#ifdef FGFS
# include <simgear/compiler.h>
# include STL_IOSTREAM
-# include <time.h>
# include STL_ITERATOR
#else
-# include <iostream>
-# include <ctime>
+# if defined(sgi) && !defined(__GNUC__)
+# include <iostream.h>
+# else
+# include <iostream>
+# endif
# include <iterator>
#endif
#include "FGFCS.h"
#include "FGPropulsion.h"
#include "FGMassBalance.h"
+#include "FGGroundReactions.h"
#include "FGAerodynamics.h"
#include "FGInertial.h"
#include "FGAircraft.h"
#include "FGAuxiliary.h"
#include "FGOutput.h"
#include "FGConfigFile.h"
+#include "FGInitialCondition.h"
static const char *IdSrc = "$Id$";
static const char *IdHdr = ID_FDMEXEC;
-char highint[5] = {27, '[', '1', 'm', '\0' };
-char halfint[5] = {27, '[', '2', 'm', '\0' };
-char normint[6] = {27, '[', '2', '2', 'm', '\0' };
-char reset[5] = {27, '[', '0', 'm', '\0' };
-char underon[5] = {27, '[', '4', 'm', '\0' };
-char underoff[6] = {27, '[', '2', '4', 'm', '\0' };
-char fgblue[6] = {27, '[', '3', '4', 'm', '\0' };
-char fgcyan[6] = {27, '[', '3', '6', 'm', '\0' };
-char fgred[6] = {27, '[', '3', '1', 'm', '\0' };
-char fggreen[6] = {27, '[', '3', '2', 'm', '\0' };
-char fgdef[6] = {27, '[', '3', '9', 'm', '\0' };
-
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
GLOBAL DECLARATIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
// g) 16: When set various parameters are sanity checked and
// a message is printed out when they go out of bounds.
+unsigned int FGFDMExec::FDMctr = 0;
+
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS IMPLEMENTATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
FGFDMExec::FGFDMExec(void)
{
- Frame = 0;
- FirstModel = 0;
- Error = 0;
- State = 0;
- Atmosphere = 0;
- FCS = 0;
- Propulsion = 0;
- MassBalance = 0;
- Aerodynamics = 0;
- Inertial = 0;
- Aircraft = 0;
- Translation = 0;
- Rotation = 0;
- Position = 0;
- Auxiliary = 0;
- Output = 0;
+ Frame = 0;
+ FirstModel = 0;
+ Error = 0;
+ State = 0;
+ Atmosphere = 0;
+ FCS = 0;
+ Propulsion = 0;
+ MassBalance = 0;
+ Aerodynamics = 0;
+ Inertial = 0;
+ GroundReactions = 0;
+ Aircraft = 0;
+ Translation = 0;
+ Rotation = 0;
+ Position = 0;
+ Auxiliary = 0;
+ Output = 0;
terminate = false;
frozen = false;
modelLoaded = false;
Scripted = false;
+ IdFDM = FDMctr;
+ FDMctr++;
+
try {
char* num = getenv("JSBSIM_DEBUG");
if (!num) debug_lvl = 1;
debug_lvl = 1;
}
- if (debug_lvl > 0) {
- 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";
- }
-
- if (debug_lvl & 2) cout << "Instantiated: FGFDMExec" << endl;
+ Debug(0);
Allocate();
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-FGFDMExec::~FGFDMExec() {
+FGFDMExec::~FGFDMExec()
+{
DeAllocate();
- if (debug_lvl & 2) cout << "Destroyed: FGFDMExec" << endl;
+
+ Debug(1);
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-bool FGFDMExec::Allocate(void) {
-
+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);
- Aircraft = new FGAircraft(this);
- Translation = new FGTranslation(this);
- Rotation = new FGRotation(this);
- Position = new FGPosition(this);
- Auxiliary = new FGAuxiliary(this);
- Output = new FGOutput(this);
+ 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);
+ Translation = new FGTranslation(this);
+ Rotation = new FGRotation(this);
+ Position = new FGPosition(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
-
+ // model classes
+
// Initialize models so they can communicate with each other
if (!Atmosphere->InitModel()) {
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+=64;}
+ Error+=128;}
if (!Translation->InitModel()){
cerr << fgred << "Translation model init failed" << fgdef << endl;
- Error+=128;}
+ Error+=256;}
if (!Rotation->InitModel()) {
cerr << fgred << "Rotation model init failed" << fgdef << endl;
- Error+=256;}
+ Error+=512;}
if (!Position->InitModel()) {
cerr << fgred << "Position model init failed" << fgdef << endl;
- Error+=512;}
+ Error+=1024;}
if (!Auxiliary->InitModel()) {
cerr << fgred << "Auxiliary model init failed" << fgdef << endl;
- Error+=1024;}
+ Error+=2058;}
if (!Output->InitModel()) {
cerr << fgred << "Output model init failed" << fgdef << endl;
- Error+=2048;}
+ Error+=4096;}
if (Error > 0) result = false;
// instance, the atmosphere model gets executed every fifth pass it is called
// by the executive. Everything else here gets executed each pass.
- Schedule(Atmosphere, 1);
- Schedule(FCS, 1);
- Schedule(Propulsion, 1);
- Schedule(MassBalance, 1);
- Schedule(Aerodynamics, 1);
- Schedule(Inertial, 1);
- Schedule(Aircraft, 1);
- Schedule(Rotation, 1);
- Schedule(Translation, 1);
- Schedule(Position, 1);
- Schedule(Auxiliary, 1);
- Schedule(Output, 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(Rotation, 1);
+ Schedule(Translation, 1);
+ Schedule(Position, 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 ( 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;
+ 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;
FirstModel = 0L;
Error = 0;
- State = 0;
- Atmosphere = 0;
- FCS = 0;
- Propulsion = 0;
- MassBalance = 0;
- Aerodynamics = 0;
- Inertial = 0;
- Aircraft = 0;
- Translation = 0;
- Rotation = 0;
- Position = 0;
- Auxiliary = 0;
- Output = 0;
+ State = 0;
+ Atmosphere = 0;
+ FCS = 0;
+ Propulsion = 0;
+ MassBalance = 0;
+ Aerodynamics = 0;
+ Inertial = 0;
+ GroundReactions = 0;
+ Aircraft = 0;
+ Translation = 0;
+ Rotation = 0;
+ Position = 0;
+ Auxiliary = 0;
+ Output = 0;
modelLoaded = false;
return modelLoaded;
model_iterator->NextModel->SetRate(rate);
}
+
return 0;
}
if (State->Getsim_time() >= EndTime) return false;
}
- if (debug_lvl & 4)
- cout << "================== Frame: " << Frame << " Time: "
- << State->Getsim_time() << endl;
+ Debug(2);
while (!model_iterator->Run()) {
model_iterator = model_iterator->NextModel;
if (model_iterator == 0L) break;
}
- Frame++;
+ frame = Frame++;
State->IncrTime();
return true;
{
bool result = false;
+ string aircraftCfgFileName;
+
+ AircraftPath = APath;
+ EnginePath = EPath;
+
+# ifndef macintosh
+ aircraftCfgFileName = AircraftPath + "/" + model + "/" + model + ".xml";
+# else
+ aircraftCfgFileName = AircraftPath + ";" + model + ";" + model + ".xml";
+# endif
+
+ FGConfigFile AC_cfg(aircraftCfgFileName);
+ if (!AC_cfg.IsOpen()) return false;
+
if (modelLoaded) {
DeAllocate();
Allocate();
}
- AircraftPath = APath;
- EnginePath = EPath;
- result = Aircraft->LoadAircraft(AircraftPath, EnginePath, model);
+ result = Aircraft->Load(&AC_cfg);
if (result) {
modelLoaded = true;
+ Debug(3);
} else {
cerr << fgred
- << "FGFDMExec: Failed to load aircraft and/or engine model"
+ << " FGFDMExec: Failed to load aircraft and/or engine model"
<< fgdef << endl;
}
- if (debug_lvl > 0) cout << "\n\nJSBSim startup complete\n\n";
return result;
}
string token="";
string aircraft="";
string initialize="";
- bool result=false;
- float dt=0.0;
- int i;
+ bool result = false;
+ double dt = 0.0;
+ unsigned i;
struct condition *newCondition;
if (!Script.IsOpen()) return false;
Scripted = true;
if (debug_lvl > 0) cout << "Reading Script File " << ScriptName << endl;
- while (Script.GetNextConfigLine() != "EOF" && Script.GetValue() != "/runscript") {
+ while (Script.GetNextConfigLine() != string("EOF") && Script.GetValue() != string("/runscript")) {
token = Script.GetValue();
if (token == "use") {
- if ((token = Script.GetValue("aircraft")) != "") {
+ if ((token = Script.GetValue("aircraft")) != string("")) {
aircraft = token;
if (debug_lvl > 0) cout << " Use aircraft: " << token << endl;
- } else if ((token = Script.GetValue("initialize")) != "") {
+ } else if ((token = Script.GetValue("initialize")) != string("")) {
initialize = token;
if (debug_lvl > 0) cout << " Use reset file: " << token << endl;
} else {
State->Setdt(dt);
Script.GetNextConfigLine();
token = Script.GetValue();
- while (token != "/run") {
+ while (token != string("/run")) {
if (token == "when") {
Script.GetNextConfigLine();
token = Script.GetValue();
newCondition = new struct condition();
- while (token != "/when") {
+ while (token != string("/when")) {
if (token == "parameter") {
newCondition->TestParam.push_back(State->GetParameterIndex(Script.GetValue("name")));
newCondition->TestValue.push_back(strtod(Script.GetValue("value").c_str(), NULL));
}
}
+ } else if (token.empty()) {
+ // do nothing
} else {
cerr << "Unrecognized keyword in script file: \"" << token << "\" [runscript] " << endl;
}
exit(-1);
}
- // print out conditions for double-checking if requested
-
- if (debug_lvl > 0) {
- vector <struct condition>::iterator iterConditions = Conditions.begin();
- int count=0;
-
- cout << "\n Script goes from " << StartTime << " to " << EndTime
- << " with dt = " << dt << endl << endl;
-
- while (iterConditions < Conditions.end()) {
- cout << " Condition: " << count++ << endl;
- cout << " if (";
-
- for (i=0; i<iterConditions->TestValue.size(); i++) {
- if (i>0) cout << " and" << endl << " ";
- cout << "(" << State->paramdef[iterConditions->TestParam[i]]
- << iterConditions->Comparison[i] << " "
- << iterConditions->TestValue[i] << ")";
- }
- cout << ") then {" << endl;
-
- for (i=0; i<iterConditions->SetValue.size(); i++) {
- cout << " set" << State->paramdef[iterConditions->SetParam[i]]
- << "to " << iterConditions->SetValue[i];
-
- switch (iterConditions->Type[i]) {
- case FG_VALUE:
- cout << " (constant";
- break;
- case FG_DELTA:
- cout << " (delta";
- break;
- case FG_BOOL:
- cout << " (boolean";
- break;
- default:
- cout << " (unspecified type";
- }
-
- switch (iterConditions->Action[i]) {
- case FG_RAMP:
- cout << " via ramp";
- break;
- case FG_STEP:
- cout << " via step";
- break;
- case FG_EXP:
- cout << " via exponential approach";
- break;
- default:
- cout << " via unspecified action";
- }
-
- if (!iterConditions->Persistent[i]) cout << endl
- << " once";
- else cout << endl
- << " repeatedly";
-
- if (iterConditions->Action[i] == FG_RAMP ||
- iterConditions->Action[i] == FG_EXP) cout << endl
- << " with time constant "
- << iterConditions->TC[i];
- }
- cout << ")" << endl << " }" << endl << endl;
-
- iterConditions++;
- }
-
- cout << endl;
- }
+ Debug(4);
result = LoadModel("aircraft", "engine", aircraft);
if (!result) {
cerr << "Aircraft file " << aircraft << " was not found" << endl;
exit(-1);
}
- if ( ! State->Reset("aircraft", aircraft, initialize))
- State->Initialize(2000,0,0,0,0,0,0.5,0.5,40000);
+
+ FGInitialCondition IC(this);
+ if ( ! IC.Load("aircraft", aircraft, initialize)) {
+ cerr << "Initialization unsuccessful" << endl;
+ exit(-1);
+ }
return true;
}
void FGFDMExec::RunScript(void)
{
vector <struct condition>::iterator iC = Conditions.begin();
- bool truth;
- bool WholeTruth;
- int i;
-
- int count=0;
+ bool truth = false;
+ bool WholeTruth = false;
+ unsigned i;
- float currentTime = State->Getsim_time();
- float newSetValue;
+ double currentTime = State->Getsim_time();
+ double newSetValue = 0;
while (iC < Conditions.end()) {
// determine whether the set of conditional tests for this condition equate
iC->newValue[i] = iC->OriginalValue[i] + iC->SetValue[i];
break;
case FG_BOOL:
+ iC->newValue[i] = iC->SetValue[i];
break;
default:
cerr << "Invalid Type specified" << endl;
switch (iC->Action[i]) {
case FG_RAMP:
- newSetValue = (currentTime - iC->StartTime[i])/(iC->TC[i])
+ newSetValue = (currentTime - iC->StartTime[i])/(iC->TC[i])
* (iC->newValue[i] - iC->OriginalValue[i]) + iC->OriginalValue[i];
if (newSetValue > iC->newValue[i]) newSetValue = iC->newValue[i];
break;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGFDMExec::Debug(void)
+// 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)
{
- //TODO: Add your source code here
-}
+ unsigned int i;
+
+ if (debug_lvl <= 0) return;
+
+ if (debug_lvl & 1) { // 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";
+ } else if (from == 4) { // print out script data
+ vector <struct condition>::iterator iterConditions = Conditions.begin();
+ int count=0;
+
+ cout << "\n Script goes from " << StartTime << " to " << EndTime
+ << " with dt = " << State->Getdt() << endl << endl;
+
+ while (iterConditions < Conditions.end()) {
+ cout << " Condition: " << count++ << endl;
+ cout << " if (";
+
+ for (i=0; i<iterConditions->TestValue.size(); i++) {
+ if (i>0) cout << " and" << endl << " ";
+ cout << "(" << State->paramdef[iterConditions->TestParam[i]]
+ << iterConditions->Comparison[i] << " "
+ << iterConditions->TestValue[i] << ")";
+ }
+ cout << ") then {";
+ for (i=0; i<iterConditions->SetValue.size(); i++) {
+ cout << endl << " set" << State->paramdef[iterConditions->SetParam[i]]
+ << "to " << iterConditions->SetValue[i];
+
+ switch (iterConditions->Type[i]) {
+ case FG_VALUE:
+ cout << " (constant";
+ break;
+ case FG_DELTA:
+ cout << " (delta";
+ break;
+ case FG_BOOL:
+ cout << " (boolean";
+ break;
+ default:
+ cout << " (unspecified type";
+ }
+
+ switch (iterConditions->Action[i]) {
+ case FG_RAMP:
+ cout << " via ramp";
+ break;
+ case FG_STEP:
+ cout << " via step";
+ break;
+ case FG_EXP:
+ cout << " via exponential approach";
+ break;
+ default:
+ cout << " via unspecified action";
+ }
+
+ if (!iterConditions->Persistent[i]) cout << endl
+ << " once";
+ else cout << endl
+ << " repeatedly";
+
+ if (iterConditions->Action[i] == FG_RAMP ||
+ iterConditions->Action[i] == FG_EXP) cout << endl
+ << " with time constant "
+ << iterConditions->TC[i];
+ }
+ cout << ")" << endl << " }" << endl << endl;
+
+ iterConditions++;
+ }
+
+ cout << endl;
+ }
+ }
+ 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() << endl;
+ }
+ }
+ if (debug_lvl & 8 ) { // Runtime state variables
+ }
+ if (debug_lvl & 16) { // Sanity checking
+ }
+}
projects / flightgear.git / blobdiff