/***************************************************************************
TITLE: ls_init.c
----------------------------------------------------------------------------
FUNCTION: Initializes simulation
----------------------------------------------------------------------------
MODULE STATUS: incomplete
----------------------------------------------------------------------------
GENEALOGY: Written 921230 by Bruce Jackson
----------------------------------------------------------------------------
DESIGNED BY: EBJ
CODED BY: EBJ
MAINTAINED BY: EBJ
----------------------------------------------------------------------------
MODIFICATION HISTORY:
DATE PURPOSE BY
950314 Added get_set, put_set, and init routines. EBJ
CURRENT RCS HEADER:
$Header$
$Log$
Revision 1.4 1998/01/19 18:40:26 curt
Tons of little changes to clean up the code and to remove fatal errors
when building with the c++ compiler.
Revision 1.3 1998/01/05 22:19:25 curt
#ifdef'd out some unused code that was problematic for MSVC++ to compile.
Revision 1.2 1997/05/29 22:39:58 curt
Working on incorporating the LaRCsim flight model.
Revision 1.1 1997/05/29 00:09:57 curt
Initial Flight Gear revision.
* Revision 1.4 1995/03/15 12:15:23 bjax
* Added ls_init_get_set() and ls_init_put_set() and ls_init_init()
* routines. EBJ
*
* Revision 1.3 1994/01/11 19:09:44 bjax
* Fixed header includes.
*
* Revision 1.2 1992/12/30 14:04:53 bjax
* Added call to ls_step(0, 1).
*
* Revision 1.1 92/12/30 14:02:19 bjax
* Initial revision
*
* Revision 1.1 92/12/30 13:21:21 bjax
* Initial revision
*
* Revision 1.3 93/12/31 10:34:11 bjax
* Added $Log marker as well.
*
----------------------------------------------------------------------------
REFERENCES:
----------------------------------------------------------------------------
CALLED BY:
----------------------------------------------------------------------------
CALLS TO:
----------------------------------------------------------------------------
INPUTS:
----------------------------------------------------------------------------
OUTPUTS:
--------------------------------------------------------------------------*/
static char rcsid[] = "$Id$";
#include <string.h>
#include <stdio.h>
#include "ls_types.h"
#include "ls_sym.h"
#include "ls_step.h"
#include "ls_init.h"
#include "navion_init.h"
/* temp */
#include "ls_generic.h"
#define MAX_NUMBER_OF_CONTINUOUS_STATES 100
#define MAX_NUMBER_OF_DISCRETE_STATES 20
#define HARDWIRED 13
#define NIL_POINTER 0L
#define FACILITY_NAME_STRING "init"
#define CURRENT_VERSION 10
typedef struct
{
symbol_rec Symbol;
double value;
} cont_state_rec;
typedef struct
{
symbol_rec Symbol;
long value;
} disc_state_rec;
extern SCALAR Simtime;
/* static int Symbols_loaded = 0; */
static int Number_of_Continuous_States = 0;
static int Number_of_Discrete_States = 0;
static cont_state_rec Continuous_States[ MAX_NUMBER_OF_CONTINUOUS_STATES ];
static disc_state_rec Discrete_States[ MAX_NUMBER_OF_DISCRETE_STATES ];
void ls_init_init( void ) {
int i;
/* int error; */
if (Number_of_Continuous_States == 0)
{
Number_of_Continuous_States = HARDWIRED;
for (i=0;i<HARDWIRED;i++)
strcpy( Continuous_States[i].Symbol.Mod_Name, "*" );
strcpy( Continuous_States[ 0].Symbol.Par_Name,
"generic_.geodetic_position_v[0]");
strcpy( Continuous_States[ 1].Symbol.Par_Name,
"generic_.geodetic_position_v[1]");
strcpy( Continuous_States[ 2].Symbol.Par_Name,
"generic_.geodetic_position_v[2]");
strcpy( Continuous_States[ 3].Symbol.Par_Name,
"generic_.v_local_v[0]");
strcpy( Continuous_States[ 4].Symbol.Par_Name,
"generic_.v_local_v[1]");
strcpy( Continuous_States[ 5].Symbol.Par_Name,
"generic_.v_local_v[2]");
strcpy( Continuous_States[ 6].Symbol.Par_Name,
"generic_.euler_angles_v[0]");
strcpy( Continuous_States[ 7].Symbol.Par_Name,
"generic_.euler_angles_v[1]");
strcpy( Continuous_States[ 8].Symbol.Par_Name,
"generic_.euler_angles_v[2]");
strcpy( Continuous_States[ 9].Symbol.Par_Name,
"generic_.omega_body_v[0]");
strcpy( Continuous_States[10].Symbol.Par_Name,
"generic_.omega_body_v[1]");
strcpy( Continuous_States[11].Symbol.Par_Name,
"generic_.omega_body_v[2]");
strcpy( Continuous_States[12].Symbol.Par_Name,
"generic_.earth_position_angle");
}
/* commented out by CLO
for (i=0;i<Number_of_Continuous_States;i++)
{
(void) ls_get_sym_val( &Continuous_States[i].Symbol, &error );
if (error) Continuous_States[i].Symbol.Addr = NIL_POINTER;
}
for (i=0;i<Number_of_Discrete_States;i++)
{
(void) ls_get_sym_val( &Discrete_States[i].Symbol, &error );
if (error) Discrete_States[i].Symbol.Addr = NIL_POINTER;
}
*/
}
void ls_init( void ) {
/* int i; */
Simtime = 0;
printf("LS in init() pos = %.2f\n", Latitude);
ls_init_init();
printf("LS after init_init() pos = %.2f\n", Latitude);
/* move the states to proper values */
/* commented out by CLO
for(i=0;i<Number_of_Continuous_States;i++)
if (Continuous_States[i].Symbol.Addr)
ls_set_sym_val( &Continuous_States[i].Symbol,
Continuous_States[i].value );
for(i=0;i<Number_of_Discrete_States;i++)
if (Discrete_States[i].Symbol.Addr)
ls_set_sym_val( &Discrete_States[i].Symbol,
(double) Discrete_States[i].value );
*/
model_init();
printf("LS after model_init() pos = %.2f\n", Latitude);
ls_step(0.0, -1);
printf("LS after ls_step() pos = %.2f\n", Latitude);
}
#ifdef COMPILE_THIS_CODE_THIS_USELESS_CODE
char *ls_init_get_set(char *buffer, char *eob)
/* This routine parses the settings file for "init" entries. */
{
static char *fac_name = FACILITY_NAME_STRING;
char *bufptr;
char line[256];
int n, ver, i, error, abrt;
enum {cont_states_header, cont_states, disc_states_header, disc_states, done } looking_for;
abrt = 0;
looking_for = cont_states_header;
n = sscanf(buffer, "%s", line);
if (n == 0) return 0L;
if (strncasecmp( fac_name, line, strlen(fac_name) )) return 0L;
bufptr = strtok( buffer+strlen(fac_name)+1, "\n");
if (bufptr == 0) return 0L;
sscanf( bufptr, "%d", &ver );
if (ver != CURRENT_VERSION) return 0L;
ls_init_init();
while( !abrt && (eob > bufptr))
{
bufptr = strtok( 0L, "\n");
if (bufptr == 0) return 0L;
if (strncasecmp( bufptr, "end", 3) == 0) break;
sscanf( bufptr, "%s", line );
if (line[0] != '#') /* ignore comments */
{
switch (looking_for)
{
case cont_states_header:
{
if (strncasecmp( line, "continuous_states", 17) == 0)
{
n = sscanf( bufptr, "%s%d", line,
&Number_of_Continuous_States );
if (n != 2) abrt = 1;
looking_for = cont_states;
i = 0;
}
break;
}
case cont_states:
{
n = sscanf( bufptr, "%s%s%le",
Continuous_States[i].Symbol.Mod_Name,
Continuous_States[i].Symbol.Par_Name,
&Continuous_States[i].value );
if (n != 3) abrt = 1;
Continuous_States[i].Symbol.Addr = NIL_POINTER;
i++;
if (i >= Number_of_Continuous_States)
looking_for = disc_states_header;
break;
}
case disc_states_header:
{
if (strncasecmp( line, "discrete_states", 15) == 0)
{
n = sscanf( bufptr, "%s%d", line,
&Number_of_Discrete_States );
if (n != 2) abrt = 1;
looking_for = disc_states;
i = 0;
}
break;
}
case disc_states:
{
n = sscanf( bufptr, "%s%s%ld",
Discrete_States[i].Symbol.Mod_Name,
Discrete_States[i].Symbol.Par_Name,
&Discrete_States[i].value );
if (n != 3) abrt = 1;
Discrete_States[i].Symbol.Addr = NIL_POINTER;
i++;
if (i >= Number_of_Discrete_States) looking_for = done;
}
case done:
{
break;
}
}
}
}
Symbols_loaded = !abrt;
return bufptr;
}
#endif /* COMPILE_THIS_CODE_THIS_USELESS_CODE */
void ls_init_put_set( FILE *fp )
{
int i;
if (fp==0) return;
fprintf(fp, "\n");
fprintf(fp, "#============================== %s\n", FACILITY_NAME_STRING);
fprintf(fp, "\n");
fprintf(fp, FACILITY_NAME_STRING);
fprintf(fp, "\n");
fprintf(fp, "%04d\n", CURRENT_VERSION);
fprintf(fp, " continuous_states: %d\n", Number_of_Continuous_States);
fprintf(fp, "# module parameter value\n");
for (i=0; i<Number_of_Continuous_States; i++)
fprintf(fp, " %s\t%s\t%E\n",
Continuous_States[i].Symbol.Mod_Name,
Continuous_States[i].Symbol.Par_Name,
Continuous_States[i].value );
fprintf(fp, " discrete_states: %d\n", Number_of_Discrete_States);
fprintf(fp, "# module parameter value\n");
for (i=0;i<Number_of_Discrete_States;i++)
fprintf(fp, " %s\t%s\t%ld\n",
Discrete_States[i].Symbol.Mod_Name,
Discrete_States[i].Symbol.Par_Name,
Discrete_States[i].value );
fprintf(fp, "end\n");
return;
}
void ls_save_current_as_ic( void ) {
/* Save current states as initial conditions */
/* int i, error; */
/* commented out by CLO
for(i=0;i<Number_of_Continuous_States;i++)
if (Continuous_States[i].Symbol.Addr)
Continuous_States[i].value =
ls_get_sym_val( &Continuous_States[i].Symbol, &error );
for(i=0;i<Number_of_Discrete_States;i++)
if (Discrete_States[i].Symbol.Addr)
Discrete_States[i].value = (long)
ls_get_sym_val( &Discrete_States[i].Symbol, &error );
*/
}