FGFDMExec Class Reference

Encapsulates the JSBSim simulation executive. More...

#include <FGFDMExec.h>

Inheritance diagram for FGFDMExec:

Collaboration diagram for FGFDMExec:

Classes
struct	PropertyCatalogStructure

Public Types
enum	eModels {   ePropagate =0, eInput, eInertial, eAtmosphere,   eWinds, eSystems, eMassBalance, eAuxiliary,   ePropulsion, eAerodynamics, eGroundReactions, eExternalReactions,   eBuoyantForces, eAircraft, eAccelerations, eOutput,   eNumStandardModels }
Public Types inherited from FGJSBBase
enum	{ eL = 1, eM, eN }
	Moments L, M, N.
enum	{ eP = 1, eQ, eR }
	Rates P, Q, R.
enum	{ eU = 1, eV, eW }
	Velocities U, V, W.
enum	{ eX = 1, eY, eZ }
	Positions X, Y, Z.
enum	{ ePhi = 1, eTht, ePsi }
	Euler angles Phi, Theta, Psi.
enum	{ eDrag = 1, eSide, eLift }
	Stability axis forces, Drag, Side force, Lift.
enum	{ eRoll = 1, ePitch, eYaw }
	Local frame orientation Roll, Pitch, Yaw.
enum	{ eNorth = 1, eEast, eDown }
	Local frame position North, East, Down.
enum	{ eLat = 1, eLong, eRad }
	Locations Radius, Latitude, Longitude.
enum	{   inNone = 0, inDegrees, inRadians, inMeters,   inFeet }
	Conversion specifiers.

Public Member Functions
	FGFDMExec (FGPropertyManager *root=0, unsigned int *fdmctr=0)
	Default constructor.
	~FGFDMExec ()
	Default destructor.
void	BuildPropertyCatalog (struct PropertyCatalogStructure *pcs)
	Builds a catalog of properties. More...
void	CheckIncrementalHold (void)
	Checks if required to hold afer increment.
void	DisableOutput (void)
	Disables data logging to all outputs.
void	DoTrim (int mode)
	Executes trimming in the selected mode. More...
void	EnableIncrementThenHold (int Timesteps)
	Turn on hold after increment.
void	EnableOutput (void)
	Enables data logging to all outputs.
std::vector< std::string >	EnumerateFDMs (void)
	Returns a vector of strings representing the names of all loaded models (future)
void	ForceOutput (int idx=0)
	Forces the specified output object to print its items once.
const SGPath &	GetAircraftPath (void)
	Retrieves the aircraft path.
childData *	GetChildFDM (int i) const
	Gets a particular child FDM.
int	GetDebugLevel (void) const
	Retrieves the current debug level setting. More...
double	GetDeltaT (void) const
	Returns the simulation delta T.
const SGPath &	GetEnginePath (void)
	Retrieves the engine path.
int	GetFDMCount (void) const
	Gets the number of child FDMs.
unsigned int	GetFrame (void) const
	Retrieves the current frame count. More...
const SGPath &	GetFullAircraftPath (void)
	Retrieves the full aircraft path name.
bool	GetHoldDown (void) const
	Gets the value of the property forces/hold-down. More...
const std::string &	GetModelName (void) const
	Returns the model name.
std::string	GetOutputFileName (int n) const
	Retrieves the current output filename. More...
std::vector< std::string > &	GetPropertyCatalog (void)
FGPropertyManager *	GetPropertyManager (void)
	Returns a pointer to the property manager object.
double	GetPropertyValue (const std::string &property)
	Retrieves the value of a property. More...
std::string	GetPropulsionTankReport ()
const SGPath &	GetRootDir (void) const
	Retrieves the Root Directory. More...
double	GetSimTime (void) const
	Returns the cumulative simulation time in seconds.
const SGPath &	GetSystemsPath (void)
	Retrieves the systems path.
int	GetTrimMode (void) const
bool	GetTrimStatus (void) const
void	Hold (void)
	Pauses execution by preventing time from incrementing.
bool	Holding (void)
	Returns true if the simulation is Holding (i.e. simulation time is not moving).
double	IncrTime (void)
	Increments the simulation time if not in Holding mode. More...
void	Initialize (FGInitialCondition *FGIC)
	Initializes the simulation with initial conditions. More...
bool	IntegrationSuspended (void) const
	Returns the simulation suspension state. More...
bool	LoadModel (const SGPath &AircraftPath, const SGPath &EnginePath, const SGPath &SystemsPath, const std::string &model, bool addModelToPath=true)
	Loads an aircraft model. More...
bool	LoadModel (const std::string &model, bool addModelToPath=true)
	Loads an aircraft model. More...
bool	LoadScript (const SGPath &Script, double deltaT=0.0, const SGPath &initfile=SGPath())
	Loads a script. More...
void	PrintPropertyCatalog (void)
void	PrintSimulationConfiguration (void) const
std::string	QueryPropertyCatalog (const std::string &check)
	Retrieves property or properties matching the supplied string. More...
void	ResetToInitialConditions (int mode)
	Resets the initial conditions object and prepares the simulation to run again. More...
void	Resume (void)
	Resumes execution from a "Hold".
void	ResumeIntegration (void)
	Resumes the simulation by resetting delta T to the correct value.
bool	Run (void)
	This function executes each scheduled model in succession. More...
bool	RunIC (void)
	Initializes the sim from the initial condition object and executes each scheduled model without integrating i.e. More...
bool	SetAircraftPath (const SGPath &path)
	Sets the path to the aircraft config file directories. More...
void	SetChild (bool ch)
	Marks this instance of the Exec object as a "child" object.
void	SetDebugLevel (int level)
	Sets the debug level.
void	Setdt (double delta_t)
	Sets the integration time step for the simulation executive. More...
bool	SetEnginePath (const SGPath &path)
	Sets the path to the engine config file directories. More...
void	SetGroundCallback (FGGroundCallback *gc)
	Sets the ground callback pointer. More...
void	SetHoldDown (bool hd)
	Sets the property forces/hold-down. More...
void	SetLoggingRate (double rate)
	Sets the logging rate in Hz for all output objects (if any). More...
bool	SetOutputDirectives (const SGPath &fname)
	Sets the output (logging) mechanism for this run. More...
bool	SetOutputFileName (const int n, const std::string &fname)
	Sets (or overrides) the output filename. More...
void	SetPropertyValue (const std::string &property, double value)
	Sets a property value. More...
void	SetRootDir (const SGPath &rootDir)
	Sets the root directory where JSBSim starts looking for its system directories. More...
double	Setsim_time (double cur_time)
	Sets the current sim time. More...
bool	SetSystemsPath (const SGPath &path)
	Sets the path to the systems config file directories. More...
void	SetTrimMode (int mode)
void	SetTrimStatus (bool status)
void	SuspendIntegration (void)
	Suspends the simulation and sets the delta T to zero.
void	Unbind (void)
	Unbind all tied JSBSim properties. More...
Top-level executive State and Model retrieval mechanism
Returns the FGAtmosphere pointer.
FGAtmosphere *	GetAtmosphere (void)
FGAccelerations *	GetAccelerations (void)
	Returns the FGAccelerations pointer.
FGWinds *	GetWinds (void)
	Returns the FGWinds pointer.
FGFCS *	GetFCS (void)
	Returns the FGFCS pointer.
FGPropulsion *	GetPropulsion (void)
	Returns the FGPropulsion pointer.
FGMassBalance *	GetMassBalance (void)
	Returns the FGAircraft pointer.
FGAerodynamics *	GetAerodynamics (void)
	Returns the FGAerodynamics pointer.
FGInertial *	GetInertial (void)
	Returns the FGInertial pointer.
FGGroundReactions *	GetGroundReactions (void)
	Returns the FGGroundReactions pointer.
FGExternalReactions *	GetExternalReactions (void)
	Returns the FGExternalReactions pointer.
FGBuoyantForces *	GetBuoyantForces (void)
	Returns the FGBuoyantForces pointer.
FGAircraft *	GetAircraft (void)
	Returns the FGAircraft pointer.
FGPropagate *	GetPropagate (void)
	Returns the FGPropagate pointer.
FGAuxiliary *	GetAuxiliary (void)
	Returns the FGAuxiliary pointer.
FGInput *	GetInput (void)
	Returns the FGInput pointer.
FGOutput *	GetOutput (void)
	Returns the FGOutput pointer.
FGGroundCallback *	GetGroundCallback (void)
	Get a pointer to the ground callback currently used. More...
FGScript *	GetScript (void)
	Retrieves the script object.
FGInitialCondition *	GetIC (void)
	Returns a pointer to the FGInitialCondition object.
FGTrim *	GetTrim (void)
	Returns a pointer to the FGTrim object.
Public Member Functions inherited from FGJSBBase
	FGJSBBase ()
	Constructor for FGJSBBase.
virtual	~FGJSBBase ()
	Destructor for FGJSBBase.
void	disableHighLighting (void)
	Disables highlighting in the console output.
std::string	GetVersion (void)
	Returns the version number of JSBSim. More...
void	PutMessage (const Message &msg)
	Places a Message structure on the Message queue. More...
void	PutMessage (const std::string &text)
	Creates a message with the given text and places it on the queue. More...
void	PutMessage (const std::string &text, bool bVal)
	Creates a message with the given text and boolean value and places it on the queue. More...
void	PutMessage (const std::string &text, int iVal)
	Creates a message with the given text and integer value and places it on the queue. More...
void	PutMessage (const std::string &text, double dVal)
	Creates a message with the given text and double value and places it on the queue. More...
int	SomeMessages (void)
	Reads the message on the queue (but does not delete it). More...
void	ProcessMessage (void)
	Reads the message on the queue and removes it from the queue. More...
Message *	ProcessNextMessage (void)
	Reads the next message on the queue and removes it from the queue. More...

Additional Inherited Members
Static Public Member Functions inherited from FGJSBBase
static double	CelsiusToFahrenheit (double celsius)
	Converts from degrees Celsius to degrees Fahrenheit. More...
static double	CelsiusToKelvin (double celsius)
	Converts from degrees Celsius to degrees Kelvin. More...
static double	CelsiusToRankine (double celsius)
	Converts from degrees Celsius to degrees Rankine. More...
static double	Constrain (double min, double value, double max)
	Constrain a value between a minimum and a maximum value.
static bool	EqualToRoundoff (double a, double b)
	Finite precision comparison. More...
static bool	EqualToRoundoff (float a, float b)
	Finite precision comparison. More...
static bool	EqualToRoundoff (float a, double b)
	Finite precision comparison. More...
static bool	EqualToRoundoff (double a, float b)
	Finite precision comparison. More...
static double	FahrenheitToCelsius (double fahrenheit)
	Converts from degrees Fahrenheit to degrees Celsius. More...
static double	FeetToMeters (double measure)
	Converts from feet to meters. More...
static double	GaussianRandomNumber (void)
static double	KelvinToCelsius (double kelvin)
	Converts from degrees Kelvin to degrees Celsius. More...
static double	KelvinToFahrenheit (double kelvin)
	Converts from degrees Kelvin to degrees Fahrenheit. More...
static double	KelvinToRankine (double kelvin)
	Converts from degrees Kelvin to degrees Rankine. More...
static double	MachFromVcalibrated (double vcas, double p, double psl, double rhosl)
	Calculate the Mach number from the calibrated airspeed. More...
static double	PitotTotalPressure (double mach, double p)
	Compute the total pressure in front of the Pitot tube. More...
static double	RankineToCelsius (double rankine)
	Converts from degrees Rankine to degrees Celsius. More...
static double	RankineToKelvin (double rankine)
	Converts from degrees Rankine to degrees Kelvin. More...
static double	sign (double num)
static double	VcalibratedFromMach (double mach, double p, double psl, double rhosl)
	Calculate the calibrated airspeed from the Mach number. More...
Static Public Attributes inherited from FGJSBBase
static short	debug_lvl = 1
static char	highint [5] = {27, '[', '1', 'm', '\0' }
	highlights text
static char	halfint [5] = {27, '[', '2', 'm', '\0' }
	low intensity text
static char	normint [6] = {27, '[', '2', '2', 'm', '\0' }
	normal intensity text
static char	reset [5] = {27, '[', '0', 'm', '\0' }
	resets text properties
static char	underon [5] = {27, '[', '4', 'm', '\0' }
	underlines text
static char	underoff [6] = {27, '[', '2', '4', 'm', '\0' }
	underline off
static char	fgblue [6] = {27, '[', '3', '4', 'm', '\0' }
	blue text
static char	fgcyan [6] = {27, '[', '3', '6', 'm', '\0' }
	cyan text
static char	fgred [6] = {27, '[', '3', '1', 'm', '\0' }
	red text
static char	fggreen [6] = {27, '[', '3', '2', 'm', '\0' }
	green text
static char	fgdef [6] = {27, '[', '3', '9', 'm', '\0' }
	default text
Protected Member Functions inherited from FGJSBBase
void	Debug (int)
Static Protected Member Functions inherited from FGJSBBase
static std::string	CreateIndexedPropertyName (const std::string &Property, int index)
Static Protected Attributes inherited from FGJSBBase
static const double	degtorad = 0.017453292519943295769236907684886
static const double	fpstokts = 1.0/ktstofps
static const double	fttom = 0.3048
static int	gaussian_random_number_phase = 0
static const double	hptoftlbssec = 550.0
static const double	in3tom3 = 1.638706E-5
static const double	inchtoft = 0.08333333
static const double	inhgtopa = 3386.38
static const std::string	JSBSim_version = "1.0 " __DATE__ " " __TIME__
static const double	kgtolb = 2.20462
static const double	kgtoslug = 0.06852168
static const double	ktstofps = 1.68781
static const double	lbtoslug = 1.0/slugtolb
static Message	localMsg
static const double	m3toft3 = 1.0/(fttom*fttom*fttom)
static double	Mair = 28.9645
static unsigned int	messageId = 0
static std::queue< Message >	Messages
static const std::string	needed_cfg_version = "2.0"
static const double	psftoinhg = 0.014138
static const double	psftopa = 47.88
static const double	radtodeg = 57.295779513082320876798154814105
static double	Reng = 1716.56
static double	Rstar = 1545.348
static const double	SHRatio = 1.40
static const double	slugtolb = 32.174049

Detailed Description

Encapsulates the JSBSim simulation executive.

This class is the executive class through which all other simulation classes are instantiated, initialized, and run. When integrated with FlightGear (or other flight simulator) this class is typically instantiated by an interface class on the simulator side.

At the time of simulation initialization, the interface class creates an instance of this executive class. The executive is subsequently directed to load the chosen aircraft specification file:

fdmex = new FGFDMExec( ... );
result = fdmex->LoadModel( ... );

When an aircraft model is loaded, the config file is parsed and for each of the sections of the config file (propulsion, flight control, etc.) the corresponding Load() method is called (e.g. FGFCS::Load()).

Subsequent to the creation of the executive and loading of the model, initialization is performed. Initialization involves copying control inputs into the appropriate JSBSim data storage locations, configuring it for the set of user supplied initial conditions, and then copying state variables from JSBSim. The state variables are used to drive the instrument displays and to place the vehicle model in world space for visual rendering:

copy_to_JSBsim(); // copy control inputs to JSBSim
fdmex->RunIC(); // loop JSBSim once w/o integrating
copy_from_JSBsim(); // update the bus

Once initialization is complete, cyclic execution proceeds:

copy_to_JSBsim(); // copy control inputs to JSBSim
fdmex->Run(); // execute JSBSim
copy_from_JSBsim(); // update the bus

JSBSim can be used in a standalone mode by creating a compact stub program that effectively performs the same progression of steps as outlined above for the integrated version, but with two exceptions. First, the copy_to_JSBSim() and copy_from_JSBSim() functions are not used because the control inputs are handled directly by the scripting facilities and outputs are handled by the output (data logging) class. Second, the name of a script file can be supplied to the stub program. Scripting (see FGScript) provides a way to supply command inputs to the simulation:

FDMExec = new JSBSim::FGFDMExec();
FDMExec->LoadScript( ScriptName ); // the script loads the aircraft and ICs
result = FDMExec->Run();
while (result) { // cyclic execution
  result = FDMExec->Run(); // execute JSBSim
}

The standalone mode has been useful for verifying changes before committing updates to the source code repository. It is also useful for running sets of tests that reveal some aspects of simulated aircraft performance, such as range, time-to-climb, takeoff distance, etc.

JSBSim Debugging Directives

This describes to any interested entity the debug level requested by setting the JSBSIM_DEBUG environment variable. 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

Properties

• simulator/do_trim (write only) Can be set to the integer equivalent to one of tLongitudinal (0), tFull (1), tGround (2), tPullup (3), tCustom (4), tTurn (5). Setting this to a legal value (such as by a script) causes a trim to be performed. This property actually maps toa function call of DoTrim().

Author

Jon S. Berndt

Version

Revision

1.106

Definition at line 189 of file FGFDMExec.h.

Member Function Documentation

BuildPropertyCatalog()

void BuildPropertyCatalog

(

struct PropertyCatalogStructure *

pcs

)

Builds a catalog of properties.

This function descends the property tree and creates a list (an STL vector) containing the name and node for all properties.

Parameters

pcs	The "root" property catalog structure pointer.

Definition at line 904 of file FGFDMExec.cpp.

{
  struct PropertyCatalogStructure* pcsNew = new struct PropertyCatalogStructure;

  for (int i=0; i<pcs->node->nChildren(); i++) {
    string access="";
    pcsNew->base_string = pcs->base_string + "/" + pcs->node->getChild(i)->getName();
    int 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(0,12) == string("/fdm/jsbsim/")) {
        pcsNew->base_string = pcsNew->base_string.erase(0,12);
      }
      if (pcs->node->getChild(i)->getAttribute(SGPropertyNode::READ)) access="R";
      if (pcs->node->getChild(i)->getAttribute(SGPropertyNode::WRITE)) access+="W";
      PropertyCatalog.push_back(pcsNew->base_string+" ("+access+")");
    } else {
      pcsNew->node = (FGPropertyNode*)pcs->node->getChild(i);
      BuildPropertyCatalog(pcsNew);
    }
  }
  delete pcsNew;
}

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DoTrim()

void DoTrim

(

int

mode

)

Executes trimming in the selected mode.

Parameters

mode	Specifies how to trim: tLongitudinal=0 tFull tGround tPullup tCustom tTurn tNone

Definition at line 1139 of file FGFDMExec.cpp.

{
  if (Constructing) return;

  if (mode < 0 || mode > JSBSim::tNone)
    throw("Illegal trimming mode!");

  FGTrim trim(this, (JSBSim::TrimMode)mode);
  bool success = trim.DoTrim();
  trim.Report();

  if (!success)
    throw("Trim Failed");

  trim_completed = 1;
}

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GetDebugLevel()

int GetDebugLevel ( void  ) const

inline

Retrieves the current debug level setting.

Definition at line 585 of file FGFDMExec.h.

{return debug_lvl;};

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GetFrame()

unsigned int GetFrame ( void  ) const

inline

Retrieves the current frame count.

Definition at line 582 of file FGFDMExec.h.

{return Frame;}

GetGroundCallback()

FGGroundCallback* GetGroundCallback ( void  )

inline

Get a pointer to the ground callback currently used.

It is recommanded to store the returned pointer in a 'smart pointer' FGGroundCallback_ptr.

Returns

A pointer to the current ground callback object.

See also

FGGroundCallback

Definition at line 381 of file FGFDMExec.h.

{return FGLocation::GetGroundCallback();}

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GetHoldDown()

bool GetHoldDown ( void  ) const

inline

Gets the value of the property forces/hold-down.

Returns

zero if the 'hold-down' function is disabled, non-zero otherwise.

Definition at line 600 of file FGFDMExec.h.

{return HoldDown;}

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GetOutputFileName()

std::string GetOutputFileName ( int  n ) const

inline

Retrieves the current output filename.

Parameters

n	index of file

Returns

the name of the output file for the output specified by the flight model. If none is specified, the empty string is returned.

Definition at line 460 of file FGFDMExec.h.

{ return Output->GetOutputName(n); }

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GetPropertyValue()

double GetPropertyValue ( const std::string &  property )

inline

Retrieves the value of a property.

Parameters

property

the name of the property

Returns

the value of the specified property

Definition at line 402 of file FGFDMExec.h.

  { return instance->GetNode()->GetDouble(property); }

GetRootDir()

const SGPath& GetRootDir ( void  ) const

inline

Retrieves the Root Directory.

Returns

the string representing the root (base) JSBSim directory.

Definition at line 567 of file FGFDMExec.h.

{return RootDir;}

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IncrTime()

double IncrTime ( void  )

inline

Increments the simulation time if not in Holding mode.

The Frame counter is also incremented.

Returns

the new simulation time.

Definition at line 572 of file FGFDMExec.h.

                        {
    if (!holding && !IntegrationSuspended()) {
      sim_time += dT;
      GetGroundCallback()->SetTime(sim_time);
      Frame++;
    }
    return sim_time;
  }

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Initialize()

void Initialize

(

FGInitialCondition *

FGIC

)

Initializes the simulation with initial conditions.

Parameters

FGIC	The initial conditions that will be passed to the simulation.

Definition at line 591 of file FGFDMExec.cpp.

{
  Propagate->SetInitialState(FGIC);
  Winds->SetWindNED(FGIC->GetWindNEDFpsIC());
  Run();
}

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IntegrationSuspended()

bool IntegrationSuspended ( void  ) const

inline

Returns the simulation suspension state.

Returns

true if suspended, false if executing

Definition at line 546 of file FGFDMExec.h.

{return dT == 0.0;}

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LoadModel() [1/2]

bool LoadModel	(	const SGPath &	AircraftPath,
		const SGPath &	EnginePath,
		const SGPath &	SystemsPath,
		const std::string &	model,
		bool	addModelToPath = true
	)

Loads an aircraft model.

Parameters

AircraftPath	path to the aircraft/ directory. For instance: "aircraft". Under aircraft, then, would be directories for various modeled aircraft such as C172/, x15/, etc.
EnginePath	path to the directory under which engine config files are kept, for instance "engine"
SystemsPath	path to the directory under which systems config files are kept, for instance "systems"
model	the name of the aircraft model itself. This file will be looked for in the directory specified in the AircraftPath variable, and in turn under the directory with the same name as the model. For instance: "aircraft/x15/x15.xml"
addModelToPath	set to true to add the model name to the AircraftPath, defaults to true

Returns

true if successful

Definition at line 666 of file FGFDMExec.cpp.

{
  FGFDMExec::AircraftPath = GetFullPath(AircraftPath);
  FGFDMExec::EnginePath = GetFullPath(EnginePath);
  FGFDMExec::SystemsPath = GetFullPath(SystemsPath);

  return LoadModel(model, addModelToPath);
}

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LoadModel() [2/2]

bool LoadModel	(	const std::string &	model,
		bool	addModelToPath = true
	)

Loads an aircraft model.

The paths to the aircraft and engine config file directories must be set prior to calling this. See below.

Parameters

model	the name of the aircraft model itself. This file will be looked for in the directory specified in the AircraftPath variable, and in turn under the directory with the same name as the model. For instance: "aircraft/x15/x15.xml"
addModelToPath	set to true to add the model name to the AircraftPath, defaults to true

Returns

true if successful

Definition at line 679 of file FGFDMExec.cpp.

{
  SGPath aircraftCfgFileName;
  bool result = false; // initialize result to false, indicating input file not yet read

  modelName = model; // Set the class modelName attribute

  if( AircraftPath.isNull() || EnginePath.isNull() || SystemsPath.isNull()) {
    cerr << "Error: attempted to load aircraft with undefined ";
    cerr << "aircraft, engine, and system paths" << endl;
    return false;
  }

  FullAircraftPath = AircraftPath;
  if (addModelToPath) FullAircraftPath.append(model);
  aircraftCfgFileName = FullAircraftPath/(model + ".xml");

  if (modelLoaded) {
    DeAllocate();
    Allocate();
  }

  int saved_debug_lvl = debug_lvl;
  FGXMLFileRead XMLFileRead;
  Element *document = XMLFileRead.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* 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 << element->ReadFrom()
             << "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 = ((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);
      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);
      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);
      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, and there may be more than one.
    element = document->FindElement("input");
    while (element) {
      if (!static_cast<FGInput*>(Models[eInput])->Load(element))
        return false;

      element = document->FindNextElement("input");
    }

    // Process the output element[s]. This element is OPTIONAL, and there may be
    // more than one.
    element = document->FindElement("output");
    while (element) {
      if (!static_cast<FGOutput*>(Models[eOutput])->Load(element))
        return false;

      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 (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 = Root->GetNode();
    BuildPropertyCatalog(&masterPCS);
  }

  return result;
}

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LoadScript()

bool LoadScript	(	const SGPath &	Script,
		double	deltaT = 0.0,
		const SGPath &	initfile = SGPath()
	)

Loads a script.

Parameters

Script	The full path name and file name for the script to be loaded.
deltaT	The simulation integration step size, if given. If no value is supplied then 0.0 is used and the value is expected to be supplied in the script file itself.
initfile	The initialization file that will override the initialization file specified in the script file. If no file name is given on the command line, the file specified in the script will be used. If an initialization file is not given in either place, an error will result.

Returns

true if successfully loads; false otherwise.

Definition at line 653 of file FGFDMExec.cpp.

{
  bool result;

  Script = new FGScript(this);
  result = Script->LoadScript(GetFullPath(script), deltaT, initfile);

  return result;
}

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QueryPropertyCatalog()

string QueryPropertyCatalog

(

const std::string &

check

)

Retrieves property or properties matching the supplied string.

A string is returned that contains a carriage return delimited list of all strings in the property catalog that matches the supplied check string.

Parameters

check

The string to search for in the property catalog.

Returns

the carriage-return-delimited string containing all matching strings in the catalog.

Definition at line 932 of file FGFDMExec.cpp.

{
  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;
}

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ResetToInitialConditions()

void ResetToInitialConditions

(

int

mode

)

Resets the initial conditions object and prepares the simulation to run again.

If mode is set to 1 the output instances will take special actions such as closing the current output file and open a new one with a different name.

Parameters

mode	Sets the reset mode.

Definition at line 600 of file FGFDMExec.cpp.

{
  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();
  else
    Setsim_time(0.0);

  RunIC();
}

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Run()

bool Run

(

void

)

This function executes each scheduled model in succession.

Returns

true if successful, false if sim should be ended

Definition at line 310 of file FGFDMExec.cpp.

{
  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;
}

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RunIC()

bool RunIC

(

void

)

Initializes the sim from the initial condition object and executes each scheduled model without integrating i.e.

dt=0.

Returns

true if successful

Definition at line 552 of file FGFDMExec.cpp.

{
  FGPropulsion* propulsion = (FGPropulsion*)Models[ePropulsion];

  SuspendIntegration(); // saves the integration rate, dt, then sets it to 0.0.
  Initialize(IC);

  Models[eInput]->InitModel();
  Models[eOutput]->InitModel();

  Run();
  Propagate->InitializeDerivatives();
  ResumeIntegration(); // Restores the integration rate to what it was.

  if (debug_lvl > 0) {
    MassBalance->GetMassPropertiesReport(0);

    cout << endl << fgblue << highint
         << "End of vehicle configuration loading." << endl
         << "-------------------------------------------------------------------------------"
         << reset << std::setprecision(6) << endl;
  }

  for (unsigned int n=0; n < propulsion->GetNumEngines(); ++n) {
    if (IC->IsEngineRunning(n)) {
      try {
        propulsion->InitRunning(n);
      } catch (const string& str) {
        cerr << str << endl;
        return false;
      }
    }
  }

  return true;
}

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SetAircraftPath()

bool SetAircraftPath ( const SGPath &  path )

inline

Sets the path to the aircraft config file directories.

Parameters

path	path to the aircraft directory. For instance: "aircraft". Under aircraft, then, would be directories for various modeled aircraft such as C172/, x15/, etc.

Definition at line 329 of file FGFDMExec.h.

                                           {
    AircraftPath = GetFullPath(path);
    return true;
  }

Setdt()

void Setdt ( double  delta_t )

inline

Sets the integration time step for the simulation executive.

Parameters

delta_t

the time step in seconds.

Definition at line 559 of file FGFDMExec.h.

{ dT = delta_t; }

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SetEnginePath()

bool SetEnginePath ( const SGPath &  path )

inline

Sets the path to the engine config file directories.

Parameters

path	path to the directory under which engine config files are kept, for instance "engine"

Definition at line 320 of file FGFDMExec.h.

                                         {
    EnginePath = GetFullPath(path);
    return true;
  }

SetGroundCallback()

void SetGroundCallback ( FGGroundCallback *  gc )

inline

Sets the ground callback pointer.

For optimal memory management, a shared pointer is used internally that maintains a reference counter. The calling application must therefore use FGGroundCallback_ptr 'smart pointers' to manage their copy of the ground callback.

Parameters

gc	A pointer to a ground callback object

See also

FGGroundCallback

Definition at line 271 of file FGFDMExec.h.

{ FGLocation::SetGroundCallback(gc); }

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SetHoldDown()

void SetHoldDown

(

bool

hd

)

Sets the property forces/hold-down.

This allows to do hard 'hold-down' such as for rockets on a launch pad with engines ignited.

Parameters

hd	enables the 'hold-down' function if non-zero

Definition at line 624 of file FGFDMExec.cpp.

{
  HoldDown = hd;
  Accelerations->SetHoldDown(hd);
  if (hd) {
    Propagate->in.vPQRidot = Accelerations->GetPQRidot();
    Propagate->in.vUVWidot = Accelerations->GetUVWidot();
  }
  Propagate->SetHoldDown(hd);
}

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SetLoggingRate()

void SetLoggingRate ( double  rate )

inline

Sets the logging rate in Hz for all output objects (if any).

Definition at line 448 of file FGFDMExec.h.

{ Output->SetRateHz(rate); }

SetOutputDirectives()

bool SetOutputDirectives ( const SGPath &  fname )

inline

Sets the output (logging) mechanism for this run.

Calling this function passes the name of an output directives file to the FGOutput object associated with this run. The call to this function should be made prior to loading an aircraft model. This call results in an FGOutput object being built as the first Output object in the FDMExec-managed list of Output objects that may be created for an aircraft model. If this call is made after an aircraft model is loaded, there is no effect. Any Output objects added by the aircraft model itself (in an <output> element) will be added after this one. Care should be taken not to refer to the same file name. An output directives file contains an <output> </output> element, within which should be specified the parameters or parameter groups that should be logged.

Parameters

fname

the filename of an output directives file.

Definition at line 441 of file FGFDMExec.h.

  { return Output->SetDirectivesFile(GetFullPath(fname)); }

SetOutputFileName()

bool SetOutputFileName ( const int  n, const std::string &  fname  )

inline

Sets (or overrides) the output filename.

Parameters

n	index of file
fname	the name of the file to output data to

Returns

true if successful, false if there is no output specified for the flight model

Definition at line 454 of file FGFDMExec.h.

{ return Output->SetOutputName(n, fname); }

SetPropertyValue()

void SetPropertyValue ( const std::string &  property, double  value  )

inline

Sets a property value.

Parameters

property	the property to be set
value	the value to set the property to

Definition at line 408 of file FGFDMExec.h.

                                                                        {
    instance->GetNode()->SetDouble(property, value);
  }

SetRootDir()

void SetRootDir ( const SGPath &  rootDir )

inline

Sets the root directory where JSBSim starts looking for its system directories.

Parameters

rootDir

the string containing the root directory.

Definition at line 563 of file FGFDMExec.h.

{RootDir = rootDir;}

Setsim_time()

double Setsim_time ( double  cur_time )

inline

Sets the current sim time.

Parameters

cur_time

the current time

Returns

the current simulation time.

Definition at line 551 of file FGFDMExec.h.

                                      {
    sim_time = cur_time;
    GetGroundCallback()->SetTime(sim_time);
    return sim_time;
  }

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SetSystemsPath()

bool SetSystemsPath ( const SGPath &  path )

inline

Sets the path to the systems config file directories.

Parameters

path	path to the directory under which systems config files are kept, for instance "systems"

Definition at line 337 of file FGFDMExec.h.

                                          {
    SystemsPath = GetFullPath(path);
    return true;
  }

Unbind()

void Unbind ( void  )

inline

Unbind all tied JSBSim properties.

Definition at line 253 of file FGFDMExec.h.

{instance->Unbind();}

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---

The documentation for this class was generated from the following files:

• FGFDMExec.h
• FGFDMExec.cpp