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__)
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"
76 static const char *IdSrc = "$Id$";
77 static const char *IdHdr = ID_FDMEXEC;
79 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
81 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
83 unsigned int FGFDMExec::FDMctr = 0;
84 FGPropertyManager* FGFDMExec::master=0;
86 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
88 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
92 FGFDMExec::FGFDMExec(FGPropertyManager* root)
118 cout << "FGFDMExec::FGFDMExec, FDMctr: " << FDMctr << endl;
124 char* num = getenv("JSBSIM_DEBUG");
125 if (!num) debug_lvl = 1;
126 else debug_lvl = atoi(num); // set debug level
127 } catch (...) { // if error set to 1
131 if (root == 0) master= new FGPropertyManager;
134 instance = master->GetNode("/fdm/jsbsim",IdFDM,true);
138 // this is here to catch errors in binding member functions
139 // to the property tree.
142 } catch ( string msg ) {
143 cout << "Caught error: " << msg << endl;
148 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
150 FGFDMExec::~FGFDMExec()
154 } catch ( string msg ) {
155 cout << "Caught error: " << msg << endl;
158 for (unsigned int i=1; i<SlaveFDMList.size(); i++) delete SlaveFDMList[i]->exec;
159 SlaveFDMList.clear();
160 cout << "FGFDMExec::~FGFDMExec, FDMctr: " << FDMctr << endl;
165 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
167 bool FGFDMExec::Allocate(void)
171 Atmosphere = new FGAtmosphere(this);
172 FCS = new FGFCS(this);
173 Propulsion = new FGPropulsion(this);
174 MassBalance = new FGMassBalance(this);
175 Aerodynamics = new FGAerodynamics (this);
176 Inertial = new FGInertial(this);
177 GroundReactions = new FGGroundReactions(this);
178 Aircraft = new FGAircraft(this);
179 Translation = new FGTranslation(this);
180 Rotation = new FGRotation(this);
181 Position = new FGPosition(this);
182 Auxiliary = new FGAuxiliary(this);
183 Output = new FGOutput(this);
185 State = new FGState(this); // This must be done here, as the FGState
186 // class needs valid pointers to the above
189 // Initialize models so they can communicate with each other
191 if (!Atmosphere->InitModel()) {
192 cerr << fgred << "Atmosphere model init failed" << fgdef << endl;
194 if (!FCS->InitModel()) {
195 cerr << fgred << "FCS model init failed" << fgdef << endl;
197 if (!Propulsion->InitModel()) {
198 cerr << fgred << "FGPropulsion model init failed" << fgdef << endl;
200 if (!MassBalance->InitModel()) {
201 cerr << fgred << "FGMassBalance model init failed" << fgdef << endl;
203 if (!Aerodynamics->InitModel()) {
204 cerr << fgred << "FGAerodynamics model init failed" << fgdef << endl;
206 if (!Inertial->InitModel()) {
207 cerr << fgred << "FGInertial model init failed" << fgdef << endl;
209 if (!GroundReactions->InitModel()) {
210 cerr << fgred << "Ground Reactions model init failed" << fgdef << endl;
212 if (!Aircraft->InitModel()) {
213 cerr << fgred << "Aircraft model init failed" << fgdef << endl;
215 if (!Translation->InitModel()) {
216 cerr << fgred << "Translation model init failed" << fgdef << endl;
218 if (!Rotation->InitModel()) {
219 cerr << fgred << "Rotation model init failed" << fgdef << endl;
221 if (!Position->InitModel()) {
222 cerr << fgred << "Position model init failed" << fgdef << endl;
224 if (!Auxiliary->InitModel()) {
225 cerr << fgred << "Auxiliary model init failed" << fgdef << endl;
227 if (!Output->InitModel()) {
228 cerr << fgred << "Output model init failed" << fgdef << endl;
231 if (Error > 0) result = false;
233 // Schedule a model. The second arg (the integer) is the pass number. For
234 // instance, the atmosphere model gets executed every fifth pass it is called
235 // by the executive. Everything else here gets executed each pass.
237 Schedule(Atmosphere, 1);
239 Schedule(Propulsion, 1);
240 Schedule(MassBalance, 1);
241 Schedule(Aerodynamics, 1);
242 Schedule(Inertial, 1);
243 Schedule(GroundReactions, 1);
244 Schedule(Aircraft, 1);
245 Schedule(Rotation, 1);
246 Schedule(Translation, 1);
247 Schedule(Position, 1);
248 Schedule(Auxiliary, 1);
256 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
258 bool FGFDMExec::DeAllocate(void) {
260 if ( Atmosphere != 0 ) delete Atmosphere;
261 if ( FCS != 0 ) delete FCS;
262 if ( Propulsion != 0) delete Propulsion;
263 if ( MassBalance != 0) delete MassBalance;
264 if ( Aerodynamics != 0) delete Aerodynamics;
265 if ( Inertial != 0) delete Inertial;
266 if ( GroundReactions != 0) delete GroundReactions;
267 if ( Aircraft != 0 ) delete Aircraft;
268 if ( Translation != 0 ) delete Translation;
269 if ( Rotation != 0 ) delete Rotation;
270 if ( Position != 0 ) delete Position;
271 if ( Auxiliary != 0 ) delete Auxiliary;
272 if ( Output != 0 ) delete Output;
273 if ( State != 0 ) delete State;
297 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
299 int FGFDMExec::Schedule(FGModel* model, int rate)
301 FGModel* model_iterator;
303 model_iterator = FirstModel;
305 if (model_iterator == 0L) { // this is the first model
308 FirstModel->NextModel = 0L;
309 FirstModel->SetRate(rate);
311 } else { // subsequent model
313 while (model_iterator->NextModel != 0L) {
314 model_iterator = model_iterator->NextModel;
316 model_iterator->NextModel = model;
317 model_iterator->NextModel->SetRate(rate);
324 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
326 bool FGFDMExec::Run(void)
328 FGModel* model_iterator;
330 if (frozen) return true;
332 model_iterator = FirstModel;
333 if (model_iterator == 0L) return false;
337 for (unsigned int i=0; i<SlaveFDMList.size(); i++) {
342 while (!model_iterator->Run()) {
343 model_iterator = model_iterator->NextModel;
344 if (model_iterator == 0L) break;
352 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
354 bool FGFDMExec::RunIC(FGInitialCondition *fgic)
357 State->Initialize(fgic);
363 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
365 vector <string> FGFDMExec::EnumerateFDMs(void)
367 vector <string> FDMList;
369 FDMList.push_back(Aircraft->GetAircraftName());
371 for (unsigned int i=1; i<SlaveFDMList.size(); i++) {
372 FDMList.push_back(SlaveFDMList[i]->exec->GetAircraft()->GetAircraftName());
378 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
380 bool FGFDMExec::LoadModel(string APath, string EPath, string model)
384 string aircraftCfgFileName;
386 AircraftPath = APath;
390 aircraftCfgFileName = AircraftPath + "/" + model + "/" + model + ".xml";
392 aircraftCfgFileName = AircraftPath + ";" + model + ";" + model + ".xml";
395 FGConfigFile AC_cfg(aircraftCfgFileName);
396 if (!AC_cfg.IsOpen()) return false;
403 if (!ReadPrologue(&AC_cfg)) return false;
405 while ((AC_cfg.GetNextConfigLine() != string("EOF")) &&
406 (token = AC_cfg.GetValue()) != string("/FDM_CONFIG")) {
407 if (token == "METRICS") {
408 if (debug_lvl > 0) cout << fgcyan << "\n Reading Metrics" << fgdef << endl;
409 if (!ReadMetrics(&AC_cfg)) result = false;
410 } else if (token == "SLAVE") {
411 if (debug_lvl > 0) cout << fgcyan << "\n Reading Slave flight vehicle: " << fgdef
412 << AC_cfg.GetValue("NAME") << endl;
413 if (!ReadSlave(&AC_cfg)) result = false;
414 } else if (token == "AERODYNAMICS") {
415 if (debug_lvl > 0) cout << fgcyan << "\n Reading Aerodynamics" << fgdef << endl;
416 if (!ReadAerodynamics(&AC_cfg)) result = false;
417 } else if (token == "UNDERCARRIAGE") {
418 if (debug_lvl > 0) cout << fgcyan << "\n Reading Landing Gear" << fgdef << endl;
419 if (!ReadUndercarriage(&AC_cfg)) result = false;
420 } else if (token == "PROPULSION") {
421 if (debug_lvl > 0) cout << fgcyan << "\n Reading Propulsion" << fgdef << endl;
422 if (!ReadPropulsion(&AC_cfg)) result = false;
423 } else if (token == "FLIGHT_CONTROL") {
424 if (debug_lvl > 0) cout << fgcyan << "\n Reading Flight Control" << fgdef << endl;
425 if (!ReadFlightControls(&AC_cfg)) result = false;
426 } else if (token == "OUTPUT") {
427 if (debug_lvl > 0) cout << fgcyan << "\n Reading Output directives" << fgdef << endl;
428 if (!ReadOutput(&AC_cfg)) result = false;
437 << " FGFDMExec: Failed to load aircraft and/or engine model"
444 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
446 bool FGFDMExec::ReadPrologue(FGConfigFile* AC_cfg)
448 string token = AC_cfg->GetValue();
452 AircraftName = AC_cfg->GetValue("NAME");
453 Aircraft->SetAircraftName(AircraftName);
455 if (debug_lvl > 0) cout << underon << "Reading Aircraft Configuration File"
456 << underoff << ": " << highint << AircraftName << normint << endl;
457 scratch = AC_cfg->GetValue("VERSION").c_str();
459 CFGVersion = AC_cfg->GetValue("VERSION");
462 cout << " Version: " << highint << CFGVersion
464 if (CFGVersion != needed_cfg_version) {
465 cerr << endl << fgred << "YOU HAVE AN INCOMPATIBLE CFG FILE FOR THIS AIRCRAFT."
466 " RESULTS WILL BE UNPREDICTABLE !!" << endl;
467 cerr << "Current version needed is: " << needed_cfg_version << endl;
468 cerr << " You have version: " << CFGVersion << endl << fgdef << endl;
475 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
477 bool FGFDMExec::ReadSlave(FGConfigFile* AC_cfg)
479 // Add a new slaveData object to the slave FDM list
480 // Populate that slaveData element with a new FDMExec object
481 // Set the IsSlave flag for that FDMExec object
482 // Get the aircraft name
483 // set debug level to print out no additional data for slave objects
484 // Load the model given the aircraft name
485 // reset debug level to prior setting
487 int saved_debug_lvl = debug_lvl;
489 SlaveFDMList.push_back(new slaveData);
490 SlaveFDMList.back()->exec = new FGFDMExec();
491 SlaveFDMList.back()->exec->SetSlave();
493 string AircraftName = AC_cfg->GetValue("FILE");
496 SlaveFDMList.back()->exec->LoadModel("aircraft", "engine", AircraftName);
497 debug_lvl = saved_debug_lvl;
502 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
504 bool FGFDMExec::ReadPropulsion(FGConfigFile* AC_cfg)
506 if (!Propulsion->Load(AC_cfg)) {
507 cerr << " Propulsion not successfully loaded" << endl;
513 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
515 bool FGFDMExec::ReadFlightControls(FGConfigFile* AC_cfg)
517 if (!FCS->Load(AC_cfg)) {
518 cerr << " Flight Controls not successfully loaded" << endl;
524 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
526 bool FGFDMExec::ReadAerodynamics(FGConfigFile* AC_cfg)
528 if (!Aerodynamics->Load(AC_cfg)) {
529 cerr << " Aerodynamics not successfully loaded" << endl;
535 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
537 bool FGFDMExec::ReadUndercarriage(FGConfigFile* AC_cfg)
539 if (!GroundReactions->Load(AC_cfg)) {
540 cerr << " Ground Reactions not successfully loaded" << endl;
546 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
548 bool FGFDMExec::ReadMetrics(FGConfigFile* AC_cfg)
550 if (!Aircraft->Load(AC_cfg)) {
551 cerr << " Aircraft metrics not successfully loaded" << endl;
557 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
559 bool FGFDMExec::ReadOutput(FGConfigFile* AC_cfg)
561 if (!Output->Load(AC_cfg)) {
562 cerr << " Output not successfully loaded" << endl;
568 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
570 FGPropertyManager* FGFDMExec::GetPropertyManager(void) {
574 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
575 // The bitmasked value choices are as follows:
576 // unset: In this case (the default) JSBSim would only print
577 // out the normally expected messages, essentially echoing
578 // the config files as they are read. If the environment
579 // variable is not set, debug_lvl is set to 1 internally
580 // 0: This requests JSBSim not to output any messages
582 // 1: This value explicity requests the normal JSBSim
584 // 2: This value asks for a message to be printed out when
585 // a class is instantiated
586 // 4: When this value is set, a message is displayed when a
587 // FGModel object executes its Run() method
588 // 8: When this value is set, various runtime state variables
589 // are printed out periodically
590 // 16: When set various parameters are sanity checked and
591 // a message is printed out when they go out of bounds
593 void FGFDMExec::Debug(int from)
595 if (debug_lvl <= 0) return;
597 if (debug_lvl & 1) { // Standard console startup message output
598 if (from == 0) { // Constructor
599 cout << "\n\n " << highint << underon << "JSBSim Flight Dynamics Model v"
600 << JSBSim_version << underoff << normint << endl;
601 cout << halfint << " [cfg file spec v" << needed_cfg_version << "]\n\n";
602 cout << normint << "JSBSim startup beginning ...\n\n";
603 } else if (from == 3) {
604 cout << "\n\nJSBSim startup complete\n\n";
607 if (debug_lvl & 2 ) { // Instantiation/Destruction notification
608 if (from == 0) cout << "Instantiated: FGFDMExec" << endl;
609 if (from == 1) cout << "Destroyed: FGFDMExec" << endl;
611 if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
613 cout << "================== Frame: " << Frame << " Time: "
614 << State->Getsim_time() << endl;
617 if (debug_lvl & 8 ) { // Runtime state variables
619 if (debug_lvl & 16) { // Sanity checking
621 if (debug_lvl & 64) {
622 if (from == 0) { // Constructor
623 cout << IdSrc << endl;
624 cout << IdHdr << endl;