------------- Copyright (C) 1999 Jon S. Berndt (jsb@hal-pc.org) -------------
This program is free software; you can redistribute it and/or modify it under
- the terms of the GNU General Public License as published by the Free Software
+ the terms of the GNU Lesser General Public License as published by the Free Software
Foundation; either version 2 of the License, or (at your option) any later
version.
This program is distributed in the hope that it will be useful, but WITHOUT
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
- FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
+ FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
details.
- You should have received a copy of the GNU General Public License along with
+ You should have received a copy of the GNU Lesser General Public License along with
this program; if not, write to the Free Software Foundation, Inc., 59 Temple
Place - Suite 330, Boston, MA 02111-1307, USA.
- Further information about the GNU General Public License can also be found on
+ Further information about the GNU Lesser General Public License can also be found on
the world wide web at http://www.gnu.org.
FUNCTIONAL DESCRIPTION
INCLUDES
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-#ifdef FGFS
-# include <simgear/compiler.h>
-# include STL_IOSTREAM
-# include STL_ITERATOR
-#else
-# if defined(sgi) && !defined(__GNUC__) && (_COMPILER_VERSION < 740)
-# include <iostream.h>
-# else
-# include <iostream>
-# endif
-# include <iterator>
-#endif
-
#include "FGFDMExec.h"
#include "FGState.h"
#include <models/FGAtmosphere.h>
#include <models/FGPropulsion.h>
#include <models/FGMassBalance.h>
#include <models/FGGroundReactions.h>
+#include <models/FGExternalReactions.h>
+#include <models/FGBuoyantForces.h>
#include <models/FGAerodynamics.h>
#include <models/FGInertial.h>
#include <models/FGAircraft.h>
#include <models/FGInput.h>
#include <models/FGOutput.h>
#include <initialization/FGInitialCondition.h>
+//#include <initialization/FGTrimAnalysis.h> // Remove until later
#include <input_output/FGPropertyManager.h>
+#include <input_output/FGScript.h>
+
+#include <iostream>
+#include <iterator>
namespace JSBSim {
for (int i=0; i<N; i++) {
if (node->getChild(i)->nChildren() ) {
+// cout << "Untieing " << node->getChild(i)->getName() << " property branch." << endl;
checkTied( (FGPropertyManager*)node->getChild(i) );
} else if ( node->getChild(i)->isTied() ) {
name = ((FGPropertyManager*)node->getChild(i))->GetFullyQualifiedName();
- cerr << name << " is tied" << endl;
+ node->Untie(name);
}
}
}
Aerodynamics = 0;
Inertial = 0;
GroundReactions = 0;
+ ExternalReactions = 0;
+ BuoyantForces = 0;
Aircraft = 0;
Propagate = 0;
Auxiliary = 0;
Input = 0;
IC = 0;
Trim = 0;
+ Script = 0;
- terminate = false;
modelLoaded = false;
IsSlave = false;
holding = false;
-
+ Terminate = false;
// Multiple FDM's are stopped for now. We need to ensure that
// the "user" instance always gets the zeroeth instance number,
debug_lvl = 1;
}
- if (Root == 0) master= new FGPropertyManager;
- else master = Root;
+ if (Root == 0) {
+ if (master == 0)
+ master = new FGPropertyManager;
+ Root = master;
+ }
- instance = master->GetNode("/fdm/jsbsim",IdFDM,true);
+ instance = Root->GetNode("/fdm/jsbsim",IdFDM,true);
Debug(0);
// this is to catch errors in binding member functions to the property tree.
try {
exit(1);
}
+ trim_status = false;
+ ta_mode = 99;
+
Constructing = true;
typedef int (FGFDMExec::*iPMF)(void) const;
- instance->Tie("simulation/do_trim", this, (iPMF)0, &FGFDMExec::DoTrim);
+// instance->Tie("simulation/do_trim_analysis", this, (iPMF)0, &FGFDMExec::DoTrimAnalysis);
+ instance->Tie("simulation/do_simple_trim", this, (iPMF)0, &FGFDMExec::DoTrim);
+ instance->Tie("simulation/terminate", (int *)&Terminate);
Constructing = false;
}
FGFDMExec::~FGFDMExec()
{
- instance->Untie("simulation/do_trim");
-
try {
- DeAllocate();
checkTied( instance );
+ DeAllocate();
if (Root == 0) delete master;
} catch ( string msg ) {
cout << "Caught error: " << msg << endl;
for (unsigned int i=1; i<SlaveFDMList.size(); i++) delete SlaveFDMList[i]->exec;
SlaveFDMList.clear();
+ //ToDo remove property catalog.
+
Debug(1);
}
MassBalance = new FGMassBalance(this);
Aerodynamics = new FGAerodynamics (this);
Inertial = new FGInertial(this);
+
+ GroundCallback = new FGGroundCallback(Inertial->GetRefRadius());
+
GroundReactions = new FGGroundReactions(this);
+ ExternalReactions = new FGExternalReactions(this);
+ BuoyantForces = new FGBuoyantForces(this);
Aircraft = new FGAircraft(this);
Propagate = new FGPropagate(this);
Auxiliary = new FGAuxiliary(this);
Input = new FGInput(this);
- GroundCallback = new FGGroundCallback();
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()) {
- cerr << fgred << "Atmosphere model init failed" << fgdef << endl;
- Error+=1;}
- if (!FCS->InitModel()) {
- cerr << fgred << "FCS model init failed" << fgdef << endl;
- Error+=2;}
- if (!Propulsion->InitModel()) {
- cerr << fgred << "FGPropulsion model init failed" << fgdef << endl;
- Error+=4;}
- if (!MassBalance->InitModel()) {
- cerr << fgred << "FGMassBalance model init failed" << fgdef << endl;
- Error+=8;}
- if (!Aerodynamics->InitModel()) {
- cerr << fgred << "FGAerodynamics model init failed" << fgdef << endl;
- Error+=16;}
- if (!Inertial->InitModel()) {
- cerr << fgred << "FGInertial model init failed" << fgdef << endl;
- Error+=32;}
- if (!GroundReactions->InitModel()) {
- cerr << fgred << "Ground Reactions model init failed" << fgdef << endl;
- Error+=64;}
- if (!Aircraft->InitModel()) {
- cerr << fgred << "Aircraft model init failed" << fgdef << endl;
- Error+=128;}
- if (!Propagate->InitModel()) {
- cerr << fgred << "Propagate model init failed" << fgdef << endl;
- Error+=256;}
- if (!Auxiliary->InitModel()) {
- cerr << fgred << "Auxiliary model init failed" << fgdef << endl;
- Error+=512;}
- if (!Input->InitModel()) {
- cerr << fgred << "Input model init failed" << fgdef << endl;
- Error+=1024;}
-
- if (Error > 0) result = false;
+ Atmosphere->InitModel();
+ FCS->InitModel();
+ Propulsion->InitModel();
+ MassBalance->InitModel();
+ Aerodynamics->InitModel();
+ Inertial->InitModel();
+ GroundReactions->InitModel();
+ ExternalReactions->InitModel();
+ BuoyantForces->InitModel();
+ Aircraft->InitModel();
+ Propagate->InitModel();
+ Auxiliary->InitModel();
+ Input->InitModel();
IC = new FGInitialCondition(this);
Schedule(Aerodynamics, 1);
Schedule(Inertial, 1);
Schedule(GroundReactions, 1);
+ Schedule(ExternalReactions, 1);
+ Schedule(BuoyantForces, 1);
Schedule(Aircraft, 1);
Schedule(Propagate, 1);
Schedule(Auxiliary, 1);
delete Aerodynamics;
delete Inertial;
delete GroundReactions;
+ delete ExternalReactions;
+ delete BuoyantForces;
delete Aircraft;
delete Propagate;
delete Auxiliary;
delete State;
+ delete Script;
- for (int i=0; i<Outputs.size(); i++) {
- if (Outputs[i]) delete Outputs[i];
- }
-
+ for (unsigned i=0; i<Outputs.size(); i++) delete Outputs[i];
Outputs.clear();
delete IC;
Aerodynamics = 0;
Inertial = 0;
GroundReactions = 0;
+ ExternalReactions = 0;
+ BuoyantForces = 0;
Aircraft = 0;
Propagate = 0;
Auxiliary = 0;
+ Script = 0;
modelLoaded = false;
return modelLoaded;
bool FGFDMExec::Run(void)
{
+ bool success=true;
FGModel* model_iterator;
model_iterator = FirstModel;
// SlaveFDMList[i]->exec->Run();
}
+ // returns true if success
+ // false if complete
+ if (Script != 0 && !State->IntegrationSuspended()) success = Script->RunScript();
+
while (model_iterator != 0L) {
model_iterator->Run();
model_iterator = model_iterator->NextModel;
}
- frame = Frame++;
+ Frame++;
if (!Holding()) State->IncrTime();
- return true;
+ if (Terminate) success = false;
+
+ return (success);
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-void FGFDMExec::SetGroundCallback(FGGroundCallback* p)
+void FGFDMExec::ResetToInitialConditions(void)
{
- if (GroundCallback) delete GroundCallback;
+ FGModel* model_iterator;
+
+ model_iterator = FirstModel;
+ if (model_iterator == 0L) return;
+
+ while (model_iterator != 0L) {
+ model_iterator->InitModel();
+ model_iterator = model_iterator->NextModel;
+ }
+ RunIC();
+ if (Script) Script->ResetEvents();
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGFDMExec::SetGroundCallback(FGGroundCallback* p)
+{
+ delete GroundCallback;
GroundCallback = p;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+double FGFDMExec::GetSimTime(void)
+{
+ return (State->Getsim_time());
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+double FGFDMExec::GetDeltaT(void)
+{
+ return (State->Getdt());
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
vector <string> FGFDMExec::EnumerateFDMs(void)
{
vector <string> FDMList;
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-bool FGFDMExec::LoadModel(string AircraftPath, string EnginePath, string model,
- bool addModelToPath)
+bool FGFDMExec::LoadScript(string script)
+{
+ bool result;
+
+ Script = new FGScript(this);
+ result = Script->LoadScript(script);
+
+ return result;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+bool FGFDMExec::LoadModel(string AircraftPath, string EnginePath, string SystemsPath,
+ string model, bool addModelToPath)
{
FGFDMExec::AircraftPath = AircraftPath;
FGFDMExec::EnginePath = EnginePath;
+ FGFDMExec::SystemsPath = SystemsPath;
return LoadModel(model, addModelToPath);
}
string token;
string aircraftCfgFileName;
string separator = "/";
-
-# ifdef macintosh
- separator = ";";
-# endif
-
- if( AircraftPath.empty() || EnginePath.empty() ) {
- cerr << "Error: attempted to load aircraft with undefined ";
- cerr << "aircraft and engine paths" << endl;
- return false;
- }
-
- aircraftCfgFileName = AircraftPath;
- if (addModelToPath) aircraftCfgFileName += separator + model;
- aircraftCfgFileName += separator + model + ".xml";
-
- FGXMLParse *XMLParse = new FGXMLParse();
Element* element = 0L;
- Element* document;
+ bool result = false; // initialize result to false, indicating input file not yet read
- ifstream input_file(aircraftCfgFileName.c_str());
+ modelName = model; // Set the class modelName attribute
- if (!input_file.is_open()) { // file open failed
- cerr << "Could not open file " << aircraftCfgFileName.c_str() << endl;
+ if( AircraftPath.empty() || EnginePath.empty() || SystemsPath.empty()) {
+ cerr << "Error: attempted to load aircraft with undefined ";
+ cerr << "aircraft, engine, and system paths" << endl;
return false;
}
- readXML(input_file, *XMLParse);
- document = XMLParse->GetDocument();
-
- modelName = model;
+ FullAircraftPath = AircraftPath;
+ if (addModelToPath) FullAircraftPath += separator + model;
+ aircraftCfgFileName = FullAircraftPath + separator + model + ".xml";
if (modelLoaded) {
DeAllocate();
Allocate();
}
- ReadPrologue(document);
- element = document->GetElement();
-
- bool result = true;
- while (element && result) {
- string element_name = element->GetName();
- if (element_name == "fileheader" ) result = ReadFileHeader(element);
- else if (element_name == "slave") result = ReadSlave(element);
- else if (element_name == "metrics") result = Aircraft->Load(element);
- else if (element_name == "mass_balance") result = MassBalance->Load(element);
- else if (element_name == "ground_reactions") result = GroundReactions->Load(element);
- else if (element_name == "propulsion") result = Propulsion->Load(element);
- else if (element_name == "autopilot") result = FCS->Load(element);
- else if (element_name == "flight_control") result = FCS->Load(element);
- else if (element_name == "aerodynamics") result = Aerodynamics->Load(element);
- else if (element_name == "input") result = Input->Load(element);
- else if (element_name == "output") {
- FGOutput* Output = new FGOutput(this);
- Output->InitModel();
- Schedule(Output, 1);
- Outputs.push_back(Output);
- result = Output->Load(element);
- }
- else {
- cerr << "Found unexpected subsystem: " << element_name << ", exiting." << endl;
- result = false;
- break;
+ document = LoadXMLDocument(aircraftCfgFileName); // "document" is a class member
+ if (document) {
+ ReadPrologue(document);
+ element = document->GetElement();
+
+ result = true;
+ while (element && result) {
+ string element_name = element->GetName();
+ if (element_name == "fileheader" ) result = ReadFileHeader(element);
+ else if (element_name == "slave") result = ReadSlave(element);
+ else if (element_name == "metrics") result = Aircraft->Load(element);
+ else if (element_name == "mass_balance") result = MassBalance->Load(element);
+ else if (element_name == "ground_reactions") result = GroundReactions->Load(element);
+ else if (element_name == "external_reactions") result = ExternalReactions->Load(element);
+ else if (element_name == "buoyant_forces") result = BuoyantForces->Load(element);
+ else if (element_name == "propulsion") result = Propulsion->Load(element);
+ else if (element_name == "system") result = FCS->Load(element,
+ FGFCS::stSystem);
+ else if (element_name == "autopilot") result = FCS->Load(element,
+ FGFCS::stAutoPilot);
+ else if (element_name == "flight_control") result = FCS->Load(element,
+ FGFCS::stFCS);
+ else if (element_name == "aerodynamics") result = Aerodynamics->Load(element);
+ else if (element_name == "input") result = Input->Load(element);
+ else if (element_name == "output") {
+ FGOutput* Output = new FGOutput(this);
+ Output->InitModel();
+ Schedule(Output, 1);
+ result = Output->Load(element);
+ Outputs.push_back(Output);
+ }
+ else {
+ cerr << "Found unexpected subsystem: " << element_name << ", exiting." << endl;
+ result = false;
+ break;
+ }
+ element = document->GetNextElement();
}
- element = document->GetNextElement();
+ } else {
+ cerr << fgred
+ << " JSBSim failed to load aircraft model."
+ << fgdef << endl;
+ return false;
}
if (result) {
Debug(3);
} else {
cerr << fgred
- << " JSBSim failed to load aircraft and/or engine model"
+ << " JSBSim failed to load properly."
<< fgdef << endl;
return false;
}
struct PropertyCatalogStructure masterPCS;
masterPCS.base_string = "";
- masterPCS.node = (FGPropertyManager*)master;
+ masterPCS.node = (FGPropertyManager*)Root;
BuildPropertyCatalog(&masterPCS);
int node_idx = 0;
char int_buf[10];
- for (int i=0; i<pcs->node->nChildren(); i++) {
+ for (
unsigned int i=0; i<pcs->node->nChildren(); i++) {
pcsNew->base_string = pcs->base_string + "/" + pcs->node->getChild(i)->getName();
node_idx = pcs->node->getChild(i)->getIndex();
sprintf(int_buf, "[%d]", node_idx);
string FGFDMExec::QueryPropertyCatalog(string in)
{
string results="";
- for (
int i=0; i<PropertyCatalog.size(); i++) {
+ for (
unsigned i=0; i<PropertyCatalog.size(); i++) {
if (PropertyCatalog[i].find(in) != string::npos) results += PropertyCatalog[i] + "\n";
}
if (results.empty()) return "No matches found\n";
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+void FGFDMExec::PrintPropertyCatalog(void)
+{
+ cout << endl;
+ cout << " " << fgblue << highint << underon << "Property Catalog for "
+ << modelName << reset << endl << endl;
+ for (unsigned i=0; i<PropertyCatalog.size(); i++) {
+ cout << " " << PropertyCatalog[i] << endl;
+ }
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
bool FGFDMExec::ReadFileHeader(Element* el)
{
bool result = true; // true for success
SlaveFDMList.push_back(new slaveData);
SlaveFDMList.back()->exec = new FGFDMExec();
- SlaveFDMList.back()->exec->SetSlave();
+ SlaveFDMList.back()->exec->SetSlave(true);
/*
string AircraftName = AC_cfg->GetValue("file");
SlaveFDMList.back()->exec->SetAircraftPath( AircraftPath );
SlaveFDMList.back()->exec->SetEnginePath( EnginePath );
+ SlaveFDMList.back()->exec->SetSystemsPath( SystemsPath );
SlaveFDMList.back()->exec->LoadModel(AircraftName);
debug_lvl = saved_debug_lvl; // turn debug output back on for master vehicle
void FGFDMExec::DisableOutput(void)
{
- for (int i=0; i<Outputs.size(); i++) {
+ for (unsigned i=0; i<Outputs.size(); i++) {
Outputs[i]->Disable();
}
}
void FGFDMExec::EnableOutput(void)
{
- for (int i=0; i<Outputs.size(); i++) {
+ for (unsigned i=0; i<Outputs.size(); i++) {
Outputs[i]->Enable();
}
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+bool FGFDMExec::SetOutputDirectives(string fname)
+{
+ bool result;
+
+ FGOutput* Output = new FGOutput(this);
+ Output->SetDirectivesFile(fname);
+ Output->InitModel();
+ Schedule(Output, 1);
+ result = Output->Load(0);
+ Outputs.push_back(Output);
+
+ return result;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
void FGFDMExec::DoTrim(int mode)
{
double saved_time;
State->Setsim_time(saved_time);
}
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+/*
+void FGFDMExec::DoTrimAnalysis(int mode)
+{
+ double saved_time;
+ if (Constructing) return;
+
+ if (mode < 0 || mode > JSBSim::taNone) {
+ cerr << endl << "Illegal trimming mode!" << endl << endl;
+ return;
+ }
+ saved_time = State->Getsim_time();
+
+ FGTrimAnalysis trimAnalysis(this, (JSBSim::TrimAnalysisMode)mode);
+
+ if ( !trimAnalysis.Load(IC->GetInitFile(), false) ) {
+ cerr << "A problem occurred with trim configuration file " << trimAnalysis.Load(IC->GetInitFile()) << endl;
+ exit(-1);
+ }
+
+ bool result = trimAnalysis.DoTrim();
+
+ if ( !result ) cerr << endl << "Trim Failed" << endl << endl;
+
+ trimAnalysis.Report();
+ State->Setsim_time(saved_time);
+
+ EnableOutput();
+ cout << "\nOutput: " << GetOutputFileName() << endl;
+
+}
+*/
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
void FGFDMExec::UseAtmosphereMSIS(void)
if (from == 0) { // Constructor
cout << "\n\n " << highint << underon << "JSBSim Flight Dynamics Model v"
<< JSBSim_version << underoff << normint << endl;
- cout << halfint << " [cfg file spec v" << needed_cfg_version << "]\n\n";
+ cout << halfint << " [JSBSim-ML v" << needed_cfg_version << "]\n\n";
cout << normint << "JSBSim startup beginning ...\n\n";
} else if (from == 3) {
cout << "\n\nJSBSim startup complete\n\n";
projects / flightgear.git / blobdiff