# include STL_IOSTREAM
# include STL_ITERATOR
#else
-# if defined(sgi) && !defined(__GNUC__)
+# if defined(sgi) && !defined(__GNUC__) && (_COMPILER_VERSION < 740)
# include <iostream.h>
# else
# include <iostream>
#include "FGState.h"
#include "FGAtmosphere.h"
#include "FGFCS.h"
+#include "FGGroundCallback.h"
#include "FGPropulsion.h"
#include "FGMassBalance.h"
#include "FGGroundReactions.h"
#include "FGAerodynamics.h"
#include "FGInertial.h"
#include "FGAircraft.h"
-#include "FGTranslation.h"
-#include "FGRotation.h"
-#include "FGPosition.h"
+#include "FGPropagate.h"
#include "FGAuxiliary.h"
#include "FGOutput.h"
#include "FGConfigFile.h"
#include "FGInitialCondition.h"
+#include "FGPropertyManager.h"
+
+namespace JSBSim {
static const char *IdSrc = "$Id$";
static const char *IdHdr = ID_FDMEXEC;
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
unsigned int FGFDMExec::FDMctr = 0;
+FGPropertyManager* FGFDMExec::master=0;
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS IMPLEMENTATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+void checkTied ( FGPropertyManager *node )
+{
+ int N = node->nChildren();
+ string name;
+
+ for (int i=0; i<N; i++) {
+ if (node->getChild(i)->nChildren() ) {
+ checkTied( (FGPropertyManager*)node->getChild(i) );
+ } else if ( node->getChild(i)->isTied() ) {
+ name = ((FGPropertyManager*)node->getChild(i))->GetFullyQualifiedName();
+ cerr << name << " is tied" << endl;
+ }
+ }
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
// Constructor
-FGFDMExec::FGFDMExec(void)
+FGFDMExec::FGFDMExec(FGPropertyManager* root)
{
+
Frame = 0;
FirstModel = 0;
Error = 0;
Inertial = 0;
GroundReactions = 0;
Aircraft = 0;
- Translation = 0;
- Rotation = 0;
- Position = 0;
+ GroundCallback = 0;
+ Propagate = 0;
Auxiliary = 0;
Output = 0;
+ IC = 0;
+ Trim = 0;
terminate = false;
frozen = false;
modelLoaded = false;
+ IsSlave = false;
+ // Multiple FDM's are stopped for now. We need to ensure that
+ // the "user" instance always gets the zeroeth instance number,
+ // because there may be instruments or scripts tied to properties
+ // in the jsbsim[0] node.
IdFDM = FDMctr;
- FDMctr++;
+ //FDMctr++;
try {
char* num = getenv("JSBSIM_DEBUG");
- if (!num) debug_lvl = 1;
- else debug_lvl = atoi(num); // set debug level
+ if (num) debug_lvl = atoi(num); // set debug level
} catch (...) { // if error set to 1
debug_lvl = 1;
}
+ if (root == 0) master= new FGPropertyManager;
+ else master = root;
+
+ instance = master->GetNode("/fdm/jsbsim",IdFDM,true);
+
+
Debug(0);
- Allocate();
+ // this is here to catch errors in binding member functions
+ // to the property tree.
+ try {
+ Allocate();
+ } catch ( string msg ) {
+ cout << "Caught error: " << msg << endl;
+ exit(1);
+ }
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FGFDMExec::~FGFDMExec()
{
- DeAllocate();
+ try {
+ DeAllocate();
+ checkTied( instance );
+ } catch ( string msg ) {
+ cout << "Caught error: " << msg << endl;
+ }
+
+ for (unsigned int i=1; i<SlaveFDMList.size(); i++) delete SlaveFDMList[i]->exec;
+ SlaveFDMList.clear();
Debug(1);
}
Inertial = new FGInertial(this);
GroundReactions = new FGGroundReactions(this);
Aircraft = new FGAircraft(this);
- Translation = new FGTranslation(this);
- Rotation = new FGRotation(this);
- Position = new FGPosition(this);
+ GroundCallback = new FGGroundCallback();
+ Propagate = new FGPropagate(this);
Auxiliary = new FGAuxiliary(this);
Output = new FGOutput(this);
State = new FGState(this); // This must be done here, as the FGState
// class needs valid pointers to the above
// model classes
-
+
// Initialize models so they can communicate with each other
if (!Atmosphere->InitModel()) {
if (!Aircraft->InitModel()) {
cerr << fgred << "Aircraft model init failed" << fgdef << endl;
Error+=128;}
- if (!Translation->InitModel()){
- cerr << fgred << "Translation model init failed" << fgdef << endl;
- Error+=256;}
- if (!Rotation->InitModel()) {
- cerr << fgred << "Rotation model init failed" << fgdef << endl;
+ if (!Propagate->InitModel()) {
+ cerr << fgred << "Propagate model init failed" << fgdef << endl;
Error+=512;}
- if (!Position->InitModel()) {
- cerr << fgred << "Position model init failed" << fgdef << endl;
- Error+=1024;}
if (!Auxiliary->InitModel()) {
cerr << fgred << "Auxiliary model init failed" << fgdef << endl;
Error+=2058;}
if (Error > 0) result = false;
+ IC = new FGInitialCondition(this);
+
// Schedule a model. The second arg (the integer) is the pass number. For
// instance, the atmosphere model gets executed every fifth pass it is called
// by the executive. Everything else here gets executed each pass.
+ // IC and Trim objects are NOT scheduled.
Schedule(Atmosphere, 1);
Schedule(FCS, 1);
Schedule(Inertial, 1);
Schedule(GroundReactions, 1);
Schedule(Aircraft, 1);
- Schedule(Rotation, 1);
- Schedule(Translation, 1);
- Schedule(Position, 1);
+ Schedule(Propagate, 1);
Schedule(Auxiliary, 1);
Schedule(Output, 1);
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-bool FGFDMExec::DeAllocate(void) {
-
- if ( Atmosphere != 0 ) delete Atmosphere;
- if ( FCS != 0 ) delete FCS;
- if ( Propulsion != 0) delete Propulsion;
- if ( MassBalance != 0) delete MassBalance;
- if ( Aerodynamics != 0) delete Aerodynamics;
- if ( Inertial != 0) delete Inertial;
- if ( GroundReactions != 0) delete GroundReactions;
- if ( Aircraft != 0 ) delete Aircraft;
- if ( Translation != 0 ) delete Translation;
- if ( Rotation != 0 ) delete Rotation;
- if ( Position != 0 ) delete Position;
- if ( Auxiliary != 0 ) delete Auxiliary;
- if ( Output != 0 ) delete Output;
- if ( State != 0 ) delete State;
+bool FGFDMExec::DeAllocate(void)
+{
+ delete Atmosphere;
+ delete FCS;
+ delete Propulsion;
+ delete MassBalance;
+ delete Aerodynamics;
+ delete Inertial;
+ delete GroundReactions;
+ delete Aircraft;
+ delete Propagate;
+ delete Auxiliary;
+ delete Output;
+ delete State;
+
+ delete IC;
+ delete Trim;
+
+ delete GroundCallback;
FirstModel = 0L;
Error = 0;
Inertial = 0;
GroundReactions = 0;
Aircraft = 0;
- Translation = 0;
- Rotation = 0;
- Position = 0;
+ Propagate = 0;
Auxiliary = 0;
Output = 0;
model_iterator->NextModel->SetRate(rate);
}
-
+
return 0;
}
Debug(2);
- while (!model_iterator->Run()) {
+ for (unsigned int i=1; i<SlaveFDMList.size(); i++) {
+// SlaveFDMList[i]->exec->State->Initialize(); // Transfer state to the slave FDM
+// SlaveFDMList[i]->exec->Run();
+ }
+
+ while (model_iterator != 0L) {
+ model_iterator->Run();
model_iterator = model_iterator->NextModel;
- if (model_iterator == 0L) break;
}
frame = Frame++;
State->IncrTime();
-
return true;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-bool FGFDMExec::RunIC(FGInitialCondition *fgic)
+bool FGFDMExec::RunIC(void)
{
State->Suspend();
- State->Initialize(fgic);
+ State->Initialize(IC);
Run();
State->Resume();
+
return true;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-bool FGFDMExec::LoadModel(string APath, string EPath, string model)
+void FGFDMExec::SetGroundCallback(FGGroundCallback* p) {
+ if (GroundCallback)
+ delete GroundCallback;
+ GroundCallback = p;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+vector <string> FGFDMExec::EnumerateFDMs(void)
+{
+ vector <string> FDMList;
+
+ FDMList.push_back(Aircraft->GetAircraftName());
+
+ for (unsigned int i=1; i<SlaveFDMList.size(); i++) {
+ FDMList.push_back(SlaveFDMList[i]->exec->GetAircraft()->GetAircraftName());
+ }
+
+ return FDMList;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+bool FGFDMExec::LoadModel(string AircraftPath, string EnginePath, string model,
+ bool addModelToPath)
{
+
+ FGFDMExec::AircraftPath = AircraftPath;
+ FGFDMExec::EnginePath = EnginePath;
+
+ return LoadModel(model, addModelToPath);
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+
+bool FGFDMExec::LoadModel(string model, bool addModelToPath)
+{
+
bool result = true;
string token;
string aircraftCfgFileName;
- AircraftPath = APath;
- EnginePath = EPath;
+ if( AircraftPath.empty() || EnginePath.empty() ) {
+ cerr << "Error: attempted to load aircraft with undefined ";
+ cerr << "aircraft and engine paths" << endl;
+ return false;
+ }
+ aircraftCfgFileName = AircraftPath;
# ifndef macintosh
- aircraftCfgFileName = AircraftPath + "/" + model + "/" + model + ".xml";
+ if (addModelToPath) aircraftCfgFileName += "/" + model;
+ aircraftCfgFileName += "/" + model + ".xml";
# else
- aircraftCfgFileName = AircraftPath + ";" + model + ";" + model + ".xml";
+ if (addModelToPath) aircraftCfgFileName += ";" + model;
+ aircraftCfgFileName += ";" + model + ".xml";
# endif
FGConfigFile AC_cfg(aircraftCfgFileName);
if (!AC_cfg.IsOpen()) return false;
+ modelName = model;
+
if (modelLoaded) {
DeAllocate();
Allocate();
if (token == "METRICS") {
if (debug_lvl > 0) cout << fgcyan << "\n Reading Metrics" << fgdef << endl;
if (!ReadMetrics(&AC_cfg)) result = false;
+ } else if (token == "SLAVE") {
+ if (debug_lvl > 0) cout << fgcyan << "\n Reading Slave flight vehicle: " << fgdef
+ << AC_cfg.GetValue("NAME") << endl;
+ if (!ReadSlave(&AC_cfg)) result = false;
} else if (token == "AERODYNAMICS") {
if (debug_lvl > 0) cout << fgcyan << "\n Reading Aerodynamics" << fgdef << endl;
if (!ReadAerodynamics(&AC_cfg)) result = false;
} else if (token == "FLIGHT_CONTROL") {
if (debug_lvl > 0) cout << fgcyan << "\n Reading Flight Control" << fgdef << endl;
if (!ReadFlightControls(&AC_cfg)) result = false;
+ } else if (token == "AUTOPILOT") {
+ if (debug_lvl > 0) cout << fgcyan << "\n Reading Autopilot" << fgdef << endl;
+ if (!ReadFlightControls(&AC_cfg)) result = false;
} else if (token == "OUTPUT") {
if (debug_lvl > 0) cout << fgcyan << "\n Reading Output directives" << fgdef << endl;
if (!ReadOutput(&AC_cfg)) result = false;
string token = AC_cfg->GetValue();
string scratch;
string AircraftName;
-
+
AircraftName = AC_cfg->GetValue("NAME");
Aircraft->SetAircraftName(AircraftName);
scratch = AC_cfg->GetValue("VERSION").c_str();
CFGVersion = AC_cfg->GetValue("VERSION");
+ Release = AC_cfg->GetValue("RELEASE");
if (debug_lvl > 0)
cout << " Version: " << highint << CFGVersion
- << normint << endl;
+ << normint << endl;
if (CFGVersion != needed_cfg_version) {
cerr << endl << fgred << "YOU HAVE AN INCOMPATIBLE CFG FILE FOR THIS AIRCRAFT."
" RESULTS WILL BE UNPREDICTABLE !!" << endl;
cerr << " You have version: " << CFGVersion << endl << fgdef << endl;
return false;
}
+
+ if (Release == "ALPHA" && debug_lvl > 0) {
+#ifndef _MSC_VER
+ system("banner ALPHA");
+#endif
+ cout << endl << endl
+ << highint << "This aircraft model is an " << fgred << Release
+ << reset << highint << " release!!!" << endl << endl << reset
+ << "This aircraft model may not even properly load, and probably"
+ << " will not fly as expected." << endl << endl
+ << fgred << highint << "Use this model for development purposes ONLY!!!"
+ << normint << reset << endl << endl;
+ } else if (Release == "BETA" && debug_lvl > 0) {
+#ifndef _MSC_VER
+ system("banner BETA");
+#endif
+ cout << endl << endl
+ << highint << "This aircraft model is a " << fgred << Release
+ << reset << highint << " release!!!" << endl << endl << reset
+ << "This aircraft model probably will not fly as expected." << endl << endl
+ << fgblue << highint << "Use this model for development purposes ONLY!!!"
+ << normint << reset << endl << endl;
+ }
+
+ return true;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+bool FGFDMExec::ReadSlave(FGConfigFile* AC_cfg)
+{
+ // Add a new slaveData object to the slave FDM list
+ // Populate that slaveData element with a new FDMExec object
+ // Set the IsSlave flag for that FDMExec object
+ // Get the aircraft name
+ // set debug level to print out no additional data for slave objects
+ // Load the model given the aircraft name
+ // reset debug level to prior setting
+
+ int saved_debug_lvl = debug_lvl;
+ string token;
+
+ SlaveFDMList.push_back(new slaveData);
+ SlaveFDMList.back()->exec = new FGFDMExec();
+ SlaveFDMList.back()->exec->SetSlave();
+
+ string AircraftName = AC_cfg->GetValue("FILE");
+
+ debug_lvl = 0; // turn off debug output for slave vehicle
+
+ SlaveFDMList.back()->exec->SetAircraftPath( AircraftPath );
+ SlaveFDMList.back()->exec->SetEnginePath( EnginePath );
+ SlaveFDMList.back()->exec->LoadModel(AircraftName);
+ debug_lvl = saved_debug_lvl; // turn debug output back on for master vehicle
+
+ AC_cfg->GetNextConfigLine();
+ while ((token = AC_cfg->GetValue()) != string("/SLAVE")) {
+ *AC_cfg >> token;
+ if (token == "XLOC") { *AC_cfg >> SlaveFDMList.back()->x; }
+ else if (token == "YLOC") { *AC_cfg >> SlaveFDMList.back()->y; }
+ else if (token == "ZLOC") { *AC_cfg >> SlaveFDMList.back()->z; }
+ else if (token == "PITCH") { *AC_cfg >> SlaveFDMList.back()->pitch;}
+ else if (token == "YAW") { *AC_cfg >> SlaveFDMList.back()->yaw; }
+ else if (token == "ROLL") { *AC_cfg >> SlaveFDMList.back()->roll; }
+ else cerr << "Unknown identifier: " << token << " in slave vehicle definition" << endl;
+ }
+
+ if (debug_lvl > 0) {
+ cout << " X = " << SlaveFDMList.back()->x << endl;
+ cout << " Y = " << SlaveFDMList.back()->y << endl;
+ cout << " Z = " << SlaveFDMList.back()->z << endl;
+ cout << " Pitch = " << SlaveFDMList.back()->pitch << endl;
+ cout << " Yaw = " << SlaveFDMList.back()->yaw << endl;
+ cout << " Roll = " << SlaveFDMList.back()->roll << endl;
+ }
+
return true;
}
return true;
}
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+FGPropertyManager* FGFDMExec::GetPropertyManager(void) {
+ return instance;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+FGTrim* FGFDMExec::GetTrim(void) {
+ delete Trim;
+ Trim = new FGTrim(this,tNone);
+ return Trim;
+}
+
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
// The bitmasked value choices are as follows:
// unset: In this case (the default) JSBSim would only print
{
if (debug_lvl <= 0) return;
- if (debug_lvl & 1) { // Standard console startup message output
+ if (debug_lvl & 1 && IdFDM == 0) { // Standard console startup message output
if (from == 0) { // Constructor
cout << "\n\n " << highint << underon << "JSBSim Flight Dynamics Model v"
<< JSBSim_version << underoff << normint << endl;
}
}
}
+}
projects / flightgear.git / blobdiff