-/*******************************************************************************
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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) -------------
+ ------------- Copyright (C) 1999 Jon S. Berndt (jon@jsbsim.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
--------------------------------------------------------------------------------
11/17/98 JSB Created
-********************************************************************************
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+COMMENTS, REFERENCES, and NOTES
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
INCLUDES
-*******************************************************************************/
-
-#ifdef FGFS
-# include <simgear/compiler.h>
-# ifdef FG_HAVE_STD_INCLUDES
-# include <iostream>
-# include <ctime>
-# else
-# include <iostream.h>
-# include <time.h>
-# endif
-#else
-# include <iostream>
-# include <ctime>
-#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/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>
+#include <cstdlib>
+
+using namespace std;
-/*******************************************************************************
-************************************ CODE **************************************
-*******************************************************************************/
+namespace JSBSim {
+static const char *IdSrc = "$Id: FGFDMExec.cpp,v 1.91 2011/04/05 20:20:21 andgi Exp $";
+static const char *IdHdr = ID_FDMEXEC;
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+CLASS IMPLEMENTATION
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
// Constructor
-FGFDMExec::FGFDMExec(void)
+FGFDMExec::FGFDMExec(FGPropertyManager* root, unsigned int* fdmctr) : Root(root), FDMctr(fdmctr)
{
- 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);
- // Initialize models so they can communicate with each other
+ Frame = 0;
+ Error = 0;
+ GroundCallback = 0;
+ Atmosphere = 0;
+ FCS = 0;
+ Propulsion = 0;
+ MassBalance = 0;
+ Aerodynamics = 0;
+ Inertial = 0;
+ GroundReactions = 0;
+ ExternalReactions = 0;
+ BuoyantForces = 0;
+ Aircraft = 0;
+ Propagate = 0;
+ Auxiliary = 0;
+ Input = 0;
+ IC = 0;
+ Trim = 0;
+ Script = 0;
+
+ RootDir = "";
+
+ modelLoaded = false;
+ IsChild = false;
+ holding = false;
+ Terminate = false;
+ StandAlone = false;
+
+ sim_time = 0.0;
+ dT = 1.0/120.0; // a default timestep size. This is needed for when JSBSim is
+ // run in standalone mode with no initialization file.
+
+ AircraftPath = "aircraft";
+ EnginePath = "engine";
+ SystemsPath = "systems";
+
+ 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) { // Then this is the root FDM
+ Root = new FGPropertyManager; // Create the property manager
+ StandAlone = true;
+ }
+
+ if (FDMctr == 0) {
+ FDMctr = new unsigned int; // Create and initialize the child FDM counter
+ (*FDMctr) = 0;
+ }
+
+ // Store this FDM's ID
+ IdFDM = (*FDMctr); // The main (parent) JSBSim instance is always the "zeroth"
+
+ // Prepare FDMctr for the next child FDM id
+ (*FDMctr)++; // instance. "child" instances are loaded last.
+
+ instance = Root->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);
+ }
+
+ 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, false);
+ instance->Tie("simulation/do_simple_trim", this, (iPMF)0, &FGFDMExec::DoTrim, false);
+ instance->Tie("simulation/reset", this, (iPMF)0, &FGFDMExec::ResetToInitialConditions, false);
+ instance->Tie("simulation/terminate", (int *)&Terminate);
+ instance->Tie("simulation/sim-time-sec", this, &FGFDMExec::GetSimTime);
+ instance->Tie("simulation/jsbsim-debug", this, &FGFDMExec::GetDebugLevel, &FGFDMExec::SetDebugLevel);
+ instance->Tie("simulation/frame", (int *)&Frame, false);
+
+ Constructing = false;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+FGFDMExec::~FGFDMExec()
+{
+ try {
+ Unbind();
+ DeAllocate();
+
+ if (IdFDM == 0) { // Meaning this is no child FDM
+ if(Root != 0) {
+ if(StandAlone)
+ delete Root;
+ Root = 0;
+ }
+ if(FDMctr != 0) {
+ delete FDMctr;
+ FDMctr = 0;
+ }
+ }
+ } catch ( string msg ) {
+ cout << "Caught error: " << msg << endl;
+ }
+
+ for (unsigned int i=1; i<ChildFDMList.size(); i++) delete ChildFDMList[i]->exec;
+ ChildFDMList.clear();
+
+ PropertyCatalog.clear();
+
+ FDMctr--;
+
+ Debug(1);
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+bool FGFDMExec::Allocate(void)
+{
+ bool result=true;
- 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;}
+ Atmosphere = new FGAtmosphere(this);
+ FCS = new FGFCS(this);
+ Propulsion = new FGPropulsion(this);
+ 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);
// 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.
+
+ 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(ExternalReactions, 1);
+ Schedule(BuoyantForces, 1);
+ Schedule(Aircraft, 1);
+ Schedule(Propagate, 1);
+ Schedule(Auxiliary, 1);
+
+ // Initialize models so they can communicate with each other
- Schedule(Atmosphere, 1);
- Schedule(FCS, 1);
- Schedule(Aircraft, 1);
- Schedule(Rotation, 1);
- Schedule(Translation, 1);
- Schedule(Position, 1);
- Schedule(Auxiliary, 1);
- Schedule(Output, 1);
+ vector <FGModel*>::iterator it;
+ for (it = Models.begin(); it != Models.end(); ++it) (*it)->InitModel();
- terminate = false;
- frozen = false;
+ IC = new FGInitialCondition(this);
+
+ 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 ExternalReactions;
+ delete BuoyantForces;
+ delete Aircraft;
+ delete Propagate;
+ delete Auxiliary;
+ delete Script;
+
+ for (unsigned i=0; i<Outputs.size(); i++) delete Outputs[i];
+ Outputs.clear();
+
+ delete IC;
+ delete Trim;
+
+ delete GroundCallback;
+
+ Error = 0;
+
+ Input = 0;
+ Atmosphere = 0;
+ FCS = 0;
+ Propulsion = 0;
+ MassBalance = 0;
+ Aerodynamics = 0;
+ Inertial = 0;
+ GroundReactions = 0;
+ ExternalReactions = 0;
+ BuoyantForces = 0;
+ Aircraft = 0;
+ Propagate = 0;
+ Auxiliary = 0;
+ Script = 0;
+
+ Models.clear();
+
+ modelLoaded = false;
+ return modelLoaded;
}
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-int FGFDMExec::Schedule(FGModel* model, int rate)
+void FGFDMExec::Schedule(FGModel* model, int rate)
{
- FGModel* model_iterator;
+ model->SetRate(rate);
+ Models.push_back(model);
+}
- model_iterator = FirstModel;
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
- if (model_iterator == 0L) { // this is the first model
+bool FGFDMExec::Run(void)
+{
+ bool success=true;
- FirstModel = model;
- FirstModel->NextModel = 0L;
- FirstModel->SetRate(rate);
+ Debug(2);
+
+ for (unsigned int i=1; i<ChildFDMList.size(); i++) {
+ ChildFDMList[i]->AssignState(Propagate); // Transfer state to the child FDM
+ ChildFDMList[i]->Run();
+ }
+
+ // returns true if success, false if complete
+ if (Script != 0 && !IntegrationSuspended()) success = Script->RunScript();
+
+ vector <FGModel*>::iterator it;
+ for (it = Models.begin(); it != Models.end(); ++it) (*it)->Run();
+
+ Frame++;
+ if (!Holding()) IncrTime();
+ if (Terminate) success = false;
+
+ return (success);
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+// This call will cause the sim time to reset to 0.0
+
+bool FGFDMExec::RunIC(void)
+{
+ SuspendIntegration(); // saves the integration rate, dt, then sets it to 0.0.
+ Initialize(IC);
+ Run();
+ ResumeIntegration(); // Restores the integration rate to what it was.
+
+ return true;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGFDMExec::Initialize(FGInitialCondition *FGIC)
+{
+ Setsim_time(0.0);
- } else { // subsequent model
+ Propagate->SetInitialState( FGIC );
- while (model_iterator->NextModel != 0L) {
- model_iterator = model_iterator->NextModel;
+ Atmosphere->Run();
+ Atmosphere->SetWindNED( FGIC->GetWindNFpsIC(),
+ FGIC->GetWindEFpsIC(),
+ FGIC->GetWindDFpsIC() );
+
+ FGColumnVector3 vAeroUVW;
+
+ //ToDo: move this to the Auxiliary class !?
+
+ vAeroUVW = Propagate->GetUVW() + Propagate->GetTl2b()*Atmosphere->GetTotalWindNED();
+
+ double alpha, beta;
+ if (vAeroUVW(eW) != 0.0)
+ alpha = vAeroUVW(eU)*vAeroUVW(eU) > 0.0 ? atan2(vAeroUVW(eW), vAeroUVW(eU)) : 0.0;
+ else
+ alpha = 0.0;
+ if (vAeroUVW(eV) != 0.0)
+ beta = vAeroUVW(eU)*vAeroUVW(eU)+vAeroUVW(eW)*vAeroUVW(eW) > 0.0 ? atan2(vAeroUVW(eV), (fabs(vAeroUVW(eU))/vAeroUVW(eU))*sqrt(vAeroUVW(eU)*vAeroUVW(eU) + vAeroUVW(eW)*vAeroUVW(eW))) : 0.0;
+ else
+ beta = 0.0;
+
+ Auxiliary->SetAB(alpha, beta);
+
+ double Vt = vAeroUVW.Magnitude();
+ Auxiliary->SetVt(Vt);
+
+ Auxiliary->SetMach(Vt/Atmosphere->GetSoundSpeed());
+
+ double qbar = 0.5*Vt*Vt*Atmosphere->GetDensity();
+ Auxiliary->Setqbar(qbar);
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+//
+// A private, internal function call for Tie-ing to a property, so it needs an
+// argument.
+
+void FGFDMExec::ResetToInitialConditions(int mode)
+{
+ if (mode == 1) {
+ for (unsigned int i=0; i<Outputs.size(); i++) {
+ Outputs[i]->SetStartNewFile(true);
}
- model_iterator->NextModel = model;
- model_iterator->NextModel->SetRate(rate);
+ }
+
+ ResetToInitialConditions();
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGFDMExec::ResetToInitialConditions(void)
+{
+ if (Constructing) return;
+ vector <FGModel*>::iterator it;
+ for (it = Models.begin(); it != Models.end(); ++it) (*it)->InitModel();
+
+ RunIC();
+ if (Script) Script->ResetEvents();
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGFDMExec::SetGroundCallback(FGGroundCallback* p)
+{
+ delete GroundCallback;
+ GroundCallback = p;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+vector <string> FGFDMExec::EnumerateFDMs(void)
+{
+ vector <string> FDMList;
+
+ FDMList.push_back(Aircraft->GetAircraftName());
+
+ for (unsigned int i=1; i<ChildFDMList.size(); i++) {
+ FDMList.push_back(ChildFDMList[i]->exec->GetAircraft()->GetAircraftName());
}
- return 0;
+
+ return FDMList;
}
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-bool FGFDMExec::Run(void)
+bool FGFDMExec::LoadScript(const string& script, double deltaT)
+{
+ bool result;
+
+ Script = new FGScript(this);
+ result = Script->LoadScript(RootDir + script, deltaT);
+
+ return result;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+bool FGFDMExec::LoadModel(const string& AircraftPath, const string& EnginePath, const string& SystemsPath,
+ const string& model, bool addModelToPath)
{
- FGModel* model_iterator;
+ FGFDMExec::AircraftPath = RootDir + AircraftPath;
+ FGFDMExec::EnginePath = RootDir + EnginePath;
+ FGFDMExec::SystemsPath = RootDir + SystemsPath;
- if (frozen) return true;
+ return LoadModel(model, addModelToPath);
+}
- model_iterator = FirstModel;
- if (model_iterator == 0L) return false;
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+bool FGFDMExec::LoadModel(const string& model, bool addModelToPath)
+{
+ string token;
+ string aircraftCfgFileName;
+ Element* element = 0L;
+ bool result = false; // initialize result to false, indicating input file not yet read
- while (!model_iterator->Run())
- {
- model_iterator = model_iterator->NextModel;
- if (model_iterator == 0L) break;
+ modelName = model; // Set the class modelName attribute
+
+ if( AircraftPath.empty() || EnginePath.empty() || SystemsPath.empty()) {
+ cerr << "Error: attempted to load aircraft with undefined ";
+ cerr << "aircraft, engine, and system paths" << endl;
+ return false;
}
- State->IncrTime();
+ FullAircraftPath = AircraftPath;
+ if (addModelToPath) FullAircraftPath += "/" + model;
+ aircraftCfgFileName = FullAircraftPath + "/" + model + ".xml";
- return true;
+ if (modelLoaded) {
+ DeAllocate();
+ Allocate();
+ }
+
+ int saved_debug_lvl = debug_lvl;
+
+ document = LoadXMLDocument(aircraftCfgFileName); // "document" is a class member
+ if (document) {
+ if (IsChild) debug_lvl = 0;
+
+ ReadPrologue(document);
+
+ if (IsChild) debug_lvl = saved_debug_lvl;
+
+ // Process the fileheader element in the aircraft config file. This element is OPTIONAL.
+ element = document->FindElement("fileheader");
+ if (element) {
+ result = ReadFileHeader(element);
+ if (!result) {
+ cerr << endl << "Aircraft fileheader element has problems in file " << aircraftCfgFileName << endl;
+ return result;
+ }
+ }
+
+ if (IsChild) debug_lvl = 0;
+
+ // Process the metrics element. This element is REQUIRED.
+ element = document->FindElement("metrics");
+ if (element) {
+ result = Aircraft->Load(element);
+ if (!result) {
+ cerr << endl << "Aircraft metrics element has problems in file " << aircraftCfgFileName << endl;
+ return result;
+ }
+ } else {
+ cerr << endl << "No metrics element was found in the aircraft config file." << endl;
+ return false;
+ }
+
+ // Process the mass_balance element. This element is REQUIRED.
+ element = document->FindElement("mass_balance");
+ if (element) {
+ result = MassBalance->Load(element);
+ if (!result) {
+ cerr << endl << "Aircraft mass_balance element has problems in file " << aircraftCfgFileName << endl;
+ return result;
+ }
+ } else {
+ cerr << endl << "No mass_balance element was found in the aircraft config file." << endl;
+ return false;
+ }
+
+ // Process the ground_reactions element. This element is REQUIRED.
+ element = document->FindElement("ground_reactions");
+ if (element) {
+ result = GroundReactions->Load(element);
+ if (!result) {
+ cerr << endl << "Aircraft ground_reactions element has problems in file " << aircraftCfgFileName << endl;
+ return result;
+ }
+ } else {
+ cerr << endl << "No ground_reactions element was found in the aircraft config file." << endl;
+ return false;
+ }
+
+ // Process the external_reactions element. This element is OPTIONAL.
+ element = document->FindElement("external_reactions");
+ if (element) {
+ result = ExternalReactions->Load(element);
+ if (!result) {
+ cerr << endl << "Aircraft external_reactions element has problems in file " << aircraftCfgFileName << endl;
+ return result;
+ }
+ }
+
+ // Process the buoyant_forces element. This element is OPTIONAL.
+ element = document->FindElement("buoyant_forces");
+ if (element) {
+ result = BuoyantForces->Load(element);
+ if (!result) {
+ cerr << endl << "Aircraft buoyant_forces element has problems in file " << aircraftCfgFileName << endl;
+ return result;
+ }
+ }
+
+ // Process the propulsion element. This element is OPTIONAL.
+ element = document->FindElement("propulsion");
+ if (element) {
+ result = Propulsion->Load(element);
+ if (!result) {
+ cerr << endl << "Aircraft propulsion element has problems in file " << aircraftCfgFileName << endl;
+ return result;
+ }
+ }
+
+ // Process the system element[s]. This element is OPTIONAL, and there may be more than one.
+ element = document->FindElement("system");
+ while (element) {
+ result = FCS->Load(element, FGFCS::stSystem);
+ if (!result) {
+ cerr << endl << "Aircraft system element has problems in file " << aircraftCfgFileName << endl;
+ return result;
+ }
+ element = document->FindNextElement("system");
+ }
+
+ // Process the autopilot element. This element is OPTIONAL.
+ element = document->FindElement("autopilot");
+ if (element) {
+ result = FCS->Load(element, FGFCS::stAutoPilot);
+ if (!result) {
+ cerr << endl << "Aircraft autopilot element has problems in file " << aircraftCfgFileName << endl;
+ return result;
+ }
+ }
+
+ // Process the flight_control element. This element is OPTIONAL.
+ element = document->FindElement("flight_control");
+ if (element) {
+ result = FCS->Load(element, FGFCS::stFCS);
+ if (!result) {
+ cerr << endl << "Aircraft flight_control element has problems in file " << aircraftCfgFileName << endl;
+ return result;
+ }
+ }
+
+ // Process the aerodynamics element. This element is OPTIONAL, but almost always expected.
+ element = document->FindElement("aerodynamics");
+ if (element) {
+ result = Aerodynamics->Load(element);
+ if (!result) {
+ cerr << endl << "Aircraft aerodynamics element has problems in file " << aircraftCfgFileName << endl;
+ return result;
+ }
+ } else {
+ cerr << endl << "No expected aerodynamics element was found in the aircraft config file." << endl;
+ }
+
+ // Process the input element. This element is OPTIONAL.
+ element = document->FindElement("input");
+ if (element) {
+ result = Input->Load(element);
+ if (!result) {
+ cerr << endl << "Aircraft input element has problems in file " << aircraftCfgFileName << endl;
+ return result;
+ }
+ }
+
+ // Process the output element[s]. This element is OPTIONAL, and there may be more than one.
+ unsigned int idx=0;
+ typedef double (FGOutput::*iOPMF)(void) const;
+ typedef int (FGFDMExec::*iOPV)(void) const;
+ typedef void (FGFDMExec::*vOPI)(int) const;
+ element = document->FindElement("output");
+ while (element) {
+ if (debug_lvl > 0) cout << endl << " Output data set: " << idx << " ";
+ FGOutput* Output = new FGOutput(this);
+ Output->InitModel();
+ Schedule(Output, 1);
+ result = Output->Load(element);
+ if (!result) {
+ cerr << endl << "Aircraft output element has problems in file " << aircraftCfgFileName << endl;
+ return result;
+ } else {
+ Outputs.push_back(Output);
+ string outputProp = CreateIndexedPropertyName("simulation/output",idx);
+ instance->Tie(outputProp+"/log_rate_hz", Output, (iOPMF)0, &FGOutput::SetRate, false);
+ instance->Tie("simulation/force-output", this, (iOPV)0, &FGFDMExec::ForceOutput, false);
+ idx++;
+ }
+ element = document->FindNextElement("output");
+ }
+
+ // Lastly, process the child element. This element is OPTIONAL - and NOT YET SUPPORTED.
+ element = document->FindElement("child");
+ if (element) {
+ result = ReadChild(element);
+ if (!result) {
+ cerr << endl << "Aircraft child element has problems in file " << aircraftCfgFileName << endl;
+ return result;
+ }
+ }
+
+ modelLoaded = true;
+
+ if (debug_lvl > 0) {
+ MassBalance->Run(); // Update all mass properties for the report.
+ MassBalance->GetMassPropertiesReport();
+
+ cout << endl << fgblue << highint
+ << "End of vehicle configuration loading." << endl
+ << "-------------------------------------------------------------------------------"
+ << reset << endl;
+ }
+
+ if (IsChild) debug_lvl = saved_debug_lvl;
+
+ } else {
+ cerr << fgred
+ << " JSBSim failed to open the configuration file: " << aircraftCfgFileName
+ << fgdef << endl;
+ }
+
+ if (result) {
+ struct PropertyCatalogStructure masterPCS;
+ masterPCS.base_string = "";
+ masterPCS.node = (FGPropertyManager*)Root;
+ BuildPropertyCatalog(&masterPCS);
+ }
+
+ return result;
}
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-bool FGFDMExec::RunIC(FGInitialCondition *fgic)
+void FGFDMExec::BuildPropertyCatalog(struct PropertyCatalogStructure* pcs)
{
- float save_dt = State->Getdt();
+ struct PropertyCatalogStructure* pcsNew = new struct PropertyCatalogStructure;
+ int node_idx = 0;
- State->Setdt(0.0);
- State->Initialize(fgic);
- Run();
- State->Setdt(save_dt);
+ 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();
+ if (node_idx != 0) {
+ pcsNew->base_string = CreateIndexedPropertyName(pcsNew->base_string, node_idx);
+ }
+ if (pcs->node->getChild(i)->nChildren() == 0) {
+ if (pcsNew->base_string.substr(0,11) == string("/fdm/jsbsim")) {
+ pcsNew->base_string = pcsNew->base_string.erase(0,12);
+ }
+ PropertyCatalog.push_back(pcsNew->base_string);
+ } else {
+ pcsNew->node = (FGPropertyManager*)pcs->node->getChild(i);
+ BuildPropertyCatalog(pcsNew);
+ }
+ }
+ delete pcsNew;
+}
- return true;
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+string FGFDMExec::QueryPropertyCatalog(const 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 == 0) return result;
+
+ if (IsChild) {
+ cout << endl <<highint << fgblue << "Reading child model: " << IdFDM << reset << endl << endl;
+ }
+
+ if (el->FindElement("description"))
+ cout << " Description: " << el->FindElement("description")->GetDataLine() << endl;
+ 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;
+
+ 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::ReadChild(Element* el)
+{
+ // Add a new childData object to the child FDM list
+ // Populate that childData element with a new FDMExec object
+ // Set the IsChild flag for that FDMExec object
+ // Get the aircraft name
+ // set debug level to print out no additional data for child objects
+ // Load the model given the aircraft name
+ // reset debug level to prior setting
+
+ string token;
+
+ struct childData* child = new childData;
+
+ child->exec = new FGFDMExec(Root, FDMctr);
+ child->exec->SetChild(true);
+
+ string childAircraft = el->GetAttributeValue("name");
+ string sMated = el->GetAttributeValue("mated");
+ if (sMated == "false") child->mated = false; // child objects are mated by default.
+ string sInternal = el->GetAttributeValue("internal");
+ if (sInternal == "true") child->internal = true; // child objects are external by default.
+
+ child->exec->SetAircraftPath( AircraftPath );
+ child->exec->SetEnginePath( EnginePath );
+ child->exec->SetSystemsPath( SystemsPath );
+ child->exec->LoadModel(childAircraft);
+
+ Element* location = el->FindElement("location");
+ if (location) {
+ child->Loc = location->FindElementTripletConvertTo("IN");
+ } else {
+ cerr << endl << highint << fgred << " No location was found for this child object!" << reset << endl;
+ exit(-1);
+ }
+ Element* orientation = el->FindElement("orient");
+ if (orientation) {
+ child->Orient = orientation->FindElementTripletConvertTo("RAD");
+ } else if (debug_lvl > 0) {
+ cerr << endl << highint << " No orientation was found for this child object! Assuming 0,0,0." << reset << endl;
+ }
+
+ ChildFDMList.push_back(child);
+
+ 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 (unsigned i=0; i<Outputs.size(); i++) {
+ Outputs[i]->Disable();
+ }
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGFDMExec::EnableOutput(void)
+{
+ for (unsigned i=0; i<Outputs.size(); i++) {
+ Outputs[i]->Enable();
+ }
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGFDMExec::ForceOutput(int idx)
+{
+ if (idx >= 0 && idx < Outputs.size()) Outputs[idx]->Print();
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+bool FGFDMExec::SetOutputDirectives(const string& fname)
+{
+ bool result;
+
+ FGOutput* Output = new FGOutput(this);
+ Output->SetDirectivesFile(RootDir + fname);
+ Output->InitModel();
+ Schedule(Output, 1);
+ result = Output->Load(0);
+
+ if (result) {
+ Outputs.push_back(Output);
+ typedef double (FGOutput::*iOPMF)(void) const;
+ string outputProp = CreateIndexedPropertyName("simulation/output",Outputs.size()-1);
+ instance->Tie(outputProp+"/log_rate_hz", Output, (iOPMF)0, &FGOutput::SetRate, false);
+ }
+
+ return result;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGFDMExec::DoTrim(int mode)
+{
+ double saved_time;
+
+ if (Constructing) return;
+
+ if (mode < 0 || mode > JSBSim::tNone) {
+ cerr << endl << "Illegal trimming mode!" << endl << endl;
+ return;
+ }
+ saved_time = sim_time;
+ FGTrim trim(this, (JSBSim::TrimMode)mode);
+ if ( !trim.DoTrim() ) cerr << endl << "Trim Failed" << endl << endl;
+ trim.Report();
+ sim_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 = sim_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();
+ Setsim_time(saved_time);
+
+ EnableOutput();
+ cout << "\nOutput: " << GetOutputFileName() << endl;
+
+}
+*/
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+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 << " [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 & 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: "
+ << sim_time << " dt: " << dT << 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