From 6d83e6978defd00de864ce74bd400bbacac9ac84 Mon Sep 17 00:00:00 2001 From: Bertrand Coconnier Date: Tue, 19 Jun 2018 23:08:07 +0200 Subject: [PATCH] Sync'ed JSBSim * Removed the IAS dependency to the Pitot tube angle (real Pitot tube are less sensitive to AoA than was simulated) * Removed the class FGUDPOutputSocket which was redundant with FGOutputSocket * Added a new type of functions "template" which are intended to prevent duplication of functions. For now, they are available to compute output values and script notifications. * Aerodynamics forces can now be specified in stability axes. * Density altitude and pressure altitude are computed according to ISA standard atmosphere 1976. New properties: * Flight path angle (gamma) in degrees - fdm/jsbsim/flight-path/gamma-deg * Aerodynamics forces in stability axes - fdm/jsbsim/forces/fsx-aero-lbs - fdm/jsbsim/forces/fsy-aero-lbs - fdm/jsbsim/forces/fsz-aero-lbs * Aerodynamics moments in stability axes - moments/roll-stab-aero-lbsft - moments/pitch-stab-aero-lbsft - moments/yaw-stab-aero-lbsft * Pause JSBSim - fdm/jsbsim/simulation/pause * Fixed multiple bugs. --- src/FDM/JSBSim/CMakeLists.txt | 6 +- src/FDM/JSBSim/FGFDMExec.cpp | 2 +- src/FDM/JSBSim/FGJSBBase.cpp | 8 +- src/FDM/JSBSim/FGJSBBase.h | 4 - .../initialization/FGInitialCondition.cpp | 12 +- src/FDM/JSBSim/input_output/FGInputSocket.cpp | 5 +- src/FDM/JSBSim/input_output/FGInputSocket.h | 1 + src/FDM/JSBSim/input_output/FGInputType.cpp | 2 +- src/FDM/JSBSim/input_output/FGModelLoader.cpp | 4 +- .../JSBSim/input_output/FGOutputSocket.cpp | 17 +- .../JSBSim/input_output/FGOutputTextFile.cpp | 21 +- src/FDM/JSBSim/input_output/FGOutputType.cpp | 55 ++- src/FDM/JSBSim/input_output/FGOutputType.h | 8 +- src/FDM/JSBSim/input_output/FGScript.cpp | 53 ++- src/FDM/JSBSim/input_output/FGScript.h | 4 +- .../JSBSim/input_output/FGUDPInputSocket.cpp | 40 +- .../JSBSim/input_output/FGUDPInputSocket.h | 17 +- .../JSBSim/input_output/FGUDPOutputSocket.cpp | 146 -------- .../JSBSim/input_output/FGUDPOutputSocket.h | 106 ------ src/FDM/JSBSim/input_output/FGfdmSocket.cpp | 108 +++--- src/FDM/JSBSim/input_output/FGfdmSocket.h | 5 +- src/FDM/JSBSim/math/FGFunction.cpp | 80 ++-- src/FDM/JSBSim/math/FGFunction.h | 52 +-- src/FDM/JSBSim/math/FGFunctionValue.h | 85 +++++ src/FDM/JSBSim/math/FGParameter.h | 7 +- src/FDM/JSBSim/math/FGPropertyValue.cpp | 37 +- src/FDM/JSBSim/math/FGPropertyValue.h | 10 +- src/FDM/JSBSim/math/FGRealValue.cpp | 2 +- src/FDM/JSBSim/math/FGTable.h | 2 +- src/FDM/JSBSim/math/FGTemplateFunc.h | 86 +++++ src/FDM/JSBSim/models/FGAerodynamics.cpp | 353 ++++++++++++------ src/FDM/JSBSim/models/FGAerodynamics.h | 39 +- src/FDM/JSBSim/models/FGAircraft.cpp | 5 +- src/FDM/JSBSim/models/FGAircraft.h | 6 +- src/FDM/JSBSim/models/FGAtmosphere.cpp | 19 +- src/FDM/JSBSim/models/FGAtmosphere.h | 22 ++ src/FDM/JSBSim/models/FGAuxiliary.cpp | 44 +-- src/FDM/JSBSim/models/FGAuxiliary.h | 13 +- src/FDM/JSBSim/models/FGBuoyantForces.cpp | 2 +- src/FDM/JSBSim/models/FGBuoyantForces.h | 2 +- src/FDM/JSBSim/models/FGExternalReactions.cpp | 2 +- src/FDM/JSBSim/models/FGExternalReactions.h | 2 +- src/FDM/JSBSim/models/FGFCS.cpp | 2 +- src/FDM/JSBSim/models/FGFCS.h | 2 +- src/FDM/JSBSim/models/FGGroundReactions.cpp | 2 +- src/FDM/JSBSim/models/FGGroundReactions.h | 2 +- src/FDM/JSBSim/models/FGMassBalance.cpp | 2 +- src/FDM/JSBSim/models/FGMassBalance.h | 2 +- src/FDM/JSBSim/models/FGModel.cpp | 20 +- src/FDM/JSBSim/models/FGModel.h | 6 +- src/FDM/JSBSim/models/FGOutput.cpp | 61 +-- src/FDM/JSBSim/models/FGOutput.h | 15 +- src/FDM/JSBSim/models/FGPropulsion.cpp | 2 +- src/FDM/JSBSim/models/FGPropulsion.h | 2 +- .../atmosphere/FGStandardAtmosphere.cpp | 309 +++++++++------ .../models/atmosphere/FGStandardAtmosphere.h | 41 +- .../JSBSim/models/flight_control/FGDeadBand.h | 4 +- src/FDM/JSBSim/models/flight_control/FGGain.h | 4 +- .../JSBSim/models/propulsion/FGPropeller.h | 10 +- 59 files changed, 1121 insertions(+), 859 deletions(-) delete mode 100644 src/FDM/JSBSim/input_output/FGUDPOutputSocket.cpp delete mode 100644 src/FDM/JSBSim/input_output/FGUDPOutputSocket.h create mode 100644 src/FDM/JSBSim/math/FGFunctionValue.h create mode 100644 src/FDM/JSBSim/math/FGTemplateFunc.h diff --git a/src/FDM/JSBSim/CMakeLists.txt b/src/FDM/JSBSim/CMakeLists.txt index f0a62f5ee..04f60458f 100644 --- a/src/FDM/JSBSim/CMakeLists.txt +++ b/src/FDM/JSBSim/CMakeLists.txt @@ -23,7 +23,6 @@ set(HEADERS input_output/FGOutputFG.h input_output/FGOutputFile.h input_output/FGOutputSocket.h - input_output/FGUDPOutputSocket.h input_output/FGOutputTextFile.h input_output/FGOutputType.h input_output/FGModelLoader.h @@ -40,6 +39,8 @@ set(HEADERS math/FGRealValue.h math/FGRungeKutta.h math/FGTable.h + math/FGFunctionValue.h + math/FGTemplateFunc.h models/FGAccelerations.h models/FGAerodynamics.h models/FGAircraft.h @@ -117,7 +118,6 @@ set(SOURCES input_output/FGOutputFG.cpp input_output/FGOutputFile.cpp input_output/FGOutputSocket.cpp - input_output/FGUDPOutputSocket.cpp input_output/FGOutputTextFile.cpp input_output/FGOutputType.cpp input_output/FGModelLoader.cpp @@ -191,6 +191,8 @@ set(SOURCES add_library(JSBSim STATIC ${SOURCES} ${HEADERS}) +set(VERSION_MESSAGE "compiled from FlightGear ${FLIGHTGEAR_VERSION}") +add_definitions("-DJSBSIM_VERSION=\"${VERSION_MESSAGE}\"") target_link_libraries(JSBSim SimGearCore) target_include_directories(JSBSim PRIVATE ${CMAKE_SOURCE_DIR}/src/FDM/JSBSim) diff --git a/src/FDM/JSBSim/FGFDMExec.cpp b/src/FDM/JSBSim/FGFDMExec.cpp index 26161d94f..10e7ba80b 100644 --- a/src/FDM/JSBSim/FGFDMExec.cpp +++ b/src/FDM/JSBSim/FGFDMExec.cpp @@ -169,6 +169,7 @@ FGFDMExec::FGFDMExec(FGPropertyManager* root, unsigned int* fdmctr) : Root(root) instance->Tie("simulation/disperse", this, &FGFDMExec::GetDisperse); instance->Tie("simulation/randomseed", this, (iPMF)&FGFDMExec::SRand, &FGFDMExec::SRand, false); instance->Tie("simulation/terminate", (int *)&Terminate); + instance->Tie("simulation/pause", (int *)&holding); instance->Tie("simulation/sim-time-sec", this, &FGFDMExec::GetSimTime); instance->Tie("simulation/dt", this, &FGFDMExec::GetDeltaT); instance->Tie("simulation/jsbsim-debug", this, &FGFDMExec::GetDebugLevel, &FGFDMExec::SetDebugLevel); @@ -540,7 +541,6 @@ void FGFDMExec::LoadModelConstants(void) Aerodynamics->in.Wingspan = Aircraft->GetWingSpan(); Auxiliary->in.Wingspan = Aircraft->GetWingSpan(); Auxiliary->in.Wingchord = Aircraft->Getcbar(); - Auxiliary->in.PitotAngle = Aircraft->GetPitotAngle(); GroundReactions->in.vXYZcg = MassBalance->GetXYZcg(); LoadPlanetConstants(); diff --git a/src/FDM/JSBSim/FGJSBBase.cpp b/src/FDM/JSBSim/FGJSBBase.cpp index fa587ca53..a57d52898 100644 --- a/src/FDM/JSBSim/FGJSBBase.cpp +++ b/src/FDM/JSBSim/FGJSBBase.cpp @@ -86,15 +86,11 @@ const double FGJSBBase::psftoinhg = 0.014138; const double FGJSBBase::psftopa = 47.88; const double FGJSBBase::ktstofps = 1.68781; const double FGJSBBase::fpstokts = 1.0/ktstofps; -const double FGJSBBase::inchtoft = 0.08333333; +const double FGJSBBase::inchtoft = 1.0/12; const double FGJSBBase::in3tom3 = 1.638706E-5; const double FGJSBBase::m3toft3 = 1.0/(fttom*fttom*fttom); const double FGJSBBase::inhgtopa = 3386.38; const double FGJSBBase::fttom = 0.3048; -double FGJSBBase::Reng = 1716.56; // Gas constant for Air (ft-lb/slug-R) -double FGJSBBase::Rstar = 1545.348; // Universal gas constant -double FGJSBBase::Mair = 28.9645; // -const double FGJSBBase::SHRatio = 1.40; // Note that definition of lbtoslug by the inverse of slugtolb and not // to a different constant you can also get from some tables will make @@ -108,7 +104,7 @@ const double FGJSBBase::kgtolb = 2.20462; const double FGJSBBase::kgtoslug = 0.06852168; const string FGJSBBase::needed_cfg_version = "2.0"; -const string FGJSBBase::JSBSim_version = "1.0 " __DATE__ " " __TIME__ ; +const string FGJSBBase::JSBSim_version = JSBSIM_VERSION " " __DATE__ " " __TIME__ ; queue FGJSBBase::Messages; FGJSBBase::Message FGJSBBase::localMsg; diff --git a/src/FDM/JSBSim/FGJSBBase.h b/src/FDM/JSBSim/FGJSBBase.h index 8fec460c4..0e7929e41 100644 --- a/src/FDM/JSBSim/FGJSBBase.h +++ b/src/FDM/JSBSim/FGJSBBase.h @@ -358,10 +358,6 @@ protected: static const double m3toft3; static const double inhgtopa; static const double fttom; - static double Reng; // Specific Gas Constant,ft^2/(sec^2*R) - static double Rstar; - static double Mair; - static const double SHRatio; static const double lbtoslug; static const double slugtolb; static const double kgtolb; diff --git a/src/FDM/JSBSim/initialization/FGInitialCondition.cpp b/src/FDM/JSBSim/initialization/FGInitialCondition.cpp index 10ba4d960..ae0b84559 100644 --- a/src/FDM/JSBSim/initialization/FGInitialCondition.cpp +++ b/src/FDM/JSBSim/initialization/FGInitialCondition.cpp @@ -185,9 +185,8 @@ void FGInitialCondition::SetVcalibratedKtsIC(double vcas) double rhoSL = Atmosphere->GetDensitySL(); double mach = MachFromVcalibrated(fabs(vcas)*ktstofps, pressure, pressureSL, rhoSL); double soundSpeed = Atmosphere->GetSoundSpeed(altitudeASL); - double PitotAngle = Aircraft->GetPitotAngle(); - SetVtrueFpsIC(mach * soundSpeed / (cos(alpha+PitotAngle) * cos(beta))); + SetVtrueFpsIC(mach * soundSpeed); lastSpeedSet = setvc; } @@ -703,7 +702,6 @@ void FGInitialCondition::SetAltitudeASLFtIC(double alt) double mach0 = vt / soundSpeed; double vc0 = VcalibratedFromMach(mach0, pressure, pressureSL, rhoSL); double ve0 = vt * sqrt(rho/rhoSL); - double PitotAngle = Aircraft->GetPitotAngle(); double geodLatitude = position.GetGeodLatitudeRad(); altitudeASL=alt; @@ -720,9 +718,8 @@ void FGInitialCondition::SetAltitudeASLFtIC(double alt) switch(lastSpeedSet) { case setvc: - mach0 = MachFromVcalibrated(vc0 * cos(alpha+PitotAngle) * cos(beta), - pressure, pressureSL, rhoSL); - SetVtrueFpsIC(mach0 * soundSpeed / (cos(alpha+PitotAngle) * cos(beta))); + mach0 = MachFromVcalibrated(vc0, pressure, pressureSL, rhoSL); + SetVtrueFpsIC(mach0 * soundSpeed); break; case setmach: SetVtrueFpsIC(mach0 * soundSpeed); @@ -843,8 +840,7 @@ double FGInitialCondition::GetVcalibratedKtsIC(void) const double pressureSL = Atmosphere->GetPressureSL(); double rhoSL = Atmosphere->GetDensitySL(); double soundSpeed = Atmosphere->GetSoundSpeed(altitudeASL); - double PitotAngle = Aircraft->GetPitotAngle(); - double mach = vt * cos(alpha+PitotAngle) * cos(beta) / soundSpeed; + double mach = vt / soundSpeed; return fpstokts * VcalibratedFromMach(mach, pressure, pressureSL, rhoSL); } diff --git a/src/FDM/JSBSim/input_output/FGInputSocket.cpp b/src/FDM/JSBSim/input_output/FGInputSocket.cpp index 2f1f9ee5d..7ebc6b970 100644 --- a/src/FDM/JSBSim/input_output/FGInputSocket.cpp +++ b/src/FDM/JSBSim/input_output/FGInputSocket.cpp @@ -61,7 +61,8 @@ CLASS IMPLEMENTATION FGInputSocket::FGInputSocket(FGFDMExec* fdmex) : FGInputType(fdmex), - socket(0) + socket(0), + SockProtocol(FGfdmSocket::ptTCP) { } @@ -95,7 +96,7 @@ bool FGInputSocket::InitModel(void) { if (FGInputType::InitModel()) { delete socket; - socket = new FGfdmSocket(SockPort); + socket = new FGfdmSocket(SockPort, SockProtocol); if (socket == 0) return false; if (!socket->GetConnectStatus()) return false; diff --git a/src/FDM/JSBSim/input_output/FGInputSocket.h b/src/FDM/JSBSim/input_output/FGInputSocket.h index d07951320..ba886ee71 100644 --- a/src/FDM/JSBSim/input_output/FGInputSocket.h +++ b/src/FDM/JSBSim/input_output/FGInputSocket.h @@ -92,6 +92,7 @@ protected: unsigned int SockPort; FGfdmSocket* socket; + FGfdmSocket::ProtocolType SockProtocol; std::string data; }; } diff --git a/src/FDM/JSBSim/input_output/FGInputType.cpp b/src/FDM/JSBSim/input_output/FGInputType.cpp index 2a7cb7ed7..4aceed6f9 100644 --- a/src/FDM/JSBSim/input_output/FGInputType.cpp +++ b/src/FDM/JSBSim/input_output/FGInputType.cpp @@ -81,7 +81,7 @@ void FGInputType::SetIdx(unsigned int idx) bool FGInputType::Load(Element* element) { // Perform base class Load. - if(!FGModel::Load(element)) + if(!FGModel::Load(element, true)) return false; // no common attributes yet (see FGOutputType for example diff --git a/src/FDM/JSBSim/input_output/FGModelLoader.cpp b/src/FDM/JSBSim/input_output/FGModelLoader.cpp index 68799d58f..25df074f1 100644 --- a/src/FDM/JSBSim/input_output/FGModelLoader.cpp +++ b/src/FDM/JSBSim/input_output/FGModelLoader.cpp @@ -46,7 +46,7 @@ using namespace std; namespace JSBSim { -IDENT(IdSrc, "$Id: FGModelLoader.cpp,v 1.4 2017/02/25 14:23:18 bcoconni Exp $"); +IDENT(IdSrc, "$Id: FGModelLoader.cpp,v 1.5 2017/03/18 16:17:42 bcoconni Exp $"); IDENT(IdHdr, ID_MODELLOADER); /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% @@ -71,7 +71,7 @@ Element_ptr FGModelLoader::Open(Element *el) document = XMLFileRead.LoadXMLDocument(path); if (document == 0L) { cerr << endl << el->ReadFrom() - << "Could not open file: " << path << endl; + << "Could not open file: " << fname << endl; return NULL; } CachedFiles[path.utf8Str()] = document; diff --git a/src/FDM/JSBSim/input_output/FGOutputSocket.cpp b/src/FDM/JSBSim/input_output/FGOutputSocket.cpp index b7ff26873..f81932a3d 100644 --- a/src/FDM/JSBSim/input_output/FGOutputSocket.cpp +++ b/src/FDM/JSBSim/input_output/FGOutputSocket.cpp @@ -55,6 +55,7 @@ INCLUDES #include "models/FGFCS.h" #include "models/atmosphere/FGWinds.h" #include "input_output/FGXMLElement.h" +#include "math/FGPropertyValue.h" using namespace std; @@ -260,13 +261,11 @@ void FGOutputSocket::PrintHeaders(void) if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) socket->Append(Propulsion->GetPropulsionStrings(",")); - if (OutputProperties.size() > 0) { - for (unsigned int i=0;i 0) { - socket->Append(OutputCaptions[i]); - } else { - socket->Append(OutputProperties[i]->GetPrintableName()); - } + for (unsigned int i=0;iAppend(OutputCaptions[i]); + else + socket->Append(OutputParameters[i]->GetPrintableName()); } socket->Send(); @@ -378,8 +377,8 @@ void FGOutputSocket::Print(void) socket->Append(Propulsion->GetPropulsionValues(",")); } - for (unsigned int i=0;iAppend(OutputProperties[i]->getDoubleValue()); + for (unsigned int i=0;iAppend(OutputParameters[i]->GetValue()); } socket->Send(); diff --git a/src/FDM/JSBSim/input_output/FGOutputTextFile.cpp b/src/FDM/JSBSim/input_output/FGOutputTextFile.cpp index 40e81f716..b000f417c 100644 --- a/src/FDM/JSBSim/input_output/FGOutputTextFile.cpp +++ b/src/FDM/JSBSim/input_output/FGOutputTextFile.cpp @@ -59,6 +59,7 @@ INCLUDES #include "models/FGFCS.h" #include "models/atmosphere/FGWinds.h" #include "input_output/FGXMLElement.h" +#include "math/FGPropertyValue.h" using namespace std; @@ -76,8 +77,6 @@ bool FGOutputTextFile::Load(Element* el) if(!FGOutputFile::Load(el)) return false; -// PreLoad(el, PropertyManager); - string type = el->GetAttributeValue("type"); string delim; if (type == "TABULAR") { @@ -234,14 +233,12 @@ bool FGOutputTextFile::OpenFile(void) outstream << delimeter; outstream << Propulsion->GetPropulsionStrings(delimeter); } - if (OutputProperties.size() > 0) { - for (unsigned int i=0;i 0) { - outstream << delimeter << OutputCaptions[i]; - } else { - outstream << delimeter << OutputProperties[i]->GetFullyQualifiedName(); - } - } + + for (unsigned int i=0;iGetFullyQualifiedName(); } if (PreFunctions.size() > 0) { @@ -394,8 +391,8 @@ void FGOutputTextFile::Print(void) } outstream.precision(18); - for (unsigned int i=0;igetDoubleValue(); + for (unsigned int i=0;iGetValue(); } for (unsigned int i=0;igetDoubleValue(); diff --git a/src/FDM/JSBSim/input_output/FGOutputType.cpp b/src/FDM/JSBSim/input_output/FGOutputType.cpp index 25d2edd2d..bd3f727f9 100644 --- a/src/FDM/JSBSim/input_output/FGOutputType.cpp +++ b/src/FDM/JSBSim/input_output/FGOutputType.cpp @@ -43,6 +43,8 @@ INCLUDES #include "FGOutputType.h" #include "input_output/FGXMLElement.h" #include "input_output/FGPropertyManager.h" +#include "math/FGTemplateFunc.h" +#include "math/FGFunctionValue.h" namespace JSBSim { @@ -81,7 +83,10 @@ FGOutputType::FGOutputType(FGFDMExec* fdmex) : FGOutputType::~FGOutputType() { - OutputProperties.clear(); + vector::iterator it; + for (it=OutputParameters.begin(); it != OutputParameters.end(); ++it) + delete *it; + Debug(1); } @@ -133,25 +138,41 @@ bool FGOutputType::Load(Element* element) string property_str = property_element->GetDataLine(); FGPropertyNode* node = PropertyManager->GetNode(property_str); if (!node) { - cerr << fgred << highint << endl << " No property by the name " + cerr << property_element->ReadFrom() + << fgred << highint << endl << " No property by the name " << property_str << " has been defined. This property will " << endl << " not be logged. You should check your configuration file." << reset << endl; } else { - OutputProperties.push_back(node); - if (property_element->HasAttribute("caption")) { - OutputCaptions.push_back(property_element->GetAttributeValue("caption")); - } else { - OutputCaptions.push_back(""); + if (property_element->HasAttribute("apply")) { + string function_str = property_element->GetAttributeValue("apply"); + FGOutput* Output = FDMExec->GetOutput(); + FGTemplateFunc* f = Output->GetTemplateFunc(function_str); + if (f) + OutputParameters.push_back(new FGFunctionValue(node, f)); + else { + cerr << property_element->ReadFrom() + << fgred << highint << " No function by the name " + << function_str << " has been defined. This property will " + << "not be logged. You should check your configuration file." + << reset << endl; + } } + else + OutputParameters.push_back(new FGPropertyValue(node)); + + if (property_element->HasAttribute("caption")) + OutputCaptions.push_back(property_element->GetAttributeValue("caption")); + else + OutputCaptions.push_back(""); } property_element = element->FindNextElement("property"); } double outRate = 1.0; - if (!element->GetAttributeValue("rate").empty()) { + if (element->HasAttribute("rate")) outRate = element->GetAttributeValueAsNumber("rate"); - } + SetRateHz(outRate); return true; @@ -204,6 +225,16 @@ double FGOutputType::GetRateHz(void) const return 1.0 / (rate * FDMExec->GetDeltaT()); } +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +void FGOutputType::SetOutputProperties(vector & outputProperties) +{ + vector::iterator it; + for (it = outputProperties.begin(); it != outputProperties.end(); ++it) + OutputParameters.push_back(new FGPropertyValue(*it)); +} + + //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% // The bitmasked value choices are as follows: // unset: In this case (the default) JSBSim would only print @@ -245,9 +276,9 @@ void FGOutputType::Debug(int from) if (SubSystems & ssGroundReactions) cout << " Ground parameters logged" << endl; if (SubSystems & ssFCS) cout << " FCS parameters logged" << endl; if (SubSystems & ssPropulsion) cout << " Propulsion parameters logged" << endl; - if (OutputProperties.size() > 0) cout << " Properties logged:" << endl; - for (unsigned int i=0;iGetName() << endl; + if (!OutputParameters.empty()) cout << " Properties logged:" << endl; + for (unsigned int i=0;iGetName() << endl; } } } diff --git a/src/FDM/JSBSim/input_output/FGOutputType.h b/src/FDM/JSBSim/input_output/FGOutputType.h index 1f3ccceb1..07599fca5 100644 --- a/src/FDM/JSBSim/input_output/FGOutputType.h +++ b/src/FDM/JSBSim/input_output/FGOutputType.h @@ -67,6 +67,7 @@ class FGFCS; class FGGroundReactions; class FGExternalReactions; class FGBuoyantForces; +class FGPropertyValue; /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% CLASS DOCUMENTATION @@ -124,10 +125,7 @@ public: /** Set the list of properties that should be output for this output instance. @param outputProperties list of properties that should be output */ - void SetOutputProperties(std::vector & outputProperties) - { - OutputProperties = outputProperties; - } + void SetOutputProperties(std::vector & outputProperties); /** Overwrites the name identifier under which the output will be logged. This method is taken into account if it is called before @@ -199,7 +197,7 @@ public: protected: unsigned int OutputIdx; int SubSystems; - std::vector OutputProperties; + std::vector OutputParameters; std::vector OutputCaptions; bool enabled; diff --git a/src/FDM/JSBSim/input_output/FGScript.cpp b/src/FDM/JSBSim/input_output/FGScript.cpp index 38639a465..58c99fcc3 100644 --- a/src/FDM/JSBSim/input_output/FGScript.cpp +++ b/src/FDM/JSBSim/input_output/FGScript.cpp @@ -53,6 +53,7 @@ INCLUDES #include "models/FGInput.h" #include "math/FGCondition.h" #include "math/FGFunction.h" +#include "math/FGFunctionValue.h" using namespace std; @@ -88,6 +89,8 @@ FGScript::~FGScript() delete Events[i].Condition; for (j=0; jFindElement("output"); + SGPath scriptDir = SGPath(script.dir()); + if (scriptDir.isNull()) + scriptDir = SGPath("."); + while (element) { - if (!FDMExec->GetOutput()->Load(element)) + if (!FDMExec->GetOutput()->Load(element, scriptDir)) return false; element = document->FindNextElement("output"); @@ -282,14 +289,29 @@ bool FGScript::LoadScript(const SGPath& script, double default_dT, while (notify_property_element) { notifyPropertyName = notify_property_element->GetDataLine(); - newEvent->NotifyPropertyNames.push_back(notifyPropertyName); - newEvent->NotifyProperties.push_back(0); - string caption_attribute = notify_property_element->GetAttributeValue("caption"); - if (caption_attribute.empty()) { - newEvent->DisplayString.push_back(notifyPropertyName); - } else { - newEvent->DisplayString.push_back(caption_attribute); + if (notify_property_element->HasAttribute("apply")) { + string function_str = notify_property_element->GetAttributeValue("apply"); + FGOutput* Output = FDMExec->GetOutput(); + FGTemplateFunc* f = Output->GetTemplateFunc(function_str); + if (f) + newEvent->NotifyProperties.push_back(new FGFunctionValue(notifyPropertyName, PropertyManager, f)); + else { + cerr << notify_property_element->ReadFrom() + << fgred << highint << " No function by the name " + << function_str << " has been defined. This property will " + << "not be logged. You should check your configuration file." + << reset << endl; } + } + else + newEvent->NotifyProperties.push_back(new FGPropertyValue(notifyPropertyName, PropertyManager)); + + string caption_attribute = notify_property_element->GetAttributeValue("caption"); + if (caption_attribute.empty()) { + newEvent->DisplayString.push_back(notifyPropertyName); + } else { + newEvent->DisplayString.push_back(caption_attribute); + } notify_property_element = notify_element->FindNextElement("property"); } @@ -487,13 +509,6 @@ bool FGScript::RunScript(void) cout << " " << thisEvent.Description << endl; } for (j=0; jHasNode(thisEvent.NotifyPropertyNames[j])) { - thisEvent.NotifyProperties[j] = PropertyManager->GetNode(thisEvent.NotifyPropertyNames[j]); - } else { - throw("Could not find property named "+thisEvent.NotifyPropertyNames[j]+" in script."); - } - } cout << " " << thisEvent.DisplayString[j] << " = " << thisEvent.NotifyProperties[j]->getDoubleValue(); if (thisEvent.NotifyKML) cout << "
"; cout << endl; @@ -657,10 +672,10 @@ void FGScript::Debug(int from) } else { cout << " Notifications:" << endl << " {" << endl; } - for (unsigned j=0; jGetPrintableName() + << endl; } cout << " }" << endl; } diff --git a/src/FDM/JSBSim/input_output/FGScript.h b/src/FDM/JSBSim/input_output/FGScript.h index 611648565..95b4a811a 100644 --- a/src/FDM/JSBSim/input_output/FGScript.h +++ b/src/FDM/JSBSim/input_output/FGScript.h @@ -60,6 +60,7 @@ namespace JSBSim { class FGFDMExec; class FGCondition; class FGFunction; +class FGPropertyValue; /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% CLASS DOCUMENTATION @@ -227,8 +228,7 @@ private: std::string Description; std::vector SetParam; std::vector SetParamName; - std::vector NotifyProperties; - std::vector NotifyPropertyNames; + std::vector NotifyProperties; std::vector DisplayString; std::vector Action; std::vector Type; diff --git a/src/FDM/JSBSim/input_output/FGUDPInputSocket.cpp b/src/FDM/JSBSim/input_output/FGUDPInputSocket.cpp index 679083477..e26ee95ce 100644 --- a/src/FDM/JSBSim/input_output/FGUDPInputSocket.cpp +++ b/src/FDM/JSBSim/input_output/FGUDPInputSocket.cpp @@ -57,36 +57,21 @@ CLASS IMPLEMENTATION %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ FGUDPInputSocket::FGUDPInputSocket(FGFDMExec* fdmex) : - FGInputType(fdmex), - socket(0) + FGInputSocket(fdmex), rate(20), oldTimeStamp(0.0) { - rate = 20; SockPort = 5139; - oldTimeStamp = 0.0; -} - -//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -FGUDPInputSocket::~FGUDPInputSocket() -{ - delete socket; + SockProtocol = FGfdmSocket::ptUDP; } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% bool FGUDPInputSocket::Load(Element* el) { - if (!FGInputType::Load(el)) + if (!FGInputSocket::Load(el)) return false; rate = atoi(el->GetAttributeValue("rate").c_str()); SetRate(0.5 + 1.0/(FDMExec->GetDeltaT()*rate)); - - SockPort = atoi(el->GetAttributeValue("port").c_str()); - if (SockPort == 0) { - cerr << endl << "No port assigned in input element" << endl; - return false; - } Element *property_element = el->FindElement("property"); @@ -107,25 +92,8 @@ bool FGUDPInputSocket::Load(Element* el) //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -bool FGUDPInputSocket::InitModel(void) -{ - if (FGInputType::InitModel()) { - delete socket; - socket = new FGfdmSocket(SockPort, FGfdmSocket::ptUDP, FGfdmSocket::dIN); - - if (socket == 0) return false; - cout << "UDP input socket established on port " << SockPort << endl; - return true; - } - - return false; -} - -//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - void FGUDPInputSocket::Read(bool Holding) { - if (socket == 0) return; data = socket->Receive(); @@ -160,9 +128,7 @@ void FGUDPInputSocket::Read(bool Holding) for (unsigned int i=1; isetDoubleValue(values[i]); } - } - } } diff --git a/src/FDM/JSBSim/input_output/FGUDPInputSocket.h b/src/FDM/JSBSim/input_output/FGUDPInputSocket.h index 4cc324678..e58d3cd04 100644 --- a/src/FDM/JSBSim/input_output/FGUDPInputSocket.h +++ b/src/FDM/JSBSim/input_output/FGUDPInputSocket.h @@ -38,8 +38,7 @@ SENTRY INCLUDES %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -#include "FGInputType.h" -#include "input_output/FGfdmSocket.h" +#include "FGInputSocket.h" /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% DEFINITIONS @@ -64,26 +63,17 @@ CLASS DOCUMENTATION CLASS DECLARATION %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -class FGUDPInputSocket : public FGInputType +class FGUDPInputSocket : public FGInputSocket { public: /** Constructor. */ FGUDPInputSocket(FGFDMExec* fdmex); - /** Destructor. */ - ~FGUDPInputSocket(); - /** Reads the property names from an XML file. @param element The root XML Element of the input file. */ bool Load(Element* el); - /** Initializes the instance. This method basically opens the socket to which - inputs will be directed. - @result true if the execution succeeded. - */ - bool InitModel(void); - /// Reads the socket and updates properties accordingly. void Read(bool Holding); @@ -92,9 +82,6 @@ protected: int rate; double oldTimeStamp; std::vector InputProperties; - unsigned int SockPort; - FGfdmSocket* socket; - std::string data; }; } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% diff --git a/src/FDM/JSBSim/input_output/FGUDPOutputSocket.cpp b/src/FDM/JSBSim/input_output/FGUDPOutputSocket.cpp deleted file mode 100644 index 8ec0232af..000000000 --- a/src/FDM/JSBSim/input_output/FGUDPOutputSocket.cpp +++ /dev/null @@ -1,146 +0,0 @@ -/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - Module: FGUDPOutputSocket.cpp - Author: David Culp - Date started: 03/31/15 - Purpose: Manage output of property values to a UDP socket - Called by: FGOutput - - ------------- Copyright (C) 2015 David Culp ---------------- - - This program is free software; you can redistribute it and/or modify it under - the terms of the GNU Lesser General Public License as published by the Free Software - Foundation; either version 2 of the License, or (at your option) any later - version. - - This program is distributed in the hope that it will be useful, but WITHOUT - ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS - FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more - details. - - You should have received a copy of the GNU Lesser General Public License along with - this program; if not, write to the Free Software Foundation, Inc., 59 Temple - Place - Suite 330, Boston, MA 02111-1307, USA. - - Further information about the GNU Lesser General Public License can also be found on - the world wide web at http://www.gnu.org. - -FUNCTIONAL DESCRIPTION --------------------------------------------------------------------------------- -This class sends comma-separated strings over a UDP socket. The format is that required -by the QtJSBSim application. - -HISTORY --------------------------------------------------------------------------------- -03/31/15 DC Created - -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -INCLUDES -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ - -#include -#include - -#include "FGUDPOutputSocket.h" -#include "FGFDMExec.h" -#include "input_output/FGPropertyManager.h" -#include "input_output/FGXMLElement.h" - -using namespace std; - -namespace JSBSim { - -IDENT(IdSrc,"$Id: FGUDPOutputSocket.cpp,v 1.2 2015/08/16 13:19:52 bcoconni Exp $"); -IDENT(IdHdr,ID_UDPOUTPUTSOCKET); - -/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -CLASS IMPLEMENTATION -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ - -FGUDPOutputSocket::FGUDPOutputSocket(FGFDMExec* fdmex) : - FGOutputType(fdmex), - socket(0) -{ - FDMExec = fdmex; - PropertyManager = fdmex->GetPropertyManager(); - root = PropertyManager->GetNode(); - root->SetDouble("simulation/null", 0.0); - SockName = "localhost"; - SockPort = 5138; -} - -//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -FGUDPOutputSocket::~FGUDPOutputSocket() -{ - delete socket; -} - -//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -bool FGUDPOutputSocket::Load(Element* el) -{ - - Element *property_element = el->FindElement("property"); - - while (property_element) { - string property_str = property_element->GetDataLine(); - FGPropertyNode* node = PropertyManager->GetNode(property_str); - if (!node) { - node = PropertyManager->GetNode("simulation/null"); - } - OutputProperties.push_back(node); - property_element = el->FindNextElement("property"); - } - - double outRate = 1.0; - if (!el->GetAttributeValue("rate").empty()) { - outRate = el->GetAttributeValueAsNumber("rate"); - } - SetRateHz(outRate); - - SockPort = atoi(el->GetAttributeValue("port").c_str()); - if (SockPort == 0) { - cerr << endl << "No port assigned for output." << endl; - return false; - } - - return true; -} - -//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -bool FGUDPOutputSocket::InitModel(void) -{ - if (FGOutputType::InitModel()) { - delete socket; - socket = new FGfdmSocket(SockName, SockPort, FGfdmSocket::ptUDP); - - if (socket == 0) return false; - if (!socket->GetConnectStatus()) return false; - - return true; - } - - return false; -} - -//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -void FGUDPOutputSocket::Print(void) -{ - - if (socket == 0) return; - if (!socket->GetConnectStatus()) return; - - socket->Clear(); - socket->Append(FDMExec->GetSimTime()); - - for (unsigned int i=0;iAppend(OutputProperties[i]->getDoubleValue()); - } - - socket->Send(); -} - -} diff --git a/src/FDM/JSBSim/input_output/FGUDPOutputSocket.h b/src/FDM/JSBSim/input_output/FGUDPOutputSocket.h deleted file mode 100644 index 9be951e71..000000000 --- a/src/FDM/JSBSim/input_output/FGUDPOutputSocket.h +++ /dev/null @@ -1,106 +0,0 @@ -/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - - Header: FGOutputSocket.h - Author: David Culp - Date started: 03/31/15 - - ------------- Copyright (C) 2015 David Culp --------------- - - This program is free software; you can redistribute it and/or modify it under - the terms of the GNU Lesser General Public License as published by the Free Software - Foundation; either version 2 of the License, or (at your option) any later - version. - - This program is distributed in the hope that it will be useful, but WITHOUT - ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS - FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more - details. - - You should have received a copy of the GNU Lesser General Public License along with - this program; if not, write to the Free Software Foundation, Inc., 59 Temple - Place - Suite 330, Boston, MA 02111-1307, USA. - - Further information about the GNU Lesser General Public License can also be found on - the world wide web at http://www.gnu.org. - -HISTORY --------------------------------------------------------------------------------- -03/31/15 DC Created - -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -SENTRY -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ - -#ifndef FGUDPOUTPUTSOCKET_H -#define FGUDPOUTPUTSOCKET_H - -/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -INCLUDES -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ - -#include "FGOutputType.h" -#include "input_output/FGPropertyManager.h" -#include "input_output/FGfdmSocket.h" - -/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -DEFINITIONS -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ - -#define ID_UDPOUTPUTSOCKET "$Id: FGUDPOutputSocket.h,v 1.1 2015/04/02 02:23:33 dpculp Exp $" - -/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -FORWARD DECLARATIONS -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ - -namespace JSBSim { - -/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -CLASS DOCUMENTATION -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ - -/** Implements the output to a UDP socket. This class outputs data to a socket - in a comma-separated strings format. The first string represents a time - stamp, and each string thereafter is the value of a property. If a - specified property does not exist, then a zero is sent, so that the - number of values sent will always equal the number of properties requested. - */ - -/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -CLASS DECLARATION -%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ - -class FGUDPOutputSocket : public FGOutputType -{ -public: - /** Constructor. */ - FGUDPOutputSocket(FGFDMExec* fdmex); - - /** Destructor. */ - ~FGUDPOutputSocket(); - - /** Init the output directives from an XML file. - @param element XML Element that is pointing to the output directives - */ - virtual bool Load(Element* el); - - /** Initializes the instance. This method opens the ouput socket. - @result true if the execution succeeded. - */ - bool InitModel(void); - - /// Generates and sends the output datagram. - void Print(void); - -protected: - - std::string SockName; - unsigned int SockPort; - FGfdmSocket* socket; - FGPropertyManager* PropertyManager; - FGPropertyNode* root; - FGFDMExec* FDMExec; -}; -} -//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -#endif - diff --git a/src/FDM/JSBSim/input_output/FGfdmSocket.cpp b/src/FDM/JSBSim/input_output/FGfdmSocket.cpp index f6eeb1289..433078481 100644 --- a/src/FDM/JSBSim/input_output/FGfdmSocket.cpp +++ b/src/FDM/JSBSim/input_output/FGfdmSocket.cpp @@ -131,46 +131,69 @@ FGfdmSocket::FGfdmSocket(const string& address, int port, int protocol) } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -// assumes UDP socket on localhost, for inbound datagrams -FGfdmSocket::FGfdmSocket(int port, int protocol, int direction) // assumes UDP +// assumes TCP or UDP socket on localhost, for inbound datagrams +FGfdmSocket::FGfdmSocket(int port, int protocol) { sckt = -1; connected = false; Protocol = (ProtocolType)protocol; - Direction = (DirectionType) direction; + string ProtocolName; #if defined(_MSC_VER) || defined(__MINGW32__) if (!LoadWinSockDLL()) return; #endif if (Protocol == ptUDP) { //use udp protocol + ProtocolName = "UDP"; sckt = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP); #if defined(_MSC_VER) || defined(__MINGW32__) - u_long NonBlock = 1; // True - ioctlsocket(sckt, FIONBIO, &NonBlock); + u_long NonBlock = 1; // True + ioctlsocket(sckt, FIONBIO, &NonBlock); #else - fcntl(sckt, F_SETFL, O_NONBLOCK); + fcntl(sckt, F_SETFL, O_NONBLOCK); #endif - cout << "Creating UDP input socket on port " << port << endl; } + else { + ProtocolName = "TCP"; + sckt = socket(AF_INET, SOCK_STREAM, 0); + } + cout << "Creating input " << ProtocolName << " socket on port " << port << endl; - if (sckt != -1) { - memset(&scktName, 0, sizeof(struct sockaddr_in)); - scktName.sin_family = AF_INET; - scktName.sin_port = htons(port); + if (sckt != -1) { + memset(&scktName, 0, sizeof(struct sockaddr_in)); + scktName.sin_family = AF_INET; + scktName.sin_port = htons(port); + if (Protocol == ptUDP) scktName.sin_addr.s_addr = htonl(INADDR_ANY); - int len = sizeof(struct sockaddr_in); - if (bind(sckt, (struct sockaddr*)&scktName, len) != -1) { - cout << "Successfully bound to UDP input socket on port " << port << endl <= 0) { // successful listen() +#if defined(_MSC_VER) || defined(__MINGW32__) + ioctlsocket(sckt, FIONBIO, &NoBlock); + sckt_in = accept(sckt, (struct sockaddr*)&scktName, &len); +#else + ioctl(sckt, FIONBIO, &NoBlock); + sckt_in = accept(sckt, (struct sockaddr*)&scktName, (socklen_t*)&len); +#endif + connected = true; + } else { + cerr << "Could not listen ..." << endl; + } + } else connected = true; - } else { // unsuccessful - cout << "Could not bind to UDP input socket, error = " << errno << endl; - } - } else { // unsuccessful - cout << "Could not create socket for UDP input, error = " << errno << endl; + } else { // unsuccessful + cout << "Could not bind to " << ProtocolName << " input socket, error = " + << errno << endl; } - - + } else { // unsuccessful + cout << "Could not create " << ProtocolName << " socket for input, error = " + << errno << endl; + } + Debug(0); } @@ -225,49 +248,6 @@ FGfdmSocket::FGfdmSocket(const string& address, int port) // assumes TCP //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -FGfdmSocket::FGfdmSocket(int port) // assumes TCP -{ - connected = false; - unsigned long NoBlock = true; - Protocol = ptTCP; - - #if defined(_MSC_VER) || defined(__MINGW32__) - if (!LoadWinSockDLL()) return; - #endif - - sckt = socket(AF_INET, SOCK_STREAM, 0); - - if (sckt >= 0) { // successful - memset(&scktName, 0, sizeof(struct sockaddr_in)); - scktName.sin_family = AF_INET; - scktName.sin_port = htons(port); - int len = sizeof(struct sockaddr_in); - if (bind(sckt, (struct sockaddr*)&scktName, len) == 0) { // successful - cout << "Successfully bound to socket for input on port " << port << endl; - if (listen(sckt, 5) >= 0) { // successful listen() - #if defined(_MSC_VER) || defined(__MINGW32__) - ioctlsocket(sckt, FIONBIO, &NoBlock); - sckt_in = accept(sckt, (struct sockaddr*)&scktName, &len); - #else - ioctl(sckt, FIONBIO, &NoBlock); - sckt_in = accept(sckt, (struct sockaddr*)&scktName, (socklen_t*)&len); - #endif - } else { - cerr << "Could not listen ..." << endl; - } - connected = true; - } else { // unsuccessful - cerr << "Could not bind to socket for input ..." << endl; - } - } else { // unsuccessful - cerr << "Could not create socket for FDM input, error = " << errno << endl; - } - - Debug(0); -} - -//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - FGfdmSocket::~FGfdmSocket() { if (sckt) shutdown(sckt,2); diff --git a/src/FDM/JSBSim/input_output/FGfdmSocket.h b/src/FDM/JSBSim/input_output/FGfdmSocket.h index 65151ccf6..8f933f42f 100644 --- a/src/FDM/JSBSim/input_output/FGfdmSocket.h +++ b/src/FDM/JSBSim/input_output/FGfdmSocket.h @@ -91,8 +91,7 @@ class FGfdmSocket : public FGJSBBase public: FGfdmSocket(const std::string&, int); FGfdmSocket(const std::string&, int, int); - FGfdmSocket(int, int, int); - FGfdmSocket(int); + FGfdmSocket(int, int); ~FGfdmSocket(); void Send(void); void Send(const char *data, int length); @@ -109,12 +108,10 @@ public: bool GetConnectStatus(void) {return connected;} enum ProtocolType {ptUDP, ptTCP}; - enum DirectionType {dIN, dOUT}; private: int sckt; int sckt_in; - DirectionType Direction; ProtocolType Protocol; struct sockaddr_in scktName; struct hostent *host; diff --git a/src/FDM/JSBSim/math/FGFunction.cpp b/src/FDM/JSBSim/math/FGFunction.cpp index 4272dc883..65726e922 100644 --- a/src/FDM/JSBSim/math/FGFunction.cpp +++ b/src/FDM/JSBSim/math/FGFunction.cpp @@ -33,6 +33,7 @@ INCLUDES #include #include +#include "simgear/misc/strutils.hxx" #include "FGFunction.h" #include "FGTable.h" #include "FGPropertyValue.h" @@ -50,6 +51,8 @@ IDENT(IdHdr,ID_FUNCTION); CLASS IMPLEMENTATION %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ +const double FGFunction::invlog2val = 1.0/log10(2.0); + const std::string FGFunction::property_string = "property"; const std::string FGFunction::value_string = "value"; const std::string FGFunction::table_string = "table"; @@ -108,21 +111,21 @@ const std::string FGFunction::ifthen_string = "ifthen"; const std::string FGFunction::switch_string = "switch"; const std::string FGFunction::interpolate1d_string = "interpolate1d"; -FGFunction::FGFunction(FGPropertyManager* propMan, Element* el, const string& prefix) - : PropertyManager(propMan), Prefix(prefix) +FGFunction::FGFunction(FGPropertyManager* PropertyManager, Element* el, + const string& prefix, FGPropertyValue* var) + : Prefix(prefix), cached(false), cachedValue(-HUGE_VAL), pCopyTo(0L) { - Element* element; - string operation, property_name; - cached = false; - cachedValue = -HUGE_VAL; - invlog2val = 1.0/log10(2.0); - pCopyTo = 0L; + Load(PropertyManager, el, var); +} +void FGFunction::Load(FGPropertyManager* PropertyManager, Element* el, + FGPropertyValue* var) +{ Name = el->GetAttributeValue("name"); - operation = el->GetName(); + string operation = el->GetName(); if (operation == function_string) { - sCopyTo = el->GetAttributeValue("copyto"); + string sCopyTo = el->GetAttributeValue("copyto"); if (!sCopyTo.empty()) { if (sCopyTo.find("#") != string::npos) { @@ -232,7 +235,7 @@ FGFunction::FGFunction(FGPropertyManager* propMan, Element* el, const string& pr cerr << "Bad operation " << operation << " detected in configuration file" << endl; } - element = el->GetElement(); + Element* element = el->GetElement(); if (!element && Type != eRandom && Type != eUrandom && Type != ePi) { cerr << fgred << highint << endl; cerr << " No element was specified as an argument to the \"" << operation << "\" operation" << endl; @@ -248,26 +251,36 @@ FGFunction::FGFunction(FGPropertyManager* propMan, Element* el, const string& pr // data types if (operation == property_string || operation == p_string) { - property_name = element->GetDataLine(); - if (property_name.find("#") != string::npos) { - if (is_number(Prefix)) { - property_name = replace(property_name,"#",Prefix); + string property_name = element->GetDataLine(); + + if (var && simgear::strutils::strip(property_name) == "#") + Parameters.push_back(var); + else { + if (property_name.find("#") != string::npos) { + if (is_number(Prefix)) { + property_name = replace(property_name,"#",Prefix); + } + else + cerr << el->ReadFrom() + << fgred << "Illegal use of the special character '#'" + << reset << endl; + } + + if (PropertyManager->HasNode(property_name)) { + FGPropertyNode* newNode = PropertyManager->GetNode(property_name); + Parameters.push_back(new FGPropertyValue( newNode )); + } else { + // cerr << fgcyan << "Warning: The property " + property_name + " is initially undefined." + // << reset << endl; + Parameters.push_back(new FGPropertyValue( property_name, + PropertyManager )); } - } - if (PropertyManager->HasNode(property_name)) { - FGPropertyNode* newNode = PropertyManager->GetNode(property_name); - Parameters.push_back(new FGPropertyValue( newNode )); - } else { - // cerr << fgcyan << "Warning: The property " + property_name + " is initially undefined." - // << reset << endl; - Parameters.push_back(new FGPropertyValue( property_name, - PropertyManager )); } } else if (operation == value_string || operation == v_string) { Parameters.push_back(new FGRealValue(element->GetDataAsNumber())); } else if (operation == table_string || operation == t_string) { Parameters.push_back(new FGTable(PropertyManager, element, Prefix)); - // operations + // operations } else if (operation == product_string || operation == difference_string || operation == sum_string || @@ -315,28 +328,21 @@ FGFunction::FGFunction(FGPropertyManager* propMan, Element* el, const string& pr operation == ifthen_string || operation == switch_string || operation == interpolate1d_string) - { - Parameters.push_back(new FGFunction(PropertyManager, element, Prefix)); - } else if (operation != description_string) { + { + Parameters.push_back(new FGFunction(PropertyManager, element, Prefix, var)); + } else if (operation != description_string) { cerr << "Bad operation " << operation << " detected in configuration file" << endl; } element = el->GetNextElement(); } - bind(el); // Allow any function to save its value + bind(el, PropertyManager); // Allow any function to save its value Debug(0); } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -FGFunction::~FGFunction(void) -{ - for (unsigned int i=0; i Parameters; - FGPropertyManager* const PropertyManager; - bool cached; - double invlog2val; - std::string Prefix; + static const double invlog2val; static const std::string description_string; static const std::string property_string; static const std::string value_string; @@ -799,7 +805,7 @@ private: static const std::string ifthen_string; static const std::string switch_string; static const std::string interpolate1d_string; - double cachedValue; + enum functionType {eTopLevel=0, eProduct, eDifference, eSum, eQuotient, ePow, eSqrt, eToRadians, eToDegrees, eExp, eAbs, eSign, eSin, eCos, eTan, eASin, eACos, eATan, eATan2, eMin, eMax, eAvg, eFrac, eInteger, eMod, eRandom, eUrandom, ePi, @@ -807,12 +813,14 @@ private: eIfThen, eSwitch, eInterpolate1D, eRotation_alpha_local, eRotation_beta_local, eRotation_gamma_local, eRotation_bf_to_wf, eRotation_wf_to_bf} Type; + std::string Prefix; + bool cached; + double cachedValue; std::string Name; - std::string sCopyTo; // Property name to copy function value to + std::vector Parameters; FGPropertyNode_ptr pCopyTo; // Property node for CopyTo property string unsigned int GetBinary(double) const; - void bind(Element*); void Debug(int from); }; diff --git a/src/FDM/JSBSim/math/FGFunctionValue.h b/src/FDM/JSBSim/math/FGFunctionValue.h new file mode 100644 index 000000000..7d4660ed8 --- /dev/null +++ b/src/FDM/JSBSim/math/FGFunctionValue.h @@ -0,0 +1,85 @@ +/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + + Header: FGFunctionValue.h + Author: Bertrand Coconnier + Date started: March 10 2018 + + --------- Copyright (C) 2018 B. Coconnier (bcoconni@users.sf.net) ----------- + + This program is free software; you can redistribute it and/or modify it under + the terms of the GNU Lesser General Public License as published by the Free + Software Foundation; either version 2 of the License, or (at your option) any + later version. + + This program is distributed in the hope that it will be useful, but WITHOUT + ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS + FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more + details. + + You should have received a copy of the GNU Lesser General Public License along + with this program; if not, write to the Free Software Foundation, Inc., 59 + Temple Place - Suite 330, Boston, MA 02111-1307, USA. + + Further information about the GNU Lesser General Public License can also be + found on the world wide web at http://www.gnu.org. + + %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + SENTRY + %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ + +#ifndef FGFUNCTIONVALUE_H +#define FGFUNCTIONVALUE_H + +/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + INCLUDES + %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ + +#include "math/FGPropertyValue.h" + +/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + FORWARD DECLARATIONS + %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ + +namespace JSBSim { + +/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + CLASS DOCUMENTATION + %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ + +/** Represents a property value on which a function is applied + @author Bertrand Coconnier +*/ + +/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + DECLARATION: FGFunctionValue + %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ + +class FGFunctionValue : public FGPropertyValue +{ +public: + + FGFunctionValue(FGPropertyNode* propNode, FGTemplateFunc* f) + :FGPropertyValue(propNode), function(f) {} + FGFunctionValue(std::string propName, FGPropertyManager* propertyManager, + FGTemplateFunc* f) + :FGPropertyValue(propName, propertyManager), function(f) {} + + double GetValue(void) const { return function->GetValue(GetNode()); } + + std::string GetName(void) const { + return function->GetName() + "(" + FGPropertyValue::GetName() + ")"; + } + std::string GetPrintableName(void) const { + return function->GetName() + "(" + FGPropertyValue::GetPrintableName() + ")"; + } + std::string GetFullyQualifiedName(void) const { + return function->GetName() + "(" + FGPropertyValue::GetFullyQualifiedName() + ")"; + } + +private: + FGTemplateFunc_ptr function; +}; + +} // namespace JSBSim + +#endif diff --git a/src/FDM/JSBSim/math/FGParameter.h b/src/FDM/JSBSim/math/FGParameter.h index c1d66fc20..3b16e5bc8 100644 --- a/src/FDM/JSBSim/math/FGParameter.h +++ b/src/FDM/JSBSim/math/FGParameter.h @@ -34,7 +34,8 @@ SENTRY INCLUDES %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -#include "FGJSBBase.h" +#include +#include "simgear/structure/SGSharedPtr.hxx" /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% DEFINITIONS @@ -60,7 +61,7 @@ CLASS DOCUMENTATION DECLARATION: FGParameter %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -class FGParameter : public FGJSBBase +class FGParameter : public SGReferenced { public: virtual ~FGParameter(void) {}; @@ -73,6 +74,8 @@ public: protected: }; +typedef SGSharedPtr FGParameter_ptr; + } // namespace JSBSim #endif diff --git a/src/FDM/JSBSim/math/FGPropertyValue.cpp b/src/FDM/JSBSim/math/FGPropertyValue.cpp index ff25cb379..dd420aad2 100644 --- a/src/FDM/JSBSim/math/FGPropertyValue.cpp +++ b/src/FDM/JSBSim/math/FGPropertyValue.cpp @@ -62,7 +62,7 @@ FGPropertyValue::FGPropertyValue(std::string propName, FGPropertyManager* proper //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -double FGPropertyValue::GetValue(void) const +FGPropertyNode* FGPropertyValue::GetNode(void) const { FGPropertyNode* node = PropertyNode; @@ -76,18 +76,45 @@ double FGPropertyValue::GetValue(void) const } } - return node->getDoubleValue()*Sign; + return node; +} + +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +double FGPropertyValue::GetValue(void) const +{ + + return GetNode()->getDoubleValue()*Sign; } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% std::string FGPropertyValue::GetName(void) const { - if (PropertyNode) { + if (PropertyNode) return PropertyNode->GetName(); - } else { + else return PropertyName; - } +} + +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +std::string FGPropertyValue::GetFullyQualifiedName(void) const +{ + if (PropertyNode) + return PropertyNode->GetFullyQualifiedName(); + else + return PropertyName; +} + +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +std::string FGPropertyValue::GetPrintableName(void) const +{ + if (PropertyNode) + return PropertyNode->GetPrintableName(); + else + return PropertyName; } } diff --git a/src/FDM/JSBSim/math/FGPropertyValue.h b/src/FDM/JSBSim/math/FGPropertyValue.h index 265b2fd07..27adb18a6 100644 --- a/src/FDM/JSBSim/math/FGPropertyValue.h +++ b/src/FDM/JSBSim/math/FGPropertyValue.h @@ -68,12 +68,16 @@ public: FGPropertyValue(FGPropertyNode* propNode); FGPropertyValue(std::string propName, FGPropertyManager* propertyManager); - ~FGPropertyValue() {}; - double GetValue(void) const; + virtual double GetValue(void) const; void SetNode(FGPropertyNode* node) {PropertyNode = node;} - std::string GetName(void) const; + virtual std::string GetName(void) const; + virtual std::string GetFullyQualifiedName(void) const; + virtual std::string GetPrintableName(void) const; + +protected: + FGPropertyNode* GetNode(void) const; private: FGPropertyManager* PropertyManager; // Property root used to do late binding. diff --git a/src/FDM/JSBSim/math/FGRealValue.cpp b/src/FDM/JSBSim/math/FGRealValue.cpp index 47693f887..13faa5c2d 100644 --- a/src/FDM/JSBSim/math/FGRealValue.cpp +++ b/src/FDM/JSBSim/math/FGRealValue.cpp @@ -29,7 +29,7 @@ INCLUDES %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ #include "FGRealValue.h" - +#include "FGJSBBase.h" #include "input_output/string_utilities.h" using namespace std; diff --git a/src/FDM/JSBSim/math/FGTable.h b/src/FDM/JSBSim/math/FGTable.h index d3f04bfae..ff9427066 100644 --- a/src/FDM/JSBSim/math/FGTable.h +++ b/src/FDM/JSBSim/math/FGTable.h @@ -240,7 +240,7 @@ combustion_efficiency = Lookup_Combustion_Efficiency->GetValue(equivalence_ratio CLASS DECLARATION %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -class FGTable : public FGParameter +class FGTable : public FGParameter, public FGJSBBase { public: /// Destructor diff --git a/src/FDM/JSBSim/math/FGTemplateFunc.h b/src/FDM/JSBSim/math/FGTemplateFunc.h new file mode 100644 index 000000000..c105b2eed --- /dev/null +++ b/src/FDM/JSBSim/math/FGTemplateFunc.h @@ -0,0 +1,86 @@ +/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + + Header: FGTemplateFunc.h + Author: Bertrand Coconnier + Date started: March 10 2018 + + --------- Copyright (C) 2018 B. Coconnier (bcoconni@users.sf.net) ----------- + + This program is free software; you can redistribute it and/or modify it under + the terms of the GNU Lesser General Public License as published by the Free + Software Foundation; either version 2 of the License, or (at your option) any + later version. + + This program is distributed in the hope that it will be useful, but WITHOUT + ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS + FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more + details. + + You should have received a copy of the GNU Lesser General Public License along + with this program; if not, write to the Free Software Foundation, Inc., 59 + Temple Place - Suite 330, Boston, MA 02111-1307, USA. + + Further information about the GNU Lesser General Public License can also be + found on the world wide web at http://www.gnu.org. + + %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + SENTRY + %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ + +#ifndef FGTEMPLATEFUNC_H +#define FGTEMPLATEFUNC_H + +/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + INCLUDES + %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ + +#include "math/FGFunction.h" +#include "math/FGPropertyValue.h" + +/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + FORWARD DECLARATIONS + %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ + +namespace JSBSim { + +/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + CLASS DOCUMENTATION + %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ + +/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + DECLARATION: FGTemplateFunc + %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ + +class FGTemplateFunc : public FGFunction +{ +public: + + FGTemplateFunc(FGPropertyManager* PropertyManager, Element* element) + : var(0L) + { + Load(PropertyManager, element, &var); + // Since 'var' is a member of FGTemplateFunc, we don't want SGSharedPtr to + // destroy 'var' when it would no longer be referenced by any shared + // pointers. In order to avoid this, the reference counter is increased an + // extra time to make sure that it never reaches 0 when all shared pointers + // referencing 'var' are destroyed. + get(&var); + } + + double GetValue(FGPropertyNode* node) { + var.SetNode(node); + return FGFunction::GetValue(); + } + +private: + /** FGTemplateFunc must not be bound to the property manager. The bind method + is therefore overloaded as a no-op */ + virtual void bind(Element*, FGPropertyManager*) {} + FGPropertyValue var; +}; + +typedef SGSharedPtr FGTemplateFunc_ptr; + +} // namespace JSBSim + +#endif diff --git a/src/FDM/JSBSim/models/FGAerodynamics.cpp b/src/FDM/JSBSim/models/FGAerodynamics.cpp index 8e718fe44..1e0ae7172 100644 --- a/src/FDM/JSBSim/models/FGAerodynamics.cpp +++ b/src/FDM/JSBSim/models/FGAerodynamics.cpp @@ -76,7 +76,8 @@ FGAerodynamics::FGAerodynamics(FGFDMExec* FDMExec) : FGModel(FDMExec) AxisIdx["Y"] = 1; AxisIdx["Z"] = 2; - axisType = atNone; + forceAxisType = atNone; + momentAxisType = atNone; AeroFunctions = new AeroFunctionArray[6]; AeroFunctionsAtCG = new AeroFunctionArray[6]; @@ -154,7 +155,7 @@ bool FGAerodynamics::Run(bool Holding) // Skip the computation if qbar is close to zero to avoid huge values for // aero/cl-squared when a non-null lift coincides with a very small aero // velocity (i.e. when qbar is close to zero). - clsq = (vFw(eLift) + vFwAtCG(eLift))/ (in.Wingarea*in.Qbar); + clsq = vFw(eLift) / (in.Wingarea*in.Qbar); clsq *= clsq; } @@ -179,17 +180,18 @@ bool FGAerodynamics::Run(bool Holding) if (alphahystmax != 0.0 && alphahystmin != 0.0) { if (in.Alpha > alphahystmax) { - stall_hyst = 1; + stall_hyst = 1; } else if (in.Alpha < alphahystmin) { - stall_hyst = 0; + stall_hyst = 0; } } vFw.InitMatrix(); - vFwAtCG.InitMatrix(); vFnative.InitMatrix(); vFnativeAtCG.InitMatrix(); + BuildStabilityTransformMatrices(); + for (axis_ctr = 0; axis_ctr < 3; ++axis_ctr) { AeroFunctionArray::iterator f; @@ -210,68 +212,46 @@ bool FGAerodynamics::Run(bool Holding) } } - // Note that we still need to convert to wind axes here, because it is - // used in the L/D calculation, and we still may want to look at Lift - // and Drag. + switch (forceAxisType) { + case atBodyXYZ: // Forces already in body axes; no manipulation needed + vForces = vFnative; + vForcesAtCG = vFnativeAtCG; + break; + case atWind: // Copy forces into wind axes + vFnative(eDrag)*=-1; vFnative(eLift)*=-1; + vForces = in.Tw2b*vFnative; - // JSB 4/27/12 - After use, convert wind axes to produce normal lift - // and drag values - not negative ones! + vFnativeAtCG(eDrag)*=-1; vFnativeAtCG(eLift)*=-1; + vForcesAtCG = in.Tw2b*vFnativeAtCG; + break; + case atBodyAxialNormal: // Convert native forces into Axial|Normal|Side system + vFnative(eX)*=-1; vFnative(eZ)*=-1; + vForces = vFnative; - // As a clarification, JSBSim assumes that drag and lift values are defined - // in wind axes - BUT with a 180 rotation about the Y axis. That is, lift and - // drag will be positive up and aft, respectively, so that they are reported - // as positive numbers. However, the wind axes themselves assume that the X - // and Z forces are positive forward and down. + vFnativeAtCG(eX)*=-1; vFnativeAtCG(eZ)*=-1; + vForcesAtCG = vFnativeAtCG; + break; + case atStability: // Convert from stability axes to both body and wind axes + vFnative(eDrag) *= -1; vFnative(eLift) *= -1; + vForces = Ts2b*vFnative; - switch (axisType) { - case atBodyXYZ: // Forces already in body axes; no manipulation needed - vFw = in.Tb2w*vFnative; - vForces = vFnative; - vFw(eDrag)*=-1; vFw(eLift)*=-1; - - vFwAtCG = in.Tb2w*vFnativeAtCG; - vForcesAtCG = vFnativeAtCG; - vFwAtCG(eDrag)*=-1; vFwAtCG(eLift)*=-1; - break; - case atLiftDrag: // Copy forces into wind axes - vFw = vFnative; - vFw(eDrag)*=-1; vFw(eLift)*=-1; - vForces = in.Tw2b*vFw; - vFw(eDrag)*=-1; vFw(eLift)*=-1; - - vFwAtCG = vFnativeAtCG; - vFwAtCG(eDrag)*=-1; vFwAtCG(eLift)*=-1; - vForcesAtCG = in.Tw2b*vFwAtCG; - vFwAtCG(eDrag)*=-1; vFwAtCG(eLift)*=-1; - break; - case atAxialNormal: // Convert native forces into Axial|Normal|Side system - vFw = in.Tb2w*vFnative; - vFnative(eX)*=-1; vFnative(eZ)*=-1; - vForces = vFnative; - - vFwAtCG = in.Tb2w*vFnativeAtCG; - vFnativeAtCG(eX)*=-1; vFnativeAtCG(eZ)*=-1; - vForcesAtCG = vFnativeAtCG; - break; - default: - cerr << endl << " A proper axis type has NOT been selected. Check " - << "your aerodynamics definition." << endl; - exit(-1); + vFnativeAtCG(eDrag) *= -1; vFnativeAtCG(eLift) *= -1; + vForcesAtCG = Ts2b*vFnativeAtCG; + break; + default: + cerr << endl << " A proper axis type has NOT been selected. Check " + << "your aerodynamics definition." << endl; + exit(-1); } - - // Calculate lift Lift over Drag - if ( fabs(vFw(eDrag) + vFwAtCG(eDrag)) > 0.0) - lod = fabs( (vFw(eLift) + vFwAtCG(eLift))/ (vFw(eDrag) + vFwAtCG(eDrag))); - - // Calculate aerodynamic reference point shift, if any. The shift - // takes place in the structual axis. That is, if the shift is positive, - // it is towards the back (tail) of the vehicle. The AeroRPShift - // function should be non-dimensionalized by the wing chord. The - // calculated vDeltaRP will be in feet. + // Calculate aerodynamic reference point shift, if any. The shift takes place + // in the structual axis. That is, if the shift is positive, it is towards the + // back (tail) of the vehicle. The AeroRPShift function should be + // non-dimensionalized by the wing chord. The calculated vDeltaRP will be in + // feet. if (AeroRPShift) vDeltaRP(eX) = AeroRPShift->GetValue()*in.Wingchord; - vDXYZcg(eX) = in.RPBody(eX) - vDeltaRP(eX); // vDeltaRP is given in the structural frame - vDXYZcg(eY) = in.RPBody(eY) + vDeltaRP(eY); + vDXYZcg(eX) = in.RPBody(eX) - vDeltaRP(eX); // vDeltaRP is given in the + vDXYZcg(eY) = in.RPBody(eY) + vDeltaRP(eY); // structural frame. vDXYZcg(eZ) = in.RPBody(eZ) - vDeltaRP(eZ); vMomentsMRC.InitMatrix(); @@ -287,11 +267,50 @@ bool FGAerodynamics::Run(bool Holding) vMomentsMRC(axis_ctr+1) += (*f)->GetValue(); } } - vMoments = vMomentsMRC + vDXYZcg*vForces; // M = r X F - // Now add the "at CG" values to base forces - after the moments have been transferred + + // Transform moments to bodyXYZ if the moments are specified in stability or + // wind axes + vMomentsMRCBodyXYZ.InitMatrix(); + switch (momentAxisType) { + case atBodyXYZ: + vMomentsMRCBodyXYZ = vMomentsMRC; + break; + case atStability: + vMomentsMRCBodyXYZ = Ts2b*vMomentsMRC; + break; + case atWind: + vMomentsMRCBodyXYZ = in.Tw2b*vMomentsMRC; + break; + default: + cerr << endl << " A proper axis type has NOT been selected. Check " + << "your aerodynamics definition." << endl; + exit(-1); + } + + vMoments = vMomentsMRCBodyXYZ + vDXYZcg*vForces; // M = r X F + + // Now add the "at CG" values to base forces - after the moments have been + // transferred. vForces += vForcesAtCG; - vFnative += vFnativeAtCG; - vFw += vFwAtCG; + + // Note that we still need to convert to wind axes here, because it is used in + // the L/D calculation, and we still may want to look at Lift and Drag. + // + // JSB 4/27/12 - After use, convert wind axes to produce normal lift and drag + // values - not negative ones! + // + // As a clarification, JSBSim assumes that drag and lift values are defined in + // wind axes - BUT with a 180 rotation about the Y axis. That is, lift and + // drag will be positive up and aft, respectively, so that they are reported + // as positive numbers. However, the wind axes themselves assume that the X + // and Z forces are positive forward and down. Same applies to the stability + // axes. + vFw = in.Tb2w * vForces; + vFw(eDrag) *= -1; vFw(eLift) *= -1; + + // Calculate Lift over Drag + if ( fabs(vFw(eDrag)) > 0.0) + lod = fabs( vFw(eLift) / vFw(eDrag)); RunPostFunctions(); @@ -300,6 +319,17 @@ bool FGAerodynamics::Run(bool Holding) //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +FGColumnVector3 FGAerodynamics::GetForcesInStabilityAxes(void) const +{ + FGColumnVector3 vFs = Tb2s*vForces; + // Need sign flips since drag is positive and lift is positive in stability axes + vFs(eDrag) *= -1; vFs(eLift) *= -1; + + return vFs; +} + +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + bool FGAerodynamics::Load(Element *document) { string axis; @@ -309,7 +339,7 @@ bool FGAerodynamics::Load(Element *document) Name = "Aerodynamics Model: " + document->GetAttributeValue("name"); // Perform base class Pre-Load - if (!FGModel::Load(document)) + if (!FGModel::Load(document, true)) return false; DetermineAxisSystem(document); // Determine if Lift/Side/Drag, etc. is used. @@ -353,7 +383,8 @@ bool FGAerodynamics::Load(Element *document) try { ca.push_back( new FGFunction(PropertyManager, function_element) ); } catch (const string& str) { - cerr << endl << fgred << "Error loading aerodynamic function in " + cerr << endl << axis_element->ReadFrom() + << endl << fgred << "Error loading aerodynamic function in " << current_func_name << ":" << str << " Aborting." << reset << endl; return false; } @@ -361,7 +392,8 @@ bool FGAerodynamics::Load(Element *document) try { ca_atCG.push_back( new FGFunction(PropertyManager, function_element) ); } catch (const string& str) { - cerr << endl << fgred << "Error loading aerodynamic function in " + cerr << endl << axis_element->ReadFrom() + << endl << fgred << "Error loading aerodynamic function in " << current_func_name << ":" << str << " Aborting." << reset << endl; return false; } @@ -387,6 +419,9 @@ bool FGAerodynamics::Load(Element *document) // a warning message will be given IF the AXIAL|NORMAL specifiers are also given. // This is OK, and the warning is due to the SIDE specifier used for both // the Lift/Drag and Axial/Normal axis systems. +// Alternatively the axis name 'X|Y|Z or ROLL|PITCH|YAW' can be specified in +// conjunction with a frame 'BODY|STABILITY|WIND', for example: +// void FGAerodynamics::DetermineAxisSystem(Element* document) { @@ -394,41 +429,85 @@ void FGAerodynamics::DetermineAxisSystem(Element* document) string axis; while (axis_element) { axis = axis_element->GetAttributeValue("name"); - if (axis == "LIFT" || axis == "DRAG") { - if (axisType == atNone) axisType = atLiftDrag; - else if (axisType != atLiftDrag) { - cerr << endl << " Mixed aerodynamic axis systems have been used in the" - << " aircraft config file. (LIFT DRAG)" << endl; + string frame = axis_element->GetAttributeValue("frame"); + if (axis == "X" || axis == "Y" || axis == "Z") { + ProcessAxesNameAndFrame(forceAxisType, axis, frame, axis_element, + "(X Y Z)"); + } else if (axis == "ROLL" || axis == "PITCH" || axis == "YAW") { + ProcessAxesNameAndFrame(momentAxisType, axis, frame, axis_element, + "(ROLL PITCH YAW)"); + } else if (axis == "LIFT" || axis == "DRAG") { + if (forceAxisType == atNone) forceAxisType = atWind; + else if (forceAxisType != atWind) { + cerr << endl << axis_element->ReadFrom() + << endl << " Mixed aerodynamic axis systems have been used in the" + << " aircraft config file. (LIFT DRAG)" << endl; } } else if (axis == "SIDE") { - if (axisType != atNone && axisType != atLiftDrag && axisType != atAxialNormal) { - cerr << endl << " Mixed aerodynamic axis systems have been used in the" - << " aircraft config file. (SIDE)" << endl; + if (forceAxisType != atNone && forceAxisType != atWind && forceAxisType != atBodyAxialNormal) { + cerr << endl << axis_element->ReadFrom() + << endl << " Mixed aerodynamic axis systems have been used in the" + << " aircraft config file. (SIDE)" << endl; } } else if (axis == "AXIAL" || axis == "NORMAL") { - if (axisType == atNone) axisType = atAxialNormal; - else if (axisType != atAxialNormal) { - cerr << endl << " Mixed aerodynamic axis systems have been used in the" - << " aircraft config file. (NORMAL AXIAL)" << endl; + if (forceAxisType == atNone) forceAxisType = atBodyAxialNormal; + else if (forceAxisType != atBodyAxialNormal) { + cerr << endl << axis_element->ReadFrom() + << endl << " Mixed aerodynamic axis systems have been used in the" + << " aircraft config file. (NORMAL AXIAL)" << endl; } - } else if (axis == "X" || axis == "Y" || axis == "Z") { - if (axisType == atNone) axisType = atBodyXYZ; - else if (axisType != atBodyXYZ) { - cerr << endl << " Mixed aerodynamic axis systems have been used in the" - << " aircraft config file. (XYZ)" << endl; - } - } else if (axis != "ROLL" && axis != "PITCH" && axis != "YAW") { // error - cerr << endl << " An unknown axis type, " << axis << " has been specified" - << " in the aircraft configuration file." << endl; + } else { // error + cerr << endl << axis_element->ReadFrom() + << endl << " An unknown axis type, " << axis << " has been specified" + << " in the aircraft configuration file." << endl; exit(-1); } axis_element = document->FindNextElement("axis"); } - if (axisType == atNone) { - axisType = atLiftDrag; + + if (forceAxisType == atNone) { + forceAxisType = atWind; cerr << endl << " The aerodynamic axis system has been set by default" << " to the Lift/Side/Drag system." << endl; } + if (momentAxisType == atNone) { + momentAxisType = atBodyXYZ; + cerr << endl << " The aerodynamic moment axis system has been set by default" + << " to the bodyXYZ system." << endl; + } +} + +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +void FGAerodynamics::ProcessAxesNameAndFrame(eAxisType& axisType, const string& name, + const string& frame, Element* el, + const string& validNames) +{ + if (frame == "BODY" || frame.empty()) { + if (axisType == atNone) axisType = atBodyXYZ; + else if (axisType != atBodyXYZ) + cerr << endl << el->ReadFrom() + << endl << " Mixed aerodynamic axis systems have been used in the " + << " aircraft config file." << validNames << " - BODY" << endl; + } + else if (frame == "STABILITY") { + if (axisType == atNone) axisType = atStability; + else if (axisType != atStability) + cerr << endl << el->ReadFrom() + << endl << " Mixed aerodynamic axis systems have been used in the " + << " aircraft config file." << validNames << " - STABILITY" << endl; + } + else if (frame == "WIND") { + if (axisType == atNone) axisType = atWind; + else if (axisType != atWind) + cerr << endl << el->ReadFrom() + << endl << " Mixed aerodynamic axis systems have been used in the " + << " aircraft config file." << validNames << " - WIND" << endl; + } + else { + cerr << endl << " Unknown axis frame type of - " << frame << endl; + exit(-1); + } } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% @@ -495,15 +574,24 @@ void FGAerodynamics::bind(void) { typedef double (FGAerodynamics::*PMF)(int) const; - PropertyManager->Tie("forces/fbx-aero-lbs", this, 1, (PMF)&FGAerodynamics::GetForces); - PropertyManager->Tie("forces/fby-aero-lbs", this, 2, (PMF)&FGAerodynamics::GetForces); - PropertyManager->Tie("forces/fbz-aero-lbs", this, 3, (PMF)&FGAerodynamics::GetForces); - PropertyManager->Tie("moments/l-aero-lbsft", this, 1, (PMF)&FGAerodynamics::GetMoments); - PropertyManager->Tie("moments/m-aero-lbsft", this, 2, (PMF)&FGAerodynamics::GetMoments); - PropertyManager->Tie("moments/n-aero-lbsft", this, 3, (PMF)&FGAerodynamics::GetMoments); - PropertyManager->Tie("forces/fwx-aero-lbs", this, 1, (PMF)&FGAerodynamics::GetvFw); - PropertyManager->Tie("forces/fwy-aero-lbs", this, 2, (PMF)&FGAerodynamics::GetvFw); - PropertyManager->Tie("forces/fwz-aero-lbs", this, 3, (PMF)&FGAerodynamics::GetvFw); + PropertyManager->Tie("forces/fbx-aero-lbs", this, eX, (PMF)&FGAerodynamics::GetForces); + PropertyManager->Tie("forces/fby-aero-lbs", this, eY, (PMF)&FGAerodynamics::GetForces); + PropertyManager->Tie("forces/fbz-aero-lbs", this, eZ, (PMF)&FGAerodynamics::GetForces); + PropertyManager->Tie("moments/l-aero-lbsft", this, eL, (PMF)&FGAerodynamics::GetMoments); + PropertyManager->Tie("moments/m-aero-lbsft", this, eM, (PMF)&FGAerodynamics::GetMoments); + PropertyManager->Tie("moments/n-aero-lbsft", this, eN, (PMF)&FGAerodynamics::GetMoments); + PropertyManager->Tie("forces/fwx-aero-lbs", this, eDrag, (PMF)&FGAerodynamics::GetvFw); + PropertyManager->Tie("forces/fwy-aero-lbs", this, eSide, (PMF)&FGAerodynamics::GetvFw); + PropertyManager->Tie("forces/fwz-aero-lbs", this, eLift, (PMF)&FGAerodynamics::GetvFw); + PropertyManager->Tie("forces/fsx-aero-lbs", this, eX, (PMF)&FGAerodynamics::GetForcesInStabilityAxes); + PropertyManager->Tie("forces/fsy-aero-lbs", this, eY, (PMF)&FGAerodynamics::GetForcesInStabilityAxes); + PropertyManager->Tie("forces/fsz-aero-lbs", this, eZ, (PMF)&FGAerodynamics::GetForcesInStabilityAxes); + PropertyManager->Tie("moments/roll-stab-aero-lbsft", this, eRoll, (PMF)&FGAerodynamics::GetMomentsInStabilityAxes); + PropertyManager->Tie("moments/pitch-stab-aero-lbsft", this, ePitch, (PMF)&FGAerodynamics::GetMomentsInStabilityAxes); + PropertyManager->Tie("moments/yaw-stab-aero-lbsft", this, eYaw, (PMF)&FGAerodynamics::GetMomentsInStabilityAxes); + PropertyManager->Tie("moments/roll-wind-aero-lbsft", this, eRoll, (PMF)&FGAerodynamics::GetMomentsInWindAxes); + PropertyManager->Tie("moments/pitch-wind-aero-lbsft", this, ePitch, (PMF)&FGAerodynamics::GetMomentsInWindAxes); + PropertyManager->Tie("moments/yaw-wind-aero-lbsft", this, eYaw, (PMF)&FGAerodynamics::GetMomentsInWindAxes); PropertyManager->Tie("forces/lod-norm", this, &FGAerodynamics::GetLoD); PropertyManager->Tie("aero/cl-squared", this, &FGAerodynamics::GetClSquared); PropertyManager->Tie("aero/qbar-area", &qbar_area); @@ -516,6 +604,44 @@ void FGAerodynamics::bind(void) PropertyManager->Tie("aero/stall-hyst-norm", this, &FGAerodynamics::GetHysteresisParm); } +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +// +// Build transformation matrices for transforming from stability axes to +// body axes and to wind axes. Where "a" is alpha and "B" is beta: +// +// The transform from body to stability axes is: +// +// cos(a) 0 sin(a) +// 0 1 0 +// -sin(a) 0 cos(a) +// +// The transform from stability to body axes is: +// +// cos(a) 0 -sin(a) +// 0 1 0 +// sin(a) 0 cos(a) +// +// + +void FGAerodynamics::BuildStabilityTransformMatrices(void) +{ + double ca = cos(in.Alpha); + double sa = sin(in.Alpha); + + // Stability-to-body + Ts2b(1, 1) = ca; + Ts2b(1, 2) = 0.0; + Ts2b(1, 3) = -sa; + Ts2b(2, 1) = 0.0; + Ts2b(2, 2) = 1.0; + Ts2b(2, 3) = 0.0; + Ts2b(3, 1) = sa; + Ts2b(3, 2) = 0.0; + Ts2b(3, 3) = ca; + + Tb2s = Ts2b.Transposed(); +} + //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% // The bitmasked value choices are as follows: // unset: In this case (the default) JSBSim would only print @@ -541,19 +667,22 @@ void FGAerodynamics::Debug(int from) if (debug_lvl & 1) { // Standard console startup message output if (from == 2) { // Loader - switch (axisType) { - case (atLiftDrag): - cout << endl << " Aerodynamics (Lift|Side|Drag axes):" << endl << endl; - break; - case (atAxialNormal): - cout << endl << " Aerodynamics (Axial|Side|Normal axes):" << endl << endl; - break; - case (atBodyXYZ): - cout << endl << " Aerodynamics (X|Y|Z axes):" << endl << endl; - break; + switch (forceAxisType) { + case (atWind): + cout << endl << " Aerodynamics (Lift|Side|Drag axes):" << endl << endl; + break; + case (atBodyAxialNormal): + cout << endl << " Aerodynamics (Axial|Side|Normal axes):" << endl << endl; + break; + case (atBodyXYZ): + cout << endl << " Aerodynamics (Body X|Y|Z axes):" << endl << endl; + break; + case (atStability): + cout << endl << " Aerodynamics (Stability X|Y|Z axes):" << endl << endl; + break; case (atNone): - cout << endl << " Aerodynamics (undefined axes):" << endl << endl; - break; + cout << endl << " Aerodynamics (undefined axes):" << endl << endl; + break; } } } diff --git a/src/FDM/JSBSim/models/FGAerodynamics.h b/src/FDM/JSBSim/models/FGAerodynamics.h index 9b7ec1dad..f0adf6632 100644 --- a/src/FDM/JSBSim/models/FGAerodynamics.h +++ b/src/FDM/JSBSim/models/FGAerodynamics.h @@ -141,7 +141,7 @@ public: have found the aerodynamics keyword in the configuration file. @param element pointer to the current XML element for aerodynamics parameters. @return true if successful */ - bool Load(Element* element); + virtual bool Load(Element* element); /** Gets the total aerodynamic force vector. @return a force vector reference. */ @@ -181,6 +181,34 @@ public: axis force. */ double GetvFw(int axis) const { return vFw(axis); } + /** Retrieves the aerodynamic forces in the stability axes. + @return a reference to a column vector containing the stability axis forces. */ + FGColumnVector3 GetForcesInStabilityAxes(void) const; + + /** Retrieves the aerodynamic forces in the stability axes, given an axis. + @param axis the axis to return the force for (eX, eY, eZ). + @return a reference to a column vector containing the requested stability + axis force. */ + double GetForcesInStabilityAxes(int n) const { return GetForcesInStabilityAxes()(n); } + + /** Gets the total aerodynamic moment vector about the CG in the stability axes. + @return a moment vector reference. */ + FGColumnVector3 GetMomentsInStabilityAxes(void) const { return Tb2s*vMoments; } + + /** Gets the aerodynamic moment about the CG for an axis. + @return the moment about a single axis (as described also in the + similar call to GetForces(int n).*/ + double GetMomentsInStabilityAxes(int n) const { return GetMomentsInStabilityAxes()(n); } + + /** Gets the total aerodynamic moment vector about the CG in the wind axes. + @return a moment vector reference. */ + FGColumnVector3 GetMomentsInWindAxes(void) const { return in.Tb2w*vMoments; } + + /** Gets the aerodynamic moment about the CG for an axis. + @return the moment about a single axis (as described also in the + similar call to GetForces(int n).*/ + double GetMomentsInWindAxes(int n) const { return GetMomentsInWindAxes()(n); } + /** Retrieves the lift over drag ratio */ double GetLoD(void) const { return lod; } @@ -227,21 +255,22 @@ public: } in; private: - enum eAxisType {atNone, atLiftDrag, atAxialNormal, atBodyXYZ} axisType; + enum eAxisType {atNone, atWind, atBodyAxialNormal, atBodyXYZ, atStability} forceAxisType, momentAxisType; typedef std::map AxisIndex; AxisIndex AxisIdx; FGFunction* AeroRPShift; typedef std::vector AeroFunctionArray; AeroFunctionArray* AeroFunctions; + FGMatrix33 Ts2b, Tb2s; FGColumnVector3 vFnative; FGColumnVector3 vFw; FGColumnVector3 vForces; AeroFunctionArray* AeroFunctionsAtCG; - FGColumnVector3 vFwAtCG; FGColumnVector3 vFnativeAtCG; FGColumnVector3 vForcesAtCG; FGColumnVector3 vMoments; FGColumnVector3 vMomentsMRC; + FGColumnVector3 vMomentsMRCBodyXYZ; FGColumnVector3 vDXYZcg; FGColumnVector3 vDeltaRP; double alphaclmax, alphaclmin; @@ -253,7 +282,11 @@ private: typedef double (FGAerodynamics::*PMF)(int) const; void DetermineAxisSystem(Element* document); + void ProcessAxesNameAndFrame(FGAerodynamics::eAxisType& axisType, + const string& name, const string& frame, + Element* el, const string& validNames); void bind(void); + void BuildStabilityTransformMatrices(void); void Debug(int from); }; diff --git a/src/FDM/JSBSim/models/FGAircraft.cpp b/src/FDM/JSBSim/models/FGAircraft.cpp index 66dcbfc40..36dff9737 100644 --- a/src/FDM/JSBSim/models/FGAircraft.cpp +++ b/src/FDM/JSBSim/models/FGAircraft.cpp @@ -78,7 +78,6 @@ FGAircraft::FGAircraft(FGFDMExec* fdmex) : FGModel(fdmex) lbarh = lbarv = 0.0; vbarh = vbarv = 0.0; WingIncidence = 0.0; - PitotAngle = 0.0; bind(); @@ -137,7 +136,7 @@ bool FGAircraft::Load(Element* el) string element_name; Element* element; - if (!FGModel::Load(el)) return false; + if (!FGModel::Load(el, true)) return false; if (el->FindElement("wingarea")) WingArea = el->FindElementValueAsNumberConvertTo("wingarea", "FT2"); @@ -155,8 +154,6 @@ bool FGAircraft::Load(Element* el) VTailArea = el->FindElementValueAsNumberConvertTo("vtailarea", "FT2"); if (el->FindElement("vtailarm")) VTailArm = el->FindElementValueAsNumberConvertTo("vtailarm", "FT"); - if (el->FindElement("pitot_angle")) - PitotAngle = el->FindElementValueAsNumberConvertTo("pitot_angle", "RAD"); // Find all LOCATION elements that descend from this METRICS branch of the // config file. This would be CG location, eyepoint, etc. diff --git a/src/FDM/JSBSim/models/FGAircraft.h b/src/FDM/JSBSim/models/FGAircraft.h index 0726166ec..fa7f149b6 100644 --- a/src/FDM/JSBSim/models/FGAircraft.h +++ b/src/FDM/JSBSim/models/FGAircraft.h @@ -78,7 +78,6 @@ CLASS DOCUMENTATION {number} {number} {number} - {number} {number} {number} @@ -132,7 +131,7 @@ public: The executive calls this method to load the aircraft into JSBSim. @param el a pointer to the element tree @return true if successful */ - bool Load(Element* el); + virtual bool Load(Element* el); /** Gets the aircraft name @return the name of the aircraft as a string type */ @@ -144,7 +143,6 @@ public: double GetWingSpan(void) const { return WingSpan; } /// Gets the average wing chord double Getcbar(void) const { return cbar; } - double GetPitotAngle(void) const { return PitotAngle; } double GetWingIncidence(void) const { return WingIncidence; } double GetWingIncidenceDeg(void) const { return WingIncidence*radtodeg; } double GetHTailArea(void) const { return HTailArea; } @@ -197,7 +195,7 @@ private: double WingArea, WingSpan, cbar, WingIncidence; double HTailArea, VTailArea, HTailArm, VTailArm; - double lbarh,lbarv,vbarh,vbarv,PitotAngle; + double lbarh,lbarv,vbarh,vbarv; std::string AircraftName; void Debug(int from); diff --git a/src/FDM/JSBSim/models/FGAtmosphere.cpp b/src/FDM/JSBSim/models/FGAtmosphere.cpp index b339057fa..bbac2744b 100644 --- a/src/FDM/JSBSim/models/FGAtmosphere.cpp +++ b/src/FDM/JSBSim/models/FGAtmosphere.cpp @@ -50,13 +50,24 @@ INCLUDES namespace JSBSim { -IDENT(IdSrc,"$Id: FGAtmosphere.cpp,v 1.61 2016/01/10 19:22:12 bcoconni Exp $"); +IDENT(IdSrc,"$Id: FGAtmosphere.cpp,v 1.62 2016/01/16 12:05:47 bcoconni Exp $"); IDENT(IdHdr,ID_ATMOSPHERE); /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% CLASS IMPLEMENTATION %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ +// Atmosphere constants in British units converted from the SI values specified in the +// ISA document - https://ntrs.nasa.gov/archive/nasa/casi.ntrs.nasa.gov/19770009539.pdf + +const double KtoDegR = 1.8; // Kelvin to degree Rankine +const double FGAtmosphere::Rstar = 8.31432 * (FGJSBBase::kgtoslug / (KtoDegR * FGJSBBase::fttom * FGJSBBase::fttom)); // ft*lbf/R/mol +const double FGAtmosphere::Mair = 28.9645 * FGJSBBase::kgtoslug / 1000.0; // slug/mol +const double FGAtmosphere::g0 = 9.80665 / FGJSBBase::fttom; // ft/s^2 +double FGAtmosphere::Reng = Rstar / Mair; + +const double FGAtmosphere::SHRatio = 1.40; + FGAtmosphere::FGAtmosphere(FGFDMExec* fdmex) : FGModel(fdmex), PressureAltitude(0.0), // ft DensityAltitude(0.0), // ft @@ -84,7 +95,7 @@ bool FGAtmosphere::InitModel(void) Calculate(0.0); SLtemperature = Temperature = 518.67; - SLpressure = Pressure = 2116.22; + SLpressure = Pressure = 2116.228; SLdensity = Density = Pressure/(Reng*Temperature); SLsoundspeed = Soundspeed = sqrt(SHRatio*Reng*(Temperature)); @@ -130,8 +141,8 @@ void FGAtmosphere::Calculate(double altitude) Density = node->GetDouble("atmosphere/override/density"); Soundspeed = sqrt(SHRatio*Reng*(Temperature)); - PressureAltitude = altitude; - DensityAltitude = altitude; + PressureAltitude = CalculatePressureAltitude(Pressure, altitude); + DensityAltitude = CalculateDensityAltitude(Density, altitude); Viscosity = Beta * pow(Temperature, 1.5) / (SutherlandConstant + Temperature); KinematicViscosity = Viscosity / Density; diff --git a/src/FDM/JSBSim/models/FGAtmosphere.h b/src/FDM/JSBSim/models/FGAtmosphere.h index 4a603bdc7..632473aa2 100644 --- a/src/FDM/JSBSim/models/FGAtmosphere.h +++ b/src/FDM/JSBSim/models/FGAtmosphere.h @@ -232,6 +232,20 @@ protected: /// Calculate the atmosphere for the given altitude. void Calculate(double altitude); + /// Calculates the density altitude given any temperature or pressure bias. + /// Calculated density for the specified geometric altitude given any temperature + /// or pressure biases is passed in. + /// @param density + /// @param geometricAlt + virtual double CalculateDensityAltitude(double density, double geometricAlt) { return geometricAlt; } + + /// Calculates the pressure altitude given any temperature or pressure bias. + /// Calculated pressure for the specified geometric altitude given any temperature + /// or pressure biases is passed in. + /// @param pressure + /// @param geometricAlt + virtual double CalculatePressureAltitude(double pressure, double geometricAlt) { return geometricAlt; } + // Converts to Rankine from one of several unit systems. virtual double ConvertToRankine(double t, eTemperature unit) const; @@ -241,6 +255,14 @@ protected: // Converts from PSF (pounds per square foot) to one of several unit systems. virtual double ConvertFromPSF(double t, ePressure unit=ePSF) const; + static const double Rstar; // Universal gas constant - ft*lbf/R/mol + static const double Mair; // Mean molecular weight - slug/mol + static const double g0; // Sea-level acceleration of gravity - ft/s^2 + static double Reng; // Specific gas constant - ft*lbf/slug/R + + static const double SHRatio; + + virtual void bind(void); void Debug(int from); }; diff --git a/src/FDM/JSBSim/models/FGAuxiliary.cpp b/src/FDM/JSBSim/models/FGAuxiliary.cpp index b4eef4f31..ee5f2a6ca 100644 --- a/src/FDM/JSBSim/models/FGAuxiliary.cpp +++ b/src/FDM/JSBSim/models/FGAuxiliary.cpp @@ -68,10 +68,10 @@ FGAuxiliary::FGAuxiliary(FGFDMExec* fdmex) : FGModel(fdmex) vcas = veas = 0.0; qbar = qbarUW = qbarUV = 0.0; - Mach = MachU = MachPitot = 0.0; + Mach = MachU = 0.0; alpha = beta = 0.0; adot = bdot = 0.0; - gamma = Vt = Vground = Vpitot = 0.0; + gamma = Vt = Vground = 0.0; psigt = 0.0; day_of_year = 1; seconds_in_day = 0.0; @@ -84,8 +84,6 @@ FGAuxiliary::FGAuxiliary(FGFDMExec* fdmex) : FGModel(fdmex) vAeroUVW.InitMatrix(); vAeroPQR.InitMatrix(); vMachUVW.InitMatrix(); - vWindUVW.InitMatrix(); - vPitotUVW.InitMatrix(); vEuler.InitMatrix(); vEulerRates.InitMatrix(); @@ -106,10 +104,10 @@ bool FGAuxiliary::InitModel(void) vcas = veas = 0.0; qbar = qbarUW = qbarUV = 0.0; - Mach = MachU = MachPitot = 0.0; + Mach = MachU = 0.0; alpha = beta = 0.0; adot = bdot = 0.0; - gamma = Vt = Vground = Vpitot = 0.0; + gamma = Vt = Vground = 0.0; psigt = 0.0; day_of_year = 1; seconds_in_day = 0.0; @@ -206,20 +204,14 @@ bool FGAuxiliary::Run(bool Holding) tat = in.Temperature*(1 + 0.2*Mach*Mach); // Total Temperature, isentropic flow tatc = RankineToCelsius(tat); - // Pitot + pt = PitotTotalPressure(Mach, in.Pressure); - vWindUVW(eU) = Vt; - vPitotUVW = mTw2p * vWindUVW; - Vpitot = vPitotUVW(eU); - if (Vpitot < 0.0) Vpitot = 0.0; - MachPitot = Vpitot / in.SoundSpeed; - pt = PitotTotalPressure(MachPitot, in.Pressure); - - if (abs(MachPitot) > 0.0) { - vcas = VcalibratedFromMach(MachPitot, in.Pressure, in.PressureSL, in.DensitySL); + if (abs(Mach) > 0.0) { + vcas = VcalibratedFromMach(Mach, in.Pressure, in.PressureSL, in.DensitySL); veas = sqrt(2 * qbar / in.DensitySL); vtrue = 1116.43559 * Mach * sqrt(in.Temperature / 518.67); - } else { + } + else { vcas = veas = vtrue = 0.0; } @@ -284,23 +276,6 @@ void FGAuxiliary::UpdateWindMatrices(void) mTw2b(3,3) = ca; mTb2w = mTw2b.Transposed(); - - // The pitot frame is the same as the body frame except rotated about the - // Y axis by the pitot attachment angle. - - ca = cos(alpha + in.PitotAngle); - sa = sin(alpha + in.PitotAngle); - - mTw2p(1,1) = ca*cb; - mTw2p(1,2) = -ca*sb; - mTw2p(1,3) = -sa; - mTw2p(2,1) = sb; - mTw2p(2,2) = cb; - mTw2p(2,3) = 0.0; - mTw2p(3,1) = sa*cb; - mTw2p(3,2) = -sa*sb; - mTw2p(3,3) = ca; - } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% @@ -424,6 +399,7 @@ void FGAuxiliary::bind(void) PropertyManager->Tie("aero/h_b-cg-ft", this, &FGAuxiliary::GetHOverBCG); PropertyManager->Tie("aero/h_b-mac-ft", this, &FGAuxiliary::GetHOverBMAC); PropertyManager->Tie("flight-path/gamma-rad", this, &FGAuxiliary::GetGamma); + PropertyManager->Tie("flight-path/gamma-deg", this, inDegrees, (PMF)&FGAuxiliary::GetGamma); PropertyManager->Tie("flight-path/psi-gt-rad", this, &FGAuxiliary::GetGroundTrack); PropertyManager->Tie("position/distance-from-start-lon-mt", this, &FGAuxiliary::GetLongitudeRelativePosition); diff --git a/src/FDM/JSBSim/models/FGAuxiliary.h b/src/FDM/JSBSim/models/FGAuxiliary.h index bb8c9f23f..c7f198bdf 100644 --- a/src/FDM/JSBSim/models/FGAuxiliary.h +++ b/src/FDM/JSBSim/models/FGAuxiliary.h @@ -236,6 +236,11 @@ public: double GetGamma(void) const { return gamma; } double GetGroundTrack(void) const { return psigt; } + double GetGamma(int unit) const { + if (unit == inDegrees) return gamma*radtodeg; + else return BadUnits(); + } + double GetHeadWind(void) const; double GetCrossWind(void) const; @@ -289,7 +294,6 @@ public: FGColumnVector3 TurbPQR; double WindPsi; double Vwind; - double PitotAngle; } in; private: @@ -298,7 +302,6 @@ private: FGMatrix33 mTw2b; FGMatrix33 mTb2w; - FGMatrix33 mTw2p; FGColumnVector3 vPilotAccel; FGColumnVector3 vPilotAccelN; @@ -309,12 +312,10 @@ private: FGColumnVector3 vEuler; FGColumnVector3 vEulerRates; FGColumnVector3 vMachUVW; - FGColumnVector3 vWindUVW; - FGColumnVector3 vPitotUVW; FGLocation vLocationVRP; - double Vt, Vground, Vpitot; - double Mach, MachU, MachPitot; + double Vt, Vground; + double Mach, MachU; double qbar, qbarUW, qbarUV; double Re; // Reynolds Number = V*c/mu double alpha, beta; diff --git a/src/FDM/JSBSim/models/FGBuoyantForces.cpp b/src/FDM/JSBSim/models/FGBuoyantForces.cpp index 51ae27f01..ed3356aaa 100644 --- a/src/FDM/JSBSim/models/FGBuoyantForces.cpp +++ b/src/FDM/JSBSim/models/FGBuoyantForces.cpp @@ -123,7 +123,7 @@ bool FGBuoyantForces::Load(Element *document) Debug(2); // Perform base class Pre-Load - if (!FGModel::Load(document)) + if (!FGModel::Load(document, true)) return false; gas_cell_element = document->FindElement("gas_cell"); diff --git a/src/FDM/JSBSim/models/FGBuoyantForces.h b/src/FDM/JSBSim/models/FGBuoyantForces.h index b63d90a84..e4a0ffee1 100644 --- a/src/FDM/JSBSim/models/FGBuoyantForces.h +++ b/src/FDM/JSBSim/models/FGBuoyantForces.h @@ -128,7 +128,7 @@ public: have found the Buoyant_forces keyword in the configuration file. @param element pointer to the current XML element for Buoyant forces parameters. @return true if successful */ - bool Load(Element* element); + virtual bool Load(Element* element); /** Gets the total Buoyant force vector. @return a force vector in lbs. */ diff --git a/src/FDM/JSBSim/models/FGExternalReactions.cpp b/src/FDM/JSBSim/models/FGExternalReactions.cpp index 50304959a..46574e412 100644 --- a/src/FDM/JSBSim/models/FGExternalReactions.cpp +++ b/src/FDM/JSBSim/models/FGExternalReactions.cpp @@ -72,7 +72,7 @@ FGExternalReactions::FGExternalReactions(FGFDMExec* fdmex) : FGModel(fdmex) bool FGExternalReactions::Load(Element* el) { // Call the base class Load() function to load interface properties. - if (!FGModel::Load(el)) + if (!FGModel::Load(el, true)) return false; Debug(2); diff --git a/src/FDM/JSBSim/models/FGExternalReactions.h b/src/FDM/JSBSim/models/FGExternalReactions.h index 50766967f..9e6d1160f 100644 --- a/src/FDM/JSBSim/models/FGExternalReactions.h +++ b/src/FDM/JSBSim/models/FGExternalReactions.h @@ -155,7 +155,7 @@ public: a FGExternalForce object will be instantiated for each force definition. @param el a pointer to the XML element holding the external reactions definition. */ - bool Load(Element* el); + virtual bool Load(Element* el); /** Retrieves the total forces defined in the external reactions. @return the total force in pounds. diff --git a/src/FDM/JSBSim/models/FGFCS.cpp b/src/FDM/JSBSim/models/FGFCS.cpp index cd8c28fe5..c9276c8f5 100644 --- a/src/FDM/JSBSim/models/FGFCS.cpp +++ b/src/FDM/JSBSim/models/FGFCS.cpp @@ -490,7 +490,7 @@ bool FGFCS::Load(Element* document) } // Load interface properties from document - if (!FGModel::Load(document)) + if (!FGModel::Load(document, true)) return false; Name += document->GetAttributeValue("name"); diff --git a/src/FDM/JSBSim/models/FGFCS.h b/src/FDM/JSBSim/models/FGFCS.h index cca285672..941475b1d 100644 --- a/src/FDM/JSBSim/models/FGFCS.h +++ b/src/FDM/JSBSim/models/FGFCS.h @@ -542,7 +542,7 @@ public: Load() is called from FGFDMExec. @param el pointer to the Element instance @return true if succesful */ - bool Load(Element* el); + virtual bool Load(Element* el); SGPath FindFullPathName(const SGPath& path) const; diff --git a/src/FDM/JSBSim/models/FGGroundReactions.cpp b/src/FDM/JSBSim/models/FGGroundReactions.cpp index 1e8ae271c..0c5f48a5b 100644 --- a/src/FDM/JSBSim/models/FGGroundReactions.cpp +++ b/src/FDM/JSBSim/models/FGGroundReactions.cpp @@ -158,7 +158,7 @@ bool FGGroundReactions::Load(Element* document) Debug(2); // Perform base class Pre-Load - if (!FGModel::Load(document)) + if (!FGModel::Load(document, true)) return false; unsigned int numContacts = document->GetNumElements("contact"); diff --git a/src/FDM/JSBSim/models/FGGroundReactions.h b/src/FDM/JSBSim/models/FGGroundReactions.h index fbb89e3a4..a7ceed967 100644 --- a/src/FDM/JSBSim/models/FGGroundReactions.h +++ b/src/FDM/JSBSim/models/FGGroundReactions.h @@ -93,7 +93,7 @@ public: "Resume" command to be given. @return false if no error */ bool Run(bool Holding); - bool Load(Element* el); + virtual bool Load(Element* el); const FGColumnVector3& GetForces(void) const {return vForces;} double GetForces(int idx) const {return vForces(idx);} const FGColumnVector3& GetMoments(void) const {return vMoments;} diff --git a/src/FDM/JSBSim/models/FGMassBalance.cpp b/src/FDM/JSBSim/models/FGMassBalance.cpp index 33eb377f7..58fb622a8 100644 --- a/src/FDM/JSBSim/models/FGMassBalance.cpp +++ b/src/FDM/JSBSim/models/FGMassBalance.cpp @@ -134,7 +134,7 @@ bool FGMassBalance::Load(Element* document) Name = "Mass Properties Model: " + document->GetAttributeValue("name"); // Perform base class Pre-Load - if (!FGModel::Load(document)) + if (!FGModel::Load(document, true)) return false; SetAircraftBaseInertias(ReadInertiaMatrix(document)); diff --git a/src/FDM/JSBSim/models/FGMassBalance.h b/src/FDM/JSBSim/models/FGMassBalance.h index fba04d9df..b7c31176c 100644 --- a/src/FDM/JSBSim/models/FGMassBalance.h +++ b/src/FDM/JSBSim/models/FGMassBalance.h @@ -111,7 +111,7 @@ public: FGMassBalance(FGFDMExec*); ~FGMassBalance(); - bool Load(Element* el); + virtual bool Load(Element* el); bool InitModel(void); /** Runs the Mass Balance model; called by the Executive Can pass in a value indicating if the executive is directing the simulation to Hold. diff --git a/src/FDM/JSBSim/models/FGModel.cpp b/src/FDM/JSBSim/models/FGModel.cpp index c73bf7011..85f1a5c51 100644 --- a/src/FDM/JSBSim/models/FGModel.cpp +++ b/src/FDM/JSBSim/models/FGModel.cpp @@ -110,7 +110,7 @@ SGPath FGModel::FindFullPathName(const SGPath& path) const //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -bool FGModel::Load(Element* el) +bool FGModel::Load(Element* el, bool preLoad) { FGModelLoader ModelLoader(this); Element* document = ModelLoader.Open(el); @@ -124,17 +124,21 @@ bool FGModel::Load(Element* el) return false; } - bool result = FGModelFunctions::Load(document, PropertyManager); + bool result = true; + + if (preLoad) + result = FGModelFunctions::Load(document, PropertyManager); if (document != el) { el->MergeAttributes(document); - // After reading interface properties in a file, read properties in the - // local model element. This allows general-purpose models to be defined in - // a file, with overrides or initial loaded constants supplied in the - // relevant element of the aircraft configuration file. - - LocalProperties.Load(el, PropertyManager, true); + if (preLoad) { + // After reading interface properties in a file, read properties in the + // local model element. This allows general-purpose models to be defined + // in a file, with overrides or initial loaded constants supplied in the + // relevant element of the aircraft configuration file. + LocalProperties.Load(el, PropertyManager, true); + } Element* element = document->FindElement(); while (element) { diff --git a/src/FDM/JSBSim/models/FGModel.h b/src/FDM/JSBSim/models/FGModel.h index a436e41c3..aa254ab6e 100644 --- a/src/FDM/JSBSim/models/FGModel.h +++ b/src/FDM/JSBSim/models/FGModel.h @@ -108,9 +108,11 @@ protected: unsigned int rate; /** Loads this model. - @param el a pointer to the element + @param el a pointer to the element + @param preLoad true if model functions and local properties must be + preloaded. @return true if model is successfully loaded*/ - virtual bool Load(Element* el); + virtual bool Load(Element* el, bool preLoad); virtual void Debug(int from); diff --git a/src/FDM/JSBSim/models/FGOutput.cpp b/src/FDM/JSBSim/models/FGOutput.cpp index d7e15e8b2..88a200a44 100644 --- a/src/FDM/JSBSim/models/FGOutput.cpp +++ b/src/FDM/JSBSim/models/FGOutput.cpp @@ -44,10 +44,10 @@ INCLUDES #include "input_output/FGOutputSocket.h" #include "input_output/FGOutputTextFile.h" #include "input_output/FGOutputFG.h" -#include "input_output/FGUDPOutputSocket.h" #include "input_output/FGXMLFileRead.h" #include "input_output/FGXMLElement.h" #include "input_output/FGModelLoader.h" +#include "math/FGTemplateFunc.h" using namespace std; @@ -76,9 +76,9 @@ FGOutput::FGOutput(FGFDMExec* fdmex) : FGModel(fdmex) FGOutput::~FGOutput() { - vector::iterator it; - for (it = OutputTypes.begin(); it != OutputTypes.end(); ++it) - delete (*it); + vector::iterator itv; + for (itv = OutputTypes.begin(); itv != OutputTypes.end(); ++itv) + delete (*itv); Debug(1); } @@ -221,9 +221,6 @@ bool FGOutput::Load(int subSystems, std::string protocol, std::string type, } else if (type == "FLIGHTGEAR") { Output = new FGOutputFG(FDMExec); name += ":" + port + "/" + protocol; - } else if (type == "QTJSBSIM") { - Output = new FGUDPOutputSocket(FDMExec); - name += ":" + port + "/" + protocol; } else if (type == "TERMINAL") { // Not done yet } else if (type != string("NONE")) { @@ -246,22 +243,30 @@ bool FGOutput::Load(int subSystems, std::string protocol, std::string type, //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -bool FGOutput::Load(Element* el) +bool FGOutput::Load(Element* document, const SGPath& dir) { - // Unlike the other FGModel classes, properties listed in the section - // are not intended to create new properties. For that reason, FGOutput - // cannot load its XML directives with FGModel::Load(). - // Instead FGModelLoader::Open() and FGModel::PreLoad() must be explicitely - // called. - FGModelLoader ModelLoader(this); - Element* element = ModelLoader.Open(el); + // Optional path to use for included files + includePath = dir; - if (!element) return false; + // Perform base class Pre-Load + if (!FGModel::Load(document, false)) + return false; - FGModel::PreLoad(element, PropertyManager); + Element *function = document->FindElement("function"); + + while (function) { + string fType = function->GetAttributeValue("type"); + + if (fType == "template") { + string name = function->GetAttributeValue("name"); + TemplateFunctions[name] = new FGTemplateFunc(PropertyManager, function); + } + + function = document->FindNextElement("function"); + } size_t idx = OutputTypes.size(); - string type = element->GetAttributeValue("type"); + string type = document->GetAttributeValue("type"); FGOutputType* Output = 0; if (debug_lvl > 0) cout << endl << " Output data set: " << idx << " " << endl; @@ -276,8 +281,6 @@ bool FGOutput::Load(Element* el) Output = new FGOutputSocket(FDMExec); } else if (type == "FLIGHTGEAR") { Output = new FGOutputFG(FDMExec); - } else if (type == "QTJSBSIM") { - Output = new FGUDPOutputSocket(FDMExec); } else if (type == "TERMINAL") { // Not done yet } else if (type != string("NONE")) { @@ -287,8 +290,9 @@ bool FGOutput::Load(Element* el) if (!Output) return false; Output->SetIdx(idx); - Output->Load(element); - PostLoad(element, PropertyManager); + Output->PreLoad(document, PropertyManager); + Output->Load(document); + Output->PostLoad(document, PropertyManager); OutputTypes.push_back(Output); @@ -296,6 +300,19 @@ bool FGOutput::Load(Element* el) return true; } +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +SGPath FGOutput::FindFullPathName(const SGPath& path) const +{ + // Check optional include path if set + if (!includePath.isNull()) { + SGPath name = CheckPathName(includePath, path); + if (!name.isNull()) return name; + } + + return FGModel::FindFullPathName(path); +} + //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% // The bitmasked value choices are as follows: // unset: In this case (the default) JSBSim would only print diff --git a/src/FDM/JSBSim/models/FGOutput.h b/src/FDM/JSBSim/models/FGOutput.h index 9c7062247..b5b7396b7 100644 --- a/src/FDM/JSBSim/models/FGOutput.h +++ b/src/FDM/JSBSim/models/FGOutput.h @@ -42,6 +42,7 @@ INCLUDES #include "FGModel.h" #include "input_output/FGOutputType.h" +#include "math/FGTemplateFunc.h" /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% DEFINITIONS @@ -199,8 +200,9 @@ public: /** Load the output directives and adds a new output instance to the Output Manager list. @param el XMLElement that is pointing to the output directives + @param dir optional directory path to load included files from @result true if the execution succeeded. */ - bool Load(Element* el); + virtual bool Load(Element* el, const SGPath& dir = SGPath()); /** Load the output directives and adds a new output instance to the Output Manager list. Unlike the Load() method, the new output instance is not generated from output directives read in a XML file but from a list of @@ -222,9 +224,20 @@ public: @result the name identifier.*/ std::string GetOutputName(unsigned int idx) const; + SGPath FindFullPathName(const SGPath& path) const; + + FGTemplateFunc* GetTemplateFunc(const std::string& name) { + if (TemplateFunctions.count(name)) + return TemplateFunctions[name]; + else + return NULL; + } + private: std::vector OutputTypes; + std::map TemplateFunctions; bool enabled; + SGPath includePath; void Debug(int from); }; diff --git a/src/FDM/JSBSim/models/FGPropulsion.cpp b/src/FDM/JSBSim/models/FGPropulsion.cpp index 561182ce3..ef9227b83 100644 --- a/src/FDM/JSBSim/models/FGPropulsion.cpp +++ b/src/FDM/JSBSim/models/FGPropulsion.cpp @@ -373,7 +373,7 @@ bool FGPropulsion::Load(Element* el) Name = "Propulsion Model: " + el->GetAttributeValue("name"); // Perform base class Pre-Load - if (!FGModel::Load(el)) + if (!FGModel::Load(el, true)) return false; // Process tank definitions first to establish the number of fuel tanks diff --git a/src/FDM/JSBSim/models/FGPropulsion.h b/src/FDM/JSBSim/models/FGPropulsion.h index 728b7c916..b842ffdd4 100644 --- a/src/FDM/JSBSim/models/FGPropulsion.h +++ b/src/FDM/JSBSim/models/FGPropulsion.h @@ -128,7 +128,7 @@ public: Characteristics of the propulsion system are read in from the config file. @param el pointer to an XML element that contains the engine information. @return true if successfully loaded, otherwise false */ - bool Load(Element* el); + virtual bool Load(Element* el); /// Retrieves the number of engines defined for the aircraft. unsigned int GetNumEngines(void) const {return (unsigned int)Engines.size();} diff --git a/src/FDM/JSBSim/models/atmosphere/FGStandardAtmosphere.cpp b/src/FDM/JSBSim/models/atmosphere/FGStandardAtmosphere.cpp index a5f6e8e54..0cc46a259 100644 --- a/src/FDM/JSBSim/models/atmosphere/FGStandardAtmosphere.cpp +++ b/src/FDM/JSBSim/models/atmosphere/FGStandardAtmosphere.cpp @@ -57,14 +57,16 @@ IDENT(IdHdr,ID_STANDARDATMOSPHERE); CLASS IMPLEMENTATION %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -FGStandardAtmosphere::FGStandardAtmosphere(FGFDMExec* fdmex) : FGAtmosphere(fdmex), - TemperatureBias(0.0), - TemperatureDeltaGradient(0.0) +// Effective radius of the earth at a specific latitude per ISA 1976 (converted to ft) +// r0 = 6356766 m +const double FGStandardAtmosphere::EarthRadius = 6356766.0/FGJSBBase::fttom; + +FGStandardAtmosphere::FGStandardAtmosphere(FGFDMExec* fdmex) + : FGAtmosphere(fdmex), TemperatureBias(0.0), TemperatureDeltaGradient(0.0), + StdAtmosTemperatureTable(9) { Name = "FGStandardAtmosphere"; - StdAtmosTemperatureTable = new FGTable(9); - // This is the U.S. Standard Atmosphere table for temperature in degrees // Rankine, based on geometric altitude. The table values are often given // in literature relative to geopotential altitude. @@ -72,36 +74,35 @@ FGStandardAtmosphere::FGStandardAtmosphere(FGFDMExec* fdmex) : FGAtmosphere(fdme // GeoMet Alt Temp GeoPot Alt GeoMet Alt // (ft) (deg R) (km) (km) // -------- -------- ---------- ---------- - //*StdAtmosTemperatureTable << 0.00 << 518.67 // 0.000 0.000 - // << 36151.80 << 389.97 // 11.000 11.019 - // << 65823.90 << 389.97 // 20.000 20.063 - // << 105518.06 << 411.60 // 32.000 32.162 - // << 155348.07 << 487.20 // 47.000 47.350 - // << 168676.12 << 487.20 // 51.000 51.413 - // << 235570.77 << 386.40 // 71.000 71.802 - // << 282152.08 << 336.50 // 84.852 86.000 - // << 298556.40 << 336.50; // 91.000 - First layer in high altitude regime + //StdAtmosTemperatureTable << 0.00 << 518.67 // 0.000 0.000 + // << 36151.80 << 389.97 // 11.000 11.019 + // << 65823.90 << 389.97 // 20.000 20.063 + // << 105518.06 << 411.60 // 32.000 32.162 + // << 155348.07 << 487.20 // 47.000 47.350 + // << 168676.12 << 487.20 // 51.000 51.413 + // << 235570.77 << 386.40 // 71.000 71.802 + // << 282152.08 << 336.50 // 84.852 86.000 + // << 298556.40 << 336.50; // 91.000 - First layer in high altitude regime // GeoPot Alt Temp GeoPot Alt GeoMet Alt // (ft) (deg R) (km) (km) // ----------- -------- ---------- ---------- - *StdAtmosTemperatureTable << 0.0000 << 518.67 // 0.000 0.000 - << 36089.2388 << 389.97 // 11.000 11.019 - << 65616.7979 << 389.97 // 20.000 20.063 - << 104986.8766 << 411.57 // 32.000 32.162 - << 154199.4751 << 487.17 // 47.000 47.350 - << 167322.8346 << 487.17 // 51.000 51.413 - << 232939.6325 << 386.37 // 71.000 71.802 - << 278385.8268 << 336.50 // 84.852 86.000 - << 298556.40 << 336.50; // 91.000 - First layer in high altitude regime + StdAtmosTemperatureTable << 0.0000 << 518.67 // 0.000 0.000 + << 36089.2388 << 389.97 // 11.000 11.019 + << 65616.7979 << 389.97 // 20.000 20.063 + << 104986.8766 << 411.57 // 32.000 32.162 + << 154199.4751 << 487.17 // 47.000 47.350 + << 167322.8346 << 487.17 // 51.000 51.413 + << 232939.6325 << 386.37 // 71.000 71.802 + << 278385.8268 << 336.5028 // 84.852 86.000 + << 298556.4304 << 336.5028; // 91.000 - First layer in high altitude regime - LapseRateVector.resize(StdAtmosTemperatureTable->GetNumRows()-1); - PressureBreakpointVector.resize(StdAtmosTemperatureTable->GetNumRows()); + PressureBreakpointVector.resize(StdAtmosTemperatureTable.GetNumRows()); // Assume the altitude to fade out the gradient at is at the highest // altitude in the table. Above that, other functions are used to // calculate temperature. - GradientFadeoutAltitude = (*StdAtmosTemperatureTable)(StdAtmosTemperatureTable->GetNumRows(),0); + GradientFadeoutAltitude = StdAtmosTemperatureTable(StdAtmosTemperatureTable.GetNumRows(),0); bind(); Debug(0); @@ -111,8 +112,6 @@ FGStandardAtmosphere::FGStandardAtmosphere(FGFDMExec* fdmex) : FGAtmosphere(fdme FGStandardAtmosphere::~FGStandardAtmosphere() { - delete StdAtmosTemperatureTable; - LapseRateVector.clear(); Debug(1); } @@ -120,16 +119,22 @@ FGStandardAtmosphere::~FGStandardAtmosphere() bool FGStandardAtmosphere::InitModel(void) { - PressureBreakpointVector[0] = StdSLpressure = 2116.22; // psf + PressureBreakpointVector[0] = StdSLpressure = SLpressure = Pressure = 2116.228; // psf TemperatureDeltaGradient = 0.0; TemperatureBias = 0.0; CalculateLapseRates(); CalculatePressureBreakpoints(); + + StdSLtemperature = SLtemperature = StdAtmosTemperatureTable(1, 1); + StdSLdensity = SLdensity = StdSLpressure / (Reng * StdSLtemperature); + + StdPressureBreakpointVector = PressureBreakpointVector; + + CalculateStdDensityBreakpoints(); + Calculate(0.0); - StdSLtemperature = SLtemperature = Temperature; - SLpressure = Pressure; - StdSLdensity = SLdensity = Density; - StdSLsoundspeed = SLsoundspeed = Soundspeed; + + StdSLsoundspeed = SLsoundspeed = Soundspeed; rSLtemperature = 1/SLtemperature ; rSLpressure = 1/SLpressure ; @@ -143,43 +148,39 @@ bool FGStandardAtmosphere::InitModel(void) //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% // Get the actual pressure as modeled at a specified altitude -// These calculations are from equations 33a and 33b in the U.S. Standard Atmosphere -// document referenced in the documentation for this code. +// These calculations are from equations 33a and 33b in the U.S. Standard +// Atmosphere document referenced in the documentation for this code. double FGStandardAtmosphere::GetPressure(double altitude) const { - unsigned int b=0; - double pressure = 0.0; - double Lmb, Exp, Tmb, deltaH, factor; - double numRows = StdAtmosTemperatureTable->GetNumRows(); + double GeoPotAlt = GeopotentialAltitude(altitude); // Iterate through the altitudes to find the current Base Altitude // in the table. That is, if the current altitude (the argument passed in) // is 20000 ft, then the base altitude from the table is 0.0. If the // passed-in altitude is 40000 ft, the base altitude is 36089.2388 ft (and // the index "b" is 2 - the second entry in the table). - double testAlt = (*StdAtmosTemperatureTable)(b+1,0); - double GeoPotAlt = (altitude*20855531.5)/(20855531.5+altitude); - while ((GeoPotAlt >= testAlt) && (b <= numRows-2)) { - b++; - testAlt = (*StdAtmosTemperatureTable)(b+1,0); - } - if (b>0) b--; + double BaseAlt = StdAtmosTemperatureTable(1,0); + unsigned int numRows = StdAtmosTemperatureTable.GetNumRows(); + unsigned int b; - double BaseAlt = (*StdAtmosTemperatureTable)(b+1,0); - Tmb = GetTemperature(BaseAlt); - deltaH = GeoPotAlt - BaseAlt; - - if (LapseRateVector[b] != 0.00) { - Lmb = LapseRateVector[b]; - Exp = Mair/(Rstar*Lmb); - factor = Tmb/(Tmb + Lmb*deltaH); - pressure = PressureBreakpointVector[b]*pow(factor, Exp); - } else { - pressure = PressureBreakpointVector[b]*exp(-Mair*deltaH/(Rstar*Tmb)); + for (b=0; b < numRows-2; ++b) { + double testAlt = StdAtmosTemperatureTable(b+2,0); + if (GeoPotAlt < testAlt) + break; + BaseAlt = testAlt; } - return pressure; + double Tmb = GetTemperature(GeometricAltitude(BaseAlt)); + double deltaH = GeoPotAlt - BaseAlt; + double Lmb = LapseRateVector[b]; + + if (Lmb != 0.0) { + double Exp = g0*Mair / (Rstar*Lmb); + double factor = Tmb/(Tmb + Lmb*deltaH); + return PressureBreakpointVector[b]*pow(factor, Exp); + } else + return PressureBreakpointVector[b]*exp(-g0*Mair*deltaH/(Rstar*Tmb)); } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% @@ -198,11 +199,23 @@ void FGStandardAtmosphere::SetPressureSL(ePressure unit, double pressure) double FGStandardAtmosphere::GetTemperature(double altitude) const { - double GeoPotAlt = (altitude*20855531.5)/(20855531.5+altitude); + double GeoPotAlt = GeopotentialAltitude(altitude); - double T = StdAtmosTemperatureTable->GetValue(GeoPotAlt) + TemperatureBias; - if (altitude <= GradientFadeoutAltitude) - T += TemperatureDeltaGradient * (GradientFadeoutAltitude - altitude); + double T; + + if (GeoPotAlt >= 0.0) { + T = StdAtmosTemperatureTable.GetValue(GeoPotAlt); + + if (GeoPotAlt <= GradientFadeoutAltitude) + T -= TemperatureDeltaGradient * GeoPotAlt; + } + else { + // We don't need to add TemperatureDeltaGradient*GeoPotAlt here because + // the lapse rate vector already accounts for the temperature gradient. + T = StdAtmosTemperatureTable.GetValue(0.0) + GeoPotAlt*LapseRateVector[0]; + } + + T += TemperatureBias + TemperatureDeltaGradient * GradientFadeoutAltitude; return T; } @@ -218,8 +231,12 @@ double FGStandardAtmosphere::GetStdTemperature(double altitude) const if (altitude < 298556.4) { // 91 km - station 8 - double GeoPotAlt = (altitude*20855531.5)/(20855531.5+altitude); - temp = StdAtmosTemperatureTable->GetValue(GeoPotAlt); + double GeoPotAlt = GeopotentialAltitude(altitude); + + if (GeoPotAlt >= 0.0) + temp = StdAtmosTemperatureTable.GetValue(GeoPotAlt); + else + temp = StdAtmosTemperatureTable.GetValue(0.0) + GeoPotAlt*LapseRateVector[0]; } else if (altitude < 360892.4) { // 110 km - station 9 @@ -244,42 +261,34 @@ double FGStandardAtmosphere::GetStdTemperature(double altitude) const double FGStandardAtmosphere::GetStdPressure(double altitude) const { - double press=0; - if (TemperatureBias == 0.0 && TemperatureDeltaGradient == 0.0 && PressureBreakpointVector[0] == StdSLpressure) { - press = GetPressure(altitude); - } else if (altitude <= 100000.0) { - GetStdPressure100K(altitude); - } else { - // Cannot currently retrieve the standard pressure + double GeoPotAlt = GeopotentialAltitude(altitude); + + // Iterate through the altitudes to find the current Base Altitude + // in the table. That is, if the current altitude (the argument passed in) + // is 20000 ft, then the base altitude from the table is 0.0. If the + // passed-in altitude is 40000 ft, the base altitude is 36089.2388 ft (and + // the index "b" is 2 - the second entry in the table). + double BaseAlt = StdAtmosTemperatureTable(1,0); + unsigned int numRows = StdAtmosTemperatureTable.GetNumRows(); + unsigned int b; + + for (b=0; b < numRows-2; ++b) { + double testAlt = StdAtmosTemperatureTable(b+2,0); + if (GeoPotAlt < testAlt) + break; + BaseAlt = testAlt; } - return press; -} -//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% -// This function calculates an approximation of the standard atmospheric pressure -// up to an altitude of about 100,000 ft. If the temperature and pressure are not -// altered for local conditions, the GetPressure(h) function should be used, -// as that is valid to a much higher altitude. This function is accurate to within -// a couple of psf up to 100K ft. This polynomial fit was determined using Excel. + double Tmb = GetStdTemperature(GeometricAltitude(BaseAlt)); + double deltaH = GeoPotAlt - BaseAlt; + double Lmb = LapseRateVector[b]; -double FGStandardAtmosphere::GetStdPressure100K(double altitude) const -{ - // Limit this equation to input altitudes of 100000 ft. - if (altitude > 100000.0) altitude = 100000.0; - - double alt[5]; - const double coef[5] = { 2116.217, - -7.648932746E-2, - 1.0925498604E-6, - -7.1135726027E-12, - 1.7470331356E-17 }; - - alt[0] = 1; - for (int pwr=1; pwr<=4; pwr++) alt[pwr] = alt[pwr-1]*altitude; - - double press = 0.0; - for (int ctr=0; ctr<=4; ctr++) press += coef[ctr]*alt[ctr]; - return press; + if (Lmb != 0.0) { + double Exp = g0*Mair / (Rstar*Lmb); + double factor = Tmb/(Tmb + Lmb*deltaH); + return StdPressureBreakpointVector[b]*pow(factor, Exp); + } else + return StdPressureBreakpointVector[b]*exp(-g0*Mair*deltaH/(Rstar*Tmb)); } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% @@ -343,7 +352,7 @@ void FGStandardAtmosphere::SetTemperatureGradedDelta(double deltemp, double h, e if (unit == eCelsius || unit == eKelvin) deltemp *= 1.80; // If temp delta "t" is given in metric, scale up to English - TemperatureDeltaGradient = deltemp/(GradientFadeoutAltitude - h); + TemperatureDeltaGradient = deltemp/(GradientFadeoutAltitude - GeopotentialAltitude(h)); CalculateLapseRates(); CalculatePressureBreakpoints(); } @@ -376,13 +385,16 @@ void FGStandardAtmosphere::SetTemperatureGradedDelta(double deltemp, double h, e void FGStandardAtmosphere::CalculateLapseRates() { - for (unsigned int bh=0; bh= StdDensityBreakpointVector[b + 1]) + break; + } + + // Get layer properties + double Tmb = StdAtmosTemperatureTable(b + 1, 1); + double Hb = StdAtmosTemperatureTable(b + 1, 0); + double UpperTemp = StdAtmosTemperatureTable(b + 2, 1); + double UpperAlt = StdAtmosTemperatureTable(b + 2, 0); + double deltaH = UpperAlt - Hb; + double Lmb = (UpperTemp - Tmb) / deltaH; + double pb = StdDensityBreakpointVector[b]; + + double density_altitude = 0.0; + + // https://en.wikipedia.org/wiki/Barometric_formula for density solved for H + if (Lmb != 0.0) { + double Exp = -1.0 / (1.0 + (g0*Mair)/(Rstar*Lmb)); + density_altitude = Hb + (Tmb / Lmb) * (pow(density / pb, Exp) - 1); + } else { + double Factor = -(Rstar*Tmb) / (g0*Mair); + density_altitude = Hb + Factor * log(density / pb); + } + + return GeometricAltitude(density_altitude); +} + +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +double FGStandardAtmosphere::CalculatePressureAltitude(double pressure, double geometricAlt) +{ + // Work out which layer we're dealing with + unsigned int b = 0; + for (; b < StdPressureBreakpointVector.size() - 2; b++) { + if (pressure >= StdPressureBreakpointVector[b + 1]) + break; + } + + // Get layer properties + double Tmb = StdAtmosTemperatureTable(b + 1, 1); + double Hb = StdAtmosTemperatureTable(b + 1, 0); + double UpperTemp = StdAtmosTemperatureTable(b + 2, 1); + double UpperAlt = StdAtmosTemperatureTable(b + 2, 0); + double deltaH = UpperAlt - Hb; + double Lmb = (UpperTemp - Tmb) / deltaH; + double Pb = StdPressureBreakpointVector[b]; + + double pressure_altitude = 0.0; + + if (Lmb != 0.00) { + // Equation 33(a) from ISA document solved for H + double Exp = -(Rstar*Lmb) / (g0*Mair); + pressure_altitude = Hb + (Tmb / Lmb) * (pow(pressure / Pb, Exp) - 1); + } else { + // Equation 33(b) from ISA document solved for H + double Factor = -(Rstar*Tmb) / (g0*Mair); + pressure_altitude = Hb + Factor * log(pressure / Pb); + } + + return GeometricAltitude(pressure_altitude); +} + +//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + void FGStandardAtmosphere::bind(void) { typedef double (FGStandardAtmosphere::*PMFi)(int) const; diff --git a/src/FDM/JSBSim/models/atmosphere/FGStandardAtmosphere.h b/src/FDM/JSBSim/models/atmosphere/FGStandardAtmosphere.h index ec2e24aba..0c5fef10a 100644 --- a/src/FDM/JSBSim/models/atmosphere/FGStandardAtmosphere.h +++ b/src/FDM/JSBSim/models/atmosphere/FGStandardAtmosphere.h @@ -217,9 +217,6 @@ public: /// Returns the pressure at a specified altitude in psf. virtual double GetPressure(double altitude) const; - /// Returns the standard pressure at a specified altitude in psf - virtual double GetStdPressure100K(double altitude) const; - /// Returns the standard pressure at the specified altitude. virtual double GetStdPressure(double altitude) const; @@ -253,9 +250,11 @@ protected: double TemperatureDeltaGradient; double GradientFadeoutAltitude; - FGTable* StdAtmosTemperatureTable; + FGTable StdAtmosTemperatureTable; std::vector LapseRateVector; std::vector PressureBreakpointVector; + std::vector StdPressureBreakpointVector; + std::vector StdDensityBreakpointVector; /// Recalculate the lapse rate vectors when the temperature profile is altered /// in a way that would change the lapse rates, such as when a gradient is applied. @@ -266,8 +265,42 @@ protected: /// altitudes in the standard temperature table. void CalculatePressureBreakpoints(); + /// Calculate the atmospheric density breakpoints at the + /// altitudes in the standard temperature table. + void CalculateStdDensityBreakpoints(); + + /// Convert a geometric altitude to a geopotential altitude + double GeopotentialAltitude(double geometalt) const { return (geometalt * EarthRadius) / (EarthRadius + geometalt); } + + /// Convert a geopotential altitude to a geometric altitude + double GeometricAltitude(double geopotalt) const { return (geopotalt * EarthRadius) / (EarthRadius - geopotalt); } + + /** Calculates the density altitude given any temperature or pressure bias. + Calculated density for the specified geometric altitude given any temperature + or pressure biases is passed in. + @param density + @param geometricAlt + @see + https://en.wikipedia.org/wiki/Density_altitude + https://wahiduddin.net/calc/density_altitude.htm + */ + virtual double CalculateDensityAltitude(double density, double geometricAlt); + + /** Calculates the pressure altitude given any temperature or pressure bias. + Calculated density for the specified geometric altitude given any temperature + or pressure biases is passed in. + @param pressure + @param geometricAlt + @see + https://en.wikipedia.org/wiki/Pressure_altitude + */ + virtual double CalculatePressureAltitude(double pressure, double geometricAlt); + virtual void bind(void); void Debug(int from); + + /// Earth radius in ft as defined for ISA 1976 + static const double EarthRadius; }; } // namespace JSBSim diff --git a/src/FDM/JSBSim/models/flight_control/FGDeadBand.h b/src/FDM/JSBSim/models/flight_control/FGDeadBand.h index d1aab83e1..5162f880c 100644 --- a/src/FDM/JSBSim/models/flight_control/FGDeadBand.h +++ b/src/FDM/JSBSim/models/flight_control/FGDeadBand.h @@ -43,7 +43,7 @@ INCLUDES DEFINITIONS %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -#define ID_DEADBAND "$Id: FGDeadBand.h,v 1.10 2013/01/26 17:06:50 bcoconni Exp $" +#define ID_DEADBAND "$Id$" /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% FORWARD DECLARATIONS @@ -79,7 +79,7 @@ CLASS DOCUMENTATION produce no output. For example, say that the width value is 2.0. If the input is between -1.0 and +1.0, the output will be zero. @author Jon S. Berndt - @version $Id: FGDeadBand.h,v 1.10 2013/01/26 17:06:50 bcoconni Exp $ + @version $Id$ */ /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% diff --git a/src/FDM/JSBSim/models/flight_control/FGGain.h b/src/FDM/JSBSim/models/flight_control/FGGain.h index 2105ff2a1..9726fb0ad 100644 --- a/src/FDM/JSBSim/models/flight_control/FGGain.h +++ b/src/FDM/JSBSim/models/flight_control/FGGain.h @@ -44,7 +44,7 @@ INCLUDES DEFINITIONS %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ -#define ID_GAIN "$Id: FGGain.h,v 1.15 2013/01/26 17:06:50 bcoconni Exp $" +#define ID_GAIN "$Id$" /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% FORWARD DECLARATIONS @@ -208,7 +208,7 @@ CLASS DOCUMENTATION @endcode @author Jon S. Berndt - @version $Revision: 1.15 $ + @version $Revision$ */ /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% diff --git a/src/FDM/JSBSim/models/propulsion/FGPropeller.h b/src/FDM/JSBSim/models/propulsion/FGPropeller.h index 57c442c50..720e05058 100644 --- a/src/FDM/JSBSim/models/propulsion/FGPropeller.h +++ b/src/FDM/JSBSim/models/propulsion/FGPropeller.h @@ -64,6 +64,7 @@ CLASS DOCUMENTATION ~~~{.xml} {1 | -1} + {number} {number} {number} @@ -75,7 +76,6 @@ CLASS DOCUMENTATION {number} {number} {number} - {number} {number} {number} @@ -122,7 +122,8 @@ CLASS DOCUMENTATION \ - Direction of rotation (1=clockwise as viewed from cockpit, -1=anti-clockwise as viewed from cockpit). Sense is specified in the parent tag of the propeller. - \ - P factor. + \ - P factor. It is specified in the parent tag of + the propeller. \ - A multiplier for the coefficients of thrust. \ - A multiplier for the coefficients of power. @@ -133,6 +134,11 @@ coefficient of power (Cp). Two tables are optional. They apply a factor to Ct and Cp based on the helical tip Mach. +The parameters and must be specified at the parent level i.e. +in the element. This allows to specify different sense and P factor +values for each propeller of the model while using the same definition file for +all the propellers. + In addition to thrust, the propeller applies two moments to the aircraft: - The torque that tends to roll the aircraft in the direction opposite to the propeller rotation,