+++ /dev/null
-/***************************************************************************
-
- TITLE: LaRCsim.c
-
-----------------------------------------------------------------------------
-
- FUNCTION: Top level routine for LaRCSIM. Includes
- global variable declarations.
-
-----------------------------------------------------------------------------
-
- MODULE STATUS: Developmental
-
-----------------------------------------------------------------------------
-
- GENEALOGY: Written 921230 by Bruce Jackson
-
-----------------------------------------------------------------------------
-
- DESIGNED BY: EBJ
-
- CODED BY: EBJ
-
- MAINTAINED BY: EBJ
-
-----------------------------------------------------------------------------
-
- MODIFICATION HISTORY:
-
- DATE PURPOSE BY
-
- 930111 Added "progname" variable to keep name of invoking command.
- EBJ
- 931012 Removed altitude < 0. test to support gear development. EBJ
- 931214 Added various pressures (Impact, Dynamic, Static, etc.) EBJ
- 931215 Adopted new generic variable structure. EBJ
- 931218 Added command line options decoding. EBJ
- 940110 Changed file type of matrix file to ".m" EBJ
- 940513 Renamed this routine "LaRCsim.c" from "ls_main.c" EBJ
- 940513 Added time_stamp routine, t_stamp. EBJ
- 950225 Added options flag, 'i', to set I/O output rate. EBJ
- 950306 Added calls to ls_get_settings() and ls_put_settings() EBJ
- 950314 Options flag 'i' now reads IC file; 'o' is output rate EBJ
- 950406 Many changes: added definition of default value macros;
- removed local variables term_update_hz, model_dt, endtime,
- substituted sim_control_ globals for these; removed
- initialization of sim_control_.tape_channels; moved optarg
- to generic extern; added mod_end_time & mod_buf_size flags
- and temporary buffer_time and data_rate locals to
- ls_checkopts(); added additional command line switches '-s'
- and '-b'; made psuedo-mandatory file names for data output
- switches; considerable rewrite of logic for setting data
- buffer length and interleave parameters; updated '-h' help
- output message; added protection logic to calculations of
- these parameters; added check of return value on first call
- to ls_cockpit() so <esc> abort works from initial pause
- state; added call to ls_unsync() immediately following
- first ls_sync() call, if paused (to avoid alarm clock
- timeout); moved call to ls_record() into non-paused
- multiloop path (was filling buffer with identical data
- during pause); put check of paused flag before calling sync
- routine ls_pause(); and added call to exit() on termination.
-
-
-$Header$
-$Log$
-Revision 1.2 1997/05/30 03:54:12 curt
-Made a bit more progress towards integrating the LaRCsim flight model.
-
-Revision 1.1 1997/05/29 00:09:51 curt
-Initial Flight Gear revision.
-
- * Revision 1.4.1.7 1995/04/07 01:04:37 bjax
- * Many changes made to support storage of sim options from run to run,
- * as well as restructuring storage buffer sizing and some loop logic
- * changes. See the modification log for details.
- *
- * Revision 1.4.1.6 1995/03/29 16:12:09 bjax
- * Added argument to -o switch; changed run loop to pass dt=0
- * if in paused mode. EBj
- *
- * Revision 1.4.1.5 1995/03/15 12:30:20 bjax
- * Set paused flag to non-zero by default; moved 'i' I/O rate flag
- * switch to 'o'; made 'i' an initial conditions file switch; added
- * null string to ls_get_settings() call so that default settings
- * file will be read. EBJ
- *
- * Revision 1.4.1.4 1995/03/08 12:31:34 bjax
- * Added userid retrieval and proper termination of time & date strings.
- *
- * Revision 1.4.1.3 1995/03/08 12:00:21 bjax
- * Moved setting of default options to ls_setdefopts from
- * ls_checkopts; rearranged order of ls_get_settings() call
- * to between ls_setdefopts and ls_checkopts, so command
- * line options will override settings file options.
- * EBJ
- *
- * Revision 1.4.1.2 1995/03/06 18:48:49 bjax
- * Added calles to ls_get_settings() and ls_put_settings(); added
- * passing of dt and init flags in ls_model(). EBJ
- *
- * Revision 1.4.1.1 1995/03/03 02:23:08 bjax
- * Beta version for LaRCsim, version 1.4
- *
- * Revision 1.3.2.7 1995/02/27 20:00:21 bjax
- * Rebuilt LaRCsim
- *
- * Revision 1.3.2.6 1995/02/25 16:52:31 bjax
- * Added 'i' option to set I/O iteration rate. EBJ
- *
- * Revision 1.3.2.5 1995/02/06 19:33:15 bjax
- * Rebuilt LaRCsim
- *
- * Revision 1.3.2.4 1995/02/06 19:30:30 bjax
- * Oops, should really compile these before checking in. Fixed capitailzation of
- * Initialize in ls_loop parameter.
- *
- * Revision 1.3.2.3 1995/02/06 19:25:44 bjax
- * Moved main simulation loop into subroutine ls_loop. EBJ
- *
- * Revision 1.3.2.2 1994/05/20 21:46:45 bjax
- * A little better logic on checking for option arguments.
- *
- * Revision 1.3.2.1 1994/05/20 19:29:51 bjax
- * Added options arguments to command line.
- *
- * Revision 1.3.1.16 1994/05/17 15:08:45 bjax
- * Corrected so that full name to directyr and file is saved
- * in new global variable "fullname"; this allows symbol table
- * to be extracted when in another default directory.
- *
- * Revision 1.3.1.15 1994/05/17 14:50:24 bjax
- * Rebuilt LaRCsim
- *
- * Revision 1.3.1.14 1994/05/17 14:50:23 bjax
- * Rebuilt LaRCsim
- *
- * Revision 1.3.1.13 1994/05/17 14:50:21 bjax
- * Rebuilt LaRCsim
- *
- * Revision 1.3.1.12 1994/05/17 14:50:20 bjax
- * Rebuilt LaRCsim
- *
- * Revision 1.3.1.11 1994/05/17 13:56:24 bjax
- * Rebuilt LaRCsim
- *
- * Revision 1.3.1.10 1994/05/17 13:23:03 bjax
- * Rebuilt LaRCsim
- *
- * Revision 1.3.1.9 1994/05/17 13:20:03 bjax
- * Rebuilt LaRCsim
- *
- * Revision 1.3.1.8 1994/05/17 13:19:23 bjax
- * Rebuilt LaRCsim
- *
- * Revision 1.3.1.7 1994/05/17 13:18:29 bjax
- * Rebuilt LaRCsim
- *
- * Revision 1.3.1.6 1994/05/17 13:16:30 bjax
- * Rebuilt LaRCsim
- *
- * Revision 1.3.1.5 1994/05/17 13:03:44 bjax
- * Rebuilt LaRCsim
- *
- * Revision 1.3.1.4 1994/05/17 13:03:38 bjax
- * Rebuilt LaRCsim
- *
- * Revision 1.3.1.3 1994/05/17 12:49:08 bjax
- * Rebuilt LaRCsim
- *
- * Revision 1.3.1.2 1994/05/17 12:48:45 bjax
- * *** empty log message ***
- *
- * Revision 1.3.1.1 1994/05/13 20:39:17 bjax
- * Top of 1.3 branch.
- *
- * Revision 1.2 1994/05/13 19:51:50 bjax
- * Skip rev
- *
-
-----------------------------------------------------------------------------
-
- REFERENCES:
-
-----------------------------------------------------------------------------
-
- CALLED BY:
-
-----------------------------------------------------------------------------
-
- CALLS TO:
-
-----------------------------------------------------------------------------
-
- INPUTS:
-
-----------------------------------------------------------------------------
-
- OUTPUTS:
-
---------------------------------------------------------------------------*/
-
-#include "ls_types.h"
-#include "ls_constants.h"
-#include "ls_generic.h"
-#include "ls_sim_control.h"
-#include "ls_cockpit.h"
-/* #include "ls_tape.h" */
-#ifndef linux
-# include <libgen.h>
-#endif
-#include <sys/types.h>
-#include <sys/stat.h>
-#include <stdlib.h>
-#include <stdio.h>
-#include <math.h>
-#include <time.h>
-
-/* global variable declarations */
-
-/* TAPE *Tape; */
-GENERIC generic_;
-SIM_CONTROL sim_control_;
-COCKPIT cockpit_;
-
-SCALAR Simtime;
-
-/* #define DEFAULT_TERM_UPDATE_HZ 20 */ /* original value */
-#define DEFAULT_TERM_UPDATE_HZ 20
-#define DEFAULT_MODEL_HZ 120
-#define DEFAULT_END_TIME 3600.
-#define DEFAULT_SAVE_SPACING 8
-#define DEFAULT_WRITE_SPACING 1
-#define MAX_FILE_NAME_LENGTH 80
-
-/* global variables */
-
-char *progname;
-char *fullname;
-
-/* file variables - default simulation settings */
-
-static float io_dt;
-static float speedup;
-static char asc1name[MAX_FILE_NAME_LENGTH] = "run.asc1";
-static char tabname[MAX_FILE_NAME_LENGTH] = "run.dat";
-static char fltname[MAX_FILE_NAME_LENGTH] = "run.flt";
-static char matname[MAX_FILE_NAME_LENGTH] = "run.m";
-
-
-
-void ls_stamp()
-{
- char rcsid[] = "$Id$";
- char revid[] = "$Revision$";
- char dateid[] = "$Date$";
- struct tm *nowtime;
- time_t nowtime_t;
- long date;
-
- printf("\nLaRCsim %s, %s\n\n", revid, dateid); /* report version of LaRCsim */
-
- nowtime_t = time( 0 );
- nowtime = localtime( &nowtime_t ); /* set fields to correct time values */
- date = (nowtime->tm_year)*10000
- + (nowtime->tm_mon + 1)*100
- + (nowtime->tm_mday);
- sprintf(sim_control_.date_string, "%06d\0", date);
- sprintf(sim_control_.time_stamp, "%02d:%02d:%02d\0",
- nowtime->tm_hour, nowtime->tm_min, nowtime->tm_sec);
- cuserid( sim_control_.userid ); /* set up user id */
-
- return;
-}
-
-void ls_setdefopts()
-{
- /* set default values for most options */
-
- sim_control_.debug = 0; /* change to non-zero if in dbx! */
- sim_control_.vision = 0;
- sim_control_.write_av = 0; /* write Agile-Vu '.flt' file */
- sim_control_.write_mat = 0; /* write matrix-x/matlab script */
- sim_control_.write_tab = 0; /* write tab delim. history file */
- sim_control_.write_asc1 = 0; /* write GetData file */
- sim_control_.sim_type = GLmouse; /* hook up to mouse */
- sim_control_.save_spacing = DEFAULT_SAVE_SPACING;
- /* interpolation on recording */
- sim_control_.write_spacing = DEFAULT_WRITE_SPACING;
- /* interpolation on output */
- sim_control_.end_time = DEFAULT_END_TIME;
- sim_control_.model_hz = DEFAULT_MODEL_HZ;
- sim_control_.term_update_hz = DEFAULT_TERM_UPDATE_HZ;
- sim_control_.time_slices = DEFAULT_END_TIME*DEFAULT_MODEL_HZ/DEFAULT_SAVE_SPACING;
- sim_control_.paused = 1;
-
- speedup = 1.0;
-}
-
-
-/* return result codes from ls_checkopts */
-
-#define OPT_OK 0
-#define OPT_ERR 1
-
-extern char *optarg;
-extern int optind;
-
-int ls_checkopts(argc, argv) /* check and set options flags */
- int argc;
- char *argv[];
- {
- int c;
- int opt_err = 0;
- int mod_end_time = 0;
- int mod_buf_size = 0;
- float buffer_time, data_rate;
-
- /* set default values */
-
- buffer_time = sim_control_.time_slices * sim_control_.save_spacing / sim_control_.model_hz;
- data_rate = sim_control_.model_hz / sim_control_.save_spacing;
-
- while ((c = getopt(argc, argv, "Aa:b:de:f:hi:kmo:r:s:t:x:")) != EOF)
- switch (c) {
- case 'A':
- if (sim_control_.sim_type == GLmouse)
- {
- fprintf(stderr, "Cannot specify both keyboard (k) and ACES (A) cockpits option\n");
- fprintf(stderr, "Keyboard operation assumed.\n");
- break;
- }
- sim_control_.sim_type = cockpit;
- break;
- case 'a':
- sim_control_.write_av = 1;
- if (optarg != NULL)
- if (*optarg != '-')
- strncpy(fltname, optarg, MAX_FILE_NAME_LENGTH);
- else
- optind--;
- break;
- case 'b':
- buffer_time = atof(optarg);
- if (buffer_time <= 0.) opt_err = -1;
- mod_buf_size++;
- break;
- case 'd':
- sim_control_.debug = 1;
- break;
- case 'e':
- sim_control_.end_time = atof(optarg);
- mod_end_time++;
- break;
- case 'f':
- sim_control_.model_hz = atof(optarg);
- break;
- case 'h':
- opt_err = 1;
- break;
- case 'i':
- /* ls_get_settings( optarg ); */
- break;
- case 'k':
- sim_control_.sim_type = GLmouse;
- break;
- case 'm':
- sim_control_.vision = 1;
- break;
- case 'o':
- sim_control_.term_update_hz = atof(optarg);
- if (sim_control_.term_update_hz <= 0.) opt_err = 1;
- break;
- case 'r':
- sim_control_.write_mat = 1;
- if (optarg != NULL)
- if (*optarg != '-')
- strncpy(matname, optarg, MAX_FILE_NAME_LENGTH);
- else
- optind--;
- break;
- case 's':
- data_rate = atof(optarg);
- if (data_rate <= 0.) opt_err = -1;
- break;
- case 't':
- sim_control_.write_tab = 1;
- if (optarg != NULL)
- if (*optarg != '-')
- strncpy(tabname, optarg, MAX_FILE_NAME_LENGTH);
- else
- optind--;
- break;
- case 'x':
- sim_control_.write_asc1 = 1;
- if (optarg != NULL)
- if (*optarg != '-')
- strncpy(asc1name, optarg, MAX_FILE_NAME_LENGTH);
- else
- optind--;
- break;
- default:
- opt_err = 1;
-
- }
-
- if (opt_err)
- {
- fprintf(stderr, "Usage: %s [-options]\n", progname);
- fprintf(stderr, "\n");
- fprintf(stderr, " where [-options] is zero or more of the following:\n");
- fprintf(stderr, "\n");
- fprintf(stderr, " [A|k] Run mode: [A]CES cockpit [default]\n");
- fprintf(stderr, " or [k]eyboard\n");
- fprintf(stderr, "\n");
- fprintf(stderr, " [i <filename>] [i]nitial conditions filename\n");
- fprintf(stderr, "\n");
- fprintf(stderr, " [f <value>] Iteration rate [f]requency, Hz (default is %5.2f Hz)\n",
- sim_control_.model_hz);
- fprintf(stderr, "\n");
- fprintf(stderr, " [o <value>] Display [o]utput frequency, Hz (default is %5.2f Hz)\n",
- sim_control_.term_update_hz);
- fprintf(stderr, "\n");
- fprintf(stderr, " [s <value>] Data storage frequency, Hz (default is %5.2f Hz)\n",
- data_rate);
- fprintf(stderr, "\n");
- fprintf(stderr, " [e <value>] [e]nd time in seconds (default %5.1f seconds)\n",
- sim_control_.end_time);
- fprintf(stderr, "\n");
- fprintf(stderr, " [b <value>] circular time history storage [b]uffer size, in seconds \n");
- fprintf(stderr, " (default %5.1f seconds) (normally same as end time)\n",
- sim_control_.time_slices*sim_control_.save_spacing/
- sim_control_.model_hz);
- fprintf(stderr, "\n");
- fprintf(stderr, " [atxr [<filename>]] Output: [a]gile-vu (default name: %s )\n", fltname);
- fprintf(stderr, " and/or [t]ab delimited ( '' name: %s )\n", tabname);
- fprintf(stderr, " and/or [x]plot (default name: %s)\n", asc1name);
- fprintf(stderr, " and/or mat[r]ix script ( '' name: %s )\n", matname);
- fprintf(stderr, "\n");
- return OPT_ERR;
- }
-
-/* calculate additional controls */
-
- io_dt = 1.0/sim_control_.term_update_hz;
-
- sim_control_.save_spacing = (int) (0.5 + sim_control_.model_hz / data_rate);
- if (sim_control_.save_spacing < 1) sim_control_.save_spacing = 1;
-
- sim_control_.time_slices = buffer_time * sim_control_.model_hz / sim_control_.save_spacing;
- if (sim_control_.time_slices < 2) sim_control_.time_slices = 2;
-
- return OPT_OK;
- }
-
-
-void ls_loop( dt, initialize )
-
-SCALAR dt;
-int initialize;
-
-{
- /* printf (" In ls_loop()\n"); */
- ls_step( dt, initialize );
- /* if (sim_control_.sim_type == cockpit ) ls_ACES(); */
- ls_aux();
- ls_model( dt, initialize );
- ls_accel();
-}
-
-
-
-/* Stub ls_cockpit routines for testing */
-#define FALSE 0
-#define TRUE 1
-
-int ls_cockpit() {
- int abort = FALSE;
-
- sim_control_.paused = 0;
-
- Throttle_pct = 0.85;
-
- printf("Mach = %.2f ", Mach_number);
- printf("%.4f,%.4f,%.2f ", Latitude, Longitude, Altitude);
- printf("%.2f,%.2f,%.2f\n", Phi, Theta, Psi);
-
- return(abort);
-}
-
-int ls_cockpit_exit() {
- exit(0);
-}
-
-
-
-
-main(argc, argv)
-int argc;
-char *argv[];
-{
- int i, multiloop, abrt;
- SCALAR model_dt;
-
- fullname = argv[0]; /* point to full directory & path name of our program */
- progname = basename(argv[0]); /* point to name of program that invoked us */
- strcpy(sim_control_.simname, progname); /* really should check for overflow*/
-
- ls_setdefopts(); /* set default options */
-
- /* Number_of_Continuous_States = 22; */
-
- generic_.geodetic_position_v[0] = 2.793445E-05;
- generic_.geodetic_position_v[1] = 3.262070E-07;
- generic_.geodetic_position_v[2] = 3.758099E+00;
- generic_.v_local_v[0] = 7.287719E+00;
- generic_.v_local_v[1] = 1.521770E+03;
- generic_.v_local_v[2] = -1.265722E-05;
- generic_.euler_angles_v[0] = -2.658474E-06;
- generic_.euler_angles_v[1] = 7.401790E-03;
- generic_.euler_angles_v[2] = 1.391358E-03;
- generic_.omega_body_v[0] = 7.206685E-05;
- generic_.omega_body_v[1] = 0.000000E+00;
- generic_.omega_body_v[2] = 9.492658E-05;
- generic_.earth_position_angle = 0.000000E+00;
- generic_.mass = 8.547270E+01;
- generic_.i_xx = 1.048000E+03;
- generic_.i_yy = 3.000000E+03;
- generic_.i_zz = 3.530000E+03;
- generic_.i_xz = 0.000000E+00;
- generic_.d_cg_rp_body_v[0] = 0.000000E+00;
- generic_.d_cg_rp_body_v[1] = 0.000000E+00;
- generic_.d_cg_rp_body_v[2] = 0.000000E+00;
-
- /* ls_get_settings( "" ); */ /* let settings file override them */
-
- if (ls_checkopts(argc, argv) == OPT_ERR) return 1; /* and then command line opts */
-
- ls_stamp(); /* ID stamp; record time and date of run */
-
- if (speedup == 0.0) {
- fprintf(stderr, "%s: Cannot run with speedup of 0.\n", progname);
- return 1;
- }
-
- model_dt = 1./sim_control_.model_hz;
-
- if (io_dt < model_dt) {
- fprintf(stderr, "%s: Can't run I/O faster than model.\n", progname);
- return 1;
- }
-
- multiloop = (int) (io_dt/model_dt/fabs(speedup));
- model_dt = io_dt/multiloop;
-
- ls_init();
-
- /* ls_record(); */
- if (speedup > 0) {
- abrt = ls_cockpit();
- if (abrt) {
- ls_cockpit_exit();
- exit( EXIT_SUCCESS );
- }
- ls_sync(io_dt);
- if (sim_control_.paused) ls_unsync();
- }
-
- do {
- for(i=0;i<multiloop;i++) {
- if (sim_control_.paused) {
- ls_loop( 0.0, 0);
- } else {
- ls_loop( model_dt, 0);
- /* ls_record(); */
- }
- }
- if (speedup > 0) {
- abrt = ls_cockpit();
- if (!sim_control_.paused) ls_pause();
- if (abrt) Simtime = sim_control_.end_time+model_dt;
- }
- } while (Simtime < sim_control_.end_time);
-
- if (speedup > 0) {
- ls_unsync();
- ls_cockpit_exit();
- }
-
- /* if (sim_control_.write_mat ) ls_writemat( matname ); */
- /* if (sim_control_.write_av ) ls_writeav( fltname ); */
- /* if (sim_control_.write_tab ) ls_writetab( tabname ); */
- /* if (sim_control_.write_asc1) ls_writeasc1( asc1name ); */
-
- /* ls_put_settings(); */
-
- exit( EXIT_SUCCESS );
-}
-
-/*
-Mon Feb 6 14:33:15 EST 1995
-bjax
-*/
-/*
-Mon Feb 27 15:00:20 EST 1995
-bjax
-*/
projects / flightgear.git / commitdiff