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 <time.h>
  47 #  include <simgear/compiler.h>
  48 #  include STL_IOSTREAM
  49 #  include STL_ITERATOR
  50 #else
  51 #  if defined(sgi) && !defined(__GNUC__)
  52 #    include <iostream.h>
  53 #    include <time.h>
  54 #  else
  55 #    include <iostream>
  56 #    include <ctime>
  57 #  endif
  58 #  include <iterator>
  59 #endif
  60
  61 #include "FGFDMExec.h"
  62 #include "FGState.h"
  63 #include "FGAtmosphere.h"
  64 #include "FGFCS.h"
  65 #include "FGPropulsion.h"
  66 #include "FGMassBalance.h"
  67 #include "FGGroundReactions.h"
  68 #include "FGAerodynamics.h"
  69 #include "FGInertial.h"
  70 #include "FGAircraft.h"
  71 #include "FGTranslation.h"
  72 #include "FGRotation.h"
  73 #include "FGPosition.h"
  74 #include "FGAuxiliary.h"
  75 #include "FGOutput.h"
  76 #include "FGConfigFile.h"
  77
  78 static const char *IdSrc = "$Id$";
  79 static const char *IdHdr = ID_FDMEXEC;
  80
  81 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  82 GLOBAL DECLARATIONS
  83 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  84
  85 short debug_lvl;  // This describes to any interested entity the debug level
  86                   // requested by setting the JSBSIM_DEBUG environment variable.
  87                   // The bitmasked value choices are as follows:
  88                   // a) unset: In this case (the default) JSBSim would only print
  89                   //    out the normally expected messages, essentially echoing
  90                   //    the config files as they are read. If the environment
  91                   //    variable is not set, debug_lvl is set to 1 internally
  92                   // b) 0: This requests JSBSim not to output any messages
  93                   //    whatsoever.
  94                   // c) 1: This value explicity requests the normal JSBSim
  95                   //    startup messages
  96                   // d) 2: This value asks for a message to be printed out when
  97                   //    a class is instantiated
  98                   // e) 4: When this value is set, a message is displayed when a
  99                   //    FGModel object executes its Run() method
 100                   // f) 8: When this value is set, various runtime state variables
 101                   //    are printed out periodically
 102                   // g) 16: When set various parameters are sanity checked and
 103                   //    a message is printed out when they go out of bounds.
 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   try {
 137     char* num = getenv("JSBSIM_DEBUG");
 138     if (!num) debug_lvl = 1;
 139     else debug_lvl = atoi(num); // set debug level
 140   } catch (...) {               // if error set to 1
 141     debug_lvl = 1;
 142   }
 143
 144   if (debug_lvl > 0) {
 145     cout << "\n\n     " << highint << underon << "JSBSim Flight Dynamics Model v"
 146                                    << JSBSIM_VERSION << underoff << normint << endl;
 147     cout << halfint << "            [cfg file spec v" << NEEDED_CFG_VERSION << "]\n\n";
 148     cout << normint << "JSBSim startup beginning ...\n\n";
 149   }
 150
 151   if (debug_lvl & 2) cout << "Instantiated: FGFDMExec" << endl;
 152
 153   Allocate();
 154 }
 155
 156 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 157
 158 FGFDMExec::~FGFDMExec() {
 159   DeAllocate();
 160   if (debug_lvl & 2) cout << "Destroyed:    FGFDMExec" << endl;
 161 }
 162
 163 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 164
 165 bool FGFDMExec::Allocate(void) {
 166
 167   bool result=true;
 168
 169   Atmosphere      = new FGAtmosphere(this);
 170   FCS             = new FGFCS(this);
 171   Propulsion      = new FGPropulsion(this);
 172   MassBalance     = new FGMassBalance(this);
 173   Aerodynamics    = new FGAerodynamics (this);
 174   Inertial        = new FGInertial(this);
 175   GroundReactions = new FGGroundReactions(this);
 176   Aircraft        = new FGAircraft(this);
 177   Translation     = new FGTranslation(this);
 178   Rotation        = new FGRotation(this);
 179   Position        = new FGPosition(this);
 180   Auxiliary       = new FGAuxiliary(this);
 181   Output          = new FGOutput(this);
 182
 183   State        = new FGState(this); // This must be done here, as the FGState
 184                                     // class needs valid pointers to the above
 185                                     // model classes
 186
 187   // Initialize models so they can communicate with each other
 188
 189   if (!Atmosphere->InitModel()) {
 190     cerr << fgred << "Atmosphere model init failed" << fgdef << endl;
 191     Error+=1;}
 192   if (!FCS->InitModel())        {
 193     cerr << fgred << "FCS model init failed" << fgdef << endl;
 194     Error+=2;}
 195   if (!Propulsion->InitModel()) {
 196     cerr << fgred << "FGPropulsion model init failed" << fgdef << endl;
 197     Error+=4;}
 198   if (!MassBalance->InitModel()) {
 199     cerr << fgred << "FGMassBalance model init failed" << fgdef << endl;
 200     Error+=8;}
 201   if (!Aerodynamics->InitModel()) {
 202     cerr << fgred << "FGAerodynamics model init failed" << fgdef << endl;
 203     Error+=16;}
 204   if (!Inertial->InitModel()) {
 205     cerr << fgred << "FGInertial model init failed" << fgdef << endl;
 206     Error+=32;}
 207   if (!GroundReactions->InitModel())   {
 208     cerr << fgred << "Ground Reactions model init failed" << fgdef << endl;
 209     Error+=64;}
 210   if (!Aircraft->InitModel())   {
 211     cerr << fgred << "Aircraft model init failed" << fgdef << endl;
 212     Error+=128;}
 213   if (!Translation->InitModel()){
 214     cerr << fgred << "Translation model init failed" << fgdef << endl;
 215     Error+=256;}
 216   if (!Rotation->InitModel())   {
 217     cerr << fgred << "Rotation model init failed" << fgdef << endl;
 218     Error+=512;}
 219   if (!Position->InitModel())   {
 220     cerr << fgred << "Position model init failed" << fgdef << endl;
 221     Error+=1024;}
 222   if (!Auxiliary->InitModel())  {
 223     cerr << fgred << "Auxiliary model init failed" << fgdef << endl;
 224     Error+=2058;}
 225   if (!Output->InitModel())     {
 226     cerr << fgred << "Output model init failed" << fgdef << endl;
 227     Error+=4096;}
 228
 229   if (Error > 0) result = false;
 230
 231   // Schedule a model. The second arg (the integer) is the pass number. For
 232   // instance, the atmosphere model gets executed every fifth pass it is called
 233   // by the executive. Everything else here gets executed each pass.
 234
 235   Schedule(Atmosphere,      1);
 236   Schedule(FCS,             1);
 237   Schedule(Propulsion,      1);
 238   Schedule(MassBalance,     1);
 239   Schedule(Aerodynamics,    1);
 240   Schedule(Inertial,        1);
 241   Schedule(GroundReactions, 1);
 242   Schedule(Aircraft,        1);
 243   Schedule(Rotation,        1);
 244   Schedule(Translation,     1);
 245   Schedule(Position,        1);
 246   Schedule(Auxiliary,       1);
 247   Schedule(Output,          1);
 248
 249   modelLoaded = false;
 250
 251   return result;
 252 }
 253
 254 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 255
 256 bool FGFDMExec::DeAllocate(void) {
 257
 258   if ( Atmosphere != 0 )     delete Atmosphere;
 259   if ( FCS != 0 )            delete FCS;
 260   if ( Propulsion != 0)      delete Propulsion;
 261   if ( MassBalance != 0)     delete MassBalance;
 262   if ( Aerodynamics != 0)    delete Aerodynamics;
 263   if ( Inertial != 0)        delete Inertial;
 264   if ( GroundReactions != 0) delete GroundReactions;
 265   if ( Aircraft != 0 )       delete Aircraft;
 266   if ( Translation != 0 )    delete Translation;
 267   if ( Rotation != 0 )       delete Rotation;
 268   if ( Position != 0 )       delete Position;
 269   if ( Auxiliary != 0 )      delete Auxiliary;
 270   if ( Output != 0 )         delete Output;
 271   if ( State != 0 )          delete State;
 272
 273   FirstModel  = 0L;
 274   Error       = 0;
 275
 276   State           = 0;
 277   Atmosphere      = 0;
 278   FCS             = 0;
 279   Propulsion      = 0;
 280   MassBalance     = 0;
 281   Aerodynamics    = 0;
 282   Inertial        = 0;
 283   GroundReactions = 0;
 284   Aircraft        = 0;
 285   Translation     = 0;
 286   Rotation        = 0;
 287   Position        = 0;
 288   Auxiliary       = 0;
 289   Output          = 0;
 290
 291   modelLoaded = false;
 292   return modelLoaded;
 293 }
 294
 295 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 296
 297 int FGFDMExec::Schedule(FGModel* model, int rate)
 298 {
 299   FGModel* model_iterator;
 300
 301   model_iterator = FirstModel;
 302
 303   if (model_iterator == 0L) {                  // this is the first model
 304
 305     FirstModel = model;
 306     FirstModel->NextModel = 0L;
 307     FirstModel->SetRate(rate);
 308
 309   } else {                                     // subsequent model
 310
 311     while (model_iterator->NextModel != 0L) {
 312       model_iterator = model_iterator->NextModel;
 313     }
 314     model_iterator->NextModel = model;
 315     model_iterator->NextModel->SetRate(rate);
 316
 317   }
 318   return 0;
 319 }
 320
 321 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 322
 323 bool FGFDMExec::Run(void)
 324 {
 325   FGModel* model_iterator;
 326
 327   if (frozen) return true;
 328
 329   model_iterator = FirstModel;
 330   if (model_iterator == 0L) return false;
 331
 332   if (Scripted) {
 333     RunScript();
 334     if (State->Getsim_time() >= EndTime) return false;
 335   }
 336
 337   if (debug_lvl & 4)
 338     cout << "================== Frame: " << Frame << "  Time: "
 339          << State->Getsim_time() << endl;
 340
 341   while (!model_iterator->Run()) {
 342     model_iterator = model_iterator->NextModel;
 343     if (model_iterator == 0L) break;
 344   }
 345
 346   Frame++;
 347   State->IncrTime();
 348
 349   return true;
 350 }
 351
 352 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 353
 354 bool FGFDMExec::RunIC(FGInitialCondition *fgic)
 355 {
 356   State->Suspend();
 357   State->Initialize(fgic);
 358   Run();
 359   State->Resume();
 360   return true;
 361 }
 362
 363 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 364
 365 bool FGFDMExec::LoadModel(string APath, string EPath, string model)
 366 {
 367   bool result = false;
 368
 369   string aircraftCfgFileName;
 370
 371   AircraftPath = APath;
 372   EnginePath   = EPath;
 373
 374 # ifndef macintosh
 375   aircraftCfgFileName = AircraftPath + "/" + model + "/" + model + ".xml";
 376 # else
 377   aircraftCfgFileName = AircraftPath + ";" + model + ";" + model + ".xml";
 378 # endif
 379
 380   FGConfigFile AC_cfg(aircraftCfgFileName);
 381   if (!AC_cfg.IsOpen()) return false;
 382
 383   if (modelLoaded) {
 384     DeAllocate();
 385     Allocate();
 386   }
 387
 388   result = Aircraft->Load(&AC_cfg);
 389
 390   if (result) {
 391     modelLoaded = true;
 392   } else {
 393     cerr << fgred
 394          << "FGFDMExec: Failed to load aircraft and/or engine model"
 395          << fgdef << endl;
 396   }
 397
 398   if (debug_lvl > 0) cout << "\n\nJSBSim startup complete\n\n";
 399   return result;
 400 }
 401
 402 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 403
 404 bool FGFDMExec::LoadScript(string script)
 405 {
 406   FGConfigFile Script(script);
 407   string token="";
 408   string aircraft="";
 409   string initialize="";
 410   bool result=false;
 411   float dt=0.0;
 412   int i;
 413   struct condition *newCondition;
 414
 415   if (!Script.IsOpen()) return false;
 416
 417   Script.GetNextConfigLine();
 418   ScriptName = Script.GetValue("name");
 419   Scripted = true;
 420   if (debug_lvl > 0) cout << "Reading Script File " << ScriptName << endl;
 421
 422   while (Script.GetNextConfigLine() != "EOF" && Script.GetValue() != "/runscript") {
 423     token = Script.GetValue();
 424     if (token == "use") {
 425       if ((token = Script.GetValue("aircraft")) != "") {
 426         aircraft = token;
 427         if (debug_lvl > 0) cout << "  Use aircraft: " << token << endl;
 428       } else if ((token = Script.GetValue("initialize")) != "") {
 429         initialize = token;
 430         if (debug_lvl > 0) cout << "  Use reset file: " << token << endl;
 431       } else {
 432         cerr << "Unknown 'use' keyword: \"" << token << "\"" << endl;
 433       }
 434     } else if (token == "run") {
 435       StartTime = strtod(Script.GetValue("start").c_str(), NULL);
 436       State->Setsim_time(StartTime);
 437       EndTime   = strtod(Script.GetValue("end").c_str(), NULL);
 438       dt        = strtod(Script.GetValue("dt").c_str(), NULL);
 439       State->Setdt(dt);
 440       Script.GetNextConfigLine();
 441       token = Script.GetValue();
 442       while (token != "/run") {
 443
 444         if (token == "when") {
 445           Script.GetNextConfigLine();
 446           token = Script.GetValue();
 447           newCondition = new struct condition();
 448           while (token != "/when") {
 449             if (token == "parameter") {
 450               newCondition->TestParam.push_back(State->GetParameterIndex(Script.GetValue("name")));
 451               newCondition->TestValue.push_back(strtod(Script.GetValue("value").c_str(), NULL));
 452               newCondition->Comparison.push_back(Script.GetValue("comparison"));
 453             } else if (token == "set") {
 454               newCondition->SetParam.push_back(State->GetParameterIndex(Script.GetValue("name")));
 455               newCondition->SetValue.push_back(strtod(Script.GetValue("value").c_str(), NULL));
 456               newCondition->Triggered.push_back(false);
 457               newCondition->OriginalValue.push_back(0.0);
 458               newCondition->newValue.push_back(0.0);
 459               newCondition->StartTime.push_back(0.0);
 460               newCondition->EndTime.push_back(0.0);
 461               string tempCompare = Script.GetValue("type");
 462               if      (tempCompare == "FG_DELTA") newCondition->Type.push_back(FG_DELTA);
 463               else if (tempCompare == "FG_BOOL")  newCondition->Type.push_back(FG_BOOL);
 464               else if (tempCompare == "FG_VALUE") newCondition->Type.push_back(FG_VALUE);
 465               else                                newCondition->Type.push_back((eType)0);
 466               tempCompare = Script.GetValue("action");
 467               if      (tempCompare == "FG_RAMP") newCondition->Action.push_back(FG_RAMP);
 468               else if (tempCompare == "FG_STEP") newCondition->Action.push_back(FG_STEP);
 469               else if (tempCompare == "FG_EXP")  newCondition->Action.push_back(FG_EXP);
 470               else                               newCondition->Action.push_back((eAction)0);
 471
 472               if (Script.GetValue("persistent") == "true")
 473                 newCondition->Persistent.push_back(true);
 474               else
 475                 newCondition->Persistent.push_back(false);
 476
 477               newCondition->TC.push_back(strtod(Script.GetValue("tc").c_str(), NULL));
 478
 479             } else {
 480               cerr << "Unrecognized keyword in script file: \" [when] " << token << "\"" << endl;
 481             }
 482             Script.GetNextConfigLine();
 483             token = Script.GetValue();
 484           }
 485           Conditions.push_back(*newCondition);
 486           Script.GetNextConfigLine();
 487           token = Script.GetValue();
 488
 489         } else {
 490           cerr << "Error reading script file: expected \"when\", got \"" << token << "\"" << endl;
 491         }
 492
 493       }
 494     } else {
 495       cerr << "Unrecognized keyword in script file: \"" << token << "\" [runscript] " << endl;
 496     }
 497   }
 498
 499   if (aircraft == "") {
 500     cerr << "Aircraft file not loaded in script" << endl;
 501     exit(-1);
 502   }
 503
 504   // print out conditions for double-checking if requested
 505
 506   if (debug_lvl > 0) {
 507     vector <struct condition>::iterator iterConditions = Conditions.begin();
 508     int count=0;
 509
 510     cout << "\n  Script goes from " << StartTime << " to " << EndTime
 511          << " with dt = " << dt << endl << endl;
 512
 513     while (iterConditions < Conditions.end()) {
 514       cout << "  Condition: " << count++ << endl;
 515       cout << "    if (";
 516
 517       for (i=0; i<iterConditions->TestValue.size(); i++) {
 518         if (i>0) cout << " and" << endl << "        ";
 519         cout << "(" << State->paramdef[iterConditions->TestParam[i]]
 520                     << iterConditions->Comparison[i] << " "
 521                     << iterConditions->TestValue[i] << ")";
 522       }
 523       cout << ") then {" << endl;
 524
 525       for (i=0; i<iterConditions->SetValue.size(); i++) {
 526         cout << "      set" << State->paramdef[iterConditions->SetParam[i]]
 527              << "to " << iterConditions->SetValue[i];
 528
 529         switch (iterConditions->Type[i]) {
 530         case FG_VALUE:
 531           cout << " (constant";
 532           break;
 533         case FG_DELTA:
 534           cout << " (delta";
 535           break;
 536         case FG_BOOL:
 537           cout << " (boolean";
 538           break;
 539         default:
 540           cout << " (unspecified type";
 541         }
 542
 543         switch (iterConditions->Action[i]) {
 544         case FG_RAMP:
 545           cout << " via ramp";
 546           break;
 547         case FG_STEP:
 548           cout << " via step";
 549           break;
 550         case FG_EXP:
 551           cout << " via exponential approach";
 552           break;
 553         default:
 554           cout << " via unspecified action";
 555         }
 556
 557         if (!iterConditions->Persistent[i]) cout << endl
 558                            << "                              once";
 559         else cout << endl
 560                            << "                              repeatedly";
 561
 562         if (iterConditions->Action[i] == FG_RAMP ||
 563             iterConditions->Action[i] == FG_EXP) cout << endl
 564                            << "                              with time constant "
 565                            << iterConditions->TC[i];
 566       }
 567       cout << ")" << endl << "    }" << endl << endl;
 568
 569       iterConditions++;
 570     }
 571
 572     cout << endl;
 573   }
 574
 575   result = LoadModel("aircraft", "engine", aircraft);
 576   if (!result) {
 577     cerr << "Aircraft file " << aircraft << " was not found" << endl;
 578           exit(-1);
 579   }
 580   if ( ! State->Reset("aircraft", aircraft, initialize))
 581                  State->Initialize(2000,0,0,0,0,0,0.5,0.5,40000,0,0,0);
 582
 583   return true;
 584 }
 585
 586 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 587
 588 void FGFDMExec::RunScript(void)
 589 {
 590   vector <struct condition>::iterator iC = Conditions.begin();
 591   bool truth;
 592   bool WholeTruth;
 593   int i;
 594
 595   int count=0;
 596
 597   float currentTime = State->Getsim_time();
 598   float newSetValue;
 599
 600   while (iC < Conditions.end()) {
 601     // determine whether the set of conditional tests for this condition equate
 602     // to true
 603     for (i=0; i<iC->TestValue.size(); i++) {
 604            if (iC->Comparison[i] == "lt")
 605               truth = State->GetParameter(iC->TestParam[i]) <  iC->TestValue[i];
 606       else if (iC->Comparison[i] == "le")
 607               truth = State->GetParameter(iC->TestParam[i]) <= iC->TestValue[i];
 608       else if (iC->Comparison[i] == "eq")
 609               truth = State->GetParameter(iC->TestParam[i]) == iC->TestValue[i];
 610       else if (iC->Comparison[i] == "ge")
 611               truth = State->GetParameter(iC->TestParam[i]) >= iC->TestValue[i];
 612       else if (iC->Comparison[i] == "gt")
 613               truth = State->GetParameter(iC->TestParam[i]) >  iC->TestValue[i];
 614       else if (iC->Comparison[i] == "ne")
 615               truth = State->GetParameter(iC->TestParam[i]) != iC->TestValue[i];
 616       else
 617               cerr << "Bad comparison" << endl;
 618
 619       if (i == 0) WholeTruth = truth;
 620       else        WholeTruth = WholeTruth && truth;
 621
 622       if (!truth && iC->Persistent[i] && iC->Triggered[i]) iC->Triggered[i] = false;
 623     }
 624
 625     // if the conditions are true, do the setting of the desired parameters
 626
 627     if (WholeTruth) {
 628       for (i=0; i<iC->SetValue.size(); i++) {
 629         if ( ! iC->Triggered[i]) {
 630           iC->OriginalValue[i] = State->GetParameter(iC->SetParam[i]);
 631           switch (iC->Type[i]) {
 632           case FG_VALUE:
 633             iC->newValue[i] = iC->SetValue[i];
 634             break;
 635           case FG_DELTA:
 636             iC->newValue[i] = iC->OriginalValue[i] + iC->SetValue[i];
 637             break;
 638           case FG_BOOL:
 639             break;
 640           default:
 641             cerr << "Invalid Type specified" << endl;
 642             break;
 643           }
 644           iC->Triggered[i] = true;
 645           iC->StartTime[i] = currentTime;
 646         }
 647
 648         switch (iC->Action[i]) {
 649         case FG_RAMP:
 650           newSetValue = (currentTime - iC->StartTime[i])/(iC->TC[i])
 651                       * (iC->newValue[i] - iC->OriginalValue[i]) + iC->OriginalValue[i];
 652           if (newSetValue > iC->newValue[i]) newSetValue = iC->newValue[i];
 653           break;
 654         case FG_STEP:
 655           newSetValue = iC->newValue[i];
 656           break;
 657         case FG_EXP:
 658           newSetValue = (1 - exp(-(currentTime - iC->StartTime[i])/(iC->TC[i])))
 659               * (iC->newValue[i] - iC->OriginalValue[i]) + iC->OriginalValue[i];
 660           break;
 661         default:
 662           cerr << "Invalid Action specified" << endl;
 663           break;
 664         }
 665         State->SetParameter(iC->SetParam[i], newSetValue);
 666       }
 667     }
 668     iC++;
 669   }
 670 }
 671
 672 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 673
 674 void FGFDMExec::Debug(void)
 675 {
 676     //TODO: Add your source code here
 677 }
 678