void FGFDMExec::Initialize(FGInitialCondition *FGIC)
{
Setsim_time(0.0);
Propagate->SetInitialState( FGIC );
LoadInputs(eAccelerations);
Accelerations->Run(false);
LoadInputs(ePropagate);
Propagate->InitializeDerivatives();
LoadInputs(eAtmosphere);
Atmosphere->Run(false);
Winds->SetWindNED(FGIC->GetWindNEDFpsIC());
Auxiliary->Run(false);
}
void FGFDMExec::Initialize(FGInitialCondition *FGIC)
{
Setsim_time(0.0);
Propagate->SetInitialState( FGIC );
LoadInputs(eInertial);
Inertial->Run(false);
LoadInputs(eAccelerations);
Accelerations->Run(false);
LoadInputs(ePropagate);
Propagate->InitializeDerivatives();
Winds->SetWindNED(FGIC->GetWindNEDFpsIC());
LoadInputs(eMassBalance);
MassBalance->Run(false);
}
bool FGFDMExec::Run(void)
{
bool success=true;
Debug(2);
for (unsigned int i=1; i<ChildFDMList.size(); i++) {
ChildFDMList[i]->AssignState( (FGPropagate*)Models[ePropagate] ); // Transfer state to the child FDM
ChildFDMList[i]->Run();
}
if (firstPass && !IntegrationSuspended()) {
// Outputs the initial conditions
for (unsigned int i = 0; i < Outputs.size(); i++)
Outputs[i]->Run(holding);
firstPass = false;
}
IncrTime();
// returns true if success, false if complete
if (Script != 0 && !IntegrationSuspended()) success = Script->RunScript();
for (unsigned int i = 0; i < Models.size(); i++) {
LoadInputs(i);
Models[i]->Run(holding);
}
if (Terminate) success = false;
return (success);
}
bool FGFDMExec::Run(void)
{
bool success=true;
Debug(2);
for (unsigned int i=1; i<ChildFDMList.size(); i++) {
ChildFDMList[i]->AssignState( (FGPropagate*)Models[ePropagate] ); // Transfer state to the child FDM
ChildFDMList[i]->Run();
}
IncrTime();
// returns true if success, false if complete
if (Script != 0 && !IntegrationSuspended()) success = Script->RunScript();
for (unsigned int i = 0; i < Models.size(); i++) {
LoadInputs(i);
Models[i]->Run(holding);
}
if (ResetMode) {
unsigned int mode = ResetMode;
ResetMode = 0;
ResetToInitialConditions(mode);
}
if (Terminate) success = false;
return success;
}
bool FGFDMExec::Allocate(void)
{
bool result=true;
Models.resize(eNumStandardModels);
// 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[eInertial] = new FGInertial(this);
Models[eAtmosphere] = new FGStandardAtmosphere(this);
Models[eWinds] = new FGWinds(this);
Models[eAuxiliary] = new FGAuxiliary(this);
Models[eSystems] = new FGFCS(this);
Models[ePropulsion] = new FGPropulsion(this);
Models[eAerodynamics] = new FGAerodynamics (this);
GetGroundCallback()->SetSeaLevelRadius(((FGInertial*)Models[eInertial])->GetRefRadius());
Models[eGroundReactions] = new FGGroundReactions(this);
Models[eExternalReactions] = new FGExternalReactions(this);
Models[eBuoyantForces] = new FGBuoyantForces(this);
Models[eMassBalance] = new FGMassBalance(this);
Models[eAircraft] = new FGAircraft(this);
Models[eAccelerations] = new FGAccelerations(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];
Auxiliary = (FGAuxiliary*)Models[eAuxiliary];
FCS = (FGFCS*)Models[eSystems];
Propulsion = (FGPropulsion*)Models[ePropulsion];
Aerodynamics = (FGAerodynamics*)Models[eAerodynamics];
GroundReactions = (FGGroundReactions*)Models[eGroundReactions];
ExternalReactions = (FGExternalReactions*)Models[eExternalReactions];
BuoyantForces = (FGBuoyantForces*)Models[eBuoyantForces];
MassBalance = (FGMassBalance*)Models[eMassBalance];
Aircraft = (FGAircraft*)Models[eAircraft];
Accelerations = (FGAccelerations*)Models[eAccelerations];
// Initialize planet (environment) constants
LoadPlanetConstants();
// Initialize models
for (unsigned int i = 0; i < Models.size(); i++) {
LoadInputs(i);
Models[i]->InitModel();
}
IC = new FGInitialCondition(this);
modelLoaded = false;
return result;
}
void FGFDMExec::ResetToInitialConditions(int mode)
{
if (Constructing) return;
if (mode == 1) Output->SetStartNewOutput();
for (unsigned int i = 0; i < Models.size(); i++) {
// The Input/Output models will be initialized during the RunIC() execution
if (i == eInput || i == eOutput) continue;
LoadInputs(i);
Models[i]->InitModel();
}
if (Script) Script->ResetEvents();
RunIC();
}
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 = ((FGAircraft*)Models[eAircraft])->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 = ((FGMassBalance*)Models[eMassBalance])->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 = ((FGGroundReactions*)Models[eGroundReactions])->Load(element);
if (!result) {
cerr << endl << "Aircraft ground_reactions element has problems in file " << aircraftCfgFileName << endl;
return result;
}
((FGFCS*)Models[eSystems])->AddGear(((FGGroundReactions*)Models[eGroundReactions])->GetNumGearUnits());
} 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 = ((FGExternalReactions*)Models[eExternalReactions])->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 = ((FGBuoyantForces*)Models[eBuoyantForces])->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 = ((FGPropulsion*)Models[ePropulsion])->Load(element);
if (!result) {
cerr << endl << "Aircraft propulsion element has problems in file " << aircraftCfgFileName << endl;
return result;
}
for (unsigned int i=0; i<((FGPropulsion*)Models[ePropulsion])->GetNumEngines(); i++)
((FGFCS*)Models[eSystems])->AddThrottle();
}
// Process the system element[s]. This element is OPTIONAL, and there may be more than one.
element = document->FindElement("system");
while (element) {
result = ((FGFCS*)Models[eSystems])->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 = ((FGFCS*)Models[eSystems])->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 = ((FGFCS*)Models[eSystems])->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 = ((FGAerodynamics*)Models[eAerodynamics])->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 = ((FGInput*)Models[eInput])->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 double (FGOutput::*iOPMF)(void) const;
typedef int (FGFDMExec::*iOPV)(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);
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, false);
instance->Tie("simulation/force-output", this, (iOPV)0, &FGFDMExec::ForceOutput, false);
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;
}
}
// Since all vehicle characteristics have been loaded, place the values in the Inputs
// structure for the FGModel-derived classes.
LoadModelConstants();
modelLoaded = true;
if (debug_lvl > 0) {
LoadInputs(eMassBalance); // Update all input mass properties for the report.
Models[eMassBalance]->Run(false); // Update all mass properties for the report.
((FGMassBalance*)Models[eMassBalance])->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;
}
for (unsigned int i=0; i< Models.size(); i++) LoadInputs(i);
if (result) {
struct PropertyCatalogStructure masterPCS;
masterPCS.base_string = "";
masterPCS.node = (FGPropertyManager*)Root;
BuildPropertyCatalog(&masterPCS);
}
return result;
}
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;
}
