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flightgear/src/FDM/JSBSim/FGFDMExec.cpp

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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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/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;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
void FGFDMExec::ResetToInitialConditions(void)
{
FGModel* model_iterator;
model_iterator = FirstModel;
if (model_iterator == 0L) 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);
element = document->GetElement();
result = true;
while (element && result) {
string element_name = element->GetName();
if (element_name == "fileheader" ) result = ReadFileHeader(element);
else if (element_name == "slave") result = ReadSlave(element);
else if (element_name == "metrics") result = Aircraft->Load(element);
else if (element_name == "mass_balance") result = MassBalance->Load(element);
else if (element_name == "ground_reactions") result = GroundReactions->Load(element);
else if (element_name == "external_reactions") result = ExternalReactions->Load(element);
else if (element_name == "buoyant_forces") result = BuoyantForces->Load(element);
else if (element_name == "propulsion") result = Propulsion->Load(element);
else if (element_name == "system") result = FCS->Load(element,
FGFCS::stSystem);
else if (element_name == "autopilot") result = FCS->Load(element,
FGFCS::stAutoPilot);
else if (element_name == "flight_control") result = FCS->Load(element,
FGFCS::stFCS);
else if (element_name == "aerodynamics") result = Aerodynamics->Load(element);
else if (element_name == "input") result = Input->Load(element);
else if (element_name == "output") {
FGOutput* Output = new FGOutput(this);
Output->InitModel();
Schedule(Output, 1);
result = Output->Load(element);
Outputs.push_back(Output);
}
else {
cerr << "Found unexpected subsystem: " << element_name << ", exiting." << endl;
result = false;
break;
}
element = document->GetNextElement();
}
} else {
cerr << fgred
<< " JSBSim failed to load aircraft model."
<< fgdef << endl;
return false;
}
if (result) {
modelLoaded = true;
Debug(3);
} else {
cerr << fgred
<< " JSBSim failed to load properly."
<< fgdef << endl;
return false;
}
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) {
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;
}
}
}
}
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