src/FDM/JSBSim/models/FGExternalReactions.cpp

   1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
   2
   3  Module:       FGExternalReactions.cpp
   4  Author:       David P. Culp
   5  Date started: 17/11/06
   6  Purpose:      Manages the External Forces
   7  Called by:    FGAircraft
   8
   9  ------------- Copyright (C) 2006  David P. Culp (davidculp2@comcast.net) -------------
  10
  11  This program is free software; you can redistribute it and/or modify it under
  12  the terms of the GNU Lesser 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 Lesser General Public License for more
  19  details.
  20
  21  You should have received a copy of the GNU Lesser 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 Lesser 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 HISTORY
  32 --------------------------------------------------------------------------------
  33 17/11/06   DC   Created
  34
  35 /%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  36 INCLUDES
  37 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  38
  39 #include "FGExternalReactions.h"
  40 #include "input_output/FGXMLElement.h"
  41 #include <iostream>
  42 #include <string>
  43
  44 using namespace std;
  45
  46 namespace JSBSim {
  47
  48 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  49 DEFINITIONS
  50 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  51
  52 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  53 GLOBAL DATA
  54 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  55
  56 static const char *IdSrc = "$Id: FGExternalReactions.cpp,v 1.12 2011/07/20 12:16:34 jberndt Exp $";
  57 static const char *IdHdr = ID_EXTERNALREACTIONS;
  58
  59 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  60 CLASS IMPLEMENTATION
  61 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  62
  63 FGExternalReactions::FGExternalReactions(FGFDMExec* fdmex) : FGModel(fdmex)
  64 {
  65   NoneDefined = true;
  66
  67   Debug(0);
  68 }
  69
  70 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  71
  72 bool FGExternalReactions::Load(Element* el)
  73 {
  74   // check if a file attribute was specified
  75   string fname = el->GetAttributeValue("file");
  76   if (!fname.empty()) {
  77     string file = FDMExec->GetFullAircraftPath() + "/" + fname;
  78     el = LoadXMLDocument(file);
  79     if (el == 0L) return false;
  80   }
  81
  82   FGModel::Load(el); // Call the base class Load() function to load interface properties.
  83
  84   Debug(2);
  85
  86   // Parse force elements
  87
  88   int index=0;
  89   Element* force_element = el->FindElement("force");
  90   while (force_element) {
  91     Forces.push_back( new FGExternalForce(FDMExec, force_element, index) );
  92     NoneDefined = false;
  93     index++;
  94     force_element = el->FindNextElement("force");
  95   }
  96
  97   PostLoad(el, PropertyManager);
  98
  99   if (!NoneDefined) bind();
 100
 101   return true;
 102 }
 103
 104 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 105
 106 FGExternalReactions::~FGExternalReactions()
 107 {
 108   for (unsigned int i=0; i<Forces.size(); i++) delete Forces[i];
 109   Forces.clear();
 110
 111   Debug(1);
 112 }
 113
 114 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 115
 116 bool FGExternalReactions::InitModel(void)
 117 {
 118   return true;
 119 }
 120
 121 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 122
 123 bool FGExternalReactions::Run(bool Holding)
 124 {
 125   if (FGModel::Run(Holding)) return true;
 126   if (Holding) return false; // if paused don't execute
 127   if (NoneDefined) return true;
 128
 129   RunPreFunctions();
 130
 131   vTotalForces.InitMatrix();
 132   vTotalMoments.InitMatrix();
 133
 134   for (unsigned int i=0; i<Forces.size(); i++) {
 135     vTotalForces  += Forces[i]->GetBodyForces();
 136     vTotalMoments += Forces[i]->GetMoments();
 137   }
 138
 139   RunPostFunctions();
 140
 141   return false;
 142 }
 143
 144 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 145
 146 void FGExternalReactions::bind(void)
 147 {
 148   typedef double (FGExternalReactions::*PMF)(int) const;
 149   PropertyManager->Tie("moments/l-external-lbsft", this, eL, (PMF)&FGExternalReactions::GetMoments);
 150   PropertyManager->Tie("moments/m-external-lbsft", this, eM, (PMF)&FGExternalReactions::GetMoments);
 151   PropertyManager->Tie("moments/n-external-lbsft", this, eN, (PMF)&FGExternalReactions::GetMoments);
 152   PropertyManager->Tie("forces/fbx-external-lbs", this, eX, (PMF)&FGExternalReactions::GetForces);
 153   PropertyManager->Tie("forces/fby-external-lbs", this, eY, (PMF)&FGExternalReactions::GetForces);
 154   PropertyManager->Tie("forces/fbz-external-lbs", this, eZ, (PMF)&FGExternalReactions::GetForces);
 155 }
 156
 157
 158 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 159 //    The bitmasked value choices are as follows:
 160 //    unset: In this case (the default) JSBSim would only print
 161 //       out the normally expected messages, essentially echoing
 162 //       the config files as they are read. If the environment
 163 //       variable is not set, debug_lvl is set to 1 internally
 164 //    0: This requests JSBSim not to output any messages
 165 //       whatsoever.
 166 //    1: This value explicity requests the normal JSBSim
 167 //       startup messages
 168 //    2: This value asks for a message to be printed out when
 169 //       a class is instantiated
 170 //    4: When this value is set, a message is displayed when a
 171 //       FGModel object executes its Run() method
 172 //    8: When this value is set, various runtime state variables
 173 //       are printed out periodically
 174 //    16: When set various parameters are sanity checked and
 175 //       a message is printed out when they go out of bounds
 176
 177 void FGExternalReactions::Debug(int from)
 178 {
 179   if (debug_lvl <= 0) return;
 180
 181   if (debug_lvl & 1) { // Standard console startup message output
 182     if (from == 0) { // Constructor - loading and initialization
 183     }
 184     if (from == 2) { // Loading
 185       cout << endl << "  External Reactions: " << endl;
 186     }
 187   }
 188   if (debug_lvl & 2 ) { // Instantiation/Destruction notification
 189     if (from == 0) cout << "Instantiated: FGExternalReactions" << endl;
 190     if (from == 1) cout << "Destroyed:    FGExternalReactions" << endl;
 191   }
 192   if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
 193   }
 194   if (debug_lvl & 8 ) { // Runtime state variables
 195   }
 196   if (debug_lvl & 16) { // Sanity checking
 197   }
 198   if (debug_lvl & 64) {
 199     if (from == 0) { // Constructor
 200       cout << IdSrc << endl;
 201       cout << IdHdr << endl;
 202     }
 203   }
 204 }
 205
 206 } // namespace JSBSim
 207