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flightgear/LaRCsim/ls_init.c
curt dcae0268de Removed some printf()'s. 
Fixed the autopilot integration so it should be able to update it's control
  positions every time the internal flight model loop is run, and not just
  once per rendered frame.
Added a routine to do the necessary stuff to force an arbitrary altitude
  change.
Gave the Navion engine just a tad more power.
1998-07-12 03:11:03 +00:00

381 lines
9.9 KiB
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/***************************************************************************
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 1.5 1998/07/12 03:11:03 curt
Removed some printf()'s.
Fixed the autopilot integration so it should be able to update it's control
positions every time the internal flight model loop is run, and not just
once per rendered frame.
Added a routine to do the necessary stuff to force an arbitrary altitude
change.
Gave the Navion engine just a tad more power.
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 );
*/
}
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