-/*******************************************************************************
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
Module: FGFDMExec.cpp
Author: Jon S. Berndt
Date started: 11/17/98
Purpose: Schedules and runs the model routines.
- Called by: The GUI.
------------- Copyright (C) 1999 Jon S. Berndt (jsb@hal-pc.org) -------------
--------------------------------------------------------------------------------
11/17/98 JSB Created
-********************************************************************************
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+COMMENTS, REFERENCES, and NOTES
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
INCLUDES
-*******************************************************************************/
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#ifdef FGFS
-# include <Include/compiler.h>
-# ifdef FG_HAVE_STD_INCLUDES
-# include <iostream>
-# include <ctime>
-# else
+# include <simgear/compiler.h>
+# include STL_IOSTREAM
+# include STL_ITERATOR
+#else
+# if defined(sgi) && !defined(__GNUC__) && (_COMPILER_VERSION < 740)
# include <iostream.h>
-# include <time.h>
+# else
+# include <iostream>
# endif
-#else
-# include <iostream>
-# include <ctime>
+# include <iterator>
#endif
#include "FGFDMExec.h"
#include "FGState.h"
-#include "FGAtmosphere.h"
-#include "FGFCS.h"
-#include "FGAircraft.h"
-#include "FGTranslation.h"
-#include "FGRotation.h"
-#include "FGPosition.h"
-#include "FGAuxiliary.h"
-#include "FGOutput.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/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 <input_output/FGPropertyManager.h>
+
+namespace JSBSim {
+
+static const char *IdSrc = "$Id$";
+static const char *IdHdr = ID_FDMEXEC;
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+GLOBAL DECLARATIONS
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+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;
+ }
+ }
+}
-/*******************************************************************************
-************************************ CODE **************************************
-*******************************************************************************/
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+// Constructor
+FGFDMExec::FGFDMExec(FGPropertyManager* root) : Root(root)
+{
-// Constructor
+ Frame = 0;
+ FirstModel = 0;
+ Error = 0;
+ GroundCallback = 0;
+ State = 0;
+ Atmosphere = 0;
+ FCS = 0;
+ Propulsion = 0;
+ MassBalance = 0;
+ Aerodynamics = 0;
+ Inertial = 0;
+ GroundReactions = 0;
+ Aircraft = 0;
+ Propagate = 0;
+ Auxiliary = 0;
+ Input = 0;
+ IC = 0;
+ Trim = 0;
+
+ terminate = false;
+ modelLoaded = false;
+ IsSlave = false;
+ holding = 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++;
+
+ try {
+ char* num = getenv("JSBSIM_DEBUG");
+ 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);
+ // 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);
+ }
+
+ Constructing = true;
+ typedef int (FGFDMExec::*iPMF)(void) const;
+ instance->Tie("simulation/do_trim", this, (iPMF)0, &FGFDMExec::DoTrim);
+ Constructing = false;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-FGFDMExec::FGFDMExec(void)
+FGFDMExec::~FGFDMExec()
{
- FirstModel = 0;
- Error = 0;
- State = 0;
- Atmosphere = 0;
- FCS = 0;
- Aircraft = 0;
- Translation = 0;
- Rotation = 0;
- Position = 0;
- Auxiliary = 0;
- Output = 0;
-
- // Instantiate this FDM Executive's Models
-
- Atmosphere = new FGAtmosphere(this);
- FCS = new FGFCS(this);
- Aircraft = new FGAircraft(this);
- Translation = new FGTranslation(this);
- Rotation = new FGRotation(this);
- Position = new FGPosition(this);
- Auxiliary = new FGAuxiliary(this);
- Output = new FGOutput(this);
-
- State = new FGState(this);
+ instance->Untie("simulation/do_trim");
+
+ try {
+ DeAllocate();
+ checkTied( instance );
+ if (Root == 0) delete master;
+ } catch ( string msg ) {
+ cout << "Caught error: " << msg << endl;
+ }
- // Initialize models so they can communicate with each other
+ for (unsigned int i=1; i<SlaveFDMList.size(); i++) delete SlaveFDMList[i]->exec;
+ SlaveFDMList.clear();
- if (!Atmosphere->InitModel()) {cerr << "Atmosphere model init failed"; Error+=1;}
- if (!FCS->InitModel()) {cerr << "FCS model init failed"; Error+=2;}
- if (!Aircraft->InitModel()) {cerr << "Aircraft model init failed"; Error+=4;}
- if (!Translation->InitModel()){cerr << "Translation model init failed"; Error+=8;}
- if (!Rotation->InitModel()) {cerr << "Rotation model init failed"; Error+=16;}
- if (!Position->InitModel()) {cerr << "Position model init failed"; Error+=32;}
- if (!Auxiliary->InitModel()) {cerr << "Auxiliary model init failed"; Error+=64;}
- if (!Output->InitModel()) {cerr << "Output model init failed"; Error+=128;}
-
- Schedule(Atmosphere, 5);
- Schedule(FCS, 1);
- Schedule(Aircraft, 1);
- Schedule(Rotation, 1);
- Schedule(Translation, 1);
- Schedule(Position, 1);
- Schedule(Auxiliary, 1);
- Schedule(Output, 5);
+ Debug(1);
+}
- terminate = false;
- frozen = false;
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+bool FGFDMExec::Allocate(void)
+{
+ bool result=true;
+
+ Atmosphere = new FGAtmosphere(this);
+ FCS = new FGFCS(this);
+ Propulsion = new FGPropulsion(this);
+ MassBalance = new FGMassBalance(this);
+ Aerodynamics = new FGAerodynamics (this);
+ Inertial = new FGInertial(this);
+ GroundReactions = new FGGroundReactions(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;
+
+ IC = new FGInitialCondition(this);
+
+ // Schedule a model. The second arg (the integer) is the pass number. For
+ // 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(MassBalance, 1);
+ Schedule(Aerodynamics, 1);
+ Schedule(Inertial, 1);
+ Schedule(GroundReactions, 1);
+ Schedule(Aircraft, 1);
+ Schedule(Propagate, 1);
+ Schedule(Auxiliary, 1);
+
+ modelLoaded = false;
+
+ return result;
}
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-FGFDMExec::~FGFDMExec(void)
+bool FGFDMExec::DeAllocate(void)
{
+ delete Input;
+ delete Atmosphere;
+ delete FCS;
+ delete Propulsion;
+ delete MassBalance;
+ delete Aerodynamics;
+ delete Inertial;
+ delete GroundReactions;
+ delete Aircraft;
+ delete Propagate;
+ delete Auxiliary;
+ delete State;
+
+ for (int i=0; i<Outputs.size(); i++) {
+ if (Outputs[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;
+ MassBalance = 0;
+ Aerodynamics = 0;
+ Inertial = 0;
+ GroundReactions = 0;
+ Aircraft = 0;
+ Propagate = 0;
+ Auxiliary = 0;
+
+ modelLoaded = false;
+ return modelLoaded;
}
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
int FGFDMExec::Schedule(FGModel* model, int rate)
{
model_iterator->NextModel->SetRate(rate);
}
+
return 0;
}
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
bool FGFDMExec::Run(void)
{
FGModel* model_iterator;
- if (frozen) return true;
-
model_iterator = FirstModel;
if (model_iterator == 0L) return false;
- while (!model_iterator->Run())
- {
+ Debug(2);
+
+ 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;
}
- State->IncrTime();
+ frame = Frame++;
+ if (!Holding()) State->IncrTime();
+ return true;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+// This call will cause the sim time to reset to 0.0
+
+bool FGFDMExec::RunIC(void)
+{
+ State->SuspendIntegration();
+ State->Initialize(IC);
+ Run();
+ State->ResumeIntegration();
+
+ return true;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+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)
+{
+ 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;
+
+ ifstream input_file(aircraftCfgFileName.c_str());
+ readXML(input_file, *XMLParse);
+ document = XMLParse->GetDocument();
+
+ modelName = model;
+
+ 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;
+ }
+ element = document->GetNextElement();
+ }
+
+ if (result) {
+ modelLoaded = true;
+ Debug(3);
+ } else {
+ cerr << fgred
+ << " JSBSim failed to load aircraft and/or engine model"
+ << fgdef << endl;
+ return false;
+ }
+
+ struct PropertyCatalogStructure masterPCS;
+ masterPCS.base_string = "";
+ masterPCS.node = (FGPropertyManager*)master;
+
+ 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 (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 (int 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;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+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(Element* el) // el for ReadPrologue is the document element
+{
+ bool result = true; // true for success
+
+ if (!el) return false;
+
+ string AircraftName = el->GetAttributeValue("name");
+ Aircraft->SetAircraftName(AircraftName);
+
+ if (debug_lvl & 1) cout << underon << "Reading Aircraft Configuration File"
+ << underoff << ": " << highint << AircraftName << normint << endl;
+
+ CFGVersion = el->GetAttributeValue("version");
+ Release = el->GetAttributeValue("release");
+
+ if (debug_lvl & 1)
+ cout << " Version: " << highint << CFGVersion
+ << 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 << "Current version needed is: " << needed_cfg_version << endl;
+ cerr << " You have version: " << CFGVersion << endl << fgdef << endl;
+ return false;
+ }
+
+ 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(Element* el)
+{
+ // 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;
}
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+FGPropertyManager* FGFDMExec::GetPropertyManager(void)
+{
+ return instance;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+FGTrim* FGFDMExec::GetTrim(void)
+{
+ delete Trim;
+ Trim = new FGTrim(this,tNone);
+ return Trim;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGFDMExec::DisableOutput(void)
+{
+ for (int i=0; i<Outputs.size(); i++) {
+ Outputs[i]->Disable();
+ }
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGFDMExec::EnableOutput(void)
+{
+ for (int i=0; i<Outputs.size(); i++) {
+ Outputs[i]->Enable();
+ }
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGFDMExec::DoTrim(int mode)
+{
+ double saved_time;
+
+cout << "DoTrim called" << endl;
+
+ if (Constructing) return;
+
+ if (mode < 0 || mode > JSBSim::tNone) {
+ cerr << endl << "Illegal trimming mode!" << endl << endl;
+ return;
+ }
+ 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::UseAtmosphereMSIS(void)
+{
+ FGAtmosphere *oldAtmosphere = Atmosphere;
+ Atmosphere = new MSIS(this);
+ if (!Atmosphere->InitModel()) {
+ cerr << fgred << "MSIS Atmosphere model init failed" << fgdef << endl;
+ Error+=1;
+ }
+ delete oldAtmosphere;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+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;
+*/
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+// The bitmasked value choices are as follows:
+// unset: In this case (the default) JSBSim would only print
+// out the normally expected messages, essentially echoing
+// the config files as they are read. If the environment
+// variable is not set, debug_lvl is set to 1 internally
+// 0: This requests JSBSim not to output any messages
+// whatsoever.
+// 1: This value explicity requests the normal JSBSim
+// startup messages
+// 2: This value asks for a message to be printed out when
+// a class is instantiated
+// 4: When this value is set, a message is displayed when a
+// FGModel object executes its Run() method
+// 8: When this value is set, various runtime state variables
+// are printed out periodically
+// 16: When set various parameters are sanity checked and
+// a message is printed out when they go out of bounds
+
+void FGFDMExec::Debug(int from)
+{
+ if (debug_lvl <= 0) return;
+
+ 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 << normint << "JSBSim startup beginning ...\n\n";
+ } else if (from == 3) {
+ cout << "\n\nJSBSim startup complete\n\n";
+ }
+ }
+ if (debug_lvl & 2 ) { // Instantiation/Destruction notification
+ if (from == 0) cout << "Instantiated: FGFDMExec" << endl;
+ if (from == 1) cout << "Destroyed: FGFDMExec" << endl;
+ }
+ if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
+ if (from == 2) {
+ cout << "================== Frame: " << Frame << " Time: "
+ << State->Getsim_time() << " dt: " << State->Getdt() << endl;
+ }
+ }
+ if (debug_lvl & 8 ) { // Runtime state variables
+ }
+ if (debug_lvl & 16) { // Sanity checking
+ }
+ if (debug_lvl & 64) {
+ if (from == 0) { // Constructor
+ cout << IdSrc << endl;
+ cout << IdHdr << endl;
+ }
+ }
+}
+}
+
+
projects / flightgear.git / blobdiff