the normal JSBSim
680 // 2: This value asks for a message to be printed out when
681 // a class is instantiated
682 // 4: When this value is set, a message is displayed when a
683 // FGModel object executes its Run() method
684 // 8: When this value is set, various runtime state variables
685 // are printed out periodically
686 // 16: When set various parameters are sanity checked and
687 // a message is printed out when they go out of bounds
689 void FGFDMExec::Debug(int from)
691 if (debug_lvl <= 0) return;
693 if (debug_lvl & 1 && IdFDM == 0) { // Standard console startup message output
694 if (from == 0) { // Constructor
695 cout << "\n\n " << highint << underon << "JSBSim Flight Dynamics Model v"
696 << JSBSim_version << underoff << normint << endl;
697 cout << halfint << " [cfg file spec v" << needed_cfg_version << "]\n\n";
698 cout << normint << "JSBSim startup beginning ...\n\n";
699 } else if (from == 3) {
700 cout << "\n\nJSBSim startup complete\n\n";
703 if (debug_lvl & 2 ) { // Instantiation/Destruction notification
704 if (from == 0) cout << "Instantiated: FGFDMExec" << endl;
705 if (from == 1) cout << "Destroyed: FGFDMExec" << endl;
707 if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
709 cout << "================== Frame: " << Frame << " Time: "
710 << State->Getsim_time() << endl;
713 if (debug_lvl & 8 ) { // Runtime state variables
715 if (debug_lvl & 16) { // Sanity checking
717 if (debug_lvl & 64) {
718 if (from == 0) { // Constructor
719 cout << IdSrc << endl;
720 cout << IdHdr << endl;