------------- 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__)
-# include <iostream.h>
-# else
-# include <iostream>
-# endif
-# include <iterator>
-#endif
-
#include "FGFDMExec.h"
#include "FGState.h"
-#include "FGAtmosphere.h"
-#include "FGFCS.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 "FGAuxiliary.h"
-#include "FGOutput.h"
-#include "FGConfigFile.h"
-#include "FGInitialCondition.h"
-#include "FGPropertyManager.h"
+#include <models/FGAtmosphere.h>
+#include <models/atmosphere/FGMSIS.h>
+#include <models/atmosphere/FGMars.h>
+#include <models/FGFCS.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/FGPropagate.h>
+#include <models/FGAuxiliary.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 {
static const char *IdSrc = "$Id$";
static const char *IdHdr = ID_FDMEXEC;
CLASS IMPLEMENTATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+void checkTied ( FGPropertyManager *node )
+{
+ int N = node->nChildren();
+ string name;
+
+ 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();
+ node->Untie(name);
+ }
+ }
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
// Constructor
-FGFDMExec::FGFDMExec(FGPropertyManager* root)
+FGFDMExec::FGFDMExec(FGPropertyManager* root) : Root(root)
{
-
+
Frame = 0;
FirstModel = 0;
Error = 0;
+ GroundCallback = 0;
State = 0;
Atmosphere = 0;
FCS = 0;
Aerodynamics = 0;
Inertial = 0;
GroundReactions = 0;
+ ExternalReactions = 0;
+ BuoyantForces = 0;
Aircraft = 0;
- Translation = 0;
- Rotation = 0;
- Position = 0;
+ Propagate = 0;
Auxiliary = 0;
- Output = 0;
+ Input = 0;
+ IC = 0;
+ Trim = 0;
+ Script = 0;
- terminate = false;
- frozen = 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,
+ // because there may be instruments or scripts tied to properties
+ // in the jsbsim[0] node.
+ // ToDo: it could be that when JSBSim is reset and a new FDM is wanted, that
+ // process might try setting FDMctr = 0. Then the line below would not need
+ // to be commented out.
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;
+ if (Root == 0) {
+ if (master == 0)
+ master = new FGPropertyManager;
+ Root = master;
+ }
- instance = master->GetNode("/fdm/jsbsim",IdFDM,true);
- instance->SetDouble("zero",0);
-
+ instance = Root->GetNode("/fdm/jsbsim",IdFDM,true);
Debug(0);
-
- // this is here to catch errors in binding member functions
- // to the property tree.
+ // this is to catch errors in binding member functions to the property tree.
try {
Allocate();
} catch ( string msg ) {
cout << "Caught error: " << msg << endl;
exit(1);
- }
+ }
+
+ trim_status = false;
+ ta_mode = 99;
+
+ Constructing = true;
+ typedef int (FGFDMExec::*iPMF)(void) const;
+// 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()
{
try {
+ checkTied( instance );
DeAllocate();
+ if (Root == 0) delete master;
} catch ( string msg ) {
cout << "Caught error: " << msg << endl;
- }
+ }
- for (int i=1; i<SlaveFDMList.size(); i++) delete SlaveFDMList[i]->exec;
+ 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);
- Translation = new FGTranslation(this);
- Rotation = new FGRotation(this);
- Position = new FGPosition(this);
+ Propagate = new FGPropagate(this);
Auxiliary = new FGAuxiliary(this);
- Output = new FGOutput(this);
+ Input = new FGInput(this);
+
+ State = new FGState(this); // This must be done here, as the FGState
+ // class needs valid pointers to the above
+ // model classes
- 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 (!Translation->InitModel()){
- cerr << fgred << "Translation model init failed" << fgdef << endl;
- Error+=256;}
- if (!Rotation->InitModel()) {
- cerr << fgred << "Rotation 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 (!Output->InitModel()) {
- cerr << fgred << "Output model init failed" << fgdef << endl;
- Error+=4096;}
-
- 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 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.
+ // instance, the atmosphere model could get executed every fifth pass it is called
+ // by the executive. IC and Trim objects are NOT scheduled.
+ Schedule(Input, 1);
Schedule(Atmosphere, 1);
Schedule(FCS, 1);
Schedule(Propulsion, 1);
Schedule(Aerodynamics, 1);
Schedule(Inertial, 1);
Schedule(GroundReactions, 1);
+ Schedule(ExternalReactions, 1);
+ Schedule(BuoyantForces, 1);
Schedule(Aircraft, 1);
- Schedule(Rotation, 1);
- Schedule(Translation, 1);
- Schedule(Position, 1);
+ Schedule(Propagate, 1);
Schedule(Auxiliary, 1);
- Schedule(Output, 1);
modelLoaded = false;
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-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 Input;
+ delete Atmosphere;
+ delete FCS;
+ delete Propulsion;
+ delete MassBalance;
+ delete Aerodynamics;
+ delete Inertial;
+ delete GroundReactions;
+ delete ExternalReactions;
+ delete BuoyantForces;
+ delete Aircraft;
+ delete Propagate;
+ delete Auxiliary;
+ delete State;
+ delete Script;
+
+ for (unsigned i=0; i<Outputs.size(); i++) delete Outputs[i];
+ Outputs.clear();
+
+ delete IC;
+ delete Trim;
+
+ delete GroundCallback;
FirstModel = 0L;
Error = 0;
State = 0;
+ Input = 0;
Atmosphere = 0;
FCS = 0;
Propulsion = 0;
Aerodynamics = 0;
Inertial = 0;
GroundReactions = 0;
+ ExternalReactions = 0;
+ BuoyantForces = 0;
Aircraft = 0;
- Translation = 0;
- Rotation = 0;
- Position = 0;
+ Propagate = 0;
Auxiliary = 0;
- Output = 0;
+ Script = 0;
modelLoaded = false;
return modelLoaded;
model_iterator->NextModel->SetRate(rate);
}
-
+
return 0;
}
bool FGFDMExec::Run(void)
{
+ bool success=true;
FGModel* model_iterator;
- if (frozen) return true;
-
model_iterator = FirstModel;
if (model_iterator == 0L) return false;
Debug(2);
- for (int i=0; i<SlaveFDMList.size(); i++) {
- // TransferState(i);
- // Run(i)
+ 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->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;
- if (model_iterator == 0L) break;
}
- frame = Frame++;
- State->IncrTime();
+ Frame++;
+ if (!Holding()) State->IncrTime();
+ if (Terminate) success = false;
- return true;
+ return (success);
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+// This call will cause the sim time to reset to 0.0
-bool FGFDMExec::RunIC(FGInitialCondition *fgic)
+bool FGFDMExec::RunIC(void)
{
- State->Suspend();
- State->Initialize(fgic);
+ State->SuspendIntegration();
+ State->Initialize(IC);
Run();
- State->Resume();
+ State->ResumeIntegration();
+
return true;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-void FGFDMExec::TransferState(int idxFDM)
+void FGFDMExec::ResetToInitialConditions(void)
+{
+ 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)
{
- SlaveFDMList[idxFDM]->exec->GetRotation()->SetEuler(Rotation->GetEuler());
- SlaveFDMList[idxFDM]->exec->GetRotation()->SetAeroPQR(Rotation->GetAeroPQR());
- SlaveFDMList[idxFDM]->exec->GetTranslation()->SetAeroUVW(Translation->GetAeroUVW());
- SlaveFDMList[idxFDM]->exec->GetRotation()->SetEuler(Rotation->GetEuler());
+ delete GroundCallback;
+ GroundCallback = p;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+double FGFDMExec::GetSimTime(void)
+{
+ return (State->Getsim_time());
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+double FGFDMExec::GetDeltaT(void)
+{
+ return (State->Getdt());
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FDMList.push_back(Aircraft->GetAircraftName());
- for (int i=1; i<SlaveFDMList.size(); i++) {
+ for (unsigned int i=1; i<SlaveFDMList.size(); i++) {
FDMList.push_back(SlaveFDMList[i]->exec->GetAircraft()->GetAircraftName());
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-bool FGFDMExec::LoadModel(string APath, string EPath, string model)
+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);
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+bool FGFDMExec::LoadModel(string model, bool addModelToPath)
{
- bool result = true;
string token;
string aircraftCfgFileName;
+ string separator = "/";
+ Element* element = 0L;
+ bool result = false; // initialize result to false, indicating input file not yet read
- AircraftPath = APath;
- EnginePath = EPath;
+ modelName = model; // Set the class modelName attribute
-# ifndef macintosh
- aircraftCfgFileName = AircraftPath + "/" + model + "/" + model + ".xml";
-# else
- aircraftCfgFileName = AircraftPath + ";" + model + ";" + model + ".xml";
-# endif
+ if( AircraftPath.empty() || EnginePath.empty() || SystemsPath.empty()) {
+ cerr << "Error: attempted to load aircraft with undefined ";
+ cerr << "aircraft, engine, and system paths" << endl;
+ return false;
+ }
- FGConfigFile AC_cfg(aircraftCfgFileName);
- if (!AC_cfg.IsOpen()) return false;
+ FullAircraftPath = AircraftPath;
+ if (addModelToPath) FullAircraftPath += separator + model;
+ aircraftCfgFileName = FullAircraftPath + separator + model + ".xml";
if (modelLoaded) {
DeAllocate();
Allocate();
}
- if (!ReadPrologue(&AC_cfg)) return false;
-
- while ((AC_cfg.GetNextConfigLine() != string("EOF")) &&
- (token = AC_cfg.GetValue()) != string("/FDM_CONFIG")) {
- 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 == "UNDERCARRIAGE") {
- if (debug_lvl > 0) cout << fgcyan << "\n Reading Landing Gear" << fgdef << endl;
- if (!ReadUndercarriage(&AC_cfg)) result = false;
- } else if (token == "PROPULSION") {
- if (debug_lvl > 0) cout << fgcyan << "\n Reading Propulsion" << fgdef << endl;
- if (!ReadPropulsion(&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 == "OUTPUT") {
- if (debug_lvl > 0) cout << fgcyan << "\n Reading Output directives" << fgdef << endl;
- if (!ReadOutput(&AC_cfg)) result = false;
+ 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();
}
+ } else {
+ cerr << fgred
+ << " JSBSim failed to load aircraft model."
+ << fgdef << endl;
+ return false;
}
if (result) {
Debug(3);
} else {
cerr << fgred
- << " FGFDMExec: 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*)Root;
+
+ BuildPropertyCatalog(&masterPCS);
+
+ return result;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGFDMExec::BuildPropertyCatalog(struct PropertyCatalogStructure* pcs)
+{
+ struct PropertyCatalogStructure* pcsNew = new struct PropertyCatalogStructure;
+ int node_idx = 0;
+ char int_buf[10];
+
+ 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);
+ if (node_idx != 0) pcsNew->base_string += string(int_buf);
+ if (pcs->node->getChild(i)->nChildren() == 0) {
+ PropertyCatalog.push_back(pcsNew->base_string);
+ } else {
+ pcsNew->node = (FGPropertyManager*)pcs->node->getChild(i);
+ BuildPropertyCatalog(pcsNew);
+ }
+ }
+ delete pcsNew;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+string FGFDMExec::QueryPropertyCatalog(string in)
+{
+ string results="";
+ 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";
+ return results;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+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
+
+ if (debug_lvl & ~1) return result;
+
+ if (el->FindElement("author"))
+ cout << " Model Author: " << el->FindElement("author")->GetDataLine() << endl;
+ if (el->FindElement("filecreationdate"))
+ cout << " Creation Date: " << el->FindElement("filecreationdate")->GetDataLine() << endl;
+ if (el->FindElement("version"))
+ cout << " Version: " << el->FindElement("version")->GetDataLine() << endl;
+ if (el->FindElement("description"))
+ cout << " Description: " << el->FindElement("description")->GetDataLine() << endl;
return result;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-bool FGFDMExec::ReadPrologue(FGConfigFile* AC_cfg)
+bool FGFDMExec::ReadPrologue(Element* el) // el for ReadPrologue is the document element
{
- string token = AC_cfg->GetValue();
- string scratch;
- string AircraftName;
+ bool result = true; // true for success
+
+ if (!el) return false;
- AircraftName = AC_cfg->GetValue("NAME");
+ string AircraftName = el->GetAttributeValue("name");
Aircraft->SetAircraftName(AircraftName);
- if (debug_lvl > 0) cout << underon << "Reading Aircraft Configuration File"
+ if (debug_lvl & 1) cout << underon << "Reading Aircraft Configuration File"
<< underoff << ": " << highint << AircraftName << normint << endl;
- scratch = AC_cfg->GetValue("VERSION").c_str();
- CFGVersion = AC_cfg->GetValue("VERSION");
+ CFGVersion = el->GetAttributeValue("version");
+ Release = el->GetAttributeValue("release");
- if (debug_lvl > 0)
+ if (debug_lvl & 1)
cout << " Version: " << highint << CFGVersion
<< normint << endl;
if (CFGVersion != needed_cfg_version) {
return false;
}
- return true;
+ if (Release == "ALPHA" && (debug_lvl & 1)) {
+ 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 & 1)) {
+ 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;
+ } else if (Release == "PRODUCTION" && (debug_lvl & 1)) {
+ cout << endl << endl
+ << highint << "This aircraft model is a " << fgblue << Release
+ << reset << highint << " release." << endl << endl << reset;
+ } else if (debug_lvl & 1) {
+ 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;
+ }
+
+ return result;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-bool FGFDMExec::ReadSlave(FGConfigFile* AC_cfg)
+bool FGFDMExec::ReadSlave(Element* el)
{
// Add a new slaveData object to the slave FDM list
// Populate that slaveData element with a new FDMExec object
// 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();
+ SlaveFDMList.back()->exec->SetSlave(true);
+/*
+ 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->SetSystemsPath( SystemsPath );
+ 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;
+ }
- string AircraftName = AC_cfg->GetValue("FILE");
+ return true;
+}
- debug_lvl = 0;
- SlaveFDMList.back()->exec->LoadModel("aircraft", "engine", AircraftName);
- debug_lvl = saved_debug_lvl;
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
- return true;
+FGPropertyManager* FGFDMExec::GetPropertyManager(void)
+{
+ return instance;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-bool FGFDMExec::ReadPropulsion(FGConfigFile* AC_cfg)
+FGTrim* FGFDMExec::GetTrim(void)
{
- if (!Propulsion->Load(AC_cfg)) {
- cerr << " Propulsion not successfully loaded" << endl;
- return false;
- }
- return true;
+ delete Trim;
+ Trim = new FGTrim(this,tNone);
+ return Trim;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-bool FGFDMExec::ReadFlightControls(FGConfigFile* AC_cfg)
+void FGFDMExec::DisableOutput(void)
{
- if (!FCS->Load(AC_cfg)) {
- cerr << " Flight Controls not successfully loaded" << endl;
- return false;
+ for (unsigned i=0; i<Outputs.size(); i++) {
+ Outputs[i]->Disable();
}
- return true;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-bool FGFDMExec::ReadAerodynamics(FGConfigFile* AC_cfg)
+void FGFDMExec::EnableOutput(void)
{
- if (!Aerodynamics->Load(AC_cfg)) {
- cerr << " Aerodynamics not successfully loaded" << endl;
- return false;
+ for (unsigned i=0; i<Outputs.size(); i++) {
+ Outputs[i]->Enable();
}
- return true;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-bool FGFDMExec::ReadUndercarriage(FGConfigFile* AC_cfg)
+bool FGFDMExec::SetOutputDirectives(string fname)
{
- if (!GroundReactions->Load(AC_cfg)) {
- cerr << " Ground Reactions not successfully loaded" << endl;
- return false;
- }
- return true;
+ 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;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-bool FGFDMExec::ReadMetrics(FGConfigFile* AC_cfg)
+void FGFDMExec::DoTrim(int mode)
{
- if (!Aircraft->Load(AC_cfg)) {
- cerr << " Aircraft metrics not successfully loaded" << endl;
- return false;
+ double saved_time;
+
+ if (Constructing) return;
+
+ if (mode < 0 || mode > JSBSim::tNone) {
+ cerr << endl << "Illegal trimming mode!" << endl << endl;
+ return;
}
- return true;
+ saved_time = State->Getsim_time();
+ FGTrim trim(this, (JSBSim::TrimMode)mode);
+ if ( !trim.DoTrim() ) cerr << endl << "Trim Failed" << endl << endl;
+ trim.Report();
+ 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;
+
+}
+*/
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-bool FGFDMExec::ReadOutput(FGConfigFile* AC_cfg)
+void FGFDMExec::UseAtmosphereMSIS(void)
{
- if (!Output->Load(AC_cfg)) {
- cerr << " Output not successfully loaded" << endl;
- return false;
+ FGAtmosphere *oldAtmosphere = Atmosphere;
+ Atmosphere = new MSIS(this);
+ if (!Atmosphere->InitModel()) {
+ cerr << fgred << "MSIS Atmosphere model init failed" << fgdef << endl;
+ Error+=1;
}
- return true;
+ delete oldAtmosphere;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-FGPropertyManager* FGFDMExec::GetPropertyManager(void) {
- return instance;
+void FGFDMExec::UseAtmosphereMars(void)
+{
+/*
+ FGAtmosphere *oldAtmosphere = Atmosphere;
+ Atmosphere = new FGMars(this);
+ if (!Atmosphere->InitModel()) {
+ cerr << fgred << "Mars Atmosphere model init failed" << fgdef << endl;
+ Error+=1;
+ }
+ delete oldAtmosphere;
+*/
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
{
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;
- 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";
if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
if (from == 2) {
cout << "================== Frame: " << Frame << " Time: "
- << State->Getsim_time() << endl;
+ << State->Getsim_time() << " dt: " << State->Getdt() << endl;
}
}
if (debug_lvl & 8 ) { // Runtime state variables
}
}
}
+}
+
projects / flightgear.git / blobdiff