X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FFDM%2FJSBSim%2FFGFDMExec.cpp;h=a3b08a49ec5deaf6afdf01e392f4cfdcf5ac3f75;hb=de1564d83e32cf077a5367cc838f28271dd79381;hp=820e69daa4dc994bceb3b5a897132b568860287e;hpb=10366f4f1b91bfb037060a3f02d5c4056edac6c5;p=flightgear.git diff --git a/src/FDM/JSBSim/FGFDMExec.cpp b/src/FDM/JSBSim/FGFDMExec.cpp index 820e69daa..a3b08a49e 100644 --- a/src/FDM/JSBSim/FGFDMExec.cpp +++ b/src/FDM/JSBSim/FGFDMExec.cpp @@ -71,40 +71,17 @@ using namespace std; namespace JSBSim { -static const char *IdSrc = "$Id: FGFDMExec.cpp,v 1.78 2010/04/12 12:25:19 jberndt Exp $"; +static const char *IdSrc = "$Id: FGFDMExec.cpp,v 1.91 2011/04/05 20:20:21 andgi Exp $"; static const char *IdHdr = ID_FDMEXEC; -/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -GLOBAL DECLARATIONS -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ - -unsigned int FGFDMExec::FDMctr = 0; -FGPropertyManager* FGFDMExec::master=0; - /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% CLASS IMPLEMENTATION %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -void checkTied ( FGPropertyManager *node ) -{ - int N = node->nChildren(); - string name; - - for (int i=0; igetChild(i)->nChildren() ) { - checkTied( (FGPropertyManager*)node->getChild(i) ); - } - if ( node->getChild(i)->isTied() ) { - name = ((FGPropertyManager*)node->getChild(i))->GetFullyQualifiedName(); - node->Untie(name); - } - } -} - //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% // Constructor -FGFDMExec::FGFDMExec(FGPropertyManager* root) : Root(root) +FGFDMExec::FGFDMExec(FGPropertyManager* root, unsigned int* fdmctr) : Root(root), FDMctr(fdmctr) { Frame = 0; @@ -133,27 +110,39 @@ FGFDMExec::FGFDMExec(FGPropertyManager* root) : Root(root) 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. - IdFDM = FDMctr; // The main (parent) JSBSim instance is always the "zeroth" - FDMctr++; // instance. "child" instances are loaded last. + 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 + } catch (...) { // if error set to 1 debug_lvl = 1; } - if (Root == 0) { - if (master == 0) - master = new FGPropertyManager; - Root = master; + 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. @@ -169,12 +158,13 @@ FGFDMExec::FGFDMExec(FGPropertyManager* root) : Root(root) Constructing = true; typedef int (FGFDMExec::*iPMF)(void) const; -// instance->Tie("simulation/do_trim_analysis", this, (iPMF)0, &FGFDMExec::DoTrimAnalysis); - instance->Tie("simulation/do_simple_trim", this, (iPMF)0, &FGFDMExec::DoTrim); - instance->Tie("simulation/reset", this, (iPMF)0, &FGFDMExec::ResetToInitialConditions); +// 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; } @@ -184,9 +174,20 @@ FGFDMExec::FGFDMExec(FGPropertyManager* root) : Root(root) FGFDMExec::~FGFDMExec() { try { - checkTied( instance ); + Unbind(); DeAllocate(); - if (Root == 0) delete master; + + 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; } @@ -354,6 +355,8 @@ bool FGFDMExec::RunIC(void) void FGFDMExec::Initialize(FGInitialCondition *FGIC) { + Setsim_time(0.0); + Propagate->SetInitialState( FGIC ); Atmosphere->Run(); @@ -362,6 +365,9 @@ void FGFDMExec::Initialize(FGInitialCondition *FGIC) FGIC->GetWindDFpsIC() ); FGColumnVector3 vAeroUVW; + + //ToDo: move this to the Auxiliary class !? + vAeroUVW = Propagate->GetUVW() + Propagate->GetTl2b()*Atmosphere->GetTotalWindNED(); double alpha, beta; @@ -439,7 +445,7 @@ vector FGFDMExec::EnumerateFDMs(void) //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -bool FGFDMExec::LoadScript(string script, double deltaT) +bool FGFDMExec::LoadScript(const string& script, double deltaT) { bool result; @@ -451,8 +457,8 @@ bool FGFDMExec::LoadScript(string script, double deltaT) //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -bool FGFDMExec::LoadModel(string AircraftPath, string EnginePath, string SystemsPath, - string model, bool addModelToPath) +bool FGFDMExec::LoadModel(const string& AircraftPath, const string& EnginePath, const string& SystemsPath, + const string& model, bool addModelToPath) { FGFDMExec::AircraftPath = RootDir + AircraftPath; FGFDMExec::EnginePath = RootDir + EnginePath; @@ -463,7 +469,7 @@ bool FGFDMExec::LoadModel(string AircraftPath, string EnginePath, string Systems //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -bool FGFDMExec::LoadModel(string model, bool addModelToPath) +bool FGFDMExec::LoadModel(const string& model, bool addModelToPath) { string token; string aircraftCfgFileName; @@ -633,7 +639,9 @@ bool FGFDMExec::LoadModel(string model, bool addModelToPath) // Process the output element[s]. This element is OPTIONAL, and there may be more than one. unsigned int idx=0; - typedef int (FGOutput::*iOPMF)(void) const; + 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 << " "; @@ -647,7 +655,8 @@ bool FGFDMExec::LoadModel(string model, bool addModelToPath) } else { Outputs.push_back(Output); string outputProp = CreateIndexedPropertyName("simulation/output",idx); - instance->Tie(outputProp+"/log_rate_hz", Output, (iOPMF)0, &FGOutput::SetRate); + 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"); @@ -665,10 +674,10 @@ bool FGFDMExec::LoadModel(string model, bool addModelToPath) modelLoaded = true; - MassBalance->Run(); // Update all mass properties for the report. - MassBalance->GetMassPropertiesReport(); - 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 << "-------------------------------------------------------------------------------" @@ -683,11 +692,12 @@ bool FGFDMExec::LoadModel(string model, bool addModelToPath) << fgdef << endl; } - struct PropertyCatalogStructure masterPCS; - masterPCS.base_string = ""; - masterPCS.node = (FGPropertyManager*)Root; - - BuildPropertyCatalog(&masterPCS); + if (result) { + struct PropertyCatalogStructure masterPCS; + masterPCS.base_string = ""; + masterPCS.node = (FGPropertyManager*)Root; + BuildPropertyCatalog(&masterPCS); + } return result; } @@ -720,7 +730,7 @@ void FGFDMExec::BuildPropertyCatalog(struct PropertyCatalogStructure* pcs) //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -string FGFDMExec::QueryPropertyCatalog(string in) +string FGFDMExec::QueryPropertyCatalog(const string& in) { string results=""; for (unsigned i=0; iexec = new FGFDMExec(); + child->exec = new FGFDMExec(Root, FDMctr); child->exec->SetChild(true); string childAircraft = el->GetAttributeValue("name"); @@ -912,7 +922,14 @@ void FGFDMExec::EnableOutput(void) //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -bool FGFDMExec::SetOutputDirectives(string fname) +void FGFDMExec::ForceOutput(int idx) +{ + if (idx >= 0 && idx < Outputs.size()) Outputs[idx]->Print(); +} + +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +bool FGFDMExec::SetOutputDirectives(const string& fname) { bool result; @@ -924,9 +941,9 @@ bool FGFDMExec::SetOutputDirectives(string fname) if (result) { Outputs.push_back(Output); - typedef int (FGOutput::*iOPMF)(void) const; + 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); + instance->Tie(outputProp+"/log_rate_hz", Output, (iOPMF)0, &FGOutput::SetRate, false); } return result;