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flightgear/src/FDM/JSBSim/FGFDMExec.cpp
ThorstenB 0d233c0dfc Bertrand Coconnier: updated fix for #204 and #222: JSBSim reset 
Use shared property pointers instead of path strings, adapt method
names to JSBSim style, catch all property ties, proper error handling
when tieing failed.
2011-02-06 15:16:58 +01:00

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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 (jon@jsbsim.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 "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>
#include <cstdlib>
using namespace std;
namespace JSBSim {
static const char *IdSrc = "$Id: FGFDMExec.cpp,v 1.84 2011/01/16 16:26:14 bcoconni Exp $";
static const char *IdHdr = ID_FDMEXEC;
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS IMPLEMENTATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
// Constructor
FGFDMExec::FGFDMExec(FGPropertyManager* root, unsigned int* fdmctr) : Root(root), FDMctr(fdmctr)
{
Frame = 0;
Error = 0;
GroundCallback = 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;
RootDir = "";
modelLoaded = false;
IsChild = false;
holding = false;
Terminate = false;
StandAlone = false;
sim_time = 0.0;
dT = 1.0/120.0; // a default timestep size. This is needed for when JSBSim is
// run in standalone mode with no initialization file.
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) { // Then this is the root FDM
Root = new FGPropertyManager; // Create the property manager
StandAlone = true;
}
if (FDMctr == 0) {
FDMctr = new unsigned int; // Create and initialize the child FDM counter
(*FDMctr) = 0;
}
// Store this FDM's ID
IdFDM = (*FDMctr); // The main (parent) JSBSim instance is always the "zeroth"
// Prepare FDMctr for the next child FDM id
(*FDMctr)++; // instance. "child" instances are loaded last.
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);
instance->Tie("simulation/sim-time-sec", this, &FGFDMExec::GetSimTime);
instance->Tie("simulation/jsbsim-debug", this, &FGFDMExec::GetDebugLevel, &FGFDMExec::SetDebugLevel);
Constructing = false;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FGFDMExec::~FGFDMExec()
{
try {
Unbind();
DeAllocate();
if (IdFDM == 0) { // Meaning this is no child FDM
if(Root != 0) {
if(StandAlone)
delete Root;
Root = 0;
}
if(FDMctr != 0) {
delete FDMctr;
FDMctr = 0;
}
}
} catch ( string msg ) {
cout << "Caught error: " << msg << endl;
}
for (unsigned int i=1; i<ChildFDMList.size(); i++) delete ChildFDMList[i]->exec;
ChildFDMList.clear();
PropertyCatalog.clear();
FDMctr--;
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);
// 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.
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);
// Initialize models so they can communicate with each other
vector <FGModel*>::iterator it;
for (it = Models.begin(); it != Models.end(); ++it) (*it)->InitModel();
IC = new FGInitialCondition(this);
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 Script;
for (unsigned i=0; i<Outputs.size(); i++) delete Outputs[i];
Outputs.clear();
delete IC;
delete Trim;
delete GroundCallback;
Error = 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;
Models.clear();
modelLoaded = false;
return modelLoaded;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
void FGFDMExec::Schedule(FGModel* model, int rate)
{
model->SetRate(rate);
Models.push_back(model);
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
bool FGFDMExec::Run(void)
{
bool success=true;
Debug(2);
for (unsigned int i=1; i<ChildFDMList.size(); i++) {
ChildFDMList[i]->AssignState(Propagate); // Transfer state to the child FDM
ChildFDMList[i]->Run();
}
// returns true if success, false if complete
if (Script != 0 && !IntegrationSuspended()) success = Script->RunScript();
vector <FGModel*>::iterator it;
for (it = Models.begin(); it != Models.end(); ++it) (*it)->Run();
Frame++;
if (!Holding()) IncrTime();
if (Terminate) success = false;
return (success);
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
// This call will cause the sim time to reset to 0.0
bool FGFDMExec::RunIC(void)
{
SuspendIntegration(); // saves the integration rate, dt, then sets it to 0.0.
Initialize(IC);
Run();
ResumeIntegration(); // Restores the integration rate to what it was.
return true;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
void FGFDMExec::Initialize(FGInitialCondition *FGIC)
{
Propagate->SetInitialState( FGIC );
Atmosphere->Run();
Atmosphere->SetWindNED( FGIC->GetWindNFpsIC(),
FGIC->GetWindEFpsIC(),
FGIC->GetWindDFpsIC() );
FGColumnVector3 vAeroUVW;
vAeroUVW = Propagate->GetUVW() + Propagate->GetTl2b()*Atmosphere->GetTotalWindNED();
double alpha, beta;
if (vAeroUVW(eW) != 0.0)
alpha = vAeroUVW(eU)*vAeroUVW(eU) > 0.0 ? atan2(vAeroUVW(eW), vAeroUVW(eU)) : 0.0;
else
alpha = 0.0;
if (vAeroUVW(eV) != 0.0)
beta = vAeroUVW(eU)*vAeroUVW(eU)+vAeroUVW(eW)*vAeroUVW(eW) > 0.0 ? atan2(vAeroUVW(eV), (fabs(vAeroUVW(eU))/vAeroUVW(eU))*sqrt(vAeroUVW(eU)*vAeroUVW(eU) + vAeroUVW(eW)*vAeroUVW(eW))) : 0.0;
else
beta = 0.0;
Auxiliary->SetAB(alpha, beta);
double Vt = vAeroUVW.Magnitude();
Auxiliary->SetVt(Vt);
Auxiliary->SetMach(Vt/Atmosphere->GetSoundSpeed());
double qbar = 0.5*Vt*Vt*Atmosphere->GetDensity();
Auxiliary->Setqbar(qbar);
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
//
// 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)
{
if (Constructing) return;
vector <FGModel*>::iterator it;
for (it = Models.begin(); it != Models.end(); ++it) (*it)->InitModel();
RunIC();
if (Script) Script->ResetEvents();
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
void FGFDMExec::SetGroundCallback(FGGroundCallback* p)
{
delete GroundCallback;
GroundCallback = p;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
vector <string> FGFDMExec::EnumerateFDMs(void)
{
vector <string> FDMList;
FDMList.push_back(Aircraft->GetAircraftName());
for (unsigned int i=1; i<ChildFDMList.size(); i++) {
FDMList.push_back(ChildFDMList[i]->exec->GetAircraft()->GetAircraftName());
}
return FDMList;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
bool FGFDMExec::LoadScript(const string& script, double deltaT)
{
bool result;
Script = new FGScript(this);
result = Script->LoadScript(RootDir + script, deltaT);
return result;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
bool FGFDMExec::LoadModel(const string& AircraftPath, const string& EnginePath, const string& SystemsPath,
const string& model, bool addModelToPath)
{
FGFDMExec::AircraftPath = RootDir + AircraftPath;
FGFDMExec::EnginePath = RootDir + EnginePath;
FGFDMExec::SystemsPath = RootDir + SystemsPath;
return LoadModel(model, addModelToPath);
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
bool FGFDMExec::LoadModel(const string& model, bool addModelToPath)
{
string token;
string aircraftCfgFileName;
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 += "/" + model;
aircraftCfgFileName = FullAircraftPath + "/" + model + ".xml";
if (modelLoaded) {
DeAllocate();
Allocate();
}
int saved_debug_lvl = debug_lvl;
document = LoadXMLDocument(aircraftCfgFileName); // "document" is a class member
if (document) {
if (IsChild) debug_lvl = 0;
ReadPrologue(document);
if (IsChild) debug_lvl = saved_debug_lvl;
// 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;
}
}
if (IsChild) debug_lvl = 0;
// 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.
unsigned int idx=0;
typedef int (FGOutput::*iOPMF)(void) const;
element = document->FindElement("output");
while (element) {
if (debug_lvl > 0) cout << endl << " Output data set: " << idx << " ";
FGOutput* Output = new FGOutput(this);
Output->InitModel();
Schedule(Output, 1);
result = Output->Load(element);
if (!result) {
cerr << endl << "Aircraft output element has problems in file " << aircraftCfgFileName << endl;
return result;
} else {
Outputs.push_back(Output);
string outputProp = CreateIndexedPropertyName("simulation/output",idx);
instance->Tie(outputProp+"/log_rate_hz", Output, (iOPMF)0, &FGOutput::SetRate);
idx++;
}
element = document->FindNextElement("output");
}
// Lastly, process the child element. This element is OPTIONAL - and NOT YET SUPPORTED.
element = document->FindElement("child");
if (element) {
result = ReadChild(element);
if (!result) {
cerr << endl << "Aircraft child element has problems in file " << aircraftCfgFileName << endl;
return result;
}
}
modelLoaded = true;
if (debug_lvl > 0) {
MassBalance->Run(); // Update all mass properties for the report.
MassBalance->GetMassPropertiesReport();
cout << endl << fgblue << highint
<< "End of vehicle configuration loading." << endl
<< "-------------------------------------------------------------------------------"
<< reset << endl;
}
if (IsChild) debug_lvl = saved_debug_lvl;
} else {
cerr << fgred
<< " JSBSim failed to open the configuration file: " << aircraftCfgFileName
<< fgdef << endl;
}
// Late bind previously undefined FCS inputs.
try {
FCS->LateBind();
} catch (string prop) {
cerr << endl << fgred << " Could not late bind property " << prop
<< ". Aborting." << reset << endl;
result = false;
}
if (result) {
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;
for (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();
if (node_idx != 0) {
pcsNew->base_string = CreateIndexedPropertyName(pcsNew->base_string, node_idx);
}
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(const 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 == 0) return result;
if (IsChild) {
cout << endl <<highint << fgblue << "Reading child model: " << IdFDM << reset << endl << endl;
}
if (el->FindElement("description"))
cout << " Description: " << el->FindElement("description")->GetDataLine() << endl;
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;
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::ReadChild(Element* el)
{
// Add a new childData object to the child FDM list
// Populate that childData element with a new FDMExec object
// Set the IsChild flag for that FDMExec object
// Get the aircraft name
// set debug level to print out no additional data for child objects
// Load the model given the aircraft name
// reset debug level to prior setting
string token;
struct childData* child = new childData;
child->exec = new FGFDMExec(Root, FDMctr);
child->exec->SetChild(true);
string childAircraft = el->GetAttributeValue("name");
string sMated = el->GetAttributeValue("mated");
if (sMated == "false") child->mated = false; // child objects are mated by default.
string sInternal = el->GetAttributeValue("internal");
if (sInternal == "true") child->internal = true; // child objects are external by default.
child->exec->SetAircraftPath( AircraftPath );
child->exec->SetEnginePath( EnginePath );
child->exec->SetSystemsPath( SystemsPath );
child->exec->LoadModel(childAircraft);
Element* location = el->FindElement("location");
if (location) {
child->Loc = location->FindElementTripletConvertTo("IN");
} else {
cerr << endl << highint << fgred << " No location was found for this child object!" << reset << endl;
exit(-1);
}
Element* orientation = el->FindElement("orient");
if (orientation) {
child->Orient = orientation->FindElementTripletConvertTo("RAD");
} else if (debug_lvl > 0) {
cerr << endl << highint << " No orientation was found for this child object! Assuming 0,0,0." << reset << endl;
}
ChildFDMList.push_back(child);
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(const string& fname)
{
bool result;
FGOutput* Output = new FGOutput(this);
Output->SetDirectivesFile(RootDir + fname);
Output->InitModel();
Schedule(Output, 1);
result = Output->Load(0);
if (result) {
Outputs.push_back(Output);
typedef int (FGOutput::*iOPMF)(void) const;
string outputProp = CreateIndexedPropertyName("simulation/output",Outputs.size()-1);
instance->Tie(outputProp+"/log_rate_hz", Output, (iOPMF)0, &FGOutput::SetRate);
}
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 = sim_time;
FGTrim trim(this, (JSBSim::TrimMode)mode);
if ( !trim.DoTrim() ) cerr << endl << "Trim Failed" << endl << endl;
trim.Report();
sim_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 = sim_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();
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: "
<< sim_time << " dt: " << dT << 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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