#include "FGInitialCondition.h"
#include "FGPropertyManager.h"
+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() ) {
+ checkTied( (FGPropertyManager*)node->getChild(i) );
+ } else if ( node->getChild(i)->isTied() ) {
+ name = ((FGPropertyManager*)node->getChild(i))->GetFullyQualifiedName();
+ cerr << name << " is tied" << endl;
+ }
+ }
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
// Constructor
FGFDMExec::FGFDMExec(FGPropertyManager* root)
Position = 0;
Auxiliary = 0;
Output = 0;
+ IC = 0;
+ Trim = 0;
terminate = false;
frozen = false;
IdFDM = FDMctr;
FDMctr++;
-
+
try {
char* num = getenv("JSBSIM_DEBUG");
if (!num) debug_lvl = 1;
else master = root;
instance = master->GetNode("/fdm/jsbsim",IdFDM,true);
- instance->SetDouble("zero",0);
+
Debug(0);
{
try {
DeAllocate();
+ checkTied( instance );
} catch ( string msg ) {
cout << "Caught error: " << msg << endl;
}
-
+
for (unsigned int i=1; i<SlaveFDMList.size(); i++) delete SlaveFDMList[i]->exec;
SlaveFDMList.clear();
-
+
Debug(1);
}
Error+=4096;}
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 gets executed every fifth pass it is called
// by the executive. Everything else here gets executed each pass.
+ // IC and Trim objects are NOT scheduled.
Schedule(Atmosphere, 1);
Schedule(FCS, 1);
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-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 Atmosphere;
+ delete FCS;
+ delete Propulsion;
+ delete MassBalance;
+ delete Aerodynamics;
+ delete Inertial;
+ delete GroundReactions;
+ delete Aircraft;
+ delete Translation;
+ delete Rotation;
+ delete Position;
+ delete Auxiliary;
+ delete Output;
+ delete State;
+
+ delete IC;
+ delete Trim;
+
FirstModel = 0L;
Error = 0;
Debug(2);
- for (unsigned 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()) {
+ while (model_iterator != 0L) {
+ model_iterator->Run();
model_iterator = model_iterator->NextModel;
- if (model_iterator == 0L) break;
}
frame = Frame++;
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-bool FGFDMExec::RunIC(FGInitialCondition *fgic)
+bool FGFDMExec::RunIC(void)
{
State->Suspend();
- State->Initialize(fgic);
+ State->Initialize(IC);
Run();
State->Resume();
- return true;
-}
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGFDMExec::TransferState(int idxFDM)
-{
- 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());
+ return true;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-bool FGFDMExec::LoadModel(string APath, string EPath, string model)
+bool FGFDMExec::LoadModel(string AircraftPath, string EnginePath, string model)
+{
+ FGFDMExec::AircraftPath = AircraftPath;
+ FGFDMExec::EnginePath = EnginePath;
+
+ return LoadModel(model);
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+bool FGFDMExec::LoadModel(string model)
{
bool result = true;
string token;
string aircraftCfgFileName;
- AircraftPath = APath;
- EnginePath = EPath;
-
+ if( AircraftPath.empty() || EnginePath.empty() ) {
+ cerr << "Error: attempted to load aircraft with undefined ";
+ cerr << "aircraft and engine paths" << endl;
+ return false;
+ }
+
# ifndef macintosh
aircraftCfgFileName = AircraftPath + "/" + model + "/" + model + ".xml";
# else
FGConfigFile AC_cfg(aircraftCfgFileName);
if (!AC_cfg.IsOpen()) return false;
-
+
+ modelName = model;
+
if (modelLoaded) {
DeAllocate();
Allocate();
} 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 == "AUTOPILOT") {
+ if (debug_lvl > 0) cout << fgcyan << "\n Reading Autopilot" << 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;
// reset debug level to prior setting
int saved_debug_lvl = debug_lvl;
+ string token;
SlaveFDMList.push_back(new slaveData);
SlaveFDMList.back()->exec = new FGFDMExec();
string AircraftName = AC_cfg->GetValue("FILE");
- debug_lvl = 0;
- SlaveFDMList.back()->exec->LoadModel("aircraft", "engine", AircraftName);
- debug_lvl = saved_debug_lvl;
+ 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;
}
return instance;
}
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+FGTrim* FGFDMExec::GetTrim(void) {
+ delete Trim;
+ Trim = new FGTrim(this,tNone);
+ return Trim;
+}
+
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
// The bitmasked value choices are as follows:
// unset: In this case (the default) JSBSim would only print
{
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;
}
}
}
+}
projects / flightgear.git / blobdiff