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1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
2
3  Module:       FGEngine.cpp
4  Author:       Jon Berndt
5  Date started: 01/21/99
6  Called by:    FGAircraft
7
8  ------------- Copyright (C) 1999  Jon S. Berndt (jsb@hal-pc.org) -------------
9
10  This program is free software; you can redistribute it and/or modify it under
11  the terms of the GNU Lesser General Public License as published by the Free Software
12  Foundation; either version 2 of the License, or (at your option) any later
13  version.
14
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 Lesser General Public License for more details.
18
19  You should have received a copy of the GNU Lesser 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.
22
23  Further information about the GNU Lesser General Public License can also be found on
24  the world wide web at http://www.gnu.org.
25
26 FUNCTIONAL DESCRIPTION
27 --------------------------------------------------------------------------------
28 See header file.
29
30 HISTORY
31 --------------------------------------------------------------------------------
32 01/21/99   JSB   Created
33 09/03/99   JSB   Changed Rocket thrust equation to correct -= Thrust instead of
34                  += Thrust (thanks to Tony Peden)
35
36 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
37 INCLUDES
38 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
39
40 #ifdef FGFS
41 #  include <simgear/compiler.h>
42 #  ifdef SG_HAVE_STD_INCLUDES
43 #    include <fstream>
44 #  else
45 #    include <fstream.h>
46 #  endif
47 #else
48 #  if defined(sgi) && !defined(__GNUC__) && (_COMPILER_VERSION < 740)
49 #    include <fstream.h>
50 #  else
51 #    include <fstream>
52 #  endif
53 #endif
54
55 #include "FGEngine.h"
56 #include "FGTank.h"
57 #include "FGPropeller.h"
58 #include "FGNozzle.h"
59 #include <input_output/FGXMLParse.h>
60 #include <math/FGColumnVector3.h>
61
62 namespace JSBSim {
63
64 static const char *IdSrc = "$Id$";
65 static const char *IdHdr = ID_ENGINE;
66
67 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
68 CLASS IMPLEMENTATION
69 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
70
71 FGEngine::FGEngine(FGFDMExec* exec, Element* engine_element, int engine_number)
72                       : EngineNumber(engine_number)
73 {
74   Element* local_element;
75   FGColumnVector3 location, orientation;
76
77   Name = "";
78   Type = etUnknown;
79   X = Y = Z = 0.0;
80   EnginePitch = EngineYaw = 0.0;
81   SLFuelFlowMax = SLOxiFlowMax = 0.0;
82   MaxThrottle = 1.0;
83   MinThrottle = 0.0;
84   Thrust = 0.0;
85   Throttle = 0.0;
86   Mixture = 1.0;
87   Starter = false;
88   FuelNeed = OxidizerNeed = 0.0;
89   Starved = Running = Cranking = false;
90   PctPower = 0.0;
91   TrimMode = false;
92   FuelFlow_gph = 0.0;
93   FuelFlow_pph = 0.0;
94   FuelFreeze = false;
95
96   FDMExec = exec;
97   State = FDMExec->GetState();
98   Atmosphere = FDMExec->GetAtmosphere();
99   FCS = FDMExec->GetFCS();
100   Propulsion = FDMExec->GetPropulsion();
101   Aircraft = FDMExec->GetAircraft();
102   Propagate = FDMExec->GetPropagate();
103   Auxiliary = FDMExec->GetAuxiliary();
104
105   PropertyManager = FDMExec->GetPropertyManager();
106
107   Name = engine_element->GetAttributeValue("name");
108
109 // Find and set engine location
110
111   local_element = engine_element->GetParent()->FindElement("location");
112   if (local_element)  location = local_element->FindElementTripletConvertTo("IN");
113   else      cerr << "No engine location found for this engine." << endl;
114
115   local_element = engine_element->GetParent()->FindElement("orient");
116   if (local_element)  orientation = local_element->FindElementTripletConvertTo("IN");
117   else          cerr << "No engine orientation found for this engine." << endl;
118
119   SetPlacement(location, orientation);
120
121   // Load thruster
122   local_element = engine_element->GetParent()->FindElement("thruster");
123   if (local_element) {
124     LoadThruster(local_element);
125   } else {
126     cerr << "No thruster definition supplied with engine definition." << endl;
127   }
128
129   // Load feed tank[s] references
130   local_element = engine_element->GetParent()->FindElement("feed");
131   if (local_element) {
132     while (local_element) {
133       AddFeedTank((int)local_element->GetDataAsNumber());
134       local_element = engine_element->GetParent()->FindNextElement("feed");
135     }
136   } else {
137     cerr << "No feed tank specified in engine definition." << endl;
138   }
139
140   Debug(0);
141 }
142
143 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
144
145 FGEngine::~FGEngine()
146 {
147   delete Thruster;
148   Debug(1);
149 }
150
151 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
152 // This base class function should be called from within the
153 // derived class' Calculate() function before any other calculations are done.
154 // This base class method removes fuel from the fuel tanks as appropriate,
155 // and sets the starved flag if necessary.
156
157 void FGEngine::ConsumeFuel(void)
158 {
159   if (FuelFreeze) return;
160   if (TrimMode) return;
161
162   unsigned int i;
163   double Fshortage, Oshortage, TanksWithFuel, TanksWithOxidizer;
164   FGTank* Tank;
165   bool haveOxTanks = false;
166   Fshortage = Oshortage = TanksWithFuel = TanksWithOxidizer = 0.0;
167
168   // count how many assigned tanks have fuel
169   for (i=0; i<SourceTanks.size(); i++) {
170     Tank = Propulsion->GetTank(SourceTanks[i]);
171     if (Tank->GetType() == FGTank::ttFUEL){
172       if (Tank->GetContents() > 0.0) ++TanksWithFuel;
173     } else if (Tank->GetType() == FGTank::ttOXIDIZER) {
174       haveOxTanks = true;
175       if (Tank->GetContents() > 0.0) ++TanksWithOxidizer;
176     }
177   }
178   if (TanksWithFuel==0 || (haveOxTanks && TanksWithOxidizer==0)) {
179     Starved = true;
180     return;
181   }
182
183   for (i=0; i<SourceTanks.size(); i++) {
184     Tank = Propulsion->GetTank(SourceTanks[i]);
185     if (Tank->GetType() == FGTank::ttFUEL) {
186        Fshortage += Tank->Drain(CalcFuelNeed()/TanksWithFuel);
187     } else if (Tank->GetType() == FGTank::ttOXIDIZER) {
188        Oshortage += Tank->Drain(CalcOxidizerNeed()/TanksWithOxidizer);
189     }
190   }
191
192   if (Fshortage < 0.00 || Oshortage < 0.00) Starved = true;
193   else Starved = false;
194 }
195
196 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
197
198 double FGEngine::CalcFuelNeed(void)
199 {
200   FuelNeed = SLFuelFlowMax*PctPower*State->Getdt()*Propulsion->GetRate();
201   return FuelNeed;
202 }
203
204 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
205
206 double FGEngine::CalcOxidizerNeed(void)
207 {
208   OxidizerNeed = SLOxiFlowMax*PctPower*State->Getdt()*Propulsion->GetRate();
209   return OxidizerNeed;
210 }
211
212 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
213
214 void FGEngine::SetPlacement(FGColumnVector3& location, FGColumnVector3& orientation)
215 {
216   X = location(eX);
217   Y = location(eY);
218   Z = location(eZ);
219   EnginePitch = orientation(ePitch);
220   EngineYaw = orientation (eYaw);
221 }
222
223 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
224
225 void FGEngine::AddFeedTank(int tkID)
226 {
227   SourceTanks.push_back(tkID);
228 }
229
230 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
231
232 FGColumnVector3& FGEngine::GetBodyForces(void)
233 {
234   return Thruster->GetBodyForces();
235 }
236
237 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
238
239 FGColumnVector3& FGEngine::GetMoments(void)
240 {
241   return Thruster->GetMoments();
242 }
243
244 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
245
246 bool FGEngine::LoadThruster(Element *thruster_element)
247 {
248   string token, fullpath, localpath;
249   string thruster_filename, thruster_fullpathname, thrType;
250   double xLoc, yLoc, zLoc, Pitch, Yaw;
251   double P_Factor = 0, Sense = 0.0;
252   string enginePath = FDMExec->GetEnginePath();
253   string aircraftPath = FDMExec->GetFullAircraftPath();
254   FGXMLParse thruster_file_parser;
255   Element *document, *element;
256   ifstream thruster_file;
257   FGColumnVector3 location, orientation;
258   string separator = "/";
259
260 # ifdef macintosh
261     separator = ";";
262 # endif
263
264   fullpath = enginePath + separator;
265   localpath = aircraftPath + separator + "Engines" + separator;
266
267   thruster_filename = thruster_element->GetAttributeValue("file");
268   if ( !thruster_filename.empty()) {
269     thruster_fullpathname = fullpath + thruster_filename + ".xml";
270     thruster_file.open(thruster_fullpathname.c_str());
271     if ( !thruster_file.is_open()) {
272       thruster_fullpathname = localpath + thruster_filename + ".xml";
273       thruster_file.open(thruster_fullpathname.c_str());
274       if ( !thruster_file.is_open()) {
275         cerr << "Could not open thruster file: " << thruster_filename << ".xml" << endl;
276         return false;
277       } else {
278         thruster_file.close();
279       }
280     } else {
281       thruster_file.close();
282     }
283   } else {
284     cerr << "No thruster filename given." << endl;
285     return false;
286   }
287
288   readXML(thruster_fullpathname, thruster_file_parser);
289   document = thruster_file_parser.GetDocument(); // document holds the thruster description
290   document->SetParent(thruster_element);
291
292   thrType = document->GetName();
293
294   if (thrType == "propeller") {
295     Thruster = new FGPropeller(FDMExec, document, EngineNumber);
296   } else if (thrType == "nozzle") {
297     Thruster = new FGNozzle(FDMExec, document, EngineNumber);
298   } else if (thrType == "direct") {
299     Thruster = new FGThruster( FDMExec, document, EngineNumber);
300   }
301
302   Thruster->SetdeltaT(State->Getdt() * Propulsion->GetRate());
303
304   Debug(2);
305   return true;
306 }
307
308 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
309 //    The bitmasked value choices are as follows:
310 //    unset: In this case (the default) JSBSim would only print
311 //       out the normally expected messages, essentially echoing
312 //       the config files as they are read. If the environment
313 //       variable is not set, debug_lvl is set to 1 internally
314 //    0: This requests JSBSim not to output any messages
315 //       whatsoever.
316 //    1: This value explicity requests the normal JSBSim
317 //       startup messages
318 //    2: This value asks for a message to be printed out when
319 //       a class is instantiated
320 //    4: When this value is set, a message is displayed when a
321 //       FGModel object executes its Run() method
322 //    8: When this value is set, various runtime state variables
323 //       are printed out periodically
324 //    16: When set various parameters are sanity checked and
325 //       a message is printed out when they go out of bounds
326
327 void FGEngine::Debug(int from)
328 {
329   if (debug_lvl <= 0) return;
330
331   if (debug_lvl & 1) { // Standard console startup message output
332     if (from == 0) { // Constructor
333
334     }
335     if (from == 2) { // After thruster loading
336       cout << "      X = " << Thruster->GetLocationX() << endl;
337       cout << "      Y = " << Thruster->GetLocationY() << endl;
338       cout << "      Z = " << Thruster->GetLocationZ() << endl;
339       cout << "      Pitch = " << Thruster->GetAnglesToBody(ePitch) << endl;
340       cout << "      Yaw = " << Thruster->GetAnglesToBody(eYaw) << endl;
341     }
342   }
343   if (debug_lvl & 2 ) { // Instantiation/Destruction notification
344     if (from == 0) cout << "Instantiated: FGEngine" << endl;
345     if (from == 1) cout << "Destroyed:    FGEngine" << endl;
346   }
347   if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
348   }
349   if (debug_lvl & 8 ) { // Runtime state variables
350   }
351   if (debug_lvl & 16) { // Sanity checking
352   }
353   if (debug_lvl & 64) {
354     if (from == 0) { // Constructor
355       cout << IdSrc << endl;
356       cout << IdHdr << endl;
357     }
358   }
359 }
360 }