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Latest JSBSim changes, including a kludge from Tony to keep the

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slip/skid ball still when the plane is stationary.
This commit is contained in:
david 2002-02-06 04:07:12 +00:00
parent 7666c88e23
commit c5d537394d
8 changed files with 396 additions and 382 deletions
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6
src/FDM/JSBSim.cxx
View file

@ -373,9 +373,9 @@ bool FGJSBsim::copy_from_JSBsim() {
Aircraft->GetNcg()(2), Aircraft->GetNcg()(2),
Aircraft->GetNcg()(3) ); Aircraft->GetNcg()(3) );
_set_Accels_Pilot_Body( Auxiliary->GetNpilot()(1), _set_Accels_Pilot_Body( Auxiliary->GetPilotAccel()(1),
Auxiliary->GetNpilot()(2), Auxiliary->GetPilotAccel()(2),
Auxiliary->GetNpilot()(3) ); Auxiliary->GetPilotAccel()(3) );
// _set_Accels_Pilot_Body_N( Auxiliary->GetPilotAccel()(1)/32.1739, // _set_Accels_Pilot_Body_N( Auxiliary->GetPilotAccel()(1)/32.1739,
// Auxiliary->GetNpilot(2)/32.1739, // Auxiliary->GetNpilot(2)/32.1739,

2
src/FDM/JSBSim/FGAircraft.h
View file

@ -145,7 +145,9 @@ public:
inline double Getvbarh(void) { return vbarh; } // H. Tail Volume inline double Getvbarh(void) { return vbarh; } // H. Tail Volume
inline double Getvbarv(void) { return vbarv; } // V. Tail Volume inline double Getvbarv(void) { return vbarv; } // V. Tail Volume
inline FGColumnVector3& GetMoments(void) { return vMoments; } inline FGColumnVector3& GetMoments(void) { return vMoments; }
inline double GetMoments(int idx) { return vMoments(idx); }
inline FGColumnVector3& GetForces(void) { return vForces; } inline FGColumnVector3& GetForces(void) { return vForces; }
inline double GetForces(int idx) { return vForces(idx); }
inline FGColumnVector3& GetBodyAccel(void) { return vBodyAccel; } inline FGColumnVector3& GetBodyAccel(void) { return vBodyAccel; }
inline FGColumnVector3& GetNcg (void) { return vNcg; } inline FGColumnVector3& GetNcg (void) { return vNcg; }
inline FGColumnVector3& GetXYZrp(void) { return vXYZrp; } inline FGColumnVector3& GetXYZrp(void) { return vXYZrp; }

18
src/FDM/JSBSim/FGAuxiliary.cpp
View file

@ -145,14 +145,18 @@ bool FGAuxiliary::Run()
// mass, the acceleration vector is calculated. The term wdot is equivalent // mass, the acceleration vector is calculated. The term wdot is equivalent
// to the JSBSim vPQRdot vector, and the w parameter is equivalent to vPQR. // to the JSBSim vPQRdot vector, and the w parameter is equivalent to vPQR.
// The radius R is calculated below in the vector vToEyePt. // The radius R is calculated below in the vector vToEyePt.
vToEyePt = Aircraft->GetXYZep() - MassBalance->GetXYZcg(); vPilotAccel.InitMatrix();
if( Translation->GetVt() > 1 ) {
vPilotAccel = Aircraft->GetBodyAccel() vToEyePt = Aircraft->GetXYZep() - MassBalance->GetXYZcg();
+ Rotation->GetPQRdot() * vToEyePt
+ Rotation->GetPQR() * (Rotation->GetPQR() * vToEyePt)
+ Inertial->GetGravity();
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(); earthPosAngle += State->Getdt()*Inertial->omega();
return false; return false;
} else { } else {

1
src/FDM/JSBSim/FGInitialCondition.cpp
View file

@ -671,7 +671,6 @@ bool FGInitialCondition::solve(double *y,double x)
i=0; i=0;
while ((fabs(d) > eps) && (i < 100)) { while ((fabs(d) > eps) && (i < 100)) {
d=(x3-x1)/d0; d=(x3-x1)/d0;
cout << "f3-f1= " << f3-f1 << endl;
x2 = x1-d*d0*f1/(f3-f1); x2 = x1-d*d0*f1/(f3-f1);
f2=(this->*sfunc)(x2)-x; f2=(this->*sfunc)(x2)-x;

61
src/FDM/JSBSim/FGOutput.cpp
View file

@ -69,9 +69,6 @@ FGOutput::FGOutput(FGFDMExec* fdmex) : FGModel(fdmex)
SubSystems = 0; SubSystems = 0;
enabled = true; enabled = true;
#ifdef FG_WITH_JSBSIM_SOCKET
socket = new FGfdmSocket("localhost",1138);
#endif
Debug(0); Debug(0);
} }
@ -302,8 +299,9 @@ void FGOutput::DelimitedOutput(string fname)
void FGOutput::SocketOutput(void) void FGOutput::SocketOutput(void)
{ {
string asciiData; string asciiData;
/*
if (socket == NULL) return; if (socket == NULL) return;
if (!socket->GetConnectStatus()) return;
socket->Clear(); socket->Clear();
if (sFirstPass) { if (sFirstPass) {
@ -343,10 +341,10 @@ void FGOutput::SocketOutput(void)
socket->Append("L"); socket->Append("L");
socket->Append("M"); socket->Append("M");
socket->Append("N"); socket->Append("N");
socket->Append("Throttle"); socket->Append("Throttle Position");
socket->Append("Aileron"); socket->Append("Aileron Position");
socket->Append("Elevator"); socket->Append("Elevator Position");
socket->Append("Rudder"); socket->Append("Rudder Position");
sFirstPass = false; sFirstPass = false;
socket->Send(); socket->Send();
} }
@ -368,30 +366,30 @@ void FGOutput::SocketOutput(void)
socket->Append(Position->GetVn()); socket->Append(Position->GetVn());
socket->Append(Position->GetVe()); socket->Append(Position->GetVe());
socket->Append(Position->GetVd()); socket->Append(Position->GetVd());
socket->Append(Translation->GetUdot()); socket->Append(Translation->GetUVWdot(eU));
socket->Append(Translation->GetVdot()); socket->Append(Translation->GetUVWdot(eV));
socket->Append(Translation->GetWdot()); socket->Append(Translation->GetUVWdot(eW));
socket->Append(Rotation->GetP()); socket->Append(Rotation->GetPQR(eP));
socket->Append(Rotation->GetQ()); socket->Append(Rotation->GetPQR(eQ));
socket->Append(Rotation->GetR()); socket->Append(Rotation->GetPQR(eR));
socket->Append(Rotation->GetPdot()); socket->Append(Rotation->GetPQRdot(eP));
socket->Append(Rotation->GetQdot()); socket->Append(Rotation->GetPQRdot(eQ));
socket->Append(Rotation->GetRdot()); socket->Append(Rotation->GetPQRdot(eR));
socket->Append(Aircraft->GetFx()); socket->Append(Aircraft->GetForces(eX));
socket->Append(Aircraft->GetFy()); socket->Append(Aircraft->GetForces(eY));
socket->Append(Aircraft->GetFz()); socket->Append(Aircraft->GetForces(eZ));
socket->Append(Position->GetLatitude()); socket->Append(Position->GetLatitude());
socket->Append(Position->GetLongitude()); socket->Append(Position->GetLongitude());
socket->Append(Translation->Getqbar()); socket->Append(Translation->Getqbar());
socket->Append(Translation->Getalpha()); socket->Append(Translation->Getalpha());
socket->Append(Aircraft->GetL()); socket->Append(Aircraft->GetMoments(eL));
socket->Append(Aircraft->GetM()); socket->Append(Aircraft->GetMoments(eM));
socket->Append(Aircraft->GetN()); socket->Append(Aircraft->GetMoments(eN));
socket->Append(FCS->GetThrottle(0)); socket->Append(FCS->GetThrottlePos(0));
socket->Append(FCS->GetDa()); socket->Append(FCS->GetDaPos());
socket->Append(FCS->GetDe()); socket->Append(FCS->GetDePos());
socket->Append(FCS->GetDr()); socket->Append(FCS->GetDrPos());
socket->Send(); */ socket->Send();
} }
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@ -419,6 +417,13 @@ bool FGOutput::Load(FGConfigFile* AC_cfg)
Output->SetFilename(token); Output->SetFilename(token);
token = AC_cfg->GetValue("TYPE"); token = AC_cfg->GetValue("TYPE");
Output->SetType(token); Output->SetType(token);
#if defined( FG_WITH_JSBSIM_SOCKET ) || !defined( FGFS )
if (token == "SOCKET") {
socket = new FGfdmSocket("localhost",1138);
}
#endif
AC_cfg->GetNextConfigLine(); AC_cfg->GetNextConfigLine();
while ((token = AC_cfg->GetValue()) != string("/OUTPUT")) { while ((token = AC_cfg->GetValue()) != string("/OUTPUT")) {

2
src/FDM/JSBSim/FGfdmSocket.cpp
View file

@ -49,6 +49,7 @@ CLASS IMPLEMENTATION
FGfdmSocket::FGfdmSocket(string address, int port) FGfdmSocket::FGfdmSocket(string address, int port)
{ {
size = 0; size = 0;
connected = false;
#if defined(__BORLANDC__) || defined(_MSC_VER) || defined(__MINGW32__) #if defined(__BORLANDC__) || defined(_MSC_VER) || defined(__MINGW32__)
WSADATA wsaData; WSADATA wsaData;
@ -80,6 +81,7 @@ FGfdmSocket::FGfdmSocket(string address, int port)
int len = sizeof(struct sockaddr_in); int len = sizeof(struct sockaddr_in);
if (connect(sckt, (struct sockaddr*)&scktName, len) == 0) { // successful if (connect(sckt, (struct sockaddr*)&scktName, len) == 0) { // successful
cout << "Successfully connected to socket ..." << endl; cout << "Successfully connected to socket ..." << endl;
connected = true;
} else { // unsuccessful } else { // unsuccessful
cout << "Could not connect to socket ..." << endl; cout << "Could not connect to socket ..." << endl;
} }

2
src/FDM/JSBSim/FGfdmSocket.h
View file

@ -100,6 +100,7 @@ public:
void Append(double); void Append(double);
void Append(long); void Append(long);
void Clear(void); void Clear(void);
bool GetConnectStatus(void) {return connected;}
private: private:
int sckt; int sckt;
@ -107,6 +108,7 @@ private:
struct sockaddr_in scktName; struct sockaddr_in scktName;
struct hostent *host; struct hostent *host;
string buffer; string buffer;
bool connected;
void Debug(int from); void Debug(int from);
}; };

686
src/FDM/JSBSim/JSBSim.cpp
View file

@ -1,343 +1,343 @@
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
Module: JSBSim.cpp Module: JSBSim.cpp
Author: Jon S. Berndt Author: Jon S. Berndt
Date started: 08/17/99 Date started: 08/17/99
Purpose: Standalone version of JSBSim. Purpose: Standalone version of JSBSim.
Called by: The USER. Called by: The USER.
------------- Copyright (C) 1999 Jon S. Berndt (jsb@hal-pc.org) ------------- ------------- Copyright (C) 1999 Jon S. Berndt (jsb@hal-pc.org) -------------
This program is free software; you can redistribute it and/or modify it under 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 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 Foundation; either version 2 of the License, or (at your option) any later
version. version.
This program is distributed in the hope that it will be useful, but WITHOUT 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 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
FOR A PARTICULAR PURPOSE. See the GNU General Public License for more FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
details. details.
You should have received a copy of the GNU General Public License along with 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 this program; if not, write to the Free Software Foundation, Inc., 59 Temple
Place - Suite 330, Boston, MA 02111-1307, USA. Place - Suite 330, Boston, MA 02111-1307, USA.
Further information about the GNU General Public License can also be found on Further information about the GNU General Public License can also be found on
the world wide web at http://www.gnu.org. the world wide web at http://www.gnu.org.
FUNCTIONAL DESCRIPTION FUNCTIONAL DESCRIPTION
-------------------------------------------------------------------------------- --------------------------------------------------------------------------------
This class Handles calling JSBSim standalone. It is set up for compilation under This class Handles calling JSBSim standalone. It is set up for compilation under
Borland C+Builder or other compiler. Borland C+Builder or other compiler.
HISTORY HISTORY
-------------------------------------------------------------------------------- --------------------------------------------------------------------------------
08/17/99 JSB Created 08/17/99 JSB Created
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
INCLUDES INCLUDES
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#include "FGFDMExec.h" #include "FGFDMExec.h"
#include "FGRotation.h" #include "FGRotation.h"
#include "FGAtmosphere.h" #include "FGAtmosphere.h"
#include "FGState.h" #include "FGState.h"
#include "FGFCS.h" #include "FGFCS.h"
#include "FGAircraft.h" #include "FGAircraft.h"
#include "FGTranslation.h" #include "FGTranslation.h"
#include "FGPosition.h" #include "FGPosition.h"
#include "FGAuxiliary.h" #include "FGAuxiliary.h"
#include "FGOutput.h" #include "FGOutput.h"
#include "FGConfigFile.h" #include "FGConfigFile.h"
#include "FGScript.h" #include "FGScript.h"
#include "FGJSBBase.h" #include "FGJSBBase.h"
#ifdef FGFS #ifdef FGFS
#include <simgear/compiler.h> #include <simgear/compiler.h>
#include STL_IOSTREAM #include STL_IOSTREAM
#else #else
# if defined(sgi) && !defined(__GNUC__) # if defined(sgi) && !defined(__GNUC__)
# include <iostream.h> # include <iostream.h>
# else # else
# include <iostream> # include <iostream>
# endif # endif
#endif #endif
#if __BCPLUSPLUS__ == 0x540 #if __BCPLUSPLUS__ == 0x540
#pragma hdrstop #pragma hdrstop
#include <condefs.h> #include <condefs.h>
//--------------------------------------------------------------------------- //---------------------------------------------------------------------------
USERES("JSBSim.res"); USERES("JSBSim.res");
USEUNIT("FGUtility.cpp"); USEUNIT("FGUtility.cpp");
USEUNIT("FGAircraft.cpp"); USEUNIT("FGAircraft.cpp");
USEUNIT("FGAtmosphere.cpp"); USEUNIT("FGAtmosphere.cpp");
USEUNIT("FGAuxiliary.cpp"); USEUNIT("FGAuxiliary.cpp");
USEUNIT("FGCoefficient.cpp"); USEUNIT("FGCoefficient.cpp");
USEUNIT("FGColumnVector3.cpp"); USEUNIT("FGColumnVector3.cpp");
USEUNIT("FGColumnVector4.cpp"); USEUNIT("FGColumnVector4.cpp");
USEUNIT("FGConfigFile.cpp"); USEUNIT("FGConfigFile.cpp");
USEUNIT("FGEngine.cpp"); USEUNIT("FGEngine.cpp");
USEUNIT("FGFactorGroup.cpp"); USEUNIT("FGFactorGroup.cpp");
USEUNIT("FGFCS.cpp"); USEUNIT("FGFCS.cpp");
USEUNIT("FGFDMExec.cpp"); USEUNIT("FGFDMExec.cpp");
USEUNIT("FGfdmSocket.cpp"); USEUNIT("FGfdmSocket.cpp");
USEUNIT("FGForce.cpp"); USEUNIT("FGForce.cpp");
USEUNIT("FGGroundReactions.cpp"); USEUNIT("FGGroundReactions.cpp");
USEUNIT("FGInertial.cpp"); USEUNIT("FGInertial.cpp");
USEUNIT("FGInitialCondition.cpp"); USEUNIT("FGInitialCondition.cpp");
USEUNIT("FGJSBBase.cpp"); USEUNIT("FGJSBBase.cpp");
USEUNIT("FGLGear.cpp"); USEUNIT("FGLGear.cpp");
USEUNIT("FGMassBalance.cpp"); USEUNIT("FGMassBalance.cpp");
USEUNIT("FGMatrix33.cpp"); USEUNIT("FGMatrix33.cpp");
USEUNIT("FGModel.cpp"); USEUNIT("FGModel.cpp");
USEUNIT("FGNozzle.cpp"); USEUNIT("FGNozzle.cpp");
USEUNIT("FGOutput.cpp"); USEUNIT("FGOutput.cpp");
USEUNIT("FGPiston.cpp"); USEUNIT("FGPiston.cpp");
USEUNIT("FGPosition.cpp"); USEUNIT("FGPosition.cpp");
USEUNIT("FGPropeller.cpp"); USEUNIT("FGPropeller.cpp");
USEUNIT("FGPropulsion.cpp"); USEUNIT("FGPropulsion.cpp");
USEUNIT("FGRocket.cpp"); USEUNIT("FGRocket.cpp");
USEUNIT("FGRotation.cpp"); USEUNIT("FGRotation.cpp");
USEUNIT("FGRotor.cpp"); USEUNIT("FGRotor.cpp");
USEUNIT("FGScript.cpp"); USEUNIT("FGScript.cpp");
USEUNIT("FGState.cpp"); USEUNIT("FGState.cpp");
USEUNIT("FGTable.cpp"); USEUNIT("FGTable.cpp");
USEUNIT("FGTank.cpp"); USEUNIT("FGTank.cpp");
USEUNIT("FGThruster.cpp"); USEUNIT("FGThruster.cpp");
USEUNIT("FGTranslation.cpp"); USEUNIT("FGTranslation.cpp");
USEUNIT("FGTrim.cpp"); USEUNIT("FGTrim.cpp");
USEUNIT("FGTrimAxis.cpp"); USEUNIT("FGTrimAxis.cpp");
USEUNIT("FGTurboJet.cpp"); USEUNIT("FGTurboJet.cpp");
USEUNIT("FGTurboProp.cpp"); USEUNIT("FGTurboProp.cpp");
USEUNIT("FGTurboShaft.cpp"); USEUNIT("FGTurboShaft.cpp");
USEUNIT("FGAerodynamics.cpp"); USEUNIT("FGAerodynamics.cpp");
USEUNIT("filtersjb\FGSwitch.cpp"); USEUNIT("filtersjb\FGSwitch.cpp");
USEUNIT("filtersjb\FGFCSComponent.cpp"); USEUNIT("filtersjb\FGFCSComponent.cpp");
USEUNIT("filtersjb\FGFilter.cpp"); USEUNIT("filtersjb\FGFilter.cpp");
USEUNIT("filtersjb\FGGain.cpp"); USEUNIT("filtersjb\FGGain.cpp");
USEUNIT("filtersjb\FGGradient.cpp"); USEUNIT("filtersjb\FGGradient.cpp");
USEUNIT("filtersjb\FGKinemat.cpp"); USEUNIT("filtersjb\FGKinemat.cpp");
USEUNIT("filtersjb\FGSummer.cpp"); USEUNIT("filtersjb\FGSummer.cpp");
USEUNIT("filtersjb\FGDeadBand.cpp"); USEUNIT("filtersjb\FGDeadBand.cpp");
//--------------------------------------------------------------------------- //---------------------------------------------------------------------------
#pragma argsused #pragma argsused
#endif #endif
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
DEFINITIONS DEFINITIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
GLOBAL DATA GLOBAL DATA
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
static const char *IdSrc = "$Id$"; static const char *IdSrc = "$Id$";
string ScriptName; string ScriptName;
string AircraftName; string AircraftName;
string ResetName; string ResetName;
string LogOutputName; string LogOutputName;
string LogDirectiveName; string LogDirectiveName;
FGFDMExec* FDMExec; FGFDMExec* FDMExec;
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
COMMENTS, REFERENCES, and NOTES [use "class documentation" below for API docs] COMMENTS, REFERENCES, and NOTES [use "class documentation" below for API docs]
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FORWARD DECLARATIONS FORWARD DECLARATIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
void options(int, char**); void options(int, char**);
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
DOCUMENTATION DOCUMENTATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
/** Standalone JSBSim main program /** Standalone JSBSim main program
This is the wrapper program used to instantiate the JSBSim system and control 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 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 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. to run a test case and specify what kind of output you would like.
@author Jon S. Berndt @author Jon S. Berndt
@version $Id$ @version $Id$
@see - @see -
*/ */
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
IMPLEMENTATION IMPLEMENTATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
int main(int argc, char* argv[]) int main(int argc, char* argv[])
{ {
ScriptName = ""; ScriptName = "";
AircraftName = ""; AircraftName = "";
ResetName = ""; ResetName = "";
LogOutputName = ""; LogOutputName = "";
LogDirectiveName = ""; LogDirectiveName = "";
bool result = false; bool result = false;
bool Scripted = false; bool Scripted = false;
FGScript* Script; FGScript* Script;
options(argc, argv); options(argc, argv);
FDMExec = new FGFDMExec(); FDMExec = new FGFDMExec();
if (!ScriptName.empty()) { // SCRIPTED CASE if (!ScriptName.empty()) { // SCRIPTED CASE
Script = new FGScript(FDMExec); Script = new FGScript(FDMExec);
result = Script->LoadScript(ScriptName); result = Script->LoadScript(ScriptName);
if (!result) { if (!result) {
cerr << "Script file " << ScriptName << " was not successfully loaded" << endl; cerr << "Script file " << ScriptName << " was not successfully loaded" << endl;
exit(-1); exit(-1);
} }
Scripted = true; Scripted = true;
} else if (!AircraftName.empty() || !ResetName.empty()) { // form jsbsim <acname> <resetfile> } else if (!AircraftName.empty() || !ResetName.empty()) { // form jsbsim <acname> <resetfile>
if ( ! FDMExec->LoadModel("aircraft", "engine", AircraftName)) { if ( ! FDMExec->LoadModel("aircraft", "engine", AircraftName)) {
cerr << " JSBSim could not be started" << endl << endl; cerr << " JSBSim could not be started" << endl << endl;
exit(-1); exit(-1);
} }
FGInitialCondition IC(FDMExec); FGInitialCondition IC(FDMExec);
if ( ! IC.Load("aircraft",AircraftName,ResetName)) { if ( ! IC.Load("aircraft",AircraftName,ResetName)) {
cerr << "Initialization unsuccessful" << endl; cerr << "Initialization unsuccessful" << endl;
exit(-1); exit(-1);
} }
} else { } else {
cout << " No Aircraft, Script, or Reset information given" << endl << endl; cout << " No Aircraft, Script, or Reset information given" << endl << endl;
exit(-1); exit(-1);
} }
// //
// RUN loop. MESSAGES are read inside the Run() loop and output as necessary. // RUN loop. MESSAGES are read inside the Run() loop and output as necessary.
// //
FGJSBBase::Message* msg; FGJSBBase::Message* msg;
result = FDMExec->Run(); result = FDMExec->Run();
while (result) { while (result) {
while (FDMExec->ReadMessage()) { while (FDMExec->ReadMessage()) {
msg = FDMExec->ProcessMessage(); msg = FDMExec->ProcessMessage();
switch (msg->type) { switch (msg->type) {
case FGJSBBase::Message::eText: case FGJSBBase::Message::eText:
cout << msg->messageId << ": " << msg->text << endl; cout << msg->messageId << ": " << msg->text << endl;
break; break;
case FGJSBBase::Message::eBool: case FGJSBBase::Message::eBool:
cout << msg->messageId << ": " << msg->text << " " << msg->bVal << endl; cout << msg->messageId << ": " << msg->text << " " << msg->bVal << endl;
break; break;
case FGJSBBase::Message::eInteger: case FGJSBBase::Message::eInteger:
cout << msg->messageId << ": " << msg->text << " " << msg->iVal << endl; cout << msg->messageId << ": " << msg->text << " " << msg->iVal << endl;
break; break;
case FGJSBBase::Message::eDouble: case FGJSBBase::Message::eDouble:
cout << msg->messageId << ": " << msg->text << " " << msg->dVal << endl; cout << msg->messageId << ": " << msg->text << " " << msg->dVal << endl;
break; break;
default: default:
cerr << "Unrecognized message type." << endl; cerr << "Unrecognized message type." << endl;
break; break;
} }
} }
if (Scripted) { if (Scripted) {
if (!Script->RunScript()) break; if (!Script->RunScript()) break;
} }
result = FDMExec->Run(); result = FDMExec->Run();
} }
delete FDMExec; delete FDMExec;
return 0; return 0;
} }
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
void options(int count, char **arg) void options(int count, char **arg)
{ {
int i; int i;
if (count == 1) { if (count == 1) {
cout << endl << " JSBSim version " << FDMExec->GetVersion() << endl << endl; cout << endl << " JSBSim version " << FDMExec->GetVersion() << endl << endl;
cout << " Usage: jsbsim <options>" << endl << endl; cout << " Usage: jsbsim <options>" << endl << endl;
cout << " options:" << endl; cout << " options:" << endl;
cout << " --help returns this message" << endl; cout << " --help returns this message" << endl;
cout << " --version returns the version number" << endl; cout << " --version returns the version number" << endl;
cout << " --outputlogfile=<filename> sets the name of the data output file" << 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 << " --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 << " --aircraft=<filename> specifies the name of the aircraft to be modeled" << endl;
cout << " --script=<filename> specifies a script to run" << endl; cout << " --script=<filename> specifies a script to run" << endl;
cout << " --initfile=<filename> specifies an initilization file" << endl << endl; cout << " --initfile=<filename> specifies an initilization file" << endl << endl;
cout << " NOTE: There can be no spaces around the = sign when" << endl; cout << " NOTE: There can be no spaces around the = sign when" << endl;
cout << " an option is followed by a filename" << endl << endl; cout << " an option is followed by a filename" << endl << endl;
} }
for (i=1; i<count; i++) { for (i=1; i<count; i++) {
string argument = string(arg[i]); string argument = string(arg[i]);
int n=0; int n=0;
if (argument.find("--help") != string::npos) { if (argument.find("--help") != string::npos) {
cout << endl << " JSBSim version " << FDMExec->GetVersion() << endl << endl; cout << endl << " JSBSim version " << FDMExec->GetVersion() << endl << endl;
cout << " Usage: jsbsim <options>" << endl << endl; cout << " Usage: jsbsim <options>" << endl << endl;
cout << " options:" << endl; cout << " options:" << endl;
cout << " --help returns this message" << endl; cout << " --help returns this message" << endl;
cout << " --version returns the version number" << endl; cout << " --version returns the version number" << endl;
cout << " --outputlogfile=<filename> sets the name of the data output file" << 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 << " --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 << " --aircraft=<filename> specifies the name of the aircraft to be modeled" << endl;
cout << " --script=<filename> specifies a script to run" << endl; cout << " --script=<filename> specifies a script to run" << endl;
cout << " --initfile=<filename> specifies an initilization file" << endl << endl; cout << " --initfile=<filename> specifies an initilization file" << endl << endl;
cout << " NOTE: There can be no spaces around the = sign when" << endl; cout << " NOTE: There can be no spaces around the = sign when" << endl;
cout << " an option is followed by a filename" << endl << endl; cout << " an option is followed by a filename" << endl << endl;
exit(0); exit(0);
} else if (argument.find("--version") != string::npos) { } else if (argument.find("--version") != string::npos) {
cout << endl << " JSBSim Version: " << FDMExec->GetVersion() << endl << endl; cout << endl << " JSBSim Version: " << FDMExec->GetVersion() << endl << endl;
exit (0); exit (0);
} else if (argument.find("--outputlogfile") != string::npos) { } else if (argument.find("--outputlogfile") != string::npos) {
n = argument.find("=")+1; n = argument.find("=")+1;
if (n > 0) { if (n > 0) {
LogOutputName = argument.substr(argument.find("=")+1); LogOutputName = argument.substr(argument.find("=")+1);
} else { } else {
LogOutputName = "JSBout.csv"; LogOutputName = "JSBout.csv";
cerr << " Output log file name not valid or not understood. Using JSBout.csv as default"; cerr << " Output log file name not valid or not understood. Using JSBout.csv as default";
} }
} else if (argument.find("--logdirectivefile") != string::npos) { } else if (argument.find("--logdirectivefile") != string::npos) {
n = argument.find("=")+1; n = argument.find("=")+1;
if (n > 0) { if (n > 0) {
LogDirectiveName = argument.substr(argument.find("=")+1); LogDirectiveName = argument.substr(argument.find("=")+1);
} else { } else {
cerr << " Log directives file not valid or not understood." << endl << endl; cerr << " Log directives file not valid or not understood." << endl << endl;
exit(1); exit(1);
} }
} else if (argument.find("--aircraft") != string::npos) { } else if (argument.find("--aircraft") != string::npos) {
n = argument.find("=")+1; n = argument.find("=")+1;
if (n > 0) { if (n > 0) {
AircraftName = argument.substr(argument.find("=")+1); AircraftName = argument.substr(argument.find("=")+1);
} else { } else {
cerr << " Aircraft name not valid or not understood." << endl << endl; cerr << " Aircraft name not valid or not understood." << endl << endl;
exit(1); exit(1);
} }
} else if (argument.find("--script") != string::npos) { } else if (argument.find("--script") != string::npos) {
n = argument.find("=")+1; n = argument.find("=")+1;
if (n > 0) { if (n > 0) {
ScriptName = argument.substr(argument.find("=")+1); ScriptName = argument.substr(argument.find("=")+1);
} else { } else {
cerr << " Script name not valid or not understood." << endl << endl; cerr << " Script name not valid or not understood." << endl << endl;
exit(1); exit(1);
} }
} else if (argument.find("--initfile") != string::npos) { } else if (argument.find("--initfile") != string::npos) {
n = argument.find("=")+1; n = argument.find("=")+1;
if (n > 0) { if (n > 0) {
ResetName = argument.substr(argument.find("=")+1); ResetName = argument.substr(argument.find("=")+1);
} else { } else {
cerr << " Reset name not valid or not understood." << endl << endl; cerr << " Reset name not valid or not understood." << endl << endl;
exit(1); exit(1);
} }
} else { } else {
cerr << endl << " Parameter: " << argument << " not understood" << endl; cerr << endl << " Parameter: " << argument << " not understood" << endl;
} }
} }
} }