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 <simgear/compiler.h>
-# ifdef FG_HAVE_STD_INCLUDES
-# include <iostream>
-# include <ctime>
-# else
+# include STL_IOSTREAM
+# include STL_ITERATOR
+#else
+# if defined(sgi) && !defined(__GNUC__)
# 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 "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"
-static const char *IdSrc = "$Header$";
-static const char *IdHdr = "ID_FDMEXEC";
+static const char *IdSrc = "$Id$";
+static const char *IdHdr = ID_FDMEXEC;
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-CLASS IMPLEMENTATION
+GLOBAL DECLARATIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+unsigned int FGFDMExec::FDMctr = 0;
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+CLASS IMPLEMENTATION
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
// Constructor
FGFDMExec::FGFDMExec(void)
{
- FirstModel = 0;
- Error = 0;
- State = 0;
- Atmosphere = 0;
- FCS = 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;
-
+
+ IdFDM = FDMctr;
+ FDMctr++;
+
+ try {
+ char* num = getenv("JSBSIM_DEBUG");
+ if (!num) debug_lvl = 1;
+ else debug_lvl = atoi(num); // set debug level
+ } catch (...) { // if error set to 1
+ debug_lvl = 1;
+ }
+
+ Debug(0);
+
Allocate();
-
}
-FGFDMExec::~FGFDMExec(void){
-
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+FGFDMExec::~FGFDMExec()
+{
DeAllocate();
+ Debug(1);
}
-bool FGFDMExec::Allocate(void) {
-
- bool result=true;
-
- 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);
+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);
+ 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
+
// Initialize models so they can communicate with each other
- 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;}
-
- if(Error > 0) result=false;
-
+ 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;
+
// 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.
- Schedule(Atmosphere, 1);
- Schedule(FCS, 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;
- return result;
+ return result;
}
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
bool FGFDMExec::DeAllocate(void) {
-
- if ( Atmosphere != 0 ) delete Atmosphere;
- if ( FCS != 0 ) delete FCS;
- 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;
- 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;
}
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
int FGFDMExec::Schedule(FGModel* model, int rate)
{
model_iterator->NextModel->SetRate(rate);
}
+
return 0;
}
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
bool FGFDMExec::Run(void)
{
model_iterator = FirstModel;
if (model_iterator == 0L) return false;
- while (!model_iterator->Run())
- {
+ Debug(2);
+
+ while (!model_iterator->Run()) {
model_iterator = model_iterator->NextModel;
if (model_iterator == 0L) break;
}
+ frame = Frame++;
State->IncrTime();
return true;
}
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
bool FGFDMExec::RunIC(FGInitialCondition *fgic)
{
State->Resume();
return true;
}
-
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
bool FGFDMExec::LoadModel(string APath, string EPath, string model)
{
- bool result=false;
- if(modelLoaded) {
- DeAllocate();
- Allocate();
- }
+ bool result = true;
+ string token;
+ string aircraftCfgFileName;
+
AircraftPath = APath;
- EnginePath = EPath;
- result = Aircraft->LoadAircraft(AircraftPath, EnginePath, model);
+ 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();
+ }
+
+ 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 == "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;
+ }
+ }
if (result) {
modelLoaded = true;
+ Debug(3);
} else {
- cerr << "FGFDMExec: Failed to load aircraft and/or engine model" << endl;
+ cerr << fgred
+ << " FGFDMExec: Failed to load aircraft and/or engine model"
+ << fgdef << endl;
}
return result;
}
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-bool FGFDMExec::RunScript(string script)
+bool FGFDMExec::ReadPrologue(FGConfigFile* AC_cfg)
{
+ string token = AC_cfg->GetValue();
+ string scratch;
+ string AircraftName;
+
+ AircraftName = AC_cfg->GetValue("NAME");
+ Aircraft->SetAircraftName(AircraftName);
+
+ if (debug_lvl > 0) cout << underon << "Reading Aircraft Configuration File"
+ << underoff << ": " << highint << AircraftName << normint << endl;
+ scratch = AC_cfg->GetValue("VERSION").c_str();
+
+ CFGVersion = AC_cfg->GetValue("VERSION");
+
+ if (debug_lvl > 0)
+ 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;
+ }
+ return true;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+bool FGFDMExec::ReadPropulsion(FGConfigFile* AC_cfg)
+{
+ if (!Propulsion->Load(AC_cfg)) {
+ cerr << " Propulsion not successfully loaded" << endl;
+ return false;
+ }
+ return true;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+bool FGFDMExec::ReadFlightControls(FGConfigFile* AC_cfg)
+{
+ if (!FCS->Load(AC_cfg)) {
+ cerr << " Flight Controls not successfully loaded" << endl;
+ return false;
+ }
+ return true;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+bool FGFDMExec::ReadAerodynamics(FGConfigFile* AC_cfg)
+{
+ if (!Aerodynamics->Load(AC_cfg)) {
+ cerr << " Aerodynamics not successfully loaded" << endl;
+ return false;
+ }
+ return true;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+bool FGFDMExec::ReadUndercarriage(FGConfigFile* AC_cfg)
+{
+ if (!GroundReactions->Load(AC_cfg)) {
+ cerr << " Ground Reactions not successfully loaded" << endl;
+ return false;
+ }
+ return true;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+bool FGFDMExec::ReadMetrics(FGConfigFile* AC_cfg)
+{
+ if (!Aircraft->Load(AC_cfg)) {
+ cerr << " Aircraft metrics not successfully loaded" << endl;
+ return false;
+ }
+ return true;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+bool FGFDMExec::ReadOutput(FGConfigFile* AC_cfg)
+{
+ if (!Output->Load(AC_cfg)) {
+ cerr << " Output not successfully loaded" << endl;
+ return false;
+ }
+ return true;
}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+// 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) { // 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() << 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