/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% Module: FGFDMExec.cpp Author: Jon S. Berndt Date started: 11/17/98 Purpose: Schedules and runs the model routines. ------------- 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 wraps up the simulation scheduling routines. HISTORY -------------------------------------------------------------------------------- 11/17/98 JSB Created %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% COMMENTS, REFERENCES, and NOTES %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% INCLUDES %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ #ifdef FGFS # include # include STL_IOSTREAM # include STL_ITERATOR #else # if defined(sgi) && !defined(__GNUC__) && (_COMPILER_VERSION < 740) # include # else # include # endif # include #endif #include "FGFDMExec.h" #include "FGState.h" #include "FGAtmosphere.h" #include "FGFCS.h" #include "FGPropulsion.h" #include "FGMassBalance.h" #include "FGGroundReactions.h" #include "FGAerodynamics.h" #include "FGInertial.h" #include "FGAircraft.h" #include "FGPropagate.h" #include "FGAuxiliary.h" #include "FGOutput.h" #include "FGConfigFile.h" #include "FGInitialCondition.h" #include "FGPropertyManager.h" namespace JSBSim { static const char *IdSrc = "$Id$"; static const char *IdHdr = ID_FDMEXEC; /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% GLOBAL DECLARATIONS %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ unsigned int FGFDMExec::FDMctr = 0; FGPropertyManager* FGFDMExec::master=0; /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% CLASS IMPLEMENTATION %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ void checkTied ( FGPropertyManager *node ) { int N = node->nChildren(); string name; for (int i=0; igetChild(i)->nChildren() ) { checkTied( (FGPropertyManager*)node->getChild(i) ); } else if ( node->getChild(i)->isTied() ) { name = ((FGPropertyManager*)node->getChild(i))->GetFullyQualifiedName(); cerr << name << " is tied" << endl; } } } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% // Constructor FGFDMExec::FGFDMExec(FGPropertyManager* root) { Frame = 0; FirstModel = 0; Error = 0; State = 0; Atmosphere = 0; FCS = 0; Propulsion = 0; MassBalance = 0; Aerodynamics = 0; Inertial = 0; GroundReactions = 0; Aircraft = 0; Propagate = 0; Auxiliary = 0; Output = 0; IC = 0; Trim = 0; terminate = false; frozen = false; modelLoaded = false; IsSlave = false; IdFDM = FDMctr; FDMctr++; try { char* num = getenv("JSBSIM_DEBUG"); if (num) debug_lvl = atoi(num); // set debug level } catch (...) { // if error set to 1 debug_lvl = 1; } if (root == 0) master= new FGPropertyManager; else master = root; instance = master->GetNode("/fdm/jsbsim",IdFDM,true); Debug(0); // this is here to catch errors in binding member functions // to the property tree. try { Allocate(); } catch ( string msg ) { cout << "Caught error: " << msg << endl; exit(1); } } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% FGFDMExec::~FGFDMExec() { try { DeAllocate(); checkTied( instance ); } catch ( string msg ) { cout << "Caught error: " << msg << endl; } for (unsigned int i=1; iexec; SlaveFDMList.clear(); Debug(1); } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% bool FGFDMExec::Allocate(void) { bool result=true; Atmosphere = new FGAtmosphere(this); FCS = new FGFCS(this); Propulsion = new FGPropulsion(this); MassBalance = new FGMassBalance(this); Aerodynamics = new FGAerodynamics (this); Inertial = new FGInertial(this); GroundReactions = new FGGroundReactions(this); Aircraft = new FGAircraft(this); Propagate = new FGPropagate(this); Auxiliary = new FGAuxiliary(this); Output = new FGOutput(this); State = new FGState(this); // This must be done here, as the FGState // class needs valid pointers to the above // model classes // Initialize models so they can communicate with each other if (!Atmosphere->InitModel()) { cerr << fgred << "Atmosphere model init failed" << fgdef << endl; Error+=1;} if (!FCS->InitModel()) { cerr << fgred << "FCS model init failed" << fgdef << endl; Error+=2;} if (!Propulsion->InitModel()) { cerr << fgred << "FGPropulsion model init failed" << fgdef << endl; Error+=4;} if (!MassBalance->InitModel()) { cerr << fgred << "FGMassBalance model init failed" << fgdef << endl; Error+=8;} if (!Aerodynamics->InitModel()) { cerr << fgred << "FGAerodynamics model init failed" << fgdef << endl; Error+=16;} if (!Inertial->InitModel()) { cerr << fgred << "FGInertial model init failed" << fgdef << endl; Error+=32;} if (!GroundReactions->InitModel()) { cerr << fgred << "Ground Reactions model init failed" << fgdef << endl; Error+=64;} if (!Aircraft->InitModel()) { cerr << fgred << "Aircraft model init failed" << fgdef << endl; Error+=128;} if (!Propagate->InitModel()) { cerr << fgred << "Propagate model init failed" << fgdef << endl; Error+=512;} if (!Auxiliary->InitModel()) { cerr << fgred << "Auxiliary model init failed" << fgdef << endl; Error+=2058;} if (!Output->InitModel()) { cerr << fgred << "Output model init failed" << fgdef << endl; Error+=4096;} if (Error > 0) result = false; IC = new FGInitialCondition(this); // Schedule a model. The second arg (the integer) is the pass number. For // instance, the atmosphere model gets executed every fifth pass it is called // by the executive. Everything else here gets executed each pass. // IC and Trim objects are NOT scheduled. Schedule(Atmosphere, 1); Schedule(FCS, 1); Schedule(Propulsion, 1); Schedule(MassBalance, 1); Schedule(Aerodynamics, 1); Schedule(Inertial, 1); Schedule(GroundReactions, 1); Schedule(Aircraft, 1); Schedule(Propagate, 1); Schedule(Auxiliary, 1); Schedule(Output, 1); modelLoaded = false; return result; } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% bool FGFDMExec::DeAllocate(void) { delete Atmosphere; delete FCS; delete Propulsion; delete MassBalance; delete Aerodynamics; delete Inertial; delete GroundReactions; delete Aircraft; delete Propagate; delete Auxiliary; delete Output; delete State; delete IC; delete Trim; FirstModel = 0L; Error = 0; State = 0; Atmosphere = 0; FCS = 0; Propulsion = 0; MassBalance = 0; Aerodynamics = 0; Inertial = 0; GroundReactions = 0; Aircraft = 0; Propagate = 0; Auxiliary = 0; Output = 0; modelLoaded = false; return modelLoaded; } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% int FGFDMExec::Schedule(FGModel* model, int rate) { FGModel* model_iterator; model_iterator = FirstModel; if (model_iterator == 0L) { // this is the first model FirstModel = model; FirstModel->NextModel = 0L; FirstModel->SetRate(rate); } else { // subsequent model while (model_iterator->NextModel != 0L) { model_iterator = model_iterator->NextModel; } model_iterator->NextModel = model; model_iterator->NextModel->SetRate(rate); } return 0; } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% bool FGFDMExec::Run(void) { FGModel* model_iterator; if (frozen) return true; model_iterator = FirstModel; if (model_iterator == 0L) return false; Debug(2); for (unsigned int i=1; iexec->State->Initialize(); // Transfer state to the slave FDM // SlaveFDMList[i]->exec->Run(); } while (model_iterator != 0L) { model_iterator->Run(); model_iterator = model_iterator->NextModel; } frame = Frame++; State->IncrTime(); return true; } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% bool FGFDMExec::RunIC(void) { State->Suspend(); State->Initialize(IC); Run(); State->Resume(); return true; } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% vector FGFDMExec::EnumerateFDMs(void) { vector FDMList; FDMList.push_back(Aircraft->GetAircraftName()); for (unsigned int i=1; iexec->GetAircraft()->GetAircraftName()); } return FDMList; } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% bool FGFDMExec::LoadModel(string AircraftPath, string EnginePath, string model) { FGFDMExec::AircraftPath = AircraftPath; FGFDMExec::EnginePath = EnginePath; return LoadModel(model); } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% bool FGFDMExec::LoadModel(string model) { bool result = true; string token; string aircraftCfgFileName; if( AircraftPath.empty() || EnginePath.empty() ) { cerr << "Error: attempted to load aircraft with undefined "; cerr << "aircraft and engine paths" << endl; return false; } # ifndef macintosh aircraftCfgFileName = AircraftPath + "/" + model + ".xml"; # else aircraftCfgFileName = AircraftPath + ";" + model + ".xml"; # endif FGConfigFile AC_cfg(aircraftCfgFileName); if (!AC_cfg.IsOpen()) return false; modelName = model; if (modelLoaded) { DeAllocate(); Allocate(); } if (!ReadPrologue(&AC_cfg)) return false; while ((AC_cfg.GetNextConfigLine() != string("EOF")) && (token = AC_cfg.GetValue()) != string("/FDM_CONFIG")) { if (token == "METRICS") { if (debug_lvl > 0) cout << fgcyan << "\n Reading Metrics" << fgdef << endl; if (!ReadMetrics(&AC_cfg)) result = false; } else if (token == "SLAVE") { if (debug_lvl > 0) cout << fgcyan << "\n Reading Slave flight vehicle: " << fgdef << AC_cfg.GetValue("NAME") << endl; if (!ReadSlave(&AC_cfg)) result = false; } else if (token == "AERODYNAMICS") { if (debug_lvl > 0) cout << fgcyan << "\n Reading Aerodynamics" << fgdef << endl; if (!ReadAerodynamics(&AC_cfg)) result = false; } else if (token == "UNDERCARRIAGE") { if (debug_lvl > 0) cout << fgcyan << "\n Reading Landing Gear" << fgdef << endl; if (!ReadUndercarriage(&AC_cfg)) result = false; } else if (token == "PROPULSION") { if (debug_lvl > 0) cout << fgcyan << "\n Reading Propulsion" << fgdef << endl; if (!ReadPropulsion(&AC_cfg)) result = false; } else if (token == "FLIGHT_CONTROL") { if (debug_lvl > 0) cout << fgcyan << "\n Reading Flight Control" << fgdef << endl; if (!ReadFlightControls(&AC_cfg)) result = false; } else if (token == "AUTOPILOT") { if (debug_lvl > 0) cout << fgcyan << "\n Reading Autopilot" << fgdef << endl; if (!ReadFlightControls(&AC_cfg)) result = false; } else if (token == "OUTPUT") { if (debug_lvl > 0) cout << fgcyan << "\n Reading Output directives" << fgdef << endl; if (!ReadOutput(&AC_cfg)) result = false; } } if (result) { modelLoaded = true; Debug(3); } else { cerr << fgred << " FGFDMExec: Failed to load aircraft and/or engine model" << fgdef << endl; } return result; } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% bool FGFDMExec::ReadPrologue(FGConfigFile* AC_cfg) { string token = AC_cfg->GetValue(); string scratch; string AircraftName; AircraftName = AC_cfg->GetValue("NAME"); Aircraft->SetAircraftName(AircraftName); if (debug_lvl > 0) cout << underon << "Reading Aircraft Configuration File" << underoff << ": " << highint << AircraftName << normint << endl; scratch = AC_cfg->GetValue("VERSION").c_str(); CFGVersion = AC_cfg->GetValue("VERSION"); Release = AC_cfg->GetValue("RELEASE"); if (debug_lvl > 0) cout << " Version: " << highint << CFGVersion << normint << endl; if (CFGVersion != needed_cfg_version) { cerr << endl << fgred << "YOU HAVE AN INCOMPATIBLE CFG FILE FOR THIS AIRCRAFT." " RESULTS WILL BE UNPREDICTABLE !!" << endl; cerr << "Current version needed is: " << needed_cfg_version << endl; cerr << " You have version: " << CFGVersion << endl << fgdef << endl; return false; } if (Release == "ALPHA") { system("banner ALPHA"); cout << endl << endl << highint << "This aircraft model is an " << fgred << Release << reset << highint << " release!!!" << endl << endl << reset << "This aircraft model may not even properly load, and probably" << " will not fly as expected." << endl << endl << fgred << highint << "Use this model for development purposes ONLY!!!" << normint << reset << endl << endl; } else if (Release == "BETA") { system("banner BETA"); cout << endl << endl << highint << "This aircraft model is a " << fgred << Release << reset << highint << " release!!!" << endl << endl << reset << "This aircraft model probably will not fly as expected." << endl << endl << fgblue << highint << "Use this model for development purposes ONLY!!!" << normint << reset << endl << endl; } return true; } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% bool FGFDMExec::ReadSlave(FGConfigFile* AC_cfg) { // Add a new slaveData object to the slave FDM list // Populate that slaveData element with a new FDMExec object // Set the IsSlave flag for that FDMExec object // Get the aircraft name // set debug level to print out no additional data for slave objects // Load the model given the aircraft name // reset debug level to prior setting int saved_debug_lvl = debug_lvl; string token; SlaveFDMList.push_back(new slaveData); SlaveFDMList.back()->exec = new FGFDMExec(); SlaveFDMList.back()->exec->SetSlave(); string AircraftName = AC_cfg->GetValue("FILE"); debug_lvl = 0; // turn off debug output for slave vehicle SlaveFDMList.back()->exec->SetAircraftPath( AircraftPath ); SlaveFDMList.back()->exec->SetEnginePath( EnginePath ); SlaveFDMList.back()->exec->LoadModel(AircraftName); debug_lvl = saved_debug_lvl; // turn debug output back on for master vehicle AC_cfg->GetNextConfigLine(); while ((token = AC_cfg->GetValue()) != string("/SLAVE")) { *AC_cfg >> token; if (token == "XLOC") { *AC_cfg >> SlaveFDMList.back()->x; } else if (token == "YLOC") { *AC_cfg >> SlaveFDMList.back()->y; } else if (token == "ZLOC") { *AC_cfg >> SlaveFDMList.back()->z; } else if (token == "PITCH") { *AC_cfg >> SlaveFDMList.back()->pitch;} else if (token == "YAW") { *AC_cfg >> SlaveFDMList.back()->yaw; } else if (token == "ROLL") { *AC_cfg >> SlaveFDMList.back()->roll; } else cerr << "Unknown identifier: " << token << " in slave vehicle definition" << endl; } if (debug_lvl > 0) { cout << " X = " << SlaveFDMList.back()->x << endl; cout << " Y = " << SlaveFDMList.back()->y << endl; cout << " Z = " << SlaveFDMList.back()->z << endl; cout << " Pitch = " << SlaveFDMList.back()->pitch << endl; cout << " Yaw = " << SlaveFDMList.back()->yaw << endl; cout << " Roll = " << SlaveFDMList.back()->roll << endl; } return true; } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% bool FGFDMExec::ReadPropulsion(FGConfigFile* AC_cfg) { if (!Propulsion->Load(AC_cfg)) { cerr << " Propulsion not successfully loaded" << endl; return false; } return true; } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% bool FGFDMExec::ReadFlightControls(FGConfigFile* AC_cfg) { if (!FCS->Load(AC_cfg)) { cerr << " Flight Controls not successfully loaded" << endl; return false; } return true; } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% bool FGFDMExec::ReadAerodynamics(FGConfigFile* AC_cfg) { if (!Aerodynamics->Load(AC_cfg)) { cerr << " Aerodynamics not successfully loaded" << endl; return false; } return true; } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% bool FGFDMExec::ReadUndercarriage(FGConfigFile* AC_cfg) { if (!GroundReactions->Load(AC_cfg)) { cerr << " Ground Reactions not successfully loaded" << endl; return false; } return true; } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% bool FGFDMExec::ReadMetrics(FGConfigFile* AC_cfg) { if (!Aircraft->Load(AC_cfg)) { cerr << " Aircraft metrics not successfully loaded" << endl; return false; } return true; } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% bool FGFDMExec::ReadOutput(FGConfigFile* AC_cfg) { if (!Output->Load(AC_cfg)) { cerr << " Output not successfully loaded" << endl; return false; } return true; } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% FGPropertyManager* FGFDMExec::GetPropertyManager(void) { return instance; } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% FGTrim* FGFDMExec::GetTrim(void) { delete Trim; Trim = new FGTrim(this,tNone); return Trim; } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% // The bitmasked value choices are as follows: // unset: In this case (the default) JSBSim would only print // out the normally expected messages, essentially echoing // the config files as they are read. If the environment // variable is not set, debug_lvl is set to 1 internally // 0: This requests JSBSim not to output any messages // whatsoever. // 1: This value explicity requests the normal JSBSim // startup messages // 2: This value asks for a message to be printed out when // a class is instantiated // 4: When this value is set, a message is displayed when a // FGModel object executes its Run() method // 8: When this value is set, various runtime state variables // are printed out periodically // 16: When set various parameters are sanity checked and // a message is printed out when they go out of bounds void FGFDMExec::Debug(int from) { if (debug_lvl <= 0) return; if (debug_lvl & 1 && IdFDM == 0) { // Standard console startup message output if (from == 0) { // Constructor cout << "\n\n " << highint << underon << "JSBSim Flight Dynamics Model v" << JSBSim_version << underoff << normint << endl; cout << halfint << " [cfg file spec v" << needed_cfg_version << "]\n\n"; cout << normint << "JSBSim startup beginning ...\n\n"; } else if (from == 3) { cout << "\n\nJSBSim startup complete\n\n"; } } if (debug_lvl & 2 ) { // Instantiation/Destruction notification if (from == 0) cout << "Instantiated: FGFDMExec" << endl; if (from == 1) cout << "Destroyed: FGFDMExec" << endl; } if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects if (from == 2) { cout << "================== Frame: " << Frame << " Time: " << State->Getsim_time() << endl; } } if (debug_lvl & 8 ) { // Runtime state variables } if (debug_lvl & 16) { // Sanity checking } if (debug_lvl & 64) { if (from == 0) { // Constructor cout << IdSrc << endl; cout << IdHdr << endl; } } } }