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flightgear/src/FDM/JSBSim/FGFDMExec.cpp
david adcb4fc30e Latest JSBSim changes.
2002-04-16 13:15:29 +00:00

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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 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 <simgear/compiler.h>
# include STL_IOSTREAM
# include STL_ITERATOR
#else
# if defined(sgi) && !defined(__GNUC__)
# include <iostream.h>
# else
# include <iostream>
# endif
# include <iterator>
#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 "FGTranslation.h"
#include "FGRotation.h"
#include "FGPosition.h"
#include "FGAuxiliary.h"
#include "FGOutput.h"
#include "FGConfigFile.h"
#include "FGInitialCondition.h"
#include "FGPropertyManager.h"
static const char *IdSrc = "$Id$";
static const char *IdHdr = ID_FDMEXEC;
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
GLOBAL DECLARATIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
unsigned int FGFDMExec::FDMctr = 0;
FGPropertyManager* FGFDMExec::master=0;
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS IMPLEMENTATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
// 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;
Translation = 0;
Rotation = 0;
Position = 0;
Auxiliary = 0;
Output = 0;
terminate = false;
frozen = false;
modelLoaded = false;
IsSlave = false;
IdFDM = FDMctr;
FDMctr++;
try {
char* num = getenv("JSBSIM_DEBUG");
if (!num) debug_lvl = 1;
else 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);
instance->SetDouble("zero",0);
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();
} catch ( string msg ) {
cout << "Caught error: " << msg << endl;
}
for (int i=1; i<SlaveFDMList.size(); i++) delete SlaveFDMList[i]->exec;
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);
Translation = new FGTranslation(this);
Rotation = new FGRotation(this);
Position = new FGPosition(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 (!Translation->InitModel()) {
cerr << fgred << "Translation model init failed" << fgdef << endl;
Error+=256;}
if (!Rotation->InitModel()) {
cerr << fgred << "Rotation model init failed" << fgdef << endl;
Error+=512;}
if (!Position->InitModel()) {
cerr << fgred << "Position model init failed" << fgdef << endl;
Error+=1024;}
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;
// 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.
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(Rotation, 1);
Schedule(Translation, 1);
Schedule(Position, 1);
Schedule(Auxiliary, 1);
Schedule(Output, 1);
modelLoaded = false;
return result;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
bool FGFDMExec::DeAllocate(void) {
if ( Atmosphere != 0 ) delete Atmosphere;
if ( FCS != 0 ) delete FCS;
if ( Propulsion != 0) delete Propulsion;
if ( MassBalance != 0) delete MassBalance;
if ( Aerodynamics != 0) delete Aerodynamics;
if ( Inertial != 0) delete Inertial;
if ( GroundReactions != 0) delete GroundReactions;
if ( Aircraft != 0 ) delete Aircraft;
if ( Translation != 0 ) delete Translation;
if ( Rotation != 0 ) delete Rotation;
if ( Position != 0 ) delete Position;
if ( Auxiliary != 0 ) delete Auxiliary;
if ( Output != 0 ) delete Output;
if ( State != 0 ) delete State;
FirstModel = 0L;
Error = 0;
State = 0;
Atmosphere = 0;
FCS = 0;
Propulsion = 0;
MassBalance = 0;
Aerodynamics = 0;
Inertial = 0;
GroundReactions = 0;
Aircraft = 0;
Translation = 0;
Rotation = 0;
Position = 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 (int i=0; i<SlaveFDMList.size(); i++) {
// TransferState(i);
// Run(i)
}
while (!model_iterator->Run()) {
model_iterator = model_iterator->NextModel;
if (model_iterator == 0L) break;
}
frame = Frame++;
State->IncrTime();
return true;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
bool FGFDMExec::RunIC(FGInitialCondition *fgic)
{
State->Suspend();
State->Initialize(fgic);
Run();
State->Resume();
return true;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
void FGFDMExec::TransferState(int idxFDM)
{
SlaveFDMList[idxFDM]->exec->GetRotation()->SetEuler(Rotation->GetEuler());
SlaveFDMList[idxFDM]->exec->GetRotation()->SetAeroPQR(Rotation->GetAeroPQR());
SlaveFDMList[idxFDM]->exec->GetTranslation()->SetAeroUVW(Translation->GetAeroUVW());
SlaveFDMList[idxFDM]->exec->GetRotation()->SetEuler(Rotation->GetEuler());
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
vector <string> FGFDMExec::EnumerateFDMs(void)
{
vector <string> FDMList;
FDMList.push_back(Aircraft->GetAircraftName());
for (int i=1; i<SlaveFDMList.size(); i++) {
FDMList.push_back(SlaveFDMList[i]->exec->GetAircraft()->GetAircraftName());
}
return FDMList;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
bool FGFDMExec::LoadModel(string APath, string EPath, string model)
{
bool result = true;
string token;
string aircraftCfgFileName;
AircraftPath = APath;
EnginePath = EPath;
# ifndef macintosh
aircraftCfgFileName = AircraftPath + "/" + model + "/" + model + ".xml";
# else
aircraftCfgFileName = AircraftPath + ";" + model + ";" + model + ".xml";
# endif
FGConfigFile AC_cfg(aircraftCfgFileName);
if (!AC_cfg.IsOpen()) return false;
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 == "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");
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;
}
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;
SlaveFDMList.push_back(new slaveData);
SlaveFDMList.back()->exec = new FGFDMExec();
SlaveFDMList.back()->exec->SetSlave();
string AircraftName = AC_cfg->GetValue("FILE");
debug_lvl = 0;
SlaveFDMList.back()->exec->LoadModel("aircraft", "engine", AircraftName);
debug_lvl = saved_debug_lvl;
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;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
// 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) { // 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;
}
}
}
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