1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
7 ------------- Copyright (C) 2000 -------------
9 This program is free software; you can redistribute it and/or modify it under
10 the terms of the GNU General Public License as published by the Free Software
11 Foundation; either version 2 of the License, or (at your option) any later
14 This program is distributed in the hope that it will be useful, but WITHOUT
15 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
16 FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
19 You should have received a copy of the GNU General Public License along with
20 this program; if not, write to the Free Software Foundation, Inc., 59 Temple
21 Place - Suite 330, Boston, MA 02111-1307, USA.
23 Further information about the GNU General Public License can also be found on
24 the world wide web at http://www.gnu.org.
26 FUNCTIONAL DESCRIPTION
27 --------------------------------------------------------------------------------
30 --------------------------------------------------------------------------------
32 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
33 COMMENTS, REFERENCES, and NOTES
34 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
36 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
38 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
44 static const char *IdSrc = "$Id$";
45 static const char *IdHdr = ID_FILTER;
47 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
49 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
51 FGFilter::FGFilter(FGFCS* fcs, FGConfigFile* AC_cfg) : FGFCSComponent(fcs),
58 Type = AC_cfg->GetValue("TYPE");
59 Name = AC_cfg->GetValue("NAME");
60 AC_cfg->GetNextConfigLine();
61 dt = fcs->GetState()->Getdt();
64 C1 = C2 = C3 = C4 = C5 = C6 = 0.0;
66 if (Type == "LAG_FILTER") FilterType = eLag ;
67 else if (Type == "LEAD_LAG_FILTER") FilterType = eLeadLag ;
68 else if (Type == "SECOND_ORDER_FILTER") FilterType = eOrder2 ;
69 else if (Type == "WASHOUT_FILTER") FilterType = eWashout ;
70 else if (Type == "INTEGRATOR") FilterType = eIntegrator ;
71 else FilterType = eUnknown ;
73 while ((token = AC_cfg->GetValue()) != string("/COMPONENT")) {
75 if (token == "C1") *AC_cfg >> C1;
76 else if (token == "C2") *AC_cfg >> C2;
77 else if (token == "C3") *AC_cfg >> C3;
78 else if (token == "C4") *AC_cfg >> C4;
79 else if (token == "C5") *AC_cfg >> C5;
80 else if (token == "C6") *AC_cfg >> C6;
81 else if (token == "TRIGGER")
83 token = AC_cfg->GetValue("TRIGGER");
85 Trigger = resolveSymbol(token);
87 else if (token == "INPUT")
89 token = AC_cfg->GetValue("INPUT");
90 if( InputNodes.size() > 0 ) {
91 cerr << "Filters can only accept one input" << endl;
94 InputNodes.push_back( resolveSymbol(token) );
97 else if (token == "OUTPUT")
100 *AC_cfg >> sOutputIdx;
101 OutputNode = PropertyManager->GetNode( sOutputIdx );
103 else cerr << "Unknown filter type: " << token << endl;
108 switch (FilterType) {
110 denom = 2.00 + dt*C1;
112 cb = (2.00 - dt*C1) / denom;
115 denom = 2.00*C3 + dt*C4;
116 ca = (2.00*C1 + dt*C2) / denom;
117 cb = (dt*C2 - 2.00*C1) / denom;
118 cc = (2.00*C3 - dt*C4) / denom;
121 denom = 4.0*C4 + 2.0*C5*dt + C6*dt*dt;
122 ca = (4.0*C1 + 2.0*C2*dt + C3*dt*dt) / denom;
123 cb = (2.0*C3*dt*dt - 8.0*C1) / denom;
124 cc = (4.0*C1 - 2.0*C2*dt + C3*dt*dt) / denom;
125 cd = (2.0*C6*dt*dt - 8.0*C4) / denom;
126 ce = (4.0*C4 - 2.0*C5*dt + C6*dt*dt) / denom;
129 denom = 2.00 + dt*C1;
131 cb = (2.00 - dt*C1) / denom;
137 cerr << "Unknown filter type" << endl;
140 FGFCSComponent::bind();
145 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
147 FGFilter::~FGFilter()
152 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
154 bool FGFilter::Run(void)
158 FGFCSComponent::Run(); // call the base class for initialization of Input
162 PreviousOutput1 = PreviousInput1 = Output = Input;
165 } else if (Trigger != 0) {
166 test = Trigger->getIntValue();
168 Input = PreviousInput1 = PreviousInput2 = 0.0;
170 Output = PreviousOutput1 = PreviousOutput2 = 0.0;
174 Input = InputNodes[0]->getDoubleValue();
175 switch (FilterType) {
177 Output = Input * ca + PreviousInput1 * ca + PreviousOutput1 * cb;
180 Output = Input * ca + PreviousInput1 * cb + PreviousOutput1 * cc;
183 Output = Input * ca + PreviousInput1 * cb + PreviousInput2 * cc
184 - PreviousOutput1 * cd - PreviousOutput2 * ce;
187 Output = Input * ca - PreviousInput1 * ca + PreviousOutput1 * cb;
190 Output = Input * ca + PreviousInput1 * ca + PreviousOutput1;
198 PreviousOutput2 = PreviousOutput1;
199 PreviousOutput1 = Output;
200 PreviousInput2 = PreviousInput1;
201 PreviousInput1 = Input;
203 if (IsOutput) SetOutput();
208 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
210 void FGFilter::convert(void)
213 cout << " <component name=\"" << Name << "\" type=\"" << Type << "\">" << endl;
215 cout << " <input>" << (InputNodes[0]->GetFullyQualifiedName()).substr(12) << "</input>" << endl;
217 if (C1 != 0) cout << " <c1>" << C1 << "</c1>" << endl;
218 if (C2 != 0) cout << " <c2>" << C2 << "</c2>" << endl;
219 if (C3 != 0) cout << " <c3>" << C3 << "</c3>" << endl;
220 if (C4 != 0) cout << " <c4>" << C4 << "</c4>" << endl;
221 if (C5 != 0) cout << " <c5>" << C5 << "</c5>" << endl;
222 if (C6 != 0) cout << " <c6>" << C6 << "</c6>" << endl;
224 if (Trigger != 0) cout << " <trigger>" << Trigger << "</trigger>" << endl;
227 cout << " <output>" << (OutputNode->GetFullyQualifiedName()).substr(12) << "</output>" << endl;
229 cout << " </component>" << endl;
232 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
233 // The bitmasked value choices are as follows:
234 // unset: In this case (the default) JSBSim would only print
235 // out the normally expected messages, essentially echoing
236 // the config files as they are read. If the environment
237 // variable is not set, debug_lvl is set to 1 internally
238 // 0: This requests JSBSim not to output any messages
240 // 1: This value explicity requests the normal JSBSim
242 // 2: This value asks for a message to be printed out when
243 // a class is instantiated
244 // 4: When this value is set, a message is displayed when a
245 // FGModel object executes its Run() method
246 // 8: When this value is set, various runtime state variables
247 // are printed out periodically
248 // 16: When set various parameters are sanity checked and
249 // a message is printed out when they go out of bounds
251 void FGFilter::Debug(int from)
253 if (debug_lvl <= 0) return;
255 if (debug_lvl & 1) { // Standard console startup message output
256 if (from == 0) { // Constructor
257 cout << " INPUT: " << InputNodes[0]->getName() << endl;
258 cout << " C1: " << C1 << endl;
259 cout << " C2: " << C2 << endl;
260 cout << " C3: " << C3 << endl;
261 cout << " C4: " << C4 << endl;
262 cout << " C5: " << C5 << endl;
263 cout << " C6: " << C6 << endl;
264 if (IsOutput) cout << " OUTPUT: " << OutputNode->getName() << endl;
267 if (debug_lvl & 2 ) { // Instantiation/Destruction notification
268 if (from == 0) cout << "Instantiated: FGFilter" << endl;
269 if (from == 1) cout << "Destroyed: FGFilter" << endl;
271 if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
273 if (debug_lvl & 8 ) { // Runtime state variables
275 if (debug_lvl & 16) { // Sanity checking
277 if (debug_lvl & 64) {
278 if (from == 0) { // Constructor
279 cout << IdSrc << endl;
280 cout << IdHdr << endl;