1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
4 Author: Tony Peden, for flight control system authored by Jon S. Berndt
7 ------------- Copyright (C) 2000 Anthony K. Peden -------------
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 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
43 #include "FGKinemat.h"
47 static const char *IdSrc = "$Id$";
48 static const char *IdHdr = ID_FLAPS;
50 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
52 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
54 FGKinemat::FGKinemat(FGFCS* fcs, Element* element) : FGFCSComponent(fcs, element)
56 Element *traverse_element, *setting_element;
61 TransitionTimes.clear();
63 Output = OutputPct = 0;
66 if (element->FindElement("noscale")) DoScale = false;
68 traverse_element = element->FindElement("traverse");
69 setting_element = traverse_element->FindElement("setting");
70 while (setting_element) {
71 tmpDetent = setting_element->FindElementValueAsNumber("position");
72 tmpTime = setting_element->FindElementValueAsNumber("time");
73 Detents.push_back(tmpDetent);
74 TransitionTimes.push_back(tmpTime);
75 setting_element = traverse_element->FindNextElement("setting");
77 NumDetents = Detents.size();
79 if (NumDetents <= 1) {
80 cerr << "Kinematic component " << Name
81 << " must have more than 1 setting element" << endl;
85 FGFCSComponent::bind();
86 // treenode->Tie("output-norm", this, &FGKinemat::GetOutputPct );
91 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
93 FGKinemat::~FGKinemat()
98 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
100 bool FGKinemat::Run(void )
102 double dt = fcs->GetState()->Getdt();
104 Input = InputNodes[0]->getDoubleValue() * InputSigns[0];
106 if (DoScale) Input *= Detents[NumDetents-1];
108 if (IsOutput) Output = OutputNode->getDoubleValue();
110 if (Input < Detents[0])
112 else if (Detents[NumDetents-1] < Input)
113 Input = Detents[NumDetents-1];
115 // Process all detent intervals the movement traverses until either the
116 // final value is reached or the time interval has finished.
117 while ( 0.0 < dt && !EqualToRoundoff(Input, Output) ) {
119 // Find the area where Output is in
121 for (ind = 1; (Input < Output) ? Detents[ind] < Output : Detents[ind] <= Output ; ++ind)
122 if (NumDetents <= ind)
125 // A transition time of 0.0 means an infinite rate.
126 // The output is reached in one step
127 if (TransitionTimes[ind] <= 0.0) {
131 // Compute the rate in this area
132 double Rate = (Detents[ind] - Detents[ind-1])/TransitionTimes[ind];
133 // Compute the maximum input value inside this area
134 double ThisInput = Input;
135 if (ThisInput < Detents[ind-1]) ThisInput = Detents[ind-1];
136 if (Detents[ind] < ThisInput) ThisInput = Detents[ind];
137 // Compute the time to reach the value in ThisInput
138 double ThisDt = fabs((ThisInput-Output)/Rate);
140 // and clip to the timestep size
144 Output += ThisDt*Rate;
146 Output -= ThisDt*Rate;
148 // Handle this case separate to make shure the termination condition
149 // is met even in inexact arithmetics ...
156 OutputPct = (Output-Detents[0])/(Detents[NumDetents-1]-Detents[0]);
159 if (IsOutput) SetOutput();
164 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
165 // The bitmasked value choices are as follows:
166 // unset: In this case (the default) JSBSim would only print
167 // out the normally expected messages, essentially echoing
168 // the config files as they are read. If the environment
169 // variable is not set, debug_lvl is set to 1 internally
170 // 0: This requests JSBSim not to output any messages
172 // 1: This value explicity requests the normal JSBSim
174 // 2: This value asks for a message to be printed out when
175 // a class is instantiated
176 // 4: When this value is set, a message is displayed when a
177 // FGModel object executes its Run() method
178 // 8: When this value is set, various runtime state variables
179 // are printed out periodically
180 // 16: When set various parameters are sanity checked and
181 // a message is printed out when they go out of bounds
183 void FGKinemat::Debug(int from)
185 if (debug_lvl <= 0) return;
187 if (debug_lvl & 1) { // Standard console startup message output
188 if (from == 0) { // Constructor
189 cout << " INPUT: " << InputNodes[0]->getName() << endl;
190 cout << " DETENTS: " << NumDetents << endl;
191 for (int i=0;i<NumDetents;i++) {
192 cout << " " << Detents[i] << " " << TransitionTimes[i] << endl;
194 if (IsOutput) cout << " OUTPUT: " << OutputNode->getName() << endl;
195 if (!DoScale) cout << " NOSCALE" << endl;
198 if (debug_lvl & 2 ) { // Instantiation/Destruction notification
199 if (from == 0) cout << "Instantiated: FGKinemat" << endl;
200 if (from == 1) cout << "Destroyed: FGKinemat" << endl;
202 if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
204 if (debug_lvl & 8 ) { // Runtime state variables
206 if (debug_lvl & 16) { // Sanity checking
208 if (debug_lvl & 64) {
209 if (from == 0) { // Constructor
210 cout << IdSrc << endl;
211 cout << IdHdr << endl;