INCLUDES
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+#include <sstream>
+#include <iomanip>
+
#include "FGGroundReactions.h"
+#include "FGPropertyManager.h"
+
+namespace JSBSim {
static const char *IdSrc = "$Id$";
static const char *IdHdr = ID_GROUNDREACTIONS;
-extern short debug_lvl;
-
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS IMPLEMENTATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
FGGroundReactions::FGGroundReactions(FGFDMExec* fgex) : FGModel(fgex)
{
- if (debug_lvl & 2) cout << "Instantiated: FGGroundReactions" << endl;
+ Name = "FGGroundReactions";
+
+ bind();
+
+ Debug(0);
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-bool FGGroundReactions:: Run(void) {
+FGGroundReactions::~FGGroundReactions(void)
+{
+ unbind();
+
+ Debug(1);
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+bool FGGroundReactions::Run(void)
+{
if (!FGModel::Run()) {
+ vForces.InitMatrix();
+ vMoments.InitMatrix();
+
+ // Only execute gear force code below 300 feet
+ if ( Propagate->GetDistanceAGL() < 300.0 ) {
+ vector <FGLGear>::iterator iGear = lGear.begin();
+ // Sum forces and moments for all gear, here.
+ // Some optimizations may be made here - or rather in the gear code itself.
+ // The gear ::Run() method is called several times - once for each gear.
+ // Perhaps there is some commonality for things which only need to be
+ // calculated once.
+ while (iGear != lGear.end()) {
+ vForces += iGear->Force();
+ vMoments += iGear->Moment();
+ iGear++;
+ }
+
+ } else {
+ // Crash Routine
+ }
return false;
} else {
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-bool FGGroundReactions::LoadGroundReactions(FGConfigFile* AC_cfg)
+bool FGGroundReactions::Load(FGConfigFile* AC_cfg)
{
-//
+ string token;
+
+ AC_cfg->GetNextConfigLine();
+
+ while ((token = AC_cfg->GetValue()) != string("/UNDERCARRIAGE")) {
+ string type;
+ *AC_cfg >> type;
+ if (type == "AC_GEAR") {
+ int num = lGear.size();
+ lGear.push_back(FGLGear(AC_cfg, FDMExec, num));
+ FCS->AddGear();
+ } else {
+ cerr << "Unknown undercarriage type \"" << type << "\"" << endl;
+ }
+ }
+
+ return true;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-void FGGroundReactions::Debug(void)
+string FGGroundReactions::GetGroundReactionStrings(string delimeter)
{
- //TODO: Add your source code here
+ std::ostringstream buf;
+
+ for (unsigned int i=0;i<lGear.size();i++) {
+ string name = lGear[i].GetName();
+ buf << name << "_WOW" << delimeter
+ << name << "_stroke" << delimeter
+ << name << "_strokeVel" << delimeter
+ << name << "_CompressForce" << delimeter
+ << name << "_WhlSideForce" << delimeter
+ << name << "_WhlVelVecX" << delimeter
+ << name << "_WhlVelVecY" << delimeter
+ << name << "_WhlRollForce" << delimeter
+ << name << "_BodyXForce" << delimeter
+ << name << "_BodyYForce" << delimeter
+ << name << "_WhlSlipDegrees" << delimeter;
+ }
+
+ buf << "TotalGearForce_X" << delimeter
+ << "TotalGearForce_Y" << delimeter
+ << "TotalGearForce_Z" << delimeter
+ << "TotalGearMoment_L" << delimeter
+ << "TotalGearMoment_M" << delimeter
+ << "TotalGearMoment_N";
+
+ return buf.str();
}
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+string FGGroundReactions::GetGroundReactionValues(string delimeter)
+{
+ std::ostringstream buf;
+
+ for (unsigned int i=0;i<lGear.size();i++) {
+ FGLGear& gear = lGear[i];
+ buf << (gear.GetWOW() ? "1, " : "0, ")
+ << setprecision(5) << gear.GetCompLen() << delimeter
+ << setprecision(6) << gear.GetCompVel() << delimeter
+ << setprecision(10) << gear.GetCompForce() << delimeter
+ << setprecision(6) << gear.GetWheelVel(eX) << delimeter
+ << gear.GetWheelVel(eY) << delimeter
+ << gear.GetWheelSideForce() << delimeter
+ << gear.GetWheelRollForce() << delimeter
+ << gear.GetBodyXForce() << delimeter
+ << gear.GetBodyYForce() << delimeter
+ << gear.GetWheelSlipAngle() << delimeter;
+ }
+
+ buf << vForces(eX) << delimeter
+ << vForces(eY) << delimeter
+ << vForces(eZ) << delimeter
+ << vMoments(eX) << delimeter
+ << vMoments(eY) << delimeter
+ << vMoments(eZ);
+
+ return buf.str();
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGGroundReactions::bind(void)
+{
+ typedef double (FGGroundReactions::*PMF)(int) const;
+ PropertyManager->Tie("gear/num-units", this,
+ &FGGroundReactions::GetNumGearUnits);
+ PropertyManager->Tie("moments/l-gear-lbsft", this,1,
+ (PMF)&FGGroundReactions::GetMoments);
+ PropertyManager->Tie("moments/m-gear-lbsft", this,2,
+ (PMF)&FGGroundReactions::GetMoments);
+ PropertyManager->Tie("moments/n-gear-lbsft", this,3,
+ (PMF)&FGGroundReactions::GetMoments);
+ PropertyManager->Tie("forces/fbx-gear-lbs", this,1,
+ (PMF)&FGGroundReactions::GetForces);
+ PropertyManager->Tie("forces/fby-gear-lbs", this,2,
+ (PMF)&FGGroundReactions::GetForces);
+ PropertyManager->Tie("forces/fbz-gear-lbs", this,3,
+ (PMF)&FGGroundReactions::GetForces);
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGGroundReactions::unbind(void)
+{
+ PropertyManager->Untie("gear/num-units");
+ PropertyManager->Untie("moments/l-gear-lbsft");
+ PropertyManager->Untie("moments/m-gear-lbsft");
+ PropertyManager->Untie("moments/n-gear-lbsft");
+ PropertyManager->Untie("forces/fbx-gear-lbs");
+ PropertyManager->Untie("forces/fby-gear-lbs");
+ PropertyManager->Untie("forces/fbz-gear-lbs");
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+// 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 FGGroundReactions::Debug(int from)
+{
+ if (debug_lvl <= 0) return;
+
+ if (debug_lvl & 1) { // Standard console startup message output
+ if (from == 0) { // Constructor
+
+ }
+ }
+ if (debug_lvl & 2 ) { // Instantiation/Destruction notification
+ if (from == 0) cout << "Instantiated: FGGroundReactions" << endl;
+ if (from == 1) cout << "Destroyed: FGGroundReactions" << endl;
+ }
+ if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
+ }
+ 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