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Major refactor to reduce/eliminate interdependencies among FGModel-de…
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…rived classes
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jberndt committed Jul 10, 2011
1 parent 2ed24c3 commit 3c05fee
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Showing 25 changed files with 602 additions and 418 deletions.
208 changes: 187 additions & 21 deletions src/FGFDMExec.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -69,7 +69,7 @@ using namespace std;

namespace JSBSim {

static const char *IdSrc = "$Id: FGFDMExec.cpp,v 1.96 2011/06/21 04:41:54 jberndt Exp $";
static const char *IdSrc = "$Id: FGFDMExec.cpp,v 1.97 2011/07/10 20:18:13 jberndt Exp $";
static const char *IdHdr = ID_FDMEXEC;

/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
Expand Down Expand Up @@ -228,25 +228,26 @@ bool FGFDMExec::Allocate(void)
// 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); // Input model is Models[0]
Schedule(Atmosphere, 1); // Input model is Models[1]
Schedule(Winds, 1); // Input model is Models[2]
Schedule(FCS, 1); // Input model is Models[3]
Schedule(Propulsion, 1); // Input model is Models[4]
Schedule(MassBalance, 1); // Input model is Models[5]
Schedule(Aerodynamics, 1); // Input model is Models[6]
Schedule(Inertial, 1); // Input model is Models[7]
Schedule(GroundReactions, 1); // Input model is Models[8]
Schedule(ExternalReactions, 1); // Input model is Models[9]
Schedule(BuoyantForces, 1); // Input model is Models[10]
Schedule(Aircraft, 1); // Input model is Models[11]
Schedule(Propagate, 1); // Input model is Models[12]
Schedule(Auxiliary, 1); // Input model is Models[13]
Schedule(Input, 1);
Schedule(Atmosphere, 1);
Schedule(Winds, 1);
Schedule(FCS, 1);
Schedule(Propulsion, 1);
Schedule(Aerodynamics, 1);
Schedule(GroundReactions, 1);
Schedule(ExternalReactions, 1);
Schedule(BuoyantForces, 1);
Schedule(MassBalance, 1);
Schedule(Aircraft, 1);
Schedule(Inertial, 1);
Schedule(Propagate, 1);
Schedule(Auxiliary, 1);

// Initialize planet (environment) constants
LoadPlanetConstants();

// Initialize models so they can communicate with each other

vector <FGModel*>::iterator it;
for (it = Models.begin(); it != Models.end(); ++it) (*it)->InitModel();
for (unsigned int i = 0; i < Models.size(); i++) Models[i]->InitModel();

IC = new FGInitialCondition(this);

Expand Down Expand Up @@ -331,15 +332,166 @@ bool FGFDMExec::Run(void)
// 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(holding);
for (unsigned int i = 0; i < Models.size(); i++) {
LoadInputs(i);
Models[i]->Run(holding);
}

IncrTime();
if (Terminate) success = false;

return (success);
}

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

void FGFDMExec::LoadInputs(int idx)
{
switch(idx) {
case eInput:
break;
case eAtmosphere:
Atmosphere->in.altitudeASL = Propagate->GetAltitudeASL();
break;
case eWinds:
Winds->in.AltitudeASL = Propagate->GetAltitudeASL();
Winds->in.HOverBMAC = Auxiliary->GetHOverBMAC();
Winds->in.Tl2b = Propagate->GetTl2b();
Winds->in.V = Auxiliary->GetVt();
break;
case eSystems:
// Dynamic inputs come into the components that FCS manages through properties
break;
case ePropulsion:
// Dynamic inputs come into the engines that propulsion manages through properties
break;
case eMassBalance:
MassBalance->in.GasInertia = BuoyantForces->GetGasMassInertia();
MassBalance->in.GasMass = BuoyantForces->GetGasMass();
MassBalance->in.GasMoment = BuoyantForces->GetGasMassMoment();
MassBalance->in.TanksWeight = Propulsion->GetTanksWeight();
MassBalance->in.TanksMoment = Propulsion->GetTanksMoment();
MassBalance->in.TankInertia = Propulsion->CalculateTankInertias();
break;
case eAerodynamics:
Aerodynamics->in.Alpha = Auxiliary->Getalpha();
Aerodynamics->in.Beta = Auxiliary->Getbeta();
Aerodynamics->in.Qbar = Auxiliary->Getqbar();
Aerodynamics->in.Vt = Auxiliary->GetVt();
Aerodynamics->in.RPBody = MassBalance->StructuralToBody(Aircraft->GetXYZrp());
break;
case eInertial:
Inertial->in.Radius = Propagate->GetRadius();
Inertial->in.Latitude = Propagate->GetLatitude();
Inertial->in.DeltaT = dT;
break;
case eGroundReactions:
// There are no external inputs to this model.
break;
case eExternalReactions:
// There are no external inputs to this model.
break;
case eBuoyantForces:
// There are no external inputs to this model.
break;
case eAircraft:
Aircraft->in.AeroForce = Aerodynamics->GetForces();
Aircraft->in.PropForce = Propulsion->GetForces();
Aircraft->in.GroundForce = GroundReactions->GetForces();
Aircraft->in.ExternalForce = ExternalReactions->GetForces();
Aircraft->in.BuoyantForce = BuoyantForces->GetForces();
Aircraft->in.AeroMoment = Aerodynamics->GetMoments();
Aircraft->in.PropMoment = Propulsion->GetMoments();
Aircraft->in.GroundMoment = GroundReactions->GetMoments();
Aircraft->in.ExternalMoment = ExternalReactions->GetMoments();
Aircraft->in.BuoyantMoment = BuoyantForces->GetMoments();
Aircraft->in.Weight = MassBalance->GetWeight();
Aircraft->in.Tl2b = Propagate->GetTl2b();
break;
case ePropagate:
Propagate->in.EPA = Inertial->GetEarthPositionAngle();
Propagate->in.Force = Aircraft->GetForces();
Propagate->in.GAccel = Inertial->GetGAccel(Propagate->GetRadius());
Propagate->in.J2Grav = Inertial->GetGravityJ2(Propagate->GetLocation());
Propagate->in.J = MassBalance->GetJ();
Propagate->in.Jinv = MassBalance->GetJinv();
Propagate->in.Mass = MassBalance->GetMass();
Propagate->in.Moment = Aircraft->GetMoments();
Propagate->in.DeltaT = dT;
break;
case eAuxiliary:
Auxiliary->in.Pressure = Atmosphere->GetPressure();
Auxiliary->in.Density = Atmosphere->GetDensity();
Auxiliary->in.DensitySL = Atmosphere->GetDensitySL();
Auxiliary->in.PressureSL = Atmosphere->GetPressureSL();
Auxiliary->in.Temperature = Atmosphere->GetTemperature();
Auxiliary->in.SoundSpeed = Atmosphere->GetSoundSpeed();
Auxiliary->in.KinematicViscosity = Atmosphere->GetKinematicViscosity();
Auxiliary->in.DistanceAGL = Propagate->GetDistanceAGL();
Auxiliary->in.Mass = MassBalance->GetMass();
Auxiliary->in.Tl2b = Propagate->GetTl2b();
Auxiliary->in.Tb2l = Propagate->GetTb2l();
Auxiliary->in.Tb2w = Aerodynamics->GetTb2w();
Auxiliary->in.vPQR = Propagate->GetPQR();
Auxiliary->in.vPQRdot = Propagate->GetPQRdot();
Auxiliary->in.vUVW = Propagate->GetUVW();
Auxiliary->in.vUVWdot = Propagate->GetUVWdot();
Auxiliary->in.vVel = Propagate->GetVel();
Auxiliary->in.vBodyAccel = Propagate->GetBodyAccel();
Auxiliary->in.ToEyePt = MassBalance->StructuralToBody(Aircraft->GetXYZep());
Auxiliary->in.VRPBody = MassBalance->StructuralToBody(Aircraft->GetXYZvrp());
Auxiliary->in.RPBody = MassBalance->StructuralToBody(Aircraft->GetXYZrp());
Auxiliary->in.vFw = Aerodynamics->GetvFw();
Auxiliary->in.vLocation = Propagate->GetLocation();
Auxiliary->in.Latitude = Propagate->GetLatitude();
Auxiliary->in.Longitude = Propagate->GetLongitude();
Auxiliary->in.CosTht = Propagate->GetCosEuler(eTht);
Auxiliary->in.SinTht = Propagate->GetSinEuler(eTht);
Auxiliary->in.CosPhi = Propagate->GetCosEuler(ePhi);
Auxiliary->in.SinPhi = Propagate->GetSinEuler(ePhi);
Auxiliary->in.Psi = Propagate->GetEuler(ePsi);
Auxiliary->in.TotalWindNED = Winds->GetTotalWindNED();
Auxiliary->in.TurbPQR = Winds->GetTurbPQR();
Auxiliary->in.WindPsi = Winds->GetWindPsi();
Auxiliary->in.Vwind = Winds->GetTotalWindNED().Magnitude();
break;
default:
break;
}
}

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

void FGFDMExec::LoadPlanetConstants(void)
{
Propagate->in.OmegaPlanet = Inertial->omega();
Propagate->in.RefRadius = Inertial->GetRefRadius();
Propagate->in.SemiMajor = Inertial->GetSemimajor();
Propagate->in.SemiMinor = Inertial->GetSemiminor();
Auxiliary->in.SLGravity = Inertial->SLgravity();
Auxiliary->in.ReferenceRadius = Inertial->GetRefRadius();
}

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

void FGFDMExec::LoadModelConstants(void)
{
Winds->in.wingspan = Aircraft->GetWingSpan();
FCS->in.NumGear = GroundReactions->GetNumGearUnits();
Aerodynamics->in.Wingarea = Aircraft->GetWingArea();
Aerodynamics->in.Wingchord = Aircraft->Getcbar();
Aerodynamics->in.Wingincidence = Aircraft->GetWingIncidence();
Aerodynamics->in.Wingspan = Aircraft->GetWingSpan();
Propagate->in.OmegaPlanet = Inertial->omega();
Propagate->in.RefRadius = Inertial->GetRefRadius();
Propagate->in.SemiMajor = Inertial->GetSemimajor();
Propagate->in.SemiMinor = Inertial->GetSemiminor();
Auxiliary->in.Wingspan = Aircraft->GetWingSpan();
Auxiliary->in.Wingchord = Aircraft->Getcbar();
Auxiliary->in.SLGravity = Inertial->SLgravity();
Auxiliary->in.ReferenceRadius = Inertial->GetRefRadius();
}

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
// This call will cause the sim time to reset to 0.0

Expand All @@ -360,7 +512,7 @@ void FGFDMExec::Initialize(FGInitialCondition *FGIC)
Setsim_time(0.0);

Propagate->SetInitialState( FGIC );

LoadInputs(eAtmosphere);
Atmosphere->Run(false);
Winds->SetWindNED( FGIC->GetWindNFpsIC(),
FGIC->GetWindEFpsIC(),
Expand Down Expand Up @@ -527,6 +679,7 @@ bool FGFDMExec::LoadModel(const string& model, bool addModelToPath)
cerr << endl << "Aircraft ground_reactions element has problems in file " << aircraftCfgFileName << endl;
return result;
}
FCS->AddGear(GroundReactions->GetNumGearUnits());
} else {
cerr << endl << "No ground_reactions element was found in the aircraft config file." << endl;
return false;
Expand Down Expand Up @@ -650,6 +803,10 @@ bool FGFDMExec::LoadModel(const string& model, bool addModelToPath)
}
}

// 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) {
Expand All @@ -670,6 +827,8 @@ bool FGFDMExec::LoadModel(const string& model, bool addModelToPath)
<< fgdef << endl;
}

for (unsigned int i=0; i< Models.size(); i++) LoadInputs(i);

if (result) {
struct PropertyCatalogStructure masterPCS;
masterPCS.base_string = "";
Expand All @@ -682,6 +841,13 @@ bool FGFDMExec::LoadModel(const string& model, bool addModelToPath)

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

string FGFDMExec::GetPropulsionTankReport()
{
return Propulsion->GetPropulsionTankReport();
}

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

void FGFDMExec::BuildPropertyCatalog(struct PropertyCatalogStructure* pcs)
{
struct PropertyCatalogStructure* pcsNew = new struct PropertyCatalogStructure;
Expand Down
13 changes: 11 additions & 2 deletions src/FGFDMExec.h
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Original file line number Diff line number Diff line change
Expand Up @@ -58,7 +58,7 @@ INCLUDES
DEFINITIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/

#define ID_FDMEXEC "$Id: FGFDMExec.h,v 1.65 2011/06/21 04:41:54 jberndt Exp $"
#define ID_FDMEXEC "$Id: FGFDMExec.h,v 1.66 2011/07/10 20:18:13 jberndt Exp $"

/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FORWARD DECLARATIONS
Expand Down Expand Up @@ -182,7 +182,7 @@ CLASS DOCUMENTATION
property actually maps toa function call of DoTrim().
@author Jon S. Berndt
@version $Revision: 1.65 $
@version $Revision: 1.66 $
*/

/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
Expand Down Expand Up @@ -225,6 +225,10 @@ class FGFDMExec : public FGJSBBase, public FGXMLFileRead
/// Default destructor
~FGFDMExec();

enum Models { eInput, eAtmosphere, eWinds, eSystems, ePropulsion, eMassBalance,
eAerodynamics, eInertial, eGroundReactions, eExternalReactions,
eBuoyantForces, eAircraft, ePropagate, eAuxiliary };

/** Unbind all tied JSBSim properties. */
void Unbind(void) {instance->Unbind();}

Expand Down Expand Up @@ -482,6 +486,8 @@ class FGFDMExec : public FGJSBBase, public FGXMLFileRead
void SetTrimMode(int mode){ ta_mode = mode; }
int GetTrimMode(void) const { return ta_mode; }

string GetPropulsionTankReport();

/// Returns the cumulative simulation time in seconds.
double GetSimTime(void) const { return sim_time; }

Expand Down Expand Up @@ -589,6 +595,9 @@ class FGFDMExec : public FGJSBBase, public FGXMLFileRead
bool ReadChild(Element*);
bool ReadPrologue(Element*);
void ResetToInitialConditions(int mode);
void LoadInputs(int idx);
void LoadPlanetConstants(void);
void LoadModelConstants(void);
bool Allocate(void);
bool DeAllocate(void);
void Initialize(FGInitialCondition *FGIC);
Expand Down
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