FGFDMExec::~FGFDMExec()
{
try {
Unbind();
DeAllocate();
delete instance;
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();
SetGroundCallback(0);
if (FDMctr > 0) (*FDMctr)--;
Debug(1);
}
FGFDMExec::FGFDMExec(FGPropertyManager* root, unsigned int* fdmctr) : Root(root), FDMctr(fdmctr)
{
Frame = 0;
Error = 0;
SetGroundCallback(new FGDefaultGroundCallback());
IC = 0;
Trim = 0;
Script = 0;
RootDir = "";
modelLoaded = false;
IsChild = false;
holding = false;
Terminate = false;
StandAlone = false;
firstPass = true;
IncrementThenHolding = false; // increment then hold is off by default
TimeStepsUntilHold = -1;
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.
AircraftPath = "aircraft";
EnginePath = "engine";
SystemsPath = "systems";
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;
// typedef unsigned int (FGFDMExec::*uiPMF)(void) const;
// instance->Tie("simulation/do_trim_analysis", this, (iPMF)0, &FGFDMExec::DoTrimAnalysis, false);
instance->Tie("simulation/do_simple_trim", this, (iPMF)0, &FGFDMExec::DoTrim, false);
instance->Tie("simulation/do_simplex_trim", this, (iPMF)0, &FGFDMExec::DoSimplexTrim);
instance->Tie("simulation/reset", this, (iPMF)0, &FGFDMExec::ResetToInitialConditions, false);
instance->Tie("simulation/randomseed", this, (iPMF)0, &FGFDMExec::SRand, false);
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);
instance->Tie("simulation/frame", (int *)&Frame, false);
Constructing = false;
}
bool FGFDMExec::Allocate(void)
{
bool result=true;
Models.resize(eNumStandardModels);
// First build the inertial model since some other models are relying on
// the inertial model and the ground callback to build themselves.
// Note that this does not affect the order in which the models will be
// executed later.
Models[eInertial] = new FGInertial(this);
SetGroundCallback(new FGDefaultGroundCallback(static_cast<FGInertial*>(Models[eInertial])->GetRefRadius()));
// See the eModels enum specification in the header file. The order of the
// enums specifies the order of execution. The Models[] vector is the primary
// storage array for the list of models.
Models[ePropagate] = new FGPropagate(this);
Models[eInput] = new FGInput(this);
Models[eAtmosphere] = new FGStandardAtmosphere(this);
Models[eWinds] = new FGWinds(this);
Models[eSystems] = new FGFCS(this);
Models[eMassBalance] = new FGMassBalance(this);
Models[eAuxiliary] = new FGAuxiliary(this);
Models[ePropulsion] = new FGPropulsion(this);
Models[eAerodynamics] = new FGAerodynamics (this);
Models[eGroundReactions] = new FGGroundReactions(this);
Models[eExternalReactions] = new FGExternalReactions(this);
Models[eBuoyantForces] = new FGBuoyantForces(this);
Models[eAircraft] = new FGAircraft(this);
Models[eAccelerations] = new FGAccelerations(this);
Models[eOutput] = new FGOutput(this);
// Assign the Model shortcuts for internal executive use only.
Propagate = (FGPropagate*)Models[ePropagate];
Inertial = (FGInertial*)Models[eInertial];
Atmosphere = (FGAtmosphere*)Models[eAtmosphere];
Winds = (FGWinds*)Models[eWinds];
FCS = (FGFCS*)Models[eSystems];
MassBalance = (FGMassBalance*)Models[eMassBalance];
Auxiliary = (FGAuxiliary*)Models[eAuxiliary];
Propulsion = (FGPropulsion*)Models[ePropulsion];
Aerodynamics = (FGAerodynamics*)Models[eAerodynamics];
GroundReactions = (FGGroundReactions*)Models[eGroundReactions];
ExternalReactions = (FGExternalReactions*)Models[eExternalReactions];
BuoyantForces = (FGBuoyantForces*)Models[eBuoyantForces];
Aircraft = (FGAircraft*)Models[eAircraft];
Accelerations = (FGAccelerations*)Models[eAccelerations];
Output = (FGOutput*)Models[eOutput];
// Initialize planet (environment) constants
LoadPlanetConstants();
// Initialize models
for (unsigned int i = 0; i < Models.size(); i++) {
// The Input/Output models must not be initialized prior to IC loading
if (i == eInput || i == eOutput) continue;
LoadInputs(i);
Models[i]->InitModel();
}
IC = new FGInitialCondition(this);
IC->bind(instance);
modelLoaded = false;
return result;
}
