1
2 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
3
4 Module: FGFDMExec.cpp
5 Author: Jon S. Berndt
6 Date started: 11/17/98
7 Purpose: Schedules and runs the model routines.
8
9 ------------- Copyright (C) 1999 Jon S. Berndt (jon@jsbsim.org) -------------
10
11 This program is free software; you can redistribute it and/or modify it under
12 the terms of the GNU Lesser General Public License as published by the Free
13 Software Foundation; either version 2 of the License, or (at your option) any
14 later version.
15
16 This program is distributed in the hope that it will be useful, but WITHOUT
17 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
18 FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
19 details.
20
21 You should have received a copy of the GNU Lesser General Public License along
22 with this program; if not, write to the Free Software Foundation, Inc., 59
23 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
24
25 Further information about the GNU Lesser General Public License can also be
26 found on the world wide web at http://www.gnu.org.
27
28 FUNCTIONAL DESCRIPTION
29 --------------------------------------------------------------------------------
30
31 This class wraps up the simulation scheduling routines.
32
33 HISTORY
34 --------------------------------------------------------------------------------
35 11/17/98 JSB Created
36
37 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
38 COMMENTS, REFERENCES, and NOTES
39 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
40
41 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
42 INCLUDES
43 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
44
45 #include <iomanip>
46
47 #include "FGFDMExec.h"
48 #include "models/atmosphere/FGStandardAtmosphere.h"
49 #include "models/atmosphere/FGWinds.h"
50 #include "models/FGFCS.h"
51 #include "models/FGPropulsion.h"
52 #include "models/FGMassBalance.h"
53 #include "models/FGExternalReactions.h"
54 #include "models/FGBuoyantForces.h"
55 #include "models/FGAerodynamics.h"
56 #include "models/FGInertial.h"
57 #include "models/FGAircraft.h"
58 #include "models/FGAccelerations.h"
59 #include "models/FGAuxiliary.h"
60 #include "models/FGInput.h"
61 #include "initialization/FGTrim.h"
62 #include "input_output/FGScript.h"
63 #include "input_output/FGXMLFileRead.h"
64
65 using namespace std;
66
67 namespace JSBSim {
68
69 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
70 CLASS IMPLEMENTATION
71 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
72
73 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
74 // Constructor
75
FGFDMExec(FGPropertyManager * root,unsigned int * fdmctr)76 FGFDMExec::FGFDMExec(FGPropertyManager* root, unsigned int* fdmctr)
77 : Root(root), FDMctr(fdmctr)
78 {
79 Frame = 0;
80 IC = nullptr;
81 Trim = nullptr;
82 Script = nullptr;
83 disperse = 0;
84
85 RootDir = "";
86
87 modelLoaded = false;
88 IsChild = false;
89 holding = false;
90 Terminate = false;
91 StandAlone = false;
92 ResetMode = 0;
93 RandomSeed = 0;
94 HoldDown = false;
95
96 IncrementThenHolding = false; // increment then hold is off by default
97 TimeStepsUntilHold = -1;
98
99 sim_time = 0.0;
100 dT = 1.0/120.0; // a default timestep size. This is needed for when JSBSim is
101 // run in standalone mode with no initialization file.
102
103 AircraftPath = "aircraft";
104 EnginePath = "engine";
105 SystemsPath = "systems";
106
107 try {
108 char* num = getenv("JSBSIM_DEBUG");
109 if (num) debug_lvl = atoi(num); // set debug level
110 } catch (...) { // if error set to 1
111 debug_lvl = 1;
112 }
113
114 if (Root == 0) { // Then this is the root FDM
115 Root = new FGPropertyManager; // Create the property manager
116 StandAlone = true;
117 }
118
119 if (FDMctr == 0) {
120 FDMctr = new unsigned int; // Create and initialize the child FDM counter
121 (*FDMctr) = 0;
122 }
123
124 // Store this FDM's ID
125 IdFDM = (*FDMctr); // The main (parent) JSBSim instance is always the "zeroth"
126
127 // Prepare FDMctr for the next child FDM id
128 (*FDMctr)++; // instance. "child" instances are loaded last.
129
130 FGPropertyNode* instanceRoot = Root->GetNode("/fdm/jsbsim",IdFDM,true);
131 instance = new FGPropertyManager(instanceRoot);
132
133 try {
134 char* num = getenv("JSBSIM_DISPERSE");
135 if (num) {
136 if (atoi(num) != 0) disperse = 1; // set dispersions on
137 }
138 } catch (...) { // if error set to false
139 disperse = 0;
140 std::cerr << "Could not process JSBSIM_DISPERSIONS environment variable: Assumed NO dispersions." << endl;
141 }
142
143 Debug(0);
144 // this is to catch errors in binding member functions to the property tree.
145 try {
146 Allocate();
147 } catch (const string& msg ) {
148 cout << "Caught error: " << msg << endl;
149 exit(1);
150 }
151
152 trim_status = false;
153 ta_mode = 99;
154 trim_completed = 0;
155
156 Constructing = true;
157 typedef int (FGFDMExec::*iPMF)(void) const;
158 instance->Tie("simulation/do_simple_trim", this, (iPMF)0, &FGFDMExec::DoTrim, false);
159 instance->Tie("simulation/reset", this, (iPMF)0, &FGFDMExec::ResetToInitialConditions, false);
160 instance->Tie("simulation/disperse", this, &FGFDMExec::GetDisperse);
161 instance->Tie("simulation/randomseed", this, (iPMF)&FGFDMExec::SRand, &FGFDMExec::SRand, false);
162 instance->Tie("simulation/terminate", (int *)&Terminate);
163 instance->Tie("simulation/pause", (int *)&holding);
164 instance->Tie("simulation/sim-time-sec", this, &FGFDMExec::GetSimTime);
165 instance->Tie("simulation/dt", this, &FGFDMExec::GetDeltaT);
166 instance->Tie("simulation/jsbsim-debug", this, &FGFDMExec::GetDebugLevel, &FGFDMExec::SetDebugLevel);
167 instance->Tie("simulation/frame", (int *)&Frame, false);
168 instance->Tie("simulation/trim-completed", (int *)&trim_completed, false);
169 instance->Tie("forces/hold-down", this, &FGFDMExec::GetHoldDown, &FGFDMExec::SetHoldDown);
170
171 Constructing = false;
172 }
173
174 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
175
~FGFDMExec()176 FGFDMExec::~FGFDMExec()
177 {
178 try {
179 Unbind();
180 DeAllocate();
181
182 delete instance;
183
184 if (IdFDM == 0) { // Meaning this is no child FDM
185 if(Root != 0) {
186 if(StandAlone)
187 delete Root;
188 Root = 0;
189 }
190 if(FDMctr != 0) {
191 delete FDMctr;
192 FDMctr = 0;
193 }
194 }
195 } catch (const string& msg ) {
196 cout << "Caught error: " << msg << endl;
197 }
198
199 for (unsigned int i=1; i<ChildFDMList.size(); i++) delete ChildFDMList[i]->exec;
200 ChildFDMList.clear();
201
202 PropertyCatalog.clear();
203
204 SetGroundCallback(0);
205
206 if (FDMctr != 0) (*FDMctr)--;
207
208 Debug(1);
209 }
210
211 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
212
Allocate(void)213 bool FGFDMExec::Allocate(void)
214 {
215 bool result=true;
216
217 Models.resize(eNumStandardModels);
218
219 // First build the inertial model since some other models are relying on
220 // the inertial model and the ground callback to build themselves.
221 // Note that this does not affect the order in which the models will be
222 // executed later.
223 Models[eInertial] = new FGInertial(this);
224 SetGroundCallback(new FGDefaultGroundCallback(static_cast<FGInertial*>(Models[eInertial])->GetRefRadius()));
225
226 // See the eModels enum specification in the header file. The order of the
227 // enums specifies the order of execution. The Models[] vector is the primary
228 // storage array for the list of models.
229 Models[ePropagate] = new FGPropagate(this);
230 Models[eInput] = new FGInput(this);
231 Models[eAtmosphere] = new FGStandardAtmosphere(this);
232 Models[eWinds] = new FGWinds(this);
233 Models[eSystems] = new FGFCS(this);
234 Models[eMassBalance] = new FGMassBalance(this);
235 Models[eAuxiliary] = new FGAuxiliary(this);
236 Models[ePropulsion] = new FGPropulsion(this);
237 Models[eAerodynamics] = new FGAerodynamics (this);
238 Models[eGroundReactions] = new FGGroundReactions(this);
239 Models[eExternalReactions] = new FGExternalReactions(this);
240 Models[eBuoyantForces] = new FGBuoyantForces(this);
241 Models[eAircraft] = new FGAircraft(this);
242 Models[eAccelerations] = new FGAccelerations(this);
243 Models[eOutput] = new FGOutput(this);
244
245 // Assign the Model shortcuts for internal executive use only.
246 Propagate = (FGPropagate*)Models[ePropagate];
247 Inertial = (FGInertial*)Models[eInertial];
248 Atmosphere = (FGAtmosphere*)Models[eAtmosphere];
249 Winds = (FGWinds*)Models[eWinds];
250 FCS = (FGFCS*)Models[eSystems];
251 MassBalance = (FGMassBalance*)Models[eMassBalance];
252 Auxiliary = (FGAuxiliary*)Models[eAuxiliary];
253 Propulsion = (FGPropulsion*)Models[ePropulsion];
254 Aerodynamics = (FGAerodynamics*)Models[eAerodynamics];
255 GroundReactions = (FGGroundReactions*)Models[eGroundReactions];
256 ExternalReactions = (FGExternalReactions*)Models[eExternalReactions];
257 BuoyantForces = (FGBuoyantForces*)Models[eBuoyantForces];
258 Aircraft = (FGAircraft*)Models[eAircraft];
259 Accelerations = (FGAccelerations*)Models[eAccelerations];
260 Output = (FGOutput*)Models[eOutput];
261
262 // Initialize planet (environment) constants
263 LoadPlanetConstants();
264
265 // Initialize models
266 for (unsigned int i = 0; i < Models.size(); i++) {
267 // The Input/Output models must not be initialized prior to IC loading
268 if (i == eInput || i == eOutput) continue;
269
270 LoadInputs(i);
271 Models[i]->InitModel();
272 }
273
274 IC = new FGInitialCondition(this);
275 IC->bind(instance);
276
277 modelLoaded = false;
278
279 return result;
280 }
281
282 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
283
DeAllocate(void)284 bool FGFDMExec::DeAllocate(void)
285 {
286
287 for (unsigned int i=0; i<eNumStandardModels; i++) delete Models[i];
288 Models.clear();
289
290 delete Script;
291 delete IC;
292 delete Trim;
293
294 modelLoaded = false;
295 return modelLoaded;
296 }
297
298 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
299
Run(void)300 bool FGFDMExec::Run(void)
301 {
302 bool success=true;
303
304 Debug(2);
305
306 for (unsigned int i=1; i<ChildFDMList.size(); i++) {
307 ChildFDMList[i]->AssignState( (FGPropagate*)Models[ePropagate] ); // Transfer state to the child FDM
308 ChildFDMList[i]->Run();
309 }
310
311 IncrTime();
312
313 // returns true if success, false if complete
314 if (Script != 0 && !IntegrationSuspended()) success = Script->RunScript();
315
316 for (unsigned int i = 0; i < Models.size(); i++) {
317 LoadInputs(i);
318 Models[i]->Run(holding);
319 }
320
321 if (ResetMode) {
322 unsigned int mode = ResetMode;
323
324 ResetMode = 0;
325 ResetToInitialConditions(mode);
326 }
327
328 if (Terminate) success = false;
329
330 return success;
331 }
332
333 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
334
LoadInputs(unsigned int idx)335 void FGFDMExec::LoadInputs(unsigned int idx)
336 {
337 switch(idx) {
338 case ePropagate:
339 Propagate->in.vPQRidot = Accelerations->GetPQRidot();
340 Propagate->in.vUVWidot = Accelerations->GetUVWidot();
341 Propagate->in.DeltaT = dT;
342 break;
343 case eInput:
344 break;
345 case eInertial:
346 Inertial->in.Position = Propagate->GetLocation();
347 break;
348 case eAtmosphere:
349 Atmosphere->in.altitudeASL = Propagate->GetAltitudeASL();
350 break;
351 case eWinds:
352 Winds->in.AltitudeASL = Propagate->GetAltitudeASL();
353 Winds->in.DistanceAGL = Propagate->GetDistanceAGL();
354 Winds->in.Tl2b = Propagate->GetTl2b();
355 Winds->in.Tw2b = Auxiliary->GetTw2b();
356 Winds->in.V = Auxiliary->GetVt();
357 Winds->in.totalDeltaT = dT * Winds->GetRate();
358 break;
359 case eAuxiliary:
360 Auxiliary->in.Pressure = Atmosphere->GetPressure();
361 Auxiliary->in.Density = Atmosphere->GetDensity();
362 Auxiliary->in.DensitySL = Atmosphere->GetDensitySL();
363 Auxiliary->in.PressureSL = Atmosphere->GetPressureSL();
364 Auxiliary->in.Temperature = Atmosphere->GetTemperature();
365 Auxiliary->in.SoundSpeed = Atmosphere->GetSoundSpeed();
366 Auxiliary->in.KinematicViscosity = Atmosphere->GetKinematicViscosity();
367 Auxiliary->in.DistanceAGL = Propagate->GetDistanceAGL();
368 Auxiliary->in.Mass = MassBalance->GetMass();
369 Auxiliary->in.Tl2b = Propagate->GetTl2b();
370 Auxiliary->in.Tb2l = Propagate->GetTb2l();
371 Auxiliary->in.vPQR = Propagate->GetPQR();
372 Auxiliary->in.vPQRi = Propagate->GetPQRi();
373 Auxiliary->in.vPQRidot = Accelerations->GetPQRidot();
374 Auxiliary->in.vUVW = Propagate->GetUVW();
375 Auxiliary->in.vUVWdot = Accelerations->GetUVWdot();
376 Auxiliary->in.vVel = Propagate->GetVel();
377 Auxiliary->in.vBodyAccel = Accelerations->GetBodyAccel();
378 Auxiliary->in.ToEyePt = MassBalance->StructuralToBody(Aircraft->GetXYZep());
379 Auxiliary->in.VRPBody = MassBalance->StructuralToBody(Aircraft->GetXYZvrp());
380 Auxiliary->in.RPBody = MassBalance->StructuralToBody(Aircraft->GetXYZrp());
381 Auxiliary->in.vFw = Aerodynamics->GetvFw();
382 Auxiliary->in.vLocation = Propagate->GetLocation();
383 Auxiliary->in.CosTht = Propagate->GetCosEuler(eTht);
384 Auxiliary->in.SinTht = Propagate->GetSinEuler(eTht);
385 Auxiliary->in.CosPhi = Propagate->GetCosEuler(ePhi);
386 Auxiliary->in.SinPhi = Propagate->GetSinEuler(ePhi);
387 Auxiliary->in.TotalWindNED = Winds->GetTotalWindNED();
388 Auxiliary->in.TurbPQR = Winds->GetTurbPQR();
389 break;
390 case eSystems:
391 // Dynamic inputs come into the components that FCS manages through properties
392 break;
393 case ePropulsion:
394 Propulsion->in.Pressure = Atmosphere->GetPressure();
395 Propulsion->in.PressureRatio = Atmosphere->GetPressureRatio();
396 Propulsion->in.Temperature = Atmosphere->GetTemperature();
397 Propulsion->in.DensityRatio = Atmosphere->GetDensityRatio();
398 Propulsion->in.Density = Atmosphere->GetDensity();
399 Propulsion->in.Soundspeed = Atmosphere->GetSoundSpeed();
400 Propulsion->in.TotalPressure = Auxiliary->GetTotalPressure();
401 Propulsion->in.Vc = Auxiliary->GetVcalibratedKTS();
402 Propulsion->in.Vt = Auxiliary->GetVt();
403 Propulsion->in.qbar = Auxiliary->Getqbar();
404 Propulsion->in.TAT_c = Auxiliary->GetTAT_C();
405 Propulsion->in.AeroUVW = Auxiliary->GetAeroUVW();
406 Propulsion->in.AeroPQR = Auxiliary->GetAeroPQR();
407 Propulsion->in.alpha = Auxiliary->Getalpha();
408 Propulsion->in.beta = Auxiliary->Getbeta();
409 Propulsion->in.TotalDeltaT = dT * Propulsion->GetRate();
410 Propulsion->in.ThrottlePos = FCS->GetThrottlePos();
411 Propulsion->in.MixturePos = FCS->GetMixturePos();
412 Propulsion->in.ThrottleCmd = FCS->GetThrottleCmd();
413 Propulsion->in.MixtureCmd = FCS->GetMixtureCmd();
414 Propulsion->in.PropAdvance = FCS->GetPropAdvance();
415 Propulsion->in.PropFeather = FCS->GetPropFeather();
416 Propulsion->in.H_agl = Propagate->GetDistanceAGL();
417 Propulsion->in.PQRi = Propagate->GetPQRi();
418
419 break;
420 case eAerodynamics:
421 Aerodynamics->in.Alpha = Auxiliary->Getalpha();
422 Aerodynamics->in.Beta = Auxiliary->Getbeta();
423 Aerodynamics->in.Qbar = Auxiliary->Getqbar();
424 Aerodynamics->in.Vt = Auxiliary->GetVt();
425 Aerodynamics->in.Tb2w = Auxiliary->GetTb2w();
426 Aerodynamics->in.Tw2b = Auxiliary->GetTw2b();
427 Aerodynamics->in.RPBody = MassBalance->StructuralToBody(Aircraft->GetXYZrp());
428 break;
429 case eGroundReactions:
430 // There are no external inputs to this model.
431 GroundReactions->in.Vground = Auxiliary->GetVground();
432 GroundReactions->in.VcalibratedKts = Auxiliary->GetVcalibratedKTS();
433 GroundReactions->in.Temperature = Atmosphere->GetTemperature();
434 GroundReactions->in.TakeoffThrottle = (FCS->GetThrottlePos().size() > 0) ? (FCS->GetThrottlePos(0) > 0.90) : false;
435 GroundReactions->in.BrakePos = FCS->GetBrakePos();
436 GroundReactions->in.FCSGearPos = FCS->GetGearPos();
437 GroundReactions->in.EmptyWeight = MassBalance->GetEmptyWeight();
438 GroundReactions->in.Tb2l = Propagate->GetTb2l();
439 GroundReactions->in.Tec2l = Propagate->GetTec2l();
440 GroundReactions->in.Tec2b = Propagate->GetTec2b();
441 GroundReactions->in.PQR = Propagate->GetPQR();
442 GroundReactions->in.UVW = Propagate->GetUVW();
443 GroundReactions->in.DistanceAGL = Propagate->GetDistanceAGL();
444 GroundReactions->in.DistanceASL = Propagate->GetAltitudeASL();
445 GroundReactions->in.TotalDeltaT = dT * GroundReactions->GetRate();
446 GroundReactions->in.WOW = GroundReactions->GetWOW();
447 GroundReactions->in.Location = Propagate->GetLocation();
448 GroundReactions->in.vXYZcg = MassBalance->GetXYZcg();
449 break;
450 case eExternalReactions:
451 // There are no external inputs to this model.
452 break;
453 case eBuoyantForces:
454 BuoyantForces->in.Density = Atmosphere->GetDensity();
455 BuoyantForces->in.Pressure = Atmosphere->GetPressure();
456 BuoyantForces->in.Temperature = Atmosphere->GetTemperature();
457 BuoyantForces->in.gravity = Inertial->GetGravity().Magnitude();
458 break;
459 case eMassBalance:
460 MassBalance->in.GasInertia = BuoyantForces->GetGasMassInertia();
461 MassBalance->in.GasMass = BuoyantForces->GetGasMass();
462 MassBalance->in.GasMoment = BuoyantForces->GetGasMassMoment();
463 MassBalance->in.TanksWeight = Propulsion->GetTanksWeight();
464 MassBalance->in.TanksMoment = Propulsion->GetTanksMoment();
465 MassBalance->in.TankInertia = Propulsion->CalculateTankInertias();
466 break;
467 case eAircraft:
468 Aircraft->in.AeroForce = Aerodynamics->GetForces();
469 Aircraft->in.PropForce = Propulsion->GetForces();
470 Aircraft->in.GroundForce = GroundReactions->GetForces();
471 Aircraft->in.ExternalForce = ExternalReactions->GetForces();
472 Aircraft->in.BuoyantForce = BuoyantForces->GetForces();
473 Aircraft->in.AeroMoment = Aerodynamics->GetMoments();
474 Aircraft->in.PropMoment = Propulsion->GetMoments();
475 Aircraft->in.GroundMoment = GroundReactions->GetMoments();
476 Aircraft->in.ExternalMoment = ExternalReactions->GetMoments();
477 Aircraft->in.BuoyantMoment = BuoyantForces->GetMoments();
478 break;
479 case eAccelerations:
480 Accelerations->in.J = MassBalance->GetJ();
481 Accelerations->in.Jinv = MassBalance->GetJinv();
482 Accelerations->in.Ti2b = Propagate->GetTi2b();
483 Accelerations->in.Tb2i = Propagate->GetTb2i();
484 Accelerations->in.Tec2b = Propagate->GetTec2b();
485 Accelerations->in.Tec2i = Propagate->GetTec2i();
486 Accelerations->in.Moment = Aircraft->GetMoments();
487 Accelerations->in.GroundMoment = GroundReactions->GetMoments();
488 Accelerations->in.Force = Aircraft->GetForces();
489 Accelerations->in.GroundForce = GroundReactions->GetForces();
490 Accelerations->in.vGravAccel = Inertial->GetGravity();
491 Accelerations->in.vPQRi = Propagate->GetPQRi();
492 Accelerations->in.vPQR = Propagate->GetPQR();
493 Accelerations->in.vUVW = Propagate->GetUVW();
494 Accelerations->in.vInertialPosition = Propagate->GetInertialPosition();
495 Accelerations->in.DeltaT = dT;
496 Accelerations->in.Mass = MassBalance->GetMass();
497 Accelerations->in.MultipliersList = GroundReactions->GetMultipliersList();
498 Accelerations->in.TerrainVelocity = Propagate->GetTerrainVelocity();
499 Accelerations->in.TerrainAngularVel = Propagate->GetTerrainAngularVelocity();
500 break;
501 default:
502 break;
503 }
504 }
505
506 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
507
LoadPlanetConstants(void)508 void FGFDMExec::LoadPlanetConstants(void)
509 {
510 Propagate->in.vOmegaPlanet = Inertial->GetOmegaPlanet();
511 Accelerations->in.vOmegaPlanet = Inertial->GetOmegaPlanet();
512 Propagate->in.SemiMajor = Inertial->GetSemimajor();
513 Propagate->in.SemiMinor = Inertial->GetSemiminor();
514 Auxiliary->in.SLGravity = Inertial->SLgravity();
515 }
516
517 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
518
LoadModelConstants(void)519 void FGFDMExec::LoadModelConstants(void)
520 {
521 Winds->in.wingspan = Aircraft->GetWingSpan();
522 Aerodynamics->in.Wingarea = Aircraft->GetWingArea();
523 Aerodynamics->in.Wingchord = Aircraft->Getcbar();
524 Aerodynamics->in.Wingincidence = Aircraft->GetWingIncidence();
525 Aerodynamics->in.Wingspan = Aircraft->GetWingSpan();
526 Auxiliary->in.Wingspan = Aircraft->GetWingSpan();
527 Auxiliary->in.Wingchord = Aircraft->Getcbar();
528 GroundReactions->in.vXYZcg = MassBalance->GetXYZcg();
529
530 LoadPlanetConstants();
531 }
532
533 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
534 // This call will cause the sim time to reset to 0.0
535
RunIC(void)536 bool FGFDMExec::RunIC(void)
537 {
538 FGPropulsion* propulsion = (FGPropulsion*)Models[ePropulsion];
539
540 SuspendIntegration(); // saves the integration rate, dt, then sets it to 0.0.
541 Initialize(IC);
542
543 Models[eInput]->InitModel();
544 Models[eOutput]->InitModel();
545
546 Run();
547 Propagate->InitializeDerivatives();
548 ResumeIntegration(); // Restores the integration rate to what it was.
549
550 if (debug_lvl > 0) {
551 MassBalance->GetMassPropertiesReport(0);
552
553 cout << endl << fgblue << highint
554 << "End of vehicle configuration loading." << endl
555 << "-------------------------------------------------------------------------------"
556 << reset << std::setprecision(6) << endl;
557 }
558
559 for (unsigned int n=0; n < propulsion->GetNumEngines(); ++n) {
560 if (IC->IsEngineRunning(n)) {
561 try {
562 propulsion->InitRunning(n);
563 } catch (const string& str) {
564 cerr << str << endl;
565 return false;
566 }
567 }
568 }
569
570 return true;
571 }
572
573 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
574
Initialize(FGInitialCondition * FGIC)575 void FGFDMExec::Initialize(FGInitialCondition* FGIC)
576 {
577 Propagate->SetInitialState(FGIC);
578 Winds->SetWindNED(FGIC->GetWindNEDFpsIC());
579 Run();
580 }
581
582 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
583
ResetToInitialConditions(int mode)584 void FGFDMExec::ResetToInitialConditions(int mode)
585 {
586 if (Constructing) return;
587
588 if (mode == 1) Output->SetStartNewOutput();
589
590 for (unsigned int i = 0; i < Models.size(); i++) {
591 // The Input/Output models will be initialized during the RunIC() execution
592 if (i == eInput || i == eOutput) continue;
593
594 LoadInputs(i);
595 Models[i]->InitModel();
596 }
597
598 if (Script)
599 Script->ResetEvents();
600 else
601 Setsim_time(0.0);
602
603 RunIC();
604 }
605
606 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
607
SetHoldDown(bool hd)608 void FGFDMExec::SetHoldDown(bool hd)
609 {
610 HoldDown = hd;
611 Accelerations->SetHoldDown(hd);
612 if (hd) {
613 Propagate->in.vPQRidot = Accelerations->GetPQRidot();
614 Propagate->in.vUVWidot = Accelerations->GetUVWidot();
615 }
616 Propagate->SetHoldDown(hd);
617 }
618
619 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
620
EnumerateFDMs(void)621 vector <string> FGFDMExec::EnumerateFDMs(void)
622 {
623 vector <string> FDMList;
624 FGAircraft* Aircraft = (FGAircraft*)Models[eAircraft];
625
626 FDMList.push_back(Aircraft->GetAircraftName());
627
628 for (unsigned int i=1; i<ChildFDMList.size(); i++) {
629 FDMList.push_back(ChildFDMList[i]->exec->GetAircraft()->GetAircraftName());
630 }
631
632 return FDMList;
633 }
634
635 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
636
LoadScript(const SGPath & script,double deltaT,const SGPath & initfile)637 bool FGFDMExec::LoadScript(const SGPath& script, double deltaT,
638 const SGPath& initfile)
639 {
640 bool result;
641
642 Script = new FGScript(this);
643 result = Script->LoadScript(GetFullPath(script), deltaT, initfile);
644
645 return result;
646 }
647
648 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
649
LoadModel(const SGPath & AircraftPath,const SGPath & EnginePath,const SGPath & SystemsPath,const string & model,bool addModelToPath)650 bool FGFDMExec::LoadModel(const SGPath& AircraftPath, const SGPath& EnginePath,
651 const SGPath& SystemsPath, const string& model,
652 bool addModelToPath)
653 {
654 FGFDMExec::AircraftPath = GetFullPath(AircraftPath);
655 FGFDMExec::EnginePath = GetFullPath(EnginePath);
656 FGFDMExec::SystemsPath = GetFullPath(SystemsPath);
657
658 return LoadModel(model, addModelToPath);
659 }
660
661 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
662
LoadModel(const string & model,bool addModelToPath)663 bool FGFDMExec::LoadModel(const string& model, bool addModelToPath)
664 {
665 SGPath aircraftCfgFileName;
666 bool result = false; // initialize result to false, indicating input file not yet read
667
668 modelName = model; // Set the class modelName attribute
669
670 if( AircraftPath.isNull() || EnginePath.isNull() || SystemsPath.isNull()) {
671 cerr << "Error: attempted to load aircraft with undefined "
672 << "aircraft, engine, and system paths" << endl;
673 return false;
674 }
675
676 FullAircraftPath = AircraftPath;
677 if (addModelToPath) FullAircraftPath.append(model);
678 aircraftCfgFileName = FullAircraftPath/(model + ".xml");
679
680 if (modelLoaded) {
681 DeAllocate();
682 Allocate();
683 }
684
685 int saved_debug_lvl = debug_lvl;
686 FGXMLFileRead XMLFileRead;
687 Element *document = XMLFileRead.LoadXMLDocument(aircraftCfgFileName); // "document" is a class member
688
689 if (document) {
690 if (IsChild) debug_lvl = 0;
691
692 ReadPrologue(document);
693
694 if (IsChild) debug_lvl = saved_debug_lvl;
695
696 // Process the fileheader element in the aircraft config file. This element is OPTIONAL.
697 Element* element = document->FindElement("fileheader");
698 if (element) {
699 result = ReadFileHeader(element);
700 if (!result) {
701 cerr << endl << "Aircraft fileheader element has problems in file " << aircraftCfgFileName << endl;
702 return result;
703 }
704 }
705
706 if (IsChild) debug_lvl = 0;
707
708 // Process the metrics element. This element is REQUIRED.
709 element = document->FindElement("metrics");
710 if (element) {
711 result = ((FGAircraft*)Models[eAircraft])->Load(element);
712 if (!result) {
713 cerr << endl << "Aircraft metrics element has problems in file " << aircraftCfgFileName << endl;
714 return result;
715 }
716 } else {
717 cerr << endl << "No metrics element was found in the aircraft config file." << endl;
718 return false;
719 }
720
721 // Process the mass_balance element. This element is REQUIRED.
722 element = document->FindElement("mass_balance");
723 if (element) {
724 result = ((FGMassBalance*)Models[eMassBalance])->Load(element);
725 if (!result) {
726 cerr << endl << "Aircraft mass_balance element has problems in file " << aircraftCfgFileName << endl;
727 return result;
728 }
729 } else {
730 cerr << endl << "No mass_balance element was found in the aircraft config file." << endl;
731 return false;
732 }
733
734 // Process the ground_reactions element. This element is REQUIRED.
735 element = document->FindElement("ground_reactions");
736 if (element) {
737 result = ((FGGroundReactions*)Models[eGroundReactions])->Load(element);
738 if (!result) {
739 cerr << endl << element->ReadFrom()
740 << "Aircraft ground_reactions element has problems in file "
741 << aircraftCfgFileName << endl;
742 return result;
743 }
744 } else {
745 cerr << endl << "No ground_reactions element was found in the aircraft config file." << endl;
746 return false;
747 }
748
749 // Process the external_reactions element. This element is OPTIONAL.
750 element = document->FindElement("external_reactions");
751 if (element) {
752 result = ((FGExternalReactions*)Models[eExternalReactions])->Load(element);
753 if (!result) {
754 cerr << endl << "Aircraft external_reactions element has problems in file " << aircraftCfgFileName << endl;
755 return result;
756 }
757 }
758
759 // Process the buoyant_forces element. This element is OPTIONAL.
760 element = document->FindElement("buoyant_forces");
761 if (element) {
762 result = ((FGBuoyantForces*)Models[eBuoyantForces])->Load(element);
763 if (!result) {
764 cerr << endl << "Aircraft buoyant_forces element has problems in file " << aircraftCfgFileName << endl;
765 return result;
766 }
767 }
768
769 // Process the propulsion element. This element is OPTIONAL.
770 element = document->FindElement("propulsion");
771 if (element) {
772 result = ((FGPropulsion*)Models[ePropulsion])->Load(element);
773 if (!result) {
774 cerr << endl << "Aircraft propulsion element has problems in file " << aircraftCfgFileName << endl;
775 return result;
776 }
777 for (unsigned int i=0; i<((FGPropulsion*)Models[ePropulsion])->GetNumEngines(); i++)
778 ((FGFCS*)Models[eSystems])->AddThrottle();
779 }
780
781 // Process the system element[s]. This element is OPTIONAL, and there may be more than one.
782 element = document->FindElement("system");
783 while (element) {
784 result = ((FGFCS*)Models[eSystems])->Load(element);
785 if (!result) {
786 cerr << endl << "Aircraft system element has problems in file " << aircraftCfgFileName << endl;
787 return result;
788 }
789 element = document->FindNextElement("system");
790 }
791
792 // Process the autopilot element. This element is OPTIONAL.
793 element = document->FindElement("autopilot");
794 if (element) {
795 result = ((FGFCS*)Models[eSystems])->Load(element);
796 if (!result) {
797 cerr << endl << "Aircraft autopilot element has problems in file " << aircraftCfgFileName << endl;
798 return result;
799 }
800 }
801
802 // Process the flight_control element. This element is OPTIONAL.
803 element = document->FindElement("flight_control");
804 if (element) {
805 result = ((FGFCS*)Models[eSystems])->Load(element);
806 if (!result) {
807 cerr << endl << "Aircraft flight_control element has problems in file " << aircraftCfgFileName << endl;
808 return result;
809 }
810 }
811
812 // Process the aerodynamics element. This element is OPTIONAL, but almost always expected.
813 element = document->FindElement("aerodynamics");
814 if (element) {
815 result = ((FGAerodynamics*)Models[eAerodynamics])->Load(element);
816 if (!result) {
817 cerr << endl << "Aircraft aerodynamics element has problems in file " << aircraftCfgFileName << endl;
818 return result;
819 }
820 } else {
821 cerr << endl << "No expected aerodynamics element was found in the aircraft config file." << endl;
822 }
823
824 // Process the input element. This element is OPTIONAL, and there may be more than one.
825 element = document->FindElement("input");
826 while (element) {
827 if (!static_cast<FGInput*>(Models[eInput])->Load(element))
828 return false;
829
830 element = document->FindNextElement("input");
831 }
832
833 // Process the output element[s]. This element is OPTIONAL, and there may be
834 // more than one.
835 element = document->FindElement("output");
836 while (element) {
837 if (!static_cast<FGOutput*>(Models[eOutput])->Load(element))
838 return false;
839
840 element = document->FindNextElement("output");
841 }
842
843 // Lastly, process the child element. This element is OPTIONAL - and NOT YET SUPPORTED.
844 element = document->FindElement("child");
845 if (element) {
846 result = ReadChild(element);
847 if (!result) {
848 cerr << endl << "Aircraft child element has problems in file " << aircraftCfgFileName << endl;
849 return result;
850 }
851 }
852
853 // Since all vehicle characteristics have been loaded, place the values in the Inputs
854 // structure for the FGModel-derived classes.
855 LoadModelConstants();
856
857 modelLoaded = true;
858
859 if (IsChild) debug_lvl = saved_debug_lvl;
860
861 } else {
862 cerr << fgred
863 << " JSBSim failed to open the configuration file: " << aircraftCfgFileName
864 << fgdef << endl;
865 }
866
867 for (unsigned int i=0; i< Models.size(); i++) LoadInputs(i);
868
869 if (result) {
870 struct PropertyCatalogStructure masterPCS;
871 masterPCS.base_string = "";
872 masterPCS.node = Root->GetNode();
873 BuildPropertyCatalog(&masterPCS);
874 }
875
876 return result;
877 }
878
879 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
880
GetPropulsionTankReport()881 string FGFDMExec::GetPropulsionTankReport()
882 {
883 return ((FGPropulsion*)Models[ePropulsion])->GetPropulsionTankReport();
884 }
885
886 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
887
BuildPropertyCatalog(struct PropertyCatalogStructure * pcs)888 void FGFDMExec::BuildPropertyCatalog(struct PropertyCatalogStructure* pcs)
889 {
890 struct PropertyCatalogStructure* pcsNew = new struct PropertyCatalogStructure;
891
892 for (int i=0; i<pcs->node->nChildren(); i++) {
893 string access="";
894 pcsNew->base_string = pcs->base_string + "/" + pcs->node->getChild(i)->getName();
895 int node_idx = pcs->node->getChild(i)->getIndex();
896 if (node_idx != 0) {
897 pcsNew->base_string = CreateIndexedPropertyName(pcsNew->base_string, node_idx);
898 }
899 if (pcs->node->getChild(i)->nChildren() == 0) {
900 if (pcsNew->base_string.substr(0,12) == string("/fdm/jsbsim/")) {
901 pcsNew->base_string = pcsNew->base_string.erase(0,12);
902 }
903 if (pcs->node->getChild(i)->getAttribute(SGPropertyNode::READ)) access="R";
904 if (pcs->node->getChild(i)->getAttribute(SGPropertyNode::WRITE)) access+="W";
905 PropertyCatalog.push_back(pcsNew->base_string+" ("+access+")");
906 } else {
907 pcsNew->node = (FGPropertyNode*)pcs->node->getChild(i);
908 BuildPropertyCatalog(pcsNew);
909 }
910 }
911 delete pcsNew;
912 }
913
914 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
915
QueryPropertyCatalog(const string & in)916 string FGFDMExec::QueryPropertyCatalog(const string& in)
917 {
918 string results="";
919 for (unsigned i=0; i<PropertyCatalog.size(); i++) {
920 if (PropertyCatalog[i].find(in) != string::npos) results += PropertyCatalog[i] + "\n";
921 }
922 if (results.empty()) return "No matches found\n";
923 return results;
924 }
925
926 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
927
PrintPropertyCatalog(void)928 void FGFDMExec::PrintPropertyCatalog(void)
929 {
930 cout << endl;
931 cout << " " << fgblue << highint << underon << "Property Catalog for "
932 << modelName << reset << endl << endl;
933 for (unsigned i=0; i<PropertyCatalog.size(); i++) {
934 cout << " " << PropertyCatalog[i] << endl;
935 }
936 }
937
938 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
939
PrintSimulationConfiguration(void) const940 void FGFDMExec::PrintSimulationConfiguration(void) const
941 {
942 cout << endl << "Simulation Configuration" << endl << "------------------------" << endl;
943 cout << MassBalance->GetName() << endl;
944 cout << GroundReactions->GetName() << endl;
945 cout << Aerodynamics->GetName() << endl;
946 cout << Propulsion->GetName() << endl;
947 }
948
949 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
950
ReadFileHeader(Element * el)951 bool FGFDMExec::ReadFileHeader(Element* el)
952 {
953 bool result = true; // true for success
954
955 if (debug_lvl == 0) return result;
956
957 if (IsChild) {
958 cout << endl <<highint << fgblue << "Reading child model: " << IdFDM << reset << endl << endl;
959 }
960
961 if (el->FindElement("description"))
962 cout << " Description: " << el->FindElement("description")->GetDataLine() << endl;
963 if (el->FindElement("author"))
964 cout << " Model Author: " << el->FindElement("author")->GetDataLine() << endl;
965 if (el->FindElement("filecreationdate"))
966 cout << " Creation Date: " << el->FindElement("filecreationdate")->GetDataLine() << endl;
967 if (el->FindElement("version"))
968 cout << " Version: " << el->FindElement("version")->GetDataLine() << endl;
969
970 return result;
971 }
972
973 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
974
ReadPrologue(Element * el)975 bool FGFDMExec::ReadPrologue(Element* el) // el for ReadPrologue is the document element
976 {
977 bool result = true; // true for success
978
979 if (!el) return false;
980
981 string AircraftName = el->GetAttributeValue("name");
982 ((FGAircraft*)Models[eAircraft])->SetAircraftName(AircraftName);
983
984 if (debug_lvl & 1) cout << underon << "Reading Aircraft Configuration File"
985 << underoff << ": " << highint << AircraftName << normint << endl;
986
987 CFGVersion = el->GetAttributeValue("version");
988 Release = el->GetAttributeValue("release");
989
990 if (debug_lvl & 1)
991 cout << " Version: " << highint << CFGVersion
992 << normint << endl;
993 if (CFGVersion != needed_cfg_version) {
994 cerr << endl << fgred << "YOU HAVE AN INCOMPATIBLE CFG FILE FOR THIS AIRCRAFT."
995 " RESULTS WILL BE UNPREDICTABLE !!" << endl;
996 cerr << "Current version needed is: " << needed_cfg_version << endl;
997 cerr << " You have version: " << CFGVersion << endl << fgdef << endl;
998 return false;
999 }
1000
1001 if (Release == "ALPHA" && (debug_lvl & 1)) {
1002 cout << endl << endl
1003 << highint << "This aircraft model is an " << fgred << Release
1004 << reset << highint << " release!!!" << endl << endl << reset
1005 << "This aircraft model may not even properly load, and probably"
1006 << " will not fly as expected." << endl << endl
1007 << fgred << highint << "Use this model for development purposes ONLY!!!"
1008 << normint << reset << endl << endl;
1009 } else if (Release == "BETA" && (debug_lvl & 1)) {
1010 cout << endl << endl
1011 << highint << "This aircraft model is a " << fgred << Release
1012 << reset << highint << " release!!!" << endl << endl << reset
1013 << "This aircraft model probably will not fly as expected." << endl << endl
1014 << fgblue << highint << "Use this model for development purposes ONLY!!!"
1015 << normint << reset << endl << endl;
1016 } else if (Release == "PRODUCTION" && (debug_lvl & 1)) {
1017 cout << endl << endl
1018 << highint << "This aircraft model is a " << fgblue << Release
1019 << reset << highint << " release." << endl << endl << reset;
1020 } else if (debug_lvl & 1) {
1021 cout << endl << endl
1022 << highint << "This aircraft model is an " << fgred << Release
1023 << reset << highint << " release!!!" << endl << endl << reset
1024 << "This aircraft model may not even properly load, and probably"
1025 << " will not fly as expected." << endl << endl
1026 << fgred << highint << "Use this model for development purposes ONLY!!!"
1027 << normint << reset << endl << endl;
1028 }
1029
1030 return result;
1031 }
1032
1033 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
1034
ReadChild(Element * el)1035 bool FGFDMExec::ReadChild(Element* el)
1036 {
1037 // Add a new childData object to the child FDM list
1038 // Populate that childData element with a new FDMExec object
1039 // Set the IsChild flag for that FDMExec object
1040 // Get the aircraft name
1041 // set debug level to print out no additional data for child objects
1042 // Load the model given the aircraft name
1043 // reset debug level to prior setting
1044
1045 struct childData* child = new childData;
1046
1047 child->exec = new FGFDMExec(Root, FDMctr);
1048 child->exec->SetChild(true);
1049
1050 string childAircraft = el->GetAttributeValue("name");
1051 string sMated = el->GetAttributeValue("mated");
1052 if (sMated == "false") child->mated = false; // child objects are mated by default.
1053 string sInternal = el->GetAttributeValue("internal");
1054 if (sInternal == "true") child->internal = true; // child objects are external by default.
1055
1056 child->exec->SetAircraftPath( AircraftPath );
1057 child->exec->SetEnginePath( EnginePath );
1058 child->exec->SetSystemsPath( SystemsPath );
1059 child->exec->LoadModel(childAircraft);
1060
1061 Element* location = el->FindElement("location");
1062 if (location) {
1063 child->Loc = location->FindElementTripletConvertTo("IN");
1064 } else {
1065 cerr << endl << highint << fgred << " No location was found for this child object!" << reset << endl;
1066 exit(-1);
1067 }
1068
1069 Element* orientation = el->FindElement("orient");
1070 if (orientation) {
1071 child->Orient = orientation->FindElementTripletConvertTo("RAD");
1072 } else if (debug_lvl > 0) {
1073 cerr << endl << highint << " No orientation was found for this child object! Assuming 0,0,0." << reset << endl;
1074 }
1075
1076 ChildFDMList.push_back(child);
1077
1078 return true;
1079 }
1080
1081 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
1082
GetPropertyManager(void)1083 FGPropertyManager* FGFDMExec::GetPropertyManager(void)
1084 {
1085 return instance;
1086 }
1087
1088 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
1089
GetTrim(void)1090 FGTrim* FGFDMExec::GetTrim(void)
1091 {
1092 delete Trim;
1093 Trim = new FGTrim(this,tNone);
1094 return Trim;
1095 }
1096
1097 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
1098
CheckIncrementalHold(void)1099 void FGFDMExec::CheckIncrementalHold(void)
1100 {
1101 // Only check if increment then hold is on
1102 if( IncrementThenHolding ) {
1103
1104 if (TimeStepsUntilHold == 0) {
1105
1106 // Should hold simulation if TimeStepsUntilHold has reached zero
1107 holding = true;
1108
1109 // Still need to decrement TimeStepsUntilHold as value of -1
1110 // indicates that incremental then hold is turned off
1111 IncrementThenHolding = false;
1112 TimeStepsUntilHold--;
1113
1114 } else if ( TimeStepsUntilHold > 0 ) {
1115 // Keep decrementing until 0 is reached
1116 TimeStepsUntilHold--;
1117 }
1118 }
1119 }
1120
1121 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
1122
DoTrim(int mode)1123 void FGFDMExec::DoTrim(int mode)
1124 {
1125 if (Constructing) return;
1126
1127 if (mode < 0 || mode > JSBSim::tNone)
1128 throw("Illegal trimming mode!");
1129
1130 FGTrim trim(this, (JSBSim::TrimMode)mode);
1131 bool success = trim.DoTrim();
1132
1133 if (debug_lvl > 0)
1134 trim.Report();
1135
1136 if (!success)
1137 throw("Trim Failed");
1138
1139 trim_completed = 1;
1140 }
1141
1142 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
1143
SRand(int sr)1144 void FGFDMExec::SRand(int sr)
1145 {
1146 RandomSeed = sr;
1147 gaussian_random_number_phase = 0;
1148 srand(RandomSeed);
1149 }
1150
1151 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
1152 // The bitmasked value choices are as follows:
1153 // unset: In this case (the default) JSBSim would only print
1154 // out the normally expected messages, essentially echoing
1155 // the config files as they are read. If the environment
1156 // variable is not set, debug_lvl is set to 1 internally
1157 // 0: This requests JSBSim not to output any messages
1158 // whatsoever.
1159 // 1: This value explicity requests the normal JSBSim
1160 // startup messages
1161 // 2: This value asks for a message to be printed out when
1162 // a class is instantiated
1163 // 4: When this value is set, a message is displayed when a
1164 // FGModel object executes its Run() method
1165 // 8: When this value is set, various runtime state variables
1166 // are printed out periodically
1167 // 16: When set various parameters are sanity checked and
1168 // a message is printed out when they go out of bounds
1169
Debug(int from)1170 void FGFDMExec::Debug(int from)
1171 {
1172 if (debug_lvl <= 0) return;
1173
1174 if (debug_lvl & 1 && IdFDM == 0) { // Standard console startup message output
1175 if (from == 0) { // Constructor
1176 cout << "\n\n "
1177 << "JSBSim Flight Dynamics Model v" << JSBSim_version << endl;
1178 cout << " [JSBSim-ML v" << needed_cfg_version << "]\n\n";
1179 cout << "JSBSim startup beginning ...\n\n";
1180 if (disperse == 1) cout << "Dispersions are ON." << endl << endl;
1181 } else if (from == 3) {
1182 cout << "\n\nJSBSim startup complete\n\n";
1183 }
1184 }
1185 if (debug_lvl & 2 ) { // Instantiation/Destruction notification
1186 if (from == 0) cout << "Instantiated: FGFDMExec" << endl;
1187 if (from == 1) cout << "Destroyed: FGFDMExec" << endl;
1188 }
1189 if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
1190 if (from == 2) {
1191 cout << "================== Frame: " << Frame << " Time: "
1192 << sim_time << " dt: " << dT << endl;
1193 }
1194 }
1195 if (debug_lvl & 8 ) { // Runtime state variables
1196 }
1197 if (debug_lvl & 16) { // Sanity checking
1198 }
1199 if (debug_lvl & 64) {
1200 if (from == 0) { // Constructor
1201 }
1202 }
1203 }
1204 }
1205