diff --git a/src/FDM/JSBSim.cxx b/src/FDM/JSBSim.cxx
index d45f0bb5c..c7dd94bb8 100644
--- a/src/FDM/JSBSim.cxx
+++ b/src/FDM/JSBSim.cxx
@@ -373,9 +373,9 @@ bool FGJSBsim::copy_from_JSBsim() {
Aircraft->GetNcg()(2),
Aircraft->GetNcg()(3) );
- _set_Accels_Pilot_Body( Auxiliary->GetNpilot()(1),
- Auxiliary->GetNpilot()(2),
- Auxiliary->GetNpilot()(3) );
+ _set_Accels_Pilot_Body( Auxiliary->GetPilotAccel()(1),
+ Auxiliary->GetPilotAccel()(2),
+ Auxiliary->GetPilotAccel()(3) );
// _set_Accels_Pilot_Body_N( Auxiliary->GetPilotAccel()(1)/32.1739,
// Auxiliary->GetNpilot(2)/32.1739,
diff --git a/src/FDM/JSBSim/FGAircraft.h b/src/FDM/JSBSim/FGAircraft.h
index 240d75259..b9624792d 100644
--- a/src/FDM/JSBSim/FGAircraft.h
+++ b/src/FDM/JSBSim/FGAircraft.h
@@ -145,7 +145,9 @@ public:
inline double Getvbarh(void) { return vbarh; } // H. Tail Volume
inline double Getvbarv(void) { return vbarv; } // V. Tail Volume
inline FGColumnVector3& GetMoments(void) { return vMoments; }
+ inline double GetMoments(int idx) { return vMoments(idx); }
inline FGColumnVector3& GetForces(void) { return vForces; }
+ inline double GetForces(int idx) { return vForces(idx); }
inline FGColumnVector3& GetBodyAccel(void) { return vBodyAccel; }
inline FGColumnVector3& GetNcg (void) { return vNcg; }
inline FGColumnVector3& GetXYZrp(void) { return vXYZrp; }
diff --git a/src/FDM/JSBSim/FGAuxiliary.cpp b/src/FDM/JSBSim/FGAuxiliary.cpp
index d744579d3..84232e89b 100644
--- a/src/FDM/JSBSim/FGAuxiliary.cpp
+++ b/src/FDM/JSBSim/FGAuxiliary.cpp
@@ -145,14 +145,18 @@ bool FGAuxiliary::Run()
// mass, the acceleration vector is calculated. The term wdot is equivalent
// to the JSBSim vPQRdot vector, and the w parameter is equivalent to vPQR.
// The radius R is calculated below in the vector vToEyePt.
-
- vToEyePt = Aircraft->GetXYZep() - MassBalance->GetXYZcg();
-
- vPilotAccel = Aircraft->GetBodyAccel()
- + Rotation->GetPQRdot() * vToEyePt
- + Rotation->GetPQR() * (Rotation->GetPQR() * vToEyePt)
- + Inertial->GetGravity();
+
+ vPilotAccel.InitMatrix();
+ if( Translation->GetVt() > 1 ) {
+ vToEyePt = Aircraft->GetXYZep() - MassBalance->GetXYZcg();
+ vPilotAccel = Aerodynamics->GetForces()
+ + Propulsion->GetForces()
+ + GroundReactions->GetForces();
+ vPilotAccel /= MassBalance->GetMass();
+ vPilotAccel += Rotation->GetPQRdot() * vToEyePt;
+ vPilotAccel += Rotation->GetPQR() * (Rotation->GetPQR() * vToEyePt);
+ }
earthPosAngle += State->Getdt()*Inertial->omega();
return false;
} else {
diff --git a/src/FDM/JSBSim/FGInitialCondition.cpp b/src/FDM/JSBSim/FGInitialCondition.cpp
index a76ef2a92..1b70824ad 100644
--- a/src/FDM/JSBSim/FGInitialCondition.cpp
+++ b/src/FDM/JSBSim/FGInitialCondition.cpp
@@ -671,7 +671,6 @@ bool FGInitialCondition::solve(double *y,double x)
i=0;
while ((fabs(d) > eps) && (i < 100)) {
d=(x3-x1)/d0;
- cout << "f3-f1= " << f3-f1 << endl;
x2 = x1-d*d0*f1/(f3-f1);
f2=(this->*sfunc)(x2)-x;
diff --git a/src/FDM/JSBSim/FGOutput.cpp b/src/FDM/JSBSim/FGOutput.cpp
index 5b1d3501a..77bd0f663 100644
--- a/src/FDM/JSBSim/FGOutput.cpp
+++ b/src/FDM/JSBSim/FGOutput.cpp
@@ -69,9 +69,6 @@ FGOutput::FGOutput(FGFDMExec* fdmex) : FGModel(fdmex)
SubSystems = 0;
enabled = true;
-#ifdef FG_WITH_JSBSIM_SOCKET
- socket = new FGfdmSocket("localhost",1138);
-#endif
Debug(0);
}
@@ -302,8 +299,9 @@ void FGOutput::DelimitedOutput(string fname)
void FGOutput::SocketOutput(void)
{
string asciiData;
- /*
+
if (socket == NULL) return;
+ if (!socket->GetConnectStatus()) return;
socket->Clear();
if (sFirstPass) {
@@ -343,10 +341,10 @@ void FGOutput::SocketOutput(void)
socket->Append("L");
socket->Append("M");
socket->Append("N");
- socket->Append("Throttle");
- socket->Append("Aileron");
- socket->Append("Elevator");
- socket->Append("Rudder");
+ socket->Append("Throttle Position");
+ socket->Append("Aileron Position");
+ socket->Append("Elevator Position");
+ socket->Append("Rudder Position");
sFirstPass = false;
socket->Send();
}
@@ -368,30 +366,30 @@ void FGOutput::SocketOutput(void)
socket->Append(Position->GetVn());
socket->Append(Position->GetVe());
socket->Append(Position->GetVd());
- socket->Append(Translation->GetUdot());
- socket->Append(Translation->GetVdot());
- socket->Append(Translation->GetWdot());
- socket->Append(Rotation->GetP());
- socket->Append(Rotation->GetQ());
- socket->Append(Rotation->GetR());
- socket->Append(Rotation->GetPdot());
- socket->Append(Rotation->GetQdot());
- socket->Append(Rotation->GetRdot());
- socket->Append(Aircraft->GetFx());
- socket->Append(Aircraft->GetFy());
- socket->Append(Aircraft->GetFz());
+ socket->Append(Translation->GetUVWdot(eU));
+ socket->Append(Translation->GetUVWdot(eV));
+ socket->Append(Translation->GetUVWdot(eW));
+ socket->Append(Rotation->GetPQR(eP));
+ socket->Append(Rotation->GetPQR(eQ));
+ socket->Append(Rotation->GetPQR(eR));
+ socket->Append(Rotation->GetPQRdot(eP));
+ socket->Append(Rotation->GetPQRdot(eQ));
+ socket->Append(Rotation->GetPQRdot(eR));
+ socket->Append(Aircraft->GetForces(eX));
+ socket->Append(Aircraft->GetForces(eY));
+ socket->Append(Aircraft->GetForces(eZ));
socket->Append(Position->GetLatitude());
socket->Append(Position->GetLongitude());
socket->Append(Translation->Getqbar());
socket->Append(Translation->Getalpha());
- socket->Append(Aircraft->GetL());
- socket->Append(Aircraft->GetM());
- socket->Append(Aircraft->GetN());
- socket->Append(FCS->GetThrottle(0));
- socket->Append(FCS->GetDa());
- socket->Append(FCS->GetDe());
- socket->Append(FCS->GetDr());
- socket->Send(); */
+ socket->Append(Aircraft->GetMoments(eL));
+ socket->Append(Aircraft->GetMoments(eM));
+ socket->Append(Aircraft->GetMoments(eN));
+ socket->Append(FCS->GetThrottlePos(0));
+ socket->Append(FCS->GetDaPos());
+ socket->Append(FCS->GetDePos());
+ socket->Append(FCS->GetDrPos());
+ socket->Send();
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -419,6 +417,13 @@ bool FGOutput::Load(FGConfigFile* AC_cfg)
Output->SetFilename(token);
token = AC_cfg->GetValue("TYPE");
Output->SetType(token);
+
+#if defined( FG_WITH_JSBSIM_SOCKET ) || !defined( FGFS )
+ if (token == "SOCKET") {
+ socket = new FGfdmSocket("localhost",1138);
+ }
+#endif
+
AC_cfg->GetNextConfigLine();
while ((token = AC_cfg->GetValue()) != string("/OUTPUT")) {
diff --git a/src/FDM/JSBSim/FGfdmSocket.cpp b/src/FDM/JSBSim/FGfdmSocket.cpp
index a20a79ad7..190d17598 100644
--- a/src/FDM/JSBSim/FGfdmSocket.cpp
+++ b/src/FDM/JSBSim/FGfdmSocket.cpp
@@ -49,6 +49,7 @@ CLASS IMPLEMENTATION
FGfdmSocket::FGfdmSocket(string address, int port)
{
size = 0;
+ connected = false;
#if defined(__BORLANDC__) || defined(_MSC_VER) || defined(__MINGW32__)
WSADATA wsaData;
@@ -80,6 +81,7 @@ FGfdmSocket::FGfdmSocket(string address, int port)
int len = sizeof(struct sockaddr_in);
if (connect(sckt, (struct sockaddr*)&scktName, len) == 0) { // successful
cout << "Successfully connected to socket ..." << endl;
+ connected = true;
} else { // unsuccessful
cout << "Could not connect to socket ..." << endl;
}
diff --git a/src/FDM/JSBSim/FGfdmSocket.h b/src/FDM/JSBSim/FGfdmSocket.h
index 0a405f32b..df9c3ec7b 100644
--- a/src/FDM/JSBSim/FGfdmSocket.h
+++ b/src/FDM/JSBSim/FGfdmSocket.h
@@ -100,6 +100,7 @@ public:
void Append(double);
void Append(long);
void Clear(void);
+ bool GetConnectStatus(void) {return connected;}
private:
int sckt;
@@ -107,6 +108,7 @@ private:
struct sockaddr_in scktName;
struct hostent *host;
string buffer;
+ bool connected;
void Debug(int from);
};
diff --git a/src/FDM/JSBSim/JSBSim.cpp b/src/FDM/JSBSim/JSBSim.cpp
index cbe40ff0b..5dd4add9d 100644
--- a/src/FDM/JSBSim/JSBSim.cpp
+++ b/src/FDM/JSBSim/JSBSim.cpp
@@ -1,343 +1,343 @@
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
- Module: JSBSim.cpp
- Author: Jon S. Berndt
- Date started: 08/17/99
- Purpose: Standalone version of JSBSim.
- Called by: The USER.
-
- ------------- Copyright (C) 1999 Jon S. Berndt (jsb@hal-pc.org) -------------
-
- This program is free software; you can redistribute it and/or modify it under
- the terms of the GNU 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 General Public License for more
- details.
-
- You should have received a copy of the GNU 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 General Public License can also be found on
- the world wide web at http://www.gnu.org.
-
-FUNCTIONAL DESCRIPTION
---------------------------------------------------------------------------------
-
-This class Handles calling JSBSim standalone. It is set up for compilation under
-Borland C+Builder or other compiler.
-
-HISTORY
---------------------------------------------------------------------------------
-08/17/99 JSB Created
-
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-INCLUDES
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-#include "FGFDMExec.h"
-#include "FGRotation.h"
-#include "FGAtmosphere.h"
-#include "FGState.h"
-#include "FGFCS.h"
-#include "FGAircraft.h"
-#include "FGTranslation.h"
-#include "FGPosition.h"
-#include "FGAuxiliary.h"
-#include "FGOutput.h"
-#include "FGConfigFile.h"
-#include "FGScript.h"
-#include "FGJSBBase.h"
-
-#ifdef FGFS
-#include <simgear/compiler.h>
-#include STL_IOSTREAM
-#else
-# if defined(sgi) && !defined(__GNUC__)
-# include <iostream.h>
-# else
-# include <iostream>
-# endif
-#endif
-
-#if __BCPLUSPLUS__ == 0x540
-#pragma hdrstop
-#include <condefs.h>
-//---------------------------------------------------------------------------
-USERES("JSBSim.res");
-USEUNIT("FGUtility.cpp");
-USEUNIT("FGAircraft.cpp");
-USEUNIT("FGAtmosphere.cpp");
-USEUNIT("FGAuxiliary.cpp");
-USEUNIT("FGCoefficient.cpp");
-USEUNIT("FGColumnVector3.cpp");
-USEUNIT("FGColumnVector4.cpp");
-USEUNIT("FGConfigFile.cpp");
-USEUNIT("FGEngine.cpp");
-USEUNIT("FGFactorGroup.cpp");
-USEUNIT("FGFCS.cpp");
-USEUNIT("FGFDMExec.cpp");
-USEUNIT("FGfdmSocket.cpp");
-USEUNIT("FGForce.cpp");
-USEUNIT("FGGroundReactions.cpp");
-USEUNIT("FGInertial.cpp");
-USEUNIT("FGInitialCondition.cpp");
-USEUNIT("FGJSBBase.cpp");
-USEUNIT("FGLGear.cpp");
-USEUNIT("FGMassBalance.cpp");
-USEUNIT("FGMatrix33.cpp");
-USEUNIT("FGModel.cpp");
-USEUNIT("FGNozzle.cpp");
-USEUNIT("FGOutput.cpp");
-USEUNIT("FGPiston.cpp");
-USEUNIT("FGPosition.cpp");
-USEUNIT("FGPropeller.cpp");
-USEUNIT("FGPropulsion.cpp");
-USEUNIT("FGRocket.cpp");
-USEUNIT("FGRotation.cpp");
-USEUNIT("FGRotor.cpp");
-USEUNIT("FGScript.cpp");
-USEUNIT("FGState.cpp");
-USEUNIT("FGTable.cpp");
-USEUNIT("FGTank.cpp");
-USEUNIT("FGThruster.cpp");
-USEUNIT("FGTranslation.cpp");
-USEUNIT("FGTrim.cpp");
-USEUNIT("FGTrimAxis.cpp");
-USEUNIT("FGTurboJet.cpp");
-USEUNIT("FGTurboProp.cpp");
-USEUNIT("FGTurboShaft.cpp");
-USEUNIT("FGAerodynamics.cpp");
-USEUNIT("filtersjb\FGSwitch.cpp");
-USEUNIT("filtersjb\FGFCSComponent.cpp");
-USEUNIT("filtersjb\FGFilter.cpp");
-USEUNIT("filtersjb\FGGain.cpp");
-USEUNIT("filtersjb\FGGradient.cpp");
-USEUNIT("filtersjb\FGKinemat.cpp");
-USEUNIT("filtersjb\FGSummer.cpp");
-USEUNIT("filtersjb\FGDeadBand.cpp");
-//---------------------------------------------------------------------------
-#pragma argsused
-#endif
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-DEFINITIONS
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-GLOBAL DATA
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-static const char *IdSrc = "$Id$";
-
-string ScriptName;
-string AircraftName;
-string ResetName;
-string LogOutputName;
-string LogDirectiveName;
-FGFDMExec* FDMExec;
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-COMMENTS, REFERENCES, and NOTES [use "class documentation" below for API docs]
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-FORWARD DECLARATIONS
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-void options(int, char**);
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-DOCUMENTATION
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-/** Standalone JSBSim main program
- This is the wrapper program used to instantiate the JSBSim system and control
- it. Use this program to build a version of JSBSim that can be run from the
- command line. To get any use out of this, you will have to create a script
- to run a test case and specify what kind of output you would like.
- @author Jon S. Berndt
- @version $Id$
- @see -
-*/
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-IMPLEMENTATION
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
-int main(int argc, char* argv[])
-{
- ScriptName = "";
- AircraftName = "";
- ResetName = "";
- LogOutputName = "";
- LogDirectiveName = "";
- bool result = false;
- bool Scripted = false;
- FGScript* Script;
-
- options(argc, argv);
-
- FDMExec = new FGFDMExec();
-
- if (!ScriptName.empty()) { // SCRIPTED CASE
-
- Script = new FGScript(FDMExec);
- result = Script->LoadScript(ScriptName);
-
- if (!result) {
- cerr << "Script file " << ScriptName << " was not successfully loaded" << endl;
- exit(-1);
- }
-
- Scripted = true;
-
- } else if (!AircraftName.empty() || !ResetName.empty()) { // form jsbsim <acname> <resetfile>
-
- if ( ! FDMExec->LoadModel("aircraft", "engine", AircraftName)) {
- cerr << " JSBSim could not be started" << endl << endl;
- exit(-1);
- }
-
- FGInitialCondition IC(FDMExec);
- if ( ! IC.Load("aircraft",AircraftName,ResetName)) {
- cerr << "Initialization unsuccessful" << endl;
- exit(-1);
- }
- } else {
- cout << " No Aircraft, Script, or Reset information given" << endl << endl;
- exit(-1);
- }
-
-//
-// RUN loop. MESSAGES are read inside the Run() loop and output as necessary.
-//
-
- FGJSBBase::Message* msg;
- result = FDMExec->Run();
- while (result) {
- while (FDMExec->ReadMessage()) {
- msg = FDMExec->ProcessMessage();
- switch (msg->type) {
- case FGJSBBase::Message::eText:
- cout << msg->messageId << ": " << msg->text << endl;
- break;
- case FGJSBBase::Message::eBool:
- cout << msg->messageId << ": " << msg->text << " " << msg->bVal << endl;
- break;
- case FGJSBBase::Message::eInteger:
- cout << msg->messageId << ": " << msg->text << " " << msg->iVal << endl;
- break;
- case FGJSBBase::Message::eDouble:
- cout << msg->messageId << ": " << msg->text << " " << msg->dVal << endl;
- break;
- default:
- cerr << "Unrecognized message type." << endl;
- break;
- }
- }
-
- if (Scripted) {
- if (!Script->RunScript()) break;
- }
-
- result = FDMExec->Run();
- }
-
- delete FDMExec;
-
- return 0;
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void options(int count, char **arg)
-{
- int i;
-
- if (count == 1) {
- cout << endl << " JSBSim version " << FDMExec->GetVersion() << endl << endl;
- cout << " Usage: jsbsim <options>" << endl << endl;
- cout << " options:" << endl;
- cout << " --help returns this message" << endl;
- cout << " --version returns the version number" << endl;
- cout << " --outputlogfile=<filename> sets the name of the data output file" << endl;
- cout << " --logdirectivefile=<filename> specifies the name of the data logging directives file" << endl;
- cout << " --aircraft=<filename> specifies the name of the aircraft to be modeled" << endl;
- cout << " --script=<filename> specifies a script to run" << endl;
- cout << " --initfile=<filename> specifies an initilization file" << endl << endl;
- cout << " NOTE: There can be no spaces around the = sign when" << endl;
- cout << " an option is followed by a filename" << endl << endl;
- }
-
- for (i=1; i<count; i++) {
- string argument = string(arg[i]);
- int n=0;
- if (argument.find("--help") != string::npos) {
- cout << endl << " JSBSim version " << FDMExec->GetVersion() << endl << endl;
- cout << " Usage: jsbsim <options>" << endl << endl;
- cout << " options:" << endl;
- cout << " --help returns this message" << endl;
- cout << " --version returns the version number" << endl;
- cout << " --outputlogfile=<filename> sets the name of the data output file" << endl;
- cout << " --logdirectivefile=<filename> specifies the name of the data logging directives file" << endl;
- cout << " --aircraft=<filename> specifies the name of the aircraft to be modeled" << endl;
- cout << " --script=<filename> specifies a script to run" << endl;
- cout << " --initfile=<filename> specifies an initilization file" << endl << endl;
- cout << " NOTE: There can be no spaces around the = sign when" << endl;
- cout << " an option is followed by a filename" << endl << endl;
- exit(0);
- } else if (argument.find("--version") != string::npos) {
- cout << endl << " JSBSim Version: " << FDMExec->GetVersion() << endl << endl;
- exit (0);
- } else if (argument.find("--outputlogfile") != string::npos) {
- n = argument.find("=")+1;
- if (n > 0) {
- LogOutputName = argument.substr(argument.find("=")+1);
- } else {
- LogOutputName = "JSBout.csv";
- cerr << " Output log file name not valid or not understood. Using JSBout.csv as default";
- }
- } else if (argument.find("--logdirectivefile") != string::npos) {
- n = argument.find("=")+1;
- if (n > 0) {
- LogDirectiveName = argument.substr(argument.find("=")+1);
- } else {
- cerr << " Log directives file not valid or not understood." << endl << endl;
- exit(1);
- }
- } else if (argument.find("--aircraft") != string::npos) {
- n = argument.find("=")+1;
- if (n > 0) {
- AircraftName = argument.substr(argument.find("=")+1);
- } else {
- cerr << " Aircraft name not valid or not understood." << endl << endl;
- exit(1);
- }
- } else if (argument.find("--script") != string::npos) {
- n = argument.find("=")+1;
- if (n > 0) {
- ScriptName = argument.substr(argument.find("=")+1);
- } else {
- cerr << " Script name not valid or not understood." << endl << endl;
- exit(1);
- }
- } else if (argument.find("--initfile") != string::npos) {
- n = argument.find("=")+1;
- if (n > 0) {
- ResetName = argument.substr(argument.find("=")+1);
- } else {
- cerr << " Reset name not valid or not understood." << endl << endl;
- exit(1);
- }
- } else {
- cerr << endl << " Parameter: " << argument << " not understood" << endl;
- }
- }
-
-}
-
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+ Module: JSBSim.cpp
+ Author: Jon S. Berndt
+ Date started: 08/17/99
+ Purpose: Standalone version of JSBSim.
+ Called by: The USER.
+
+ ------------- Copyright (C) 1999 Jon S. Berndt (jsb@hal-pc.org) -------------
+
+ This program is free software; you can redistribute it and/or modify it under
+ the terms of the GNU 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 General Public License for more
+ details.
+
+ You should have received a copy of the GNU 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 General Public License can also be found on
+ the world wide web at http://www.gnu.org.
+
+FUNCTIONAL DESCRIPTION
+--------------------------------------------------------------------------------
+
+This class Handles calling JSBSim standalone. It is set up for compilation under
+Borland C+Builder or other compiler.
+
+HISTORY
+--------------------------------------------------------------------------------
+08/17/99 JSB Created
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+INCLUDES
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+#include "FGFDMExec.h"
+#include "FGRotation.h"
+#include "FGAtmosphere.h"
+#include "FGState.h"
+#include "FGFCS.h"
+#include "FGAircraft.h"
+#include "FGTranslation.h"
+#include "FGPosition.h"
+#include "FGAuxiliary.h"
+#include "FGOutput.h"
+#include "FGConfigFile.h"
+#include "FGScript.h"
+#include "FGJSBBase.h"
+
+#ifdef FGFS
+#include <simgear/compiler.h>
+#include STL_IOSTREAM
+#else
+# if defined(sgi) && !defined(__GNUC__)
+# include <iostream.h>
+# else
+# include <iostream>
+# endif
+#endif
+
+#if __BCPLUSPLUS__ == 0x540
+#pragma hdrstop
+#include <condefs.h>
+//---------------------------------------------------------------------------
+USERES("JSBSim.res");
+USEUNIT("FGUtility.cpp");
+USEUNIT("FGAircraft.cpp");
+USEUNIT("FGAtmosphere.cpp");
+USEUNIT("FGAuxiliary.cpp");
+USEUNIT("FGCoefficient.cpp");
+USEUNIT("FGColumnVector3.cpp");
+USEUNIT("FGColumnVector4.cpp");
+USEUNIT("FGConfigFile.cpp");
+USEUNIT("FGEngine.cpp");
+USEUNIT("FGFactorGroup.cpp");
+USEUNIT("FGFCS.cpp");
+USEUNIT("FGFDMExec.cpp");
+USEUNIT("FGfdmSocket.cpp");
+USEUNIT("FGForce.cpp");
+USEUNIT("FGGroundReactions.cpp");
+USEUNIT("FGInertial.cpp");
+USEUNIT("FGInitialCondition.cpp");
+USEUNIT("FGJSBBase.cpp");
+USEUNIT("FGLGear.cpp");
+USEUNIT("FGMassBalance.cpp");
+USEUNIT("FGMatrix33.cpp");
+USEUNIT("FGModel.cpp");
+USEUNIT("FGNozzle.cpp");
+USEUNIT("FGOutput.cpp");
+USEUNIT("FGPiston.cpp");
+USEUNIT("FGPosition.cpp");
+USEUNIT("FGPropeller.cpp");
+USEUNIT("FGPropulsion.cpp");
+USEUNIT("FGRocket.cpp");
+USEUNIT("FGRotation.cpp");
+USEUNIT("FGRotor.cpp");
+USEUNIT("FGScript.cpp");
+USEUNIT("FGState.cpp");
+USEUNIT("FGTable.cpp");
+USEUNIT("FGTank.cpp");
+USEUNIT("FGThruster.cpp");
+USEUNIT("FGTranslation.cpp");
+USEUNIT("FGTrim.cpp");
+USEUNIT("FGTrimAxis.cpp");
+USEUNIT("FGTurboJet.cpp");
+USEUNIT("FGTurboProp.cpp");
+USEUNIT("FGTurboShaft.cpp");
+USEUNIT("FGAerodynamics.cpp");
+USEUNIT("filtersjb\FGSwitch.cpp");
+USEUNIT("filtersjb\FGFCSComponent.cpp");
+USEUNIT("filtersjb\FGFilter.cpp");
+USEUNIT("filtersjb\FGGain.cpp");
+USEUNIT("filtersjb\FGGradient.cpp");
+USEUNIT("filtersjb\FGKinemat.cpp");
+USEUNIT("filtersjb\FGSummer.cpp");
+USEUNIT("filtersjb\FGDeadBand.cpp");
+//---------------------------------------------------------------------------
+#pragma argsused
+#endif
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+DEFINITIONS
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+GLOBAL DATA
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+static const char *IdSrc = "$Id$";
+
+string ScriptName;
+string AircraftName;
+string ResetName;
+string LogOutputName;
+string LogDirectiveName;
+FGFDMExec* FDMExec;
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+COMMENTS, REFERENCES, and NOTES [use "class documentation" below for API docs]
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+FORWARD DECLARATIONS
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+void options(int, char**);
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+DOCUMENTATION
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+/** Standalone JSBSim main program
+ This is the wrapper program used to instantiate the JSBSim system and control
+ it. Use this program to build a version of JSBSim that can be run from the
+ command line. To get any use out of this, you will have to create a script
+ to run a test case and specify what kind of output you would like.
+ @author Jon S. Berndt
+ @version $Id$
+ @see -
+*/
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+IMPLEMENTATION
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+int main(int argc, char* argv[])
+{
+ ScriptName = "";
+ AircraftName = "";
+ ResetName = "";
+ LogOutputName = "";
+ LogDirectiveName = "";
+ bool result = false;
+ bool Scripted = false;
+ FGScript* Script;
+
+ options(argc, argv);
+
+ FDMExec = new FGFDMExec();
+
+ if (!ScriptName.empty()) { // SCRIPTED CASE
+
+ Script = new FGScript(FDMExec);
+ result = Script->LoadScript(ScriptName);
+
+ if (!result) {
+ cerr << "Script file " << ScriptName << " was not successfully loaded" << endl;
+ exit(-1);
+ }
+
+ Scripted = true;
+
+ } else if (!AircraftName.empty() || !ResetName.empty()) { // form jsbsim <acname> <resetfile>
+
+ if ( ! FDMExec->LoadModel("aircraft", "engine", AircraftName)) {
+ cerr << " JSBSim could not be started" << endl << endl;
+ exit(-1);
+ }
+
+ FGInitialCondition IC(FDMExec);
+ if ( ! IC.Load("aircraft",AircraftName,ResetName)) {
+ cerr << "Initialization unsuccessful" << endl;
+ exit(-1);
+ }
+ } else {
+ cout << " No Aircraft, Script, or Reset information given" << endl << endl;
+ exit(-1);
+ }
+
+//
+// RUN loop. MESSAGES are read inside the Run() loop and output as necessary.
+//
+
+ FGJSBBase::Message* msg;
+ result = FDMExec->Run();
+ while (result) {
+ while (FDMExec->ReadMessage()) {
+ msg = FDMExec->ProcessMessage();
+ switch (msg->type) {
+ case FGJSBBase::Message::eText:
+ cout << msg->messageId << ": " << msg->text << endl;
+ break;
+ case FGJSBBase::Message::eBool:
+ cout << msg->messageId << ": " << msg->text << " " << msg->bVal << endl;
+ break;
+ case FGJSBBase::Message::eInteger:
+ cout << msg->messageId << ": " << msg->text << " " << msg->iVal << endl;
+ break;
+ case FGJSBBase::Message::eDouble:
+ cout << msg->messageId << ": " << msg->text << " " << msg->dVal << endl;
+ break;
+ default:
+ cerr << "Unrecognized message type." << endl;
+ break;
+ }
+ }
+
+ if (Scripted) {
+ if (!Script->RunScript()) break;
+ }
+
+ result = FDMExec->Run();
+ }
+
+ delete FDMExec;
+
+ return 0;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void options(int count, char **arg)
+{
+ int i;
+
+ if (count == 1) {
+ cout << endl << " JSBSim version " << FDMExec->GetVersion() << endl << endl;
+ cout << " Usage: jsbsim <options>" << endl << endl;
+ cout << " options:" << endl;
+ cout << " --help returns this message" << endl;
+ cout << " --version returns the version number" << endl;
+ cout << " --outputlogfile=<filename> sets the name of the data output file" << endl;
+ cout << " --logdirectivefile=<filename> specifies the name of the data logging directives file" << endl;
+ cout << " --aircraft=<filename> specifies the name of the aircraft to be modeled" << endl;
+ cout << " --script=<filename> specifies a script to run" << endl;
+ cout << " --initfile=<filename> specifies an initilization file" << endl << endl;
+ cout << " NOTE: There can be no spaces around the = sign when" << endl;
+ cout << " an option is followed by a filename" << endl << endl;
+ }
+
+ for (i=1; i<count; i++) {
+ string argument = string(arg[i]);
+ int n=0;
+ if (argument.find("--help") != string::npos) {
+ cout << endl << " JSBSim version " << FDMExec->GetVersion() << endl << endl;
+ cout << " Usage: jsbsim <options>" << endl << endl;
+ cout << " options:" << endl;
+ cout << " --help returns this message" << endl;
+ cout << " --version returns the version number" << endl;
+ cout << " --outputlogfile=<filename> sets the name of the data output file" << endl;
+ cout << " --logdirectivefile=<filename> specifies the name of the data logging directives file" << endl;
+ cout << " --aircraft=<filename> specifies the name of the aircraft to be modeled" << endl;
+ cout << " --script=<filename> specifies a script to run" << endl;
+ cout << " --initfile=<filename> specifies an initilization file" << endl << endl;
+ cout << " NOTE: There can be no spaces around the = sign when" << endl;
+ cout << " an option is followed by a filename" << endl << endl;
+ exit(0);
+ } else if (argument.find("--version") != string::npos) {
+ cout << endl << " JSBSim Version: " << FDMExec->GetVersion() << endl << endl;
+ exit (0);
+ } else if (argument.find("--outputlogfile") != string::npos) {
+ n = argument.find("=")+1;
+ if (n > 0) {
+ LogOutputName = argument.substr(argument.find("=")+1);
+ } else {
+ LogOutputName = "JSBout.csv";
+ cerr << " Output log file name not valid or not understood. Using JSBout.csv as default";
+ }
+ } else if (argument.find("--logdirectivefile") != string::npos) {
+ n = argument.find("=")+1;
+ if (n > 0) {
+ LogDirectiveName = argument.substr(argument.find("=")+1);
+ } else {
+ cerr << " Log directives file not valid or not understood." << endl << endl;
+ exit(1);
+ }
+ } else if (argument.find("--aircraft") != string::npos) {
+ n = argument.find("=")+1;
+ if (n > 0) {
+ AircraftName = argument.substr(argument.find("=")+1);
+ } else {
+ cerr << " Aircraft name not valid or not understood." << endl << endl;
+ exit(1);
+ }
+ } else if (argument.find("--script") != string::npos) {
+ n = argument.find("=")+1;
+ if (n > 0) {
+ ScriptName = argument.substr(argument.find("=")+1);
+ } else {
+ cerr << " Script name not valid or not understood." << endl << endl;
+ exit(1);
+ }
+ } else if (argument.find("--initfile") != string::npos) {
+ n = argument.find("=")+1;
+ if (n > 0) {
+ ResetName = argument.substr(argument.find("=")+1);
+ } else {
+ cerr << " Reset name not valid or not understood." << endl << endl;
+ exit(1);
+ }
+ } else {
+ cerr << endl << " Parameter: " << argument << " not understood" << endl;
+ }
+ }
+
+}
+