/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 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 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 wraps up the simulation scheduling routines. HISTORY -------------------------------------------------------------------------------- 11/17/98 JSB Created %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% COMMENTS, REFERENCES, and NOTES %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% INCLUDES %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/ #include "FGFDMExec.h" #include "FGState.h" #include <models/FGAtmosphere.h> #include <models/atmosphere/FGMSIS.h> #include <models/atmosphere/FGMars.h> #include <models/FGFCS.h> #include <models/FGPropulsion.h> #include <models/FGMassBalance.h> #include <models/FGGroundReactions.h> #include <models/FGExternalReactions.h> #include <models/FGBuoyantForces.h> #include <models/FGAerodynamics.h> #include <models/FGInertial.h> #include <models/FGAircraft.h> #include <models/FGPropagate.h> #include <models/FGAuxiliary.h> #include <models/FGInput.h> #include <models/FGOutput.h> #include <initialization/FGInitialCondition.h> //#include <initialization/FGTrimAnalysis.h> // Remove until later #include <input_output/FGPropertyManager.h> #include <input_output/FGScript.h> #include <iostream> #include <iterator> 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; i<N; i++) { if (node->getChild(i)->nChildren() ) { // cout << "Untieing " << node->getChild(i)->getName() << " property branch." << endl; checkTied( (FGPropertyManager*)node->getChild(i) ); } else if ( node->getChild(i)->isTied() ) { name = ((FGPropertyManager*)node->getChild(i))->GetFullyQualifiedName(); node->Untie(name); } } } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% // Constructor FGFDMExec::FGFDMExec(FGPropertyManager* root) : Root(root) { Frame = 0; FirstModel = 0; Error = 0; GroundCallback = 0; State = 0; Atmosphere = 0; FCS = 0; Propulsion = 0; MassBalance = 0; Aerodynamics = 0; Inertial = 0; GroundReactions = 0; ExternalReactions = 0; BuoyantForces = 0; Aircraft = 0; Propagate = 0; Auxiliary = 0; Input = 0; IC = 0; Trim = 0; Script = 0; modelLoaded = false; IsSlave = false; holding = false; Terminate = false; // Multiple FDM's are stopped for now. We need to ensure that // the "user" instance always gets the zeroeth instance number, // because there may be instruments or scripts tied to properties // in the jsbsim[0] node. // ToDo: it could be that when JSBSim is reset and a new FDM is wanted, that // process might try setting FDMctr = 0. Then the line below would not need // to be commented out. 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) { if (master == 0) master = new FGPropertyManager; Root = master; } instance = Root->GetNode("/fdm/jsbsim",IdFDM,true); Debug(0); // this is to catch errors in binding member functions to the property tree. try { Allocate(); } catch ( string msg ) { cout << "Caught error: " << msg << endl; exit(1); } trim_status = false; ta_mode = 99; Constructing = true; typedef int (FGFDMExec::*iPMF)(void) const; // instance->Tie("simulation/do_trim_analysis", this, (iPMF)0, &FGFDMExec::DoTrimAnalysis); instance->Tie("simulation/do_simple_trim", this, (iPMF)0, &FGFDMExec::DoTrim); instance->Tie("simulation/reset", this, (iPMF)0, &FGFDMExec::ResetToInitialConditions); instance->Tie("simulation/terminate", (int *)&Terminate); Constructing = false; } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% FGFDMExec::~FGFDMExec() { try { checkTied( instance ); DeAllocate(); if (Root == 0) delete master; } catch ( string msg ) { cout << "Caught error: " << msg << endl; } for (unsigned int i=1; i<SlaveFDMList.size(); i++) delete SlaveFDMList[i]->exec; SlaveFDMList.clear(); //ToDo remove property catalog. 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); GroundCallback = new FGGroundCallback(Inertial->GetRefRadius()); GroundReactions = new FGGroundReactions(this); ExternalReactions = new FGExternalReactions(this); BuoyantForces = new FGBuoyantForces(this); Aircraft = new FGAircraft(this); Propagate = new FGPropagate(this); Auxiliary = new FGAuxiliary(this); Input = new FGInput(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 Atmosphere->InitModel(); FCS->InitModel(); Propulsion->InitModel(); MassBalance->InitModel(); Aerodynamics->InitModel(); Inertial->InitModel(); GroundReactions->InitModel(); ExternalReactions->InitModel(); BuoyantForces->InitModel(); Aircraft->InitModel(); Propagate->InitModel(); Auxiliary->InitModel(); Input->InitModel(); IC = new FGInitialCondition(this); // Schedule a model. The second arg (the integer) is the pass number. For // instance, the atmosphere model could get executed every fifth pass it is called // by the executive. IC and Trim objects are NOT scheduled. Schedule(Input, 1); Schedule(Atmosphere, 1); Schedule(FCS, 1); Schedule(Propulsion, 1); Schedule(MassBalance, 1); Schedule(Aerodynamics, 1); Schedule(Inertial, 1); Schedule(GroundReactions, 1); Schedule(ExternalReactions, 1); Schedule(BuoyantForces, 1); Schedule(Aircraft, 1); Schedule(Propagate, 1); Schedule(Auxiliary, 1); modelLoaded = false; return result; } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% bool FGFDMExec::DeAllocate(void) { delete Input; delete Atmosphere; delete FCS; delete Propulsion; delete MassBalance; delete Aerodynamics; delete Inertial; delete GroundReactions; delete ExternalReactions; delete BuoyantForces; delete Aircraft; delete Propagate; delete Auxiliary; delete State; delete Script; for (unsigned i=0; i<Outputs.size(); i++) delete Outputs[i]; Outputs.clear(); delete IC; delete Trim; delete GroundCallback; FirstModel = 0L; Error = 0; State = 0; Input = 0; Atmosphere = 0; FCS = 0; Propulsion = 0; MassBalance = 0; Aerodynamics = 0; Inertial = 0; GroundReactions = 0; ExternalReactions = 0; BuoyantForces = 0; Aircraft = 0; Propagate = 0; Auxiliary = 0; Script = 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) { bool success=true; FGModel* model_iterator; model_iterator = FirstModel; if (model_iterator == 0L) return false; Debug(2); for (unsigned int i=1; i<SlaveFDMList.size(); i++) { // SlaveFDMList[i]->exec->State->Initialize(); // Transfer state to the slave FDM // SlaveFDMList[i]->exec->Run(); } // returns true if success // false if complete if (Script != 0 && !State->IntegrationSuspended()) success = Script->RunScript(); while (model_iterator != 0L) { model_iterator->Run(); model_iterator = model_iterator->NextModel; } Frame++; if (!Holding()) State->IncrTime(); if (Terminate) success = false; return (success); } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% // This call will cause the sim time to reset to 0.0 bool FGFDMExec::RunIC(void) { State->SuspendIntegration(); State->Initialize(IC); Run(); State->ResumeIntegration(); return true; } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% // // A private, internal function call for Tie-ing to a property, so it needs an // argument. void FGFDMExec::ResetToInitialConditions(int mode) { if (mode == 1) { for (unsigned int i=0; i<Outputs.size(); i++) { Outputs[i]->SetStartNewFile(true); } } ResetToInitialConditions(); } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% void FGFDMExec::ResetToInitialConditions(void) { FGModel* model_iterator; model_iterator = FirstModel; if (model_iterator == 0L || Constructing) return; while (model_iterator != 0L) { model_iterator->InitModel(); model_iterator = model_iterator->NextModel; } RunIC(); if (Script) Script->ResetEvents(); } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% void FGFDMExec::SetGroundCallback(FGGroundCallback* p) { delete GroundCallback; GroundCallback = p; } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% double FGFDMExec::GetSimTime(void) { return (State->Getsim_time()); } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% double FGFDMExec::GetDeltaT(void) { return (State->Getdt()); } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% vector <string> FGFDMExec::EnumerateFDMs(void) { vector <string> FDMList; FDMList.push_back(Aircraft->GetAircraftName()); for (unsigned int i=1; i<SlaveFDMList.size(); i++) { FDMList.push_back(SlaveFDMList[i]->exec->GetAircraft()->GetAircraftName()); } return FDMList; } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% bool FGFDMExec::LoadScript(string script) { bool result; Script = new FGScript(this); result = Script->LoadScript(script); return result; } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% bool FGFDMExec::LoadModel(string AircraftPath, string EnginePath, string SystemsPath, string model, bool addModelToPath) { FGFDMExec::AircraftPath = AircraftPath; FGFDMExec::EnginePath = EnginePath; FGFDMExec::SystemsPath = SystemsPath; return LoadModel(model, addModelToPath); } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% bool FGFDMExec::LoadModel(string model, bool addModelToPath) { string token; string aircraftCfgFileName; string separator = "/"; Element* element = 0L; bool result = false; // initialize result to false, indicating input file not yet read modelName = model; // Set the class modelName attribute if( AircraftPath.empty() || EnginePath.empty() || SystemsPath.empty()) { cerr << "Error: attempted to load aircraft with undefined "; cerr << "aircraft, engine, and system paths" << endl; return false; } FullAircraftPath = AircraftPath; if (addModelToPath) FullAircraftPath += separator + model; aircraftCfgFileName = FullAircraftPath + separator + model + ".xml"; if (modelLoaded) { DeAllocate(); Allocate(); } document = LoadXMLDocument(aircraftCfgFileName); // "document" is a class member if (document) { ReadPrologue(document); // Process the fileheader element in the aircraft config file. This element is OPTIONAL. element = document->FindElement("fileheader"); if (element) { result = ReadFileHeader(element); if (!result) { cerr << endl << "Aircraft fileheader element has problems in file " << aircraftCfgFileName << endl; return result; } } // Process the metrics element. This element is REQUIRED. element = document->FindElement("metrics"); if (element) { result = Aircraft->Load(element); if (!result) { cerr << endl << "Aircraft metrics element has problems in file " << aircraftCfgFileName << endl; return result; } } else { cerr << endl << "No metrics element was found in the aircraft config file." << endl; return false; } // Process the mass_balance element. This element is REQUIRED. element = document->FindElement("mass_balance"); if (element) { result = MassBalance->Load(element); if (!result) { cerr << endl << "Aircraft mass_balance element has problems in file " << aircraftCfgFileName << endl; return result; } } else { cerr << endl << "No mass_balance element was found in the aircraft config file." << endl; return false; } // Process the ground_reactions element. This element is REQUIRED. element = document->FindElement("ground_reactions"); if (element) { result = GroundReactions->Load(element); if (!result) { cerr << endl << "Aircraft ground_reactions element has problems in file " << aircraftCfgFileName << endl; return result; } } else { cerr << endl << "No ground_reactions element was found in the aircraft config file." << endl; return false; } // Process the external_reactions element. This element is OPTIONAL. element = document->FindElement("external_reactions"); if (element) { result = ExternalReactions->Load(element); if (!result) { cerr << endl << "Aircraft external_reactions element has problems in file " << aircraftCfgFileName << endl; return result; } } // Process the buoyant_forces element. This element is OPTIONAL. element = document->FindElement("buoyant_forces"); if (element) { result = BuoyantForces->Load(element); if (!result) { cerr << endl << "Aircraft buoyant_forces element has problems in file " << aircraftCfgFileName << endl; return result; } } // Process the propulsion element. This element is OPTIONAL. element = document->FindElement("propulsion"); if (element) { result = Propulsion->Load(element); if (!result) { cerr << endl << "Aircraft propulsion element has problems in file " << aircraftCfgFileName << endl; return result; } } // Process the system element[s]. This element is OPTIONAL, and there may be more than one. element = document->FindElement("system"); while (element) { result = FCS->Load(element, FGFCS::stSystem); if (!result) { cerr << endl << "Aircraft system element has problems in file " << aircraftCfgFileName << endl; return result; } element = document->FindNextElement("system"); } // Process the autopilot element. This element is OPTIONAL. element = document->FindElement("autopilot"); if (element) { result = FCS->Load(element, FGFCS::stAutoPilot); if (!result) { cerr << endl << "Aircraft autopilot element has problems in file " << aircraftCfgFileName << endl; return result; } } // Process the flight_control element. This element is OPTIONAL. element = document->FindElement("flight_control"); if (element) { result = FCS->Load(element, FGFCS::stFCS); if (!result) { cerr << endl << "Aircraft flight_control element has problems in file " << aircraftCfgFileName << endl; return result; } } // Process the aerodynamics element. This element is OPTIONAL, but almost always expected. element = document->FindElement("aerodynamics"); if (element) { result = Aerodynamics->Load(element); if (!result) { cerr << endl << "Aircraft aerodynamics element has problems in file " << aircraftCfgFileName << endl; return result; } } else { cerr << endl << "No expected aerodynamics element was found in the aircraft config file." << endl; } // Process the input element. This element is OPTIONAL. element = document->FindElement("input"); if (element) { result = Input->Load(element); if (!result) { cerr << endl << "Aircraft input element has problems in file " << aircraftCfgFileName << endl; return result; } } // Process the output element[s]. This element is OPTIONAL, and there may be more than one. element = document->FindElement("output"); while (element) { FGOutput* Output = new FGOutput(this); Output->InitModel(); Schedule(Output, 1); result = Output->Load(element); Outputs.push_back(Output); if (!result) { cerr << endl << "Aircraft output element has problems in file " << aircraftCfgFileName << endl; return result; } element = document->FindNextElement("output"); } // Lastly, process the slave element. This element is OPTIONAL - and NOT YET SUPPORTED. element = document->FindElement("slave"); if (element) { result = ReadSlave(element); if (!result) { cerr << endl << "Aircraft slave element has problems in file " << aircraftCfgFileName << endl; return result; } } modelLoaded = true; } else { cerr << fgred << " JSBSim failed to open the configuration file: " << aircraftCfgFileName << fgdef << endl; } struct PropertyCatalogStructure masterPCS; masterPCS.base_string = ""; masterPCS.node = (FGPropertyManager*)Root; BuildPropertyCatalog(&masterPCS); return result; } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% void FGFDMExec::BuildPropertyCatalog(struct PropertyCatalogStructure* pcs) { struct PropertyCatalogStructure* pcsNew = new struct PropertyCatalogStructure; int node_idx = 0; char int_buf[10]; for (unsigned int i=0; i<pcs->node->nChildren(); i++) { pcsNew->base_string = pcs->base_string + "/" + pcs->node->getChild(i)->getName(); node_idx = pcs->node->getChild(i)->getIndex(); sprintf(int_buf, "[%d]", node_idx); if (node_idx != 0) pcsNew->base_string += string(int_buf); if (pcs->node->getChild(i)->nChildren() == 0) { if (pcsNew->base_string.substr(0,11) == string("/fdm/jsbsim")) { pcsNew->base_string = pcsNew->base_string.erase(0,12); } PropertyCatalog.push_back(pcsNew->base_string); } else { pcsNew->node = (FGPropertyManager*)pcs->node->getChild(i); BuildPropertyCatalog(pcsNew); } } delete pcsNew; } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% string FGFDMExec::QueryPropertyCatalog(string in) { string results=""; for (unsigned i=0; i<PropertyCatalog.size(); i++) { if (PropertyCatalog[i].find(in) != string::npos) results += PropertyCatalog[i] + "\n"; } if (results.empty()) return "No matches found\n"; return results; } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% void FGFDMExec::PrintPropertyCatalog(void) { cout << endl; cout << " " << fgblue << highint << underon << "Property Catalog for " << modelName << reset << endl << endl; for (unsigned i=0; i<PropertyCatalog.size(); i++) { cout << " " << PropertyCatalog[i] << endl; } } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% bool FGFDMExec::ReadFileHeader(Element* el) { bool result = true; // true for success if (debug_lvl & ~1) return result; if (el->FindElement("author")) cout << " Model Author: " << el->FindElement("author")->GetDataLine() << endl; if (el->FindElement("filecreationdate")) cout << " Creation Date: " << el->FindElement("filecreationdate")->GetDataLine() << endl; if (el->FindElement("version")) cout << " Version: " << el->FindElement("version")->GetDataLine() << endl; if (el->FindElement("description")) cout << " Description: " << el->FindElement("description")->GetDataLine() << endl; return result; } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% bool FGFDMExec::ReadPrologue(Element* el) // el for ReadPrologue is the document element { bool result = true; // true for success if (!el) return false; string AircraftName = el->GetAttributeValue("name"); Aircraft->SetAircraftName(AircraftName); if (debug_lvl & 1) cout << underon << "Reading Aircraft Configuration File" << underoff << ": " << highint << AircraftName << normint << endl; CFGVersion = el->GetAttributeValue("version"); Release = el->GetAttributeValue("release"); if (debug_lvl & 1) 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" && (debug_lvl & 1)) { 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" && (debug_lvl & 1)) { 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; } else if (Release == "PRODUCTION" && (debug_lvl & 1)) { cout << endl << endl << highint << "This aircraft model is a " << fgblue << Release << reset << highint << " release." << endl << endl << reset; } else if (debug_lvl & 1) { 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; } return result; } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% bool FGFDMExec::ReadSlave(Element* el) { // 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(true); /* 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->SetSystemsPath( SystemsPath ); 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; } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% FGPropertyManager* FGFDMExec::GetPropertyManager(void) { return instance; } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% FGTrim* FGFDMExec::GetTrim(void) { delete Trim; Trim = new FGTrim(this,tNone); return Trim; } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% void FGFDMExec::DisableOutput(void) { for (unsigned i=0; i<Outputs.size(); i++) { Outputs[i]->Disable(); } } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% void FGFDMExec::EnableOutput(void) { for (unsigned i=0; i<Outputs.size(); i++) { Outputs[i]->Enable(); } } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% bool FGFDMExec::SetOutputDirectives(string fname) { bool result; FGOutput* Output = new FGOutput(this); Output->SetDirectivesFile(fname); Output->InitModel(); Schedule(Output, 1); result = Output->Load(0); Outputs.push_back(Output); return result; } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% void FGFDMExec::DoTrim(int mode) { double saved_time; if (Constructing) return; if (mode < 0 || mode > JSBSim::tNone) { cerr << endl << "Illegal trimming mode!" << endl << endl; return; } saved_time = State->Getsim_time(); FGTrim trim(this, (JSBSim::TrimMode)mode); if ( !trim.DoTrim() ) cerr << endl << "Trim Failed" << endl << endl; trim.Report(); State->Setsim_time(saved_time); } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% /* void FGFDMExec::DoTrimAnalysis(int mode) { double saved_time; if (Constructing) return; if (mode < 0 || mode > JSBSim::taNone) { cerr << endl << "Illegal trimming mode!" << endl << endl; return; } saved_time = State->Getsim_time(); FGTrimAnalysis trimAnalysis(this, (JSBSim::TrimAnalysisMode)mode); if ( !trimAnalysis.Load(IC->GetInitFile(), false) ) { cerr << "A problem occurred with trim configuration file " << trimAnalysis.Load(IC->GetInitFile()) << endl; exit(-1); } bool result = trimAnalysis.DoTrim(); if ( !result ) cerr << endl << "Trim Failed" << endl << endl; trimAnalysis.Report(); State->Setsim_time(saved_time); EnableOutput(); cout << "\nOutput: " << GetOutputFileName() << endl; } */ //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% void FGFDMExec::UseAtmosphereMSIS(void) { FGAtmosphere *oldAtmosphere = Atmosphere; Atmosphere = new MSIS(this); if (!Atmosphere->InitModel()) { cerr << fgred << "MSIS Atmosphere model init failed" << fgdef << endl; Error+=1; } delete oldAtmosphere; } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% void FGFDMExec::UseAtmosphereMars(void) { /* FGAtmosphere *oldAtmosphere = Atmosphere; Atmosphere = new FGMars(this); if (!Atmosphere->InitModel()) { cerr << fgred << "Mars Atmosphere model init failed" << fgdef << endl; Error+=1; } delete oldAtmosphere; */ } //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% // 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 << " [JSBSim-ML 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() << " dt: " << State->Getdt() << 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; } } } }