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1 : : /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
2 : :
3 : : Module: FGFilter.cpp
4 : : Author: Jon S. Berndt
5 : : Date started: 11/2000
6 : :
7 : : ------------- Copyright (C) 2000 -------------
8 : :
9 : : This program is free software; you can redistribute it and/or modify it under
10 : : the terms of the GNU Lesser General Public License as published by the Free Software
11 : : Foundation; either version 2 of the License, or (at your option) any later
12 : : version.
13 : :
14 : : This program is distributed in the hope that it will be useful, but WITHOUT
15 : : ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
16 : : FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
17 : : details.
18 : :
19 : : You should have received a copy of the GNU Lesser General Public License along with
20 : : this program; if not, write to the Free Software Foundation, Inc., 59 Temple
21 : : Place - Suite 330, Boston, MA 02111-1307, USA.
22 : :
23 : : Further information about the GNU Lesser General Public License can also be found on
24 : : the world wide web at http://www.gnu.org.
25 : :
26 : : FUNCTIONAL DESCRIPTION
27 : : --------------------------------------------------------------------------------
28 : :
29 : : HISTORY
30 : : --------------------------------------------------------------------------------
31 : :
32 : : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
33 : : COMMENTS, REFERENCES, and NOTES
34 : : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
35 : :
36 : : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
37 : : INCLUDES
38 : : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
39 : :
40 : : #include "FGFilter.h"
41 : : #include "input_output/FGXMLElement.h"
42 : : #include "input_output/FGPropertyManager.h"
43 : :
44 : : #include <iostream>
45 : : #include <string>
46 : :
47 : : using namespace std;
48 : :
49 : : namespace JSBSim {
50 : :
51 : : static const char *IdSrc = "$Id: FGFilter.cpp,v 1.16 2010/08/21 22:56:11 jberndt Exp $";
52 : : static const char *IdHdr = ID_FILTER;
53 : :
54 : : /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
55 : : CLASS IMPLEMENTATION
56 : : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
57 : :
58 : 3 : FGFilter::FGFilter(FGFCS* fcs, Element* element) : FGFCSComponent(fcs, element)
59 : : {
60 : 3 : Trigger = 0;
61 : 3 : DynamicFilter = false;
62 : :
63 : 3 : C[1] = C[2] = C[3] = C[4] = C[5] = C[6] = 0.0;
64 [ + + ][ # # ]: 21 : for (int i=1; i<7; i++) {
65 : 18 : PropertySign[i] = 1.0;
66 : 18 : PropertyNode[i] = 0L;
67 : 18 : ReadFilterCoefficients(element, i);
68 : : }
69 : :
70 [ + - ][ # # ]: 3 : if (Type == "LAG_FILTER") FilterType = eLag ;
71 [ # # ][ # # ]: 0 : else if (Type == "LEAD_LAG_FILTER") FilterType = eLeadLag ;
72 [ # # ][ # # ]: 0 : else if (Type == "SECOND_ORDER_FILTER") FilterType = eOrder2 ;
73 [ # # ][ # # ]: 0 : else if (Type == "WASHOUT_FILTER") FilterType = eWashout ;
74 [ # # ][ # # ]: 0 : else if (Type == "INTEGRATOR") FilterType = eIntegrator ;
75 : 0 : else FilterType = eUnknown ;
76 : :
77 [ - + ][ # # ]: 3 : if (element->FindElement("trigger")) {
78 : 0 : Trigger = PropertyManager->GetNode(element->FindElementValue("trigger"));
79 : : }
80 : :
81 : 3 : Initialize = true;
82 : :
83 : 3 : CalculateDynamicFilters();
84 : :
85 : 3 : FGFCSComponent::bind();
86 : :
87 : 3 : Debug(0);
88 : 3 : }
89 : :
90 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
91 : :
92 : 3 : FGFilter::~FGFilter()
93 : : {
94 : 3 : Debug(1);
95 [ + - ][ # # ]: 3 : }
[ # # ]
96 : :
97 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
98 : :
99 : 18 : void FGFilter::ReadFilterCoefficients(Element* element, int index)
100 : : {
101 : : // index is known to be 1-7.
102 : : // A stringstream would be overkill, but also trying to avoid sprintf
103 : 18 : string coefficient = "c0";
104 : 18 : coefficient[1] += index;
105 : :
106 [ + + ]: 18 : if ( element->FindElement(coefficient) ) {
107 : 3 : string property_string = element->FindElementValue(coefficient);
108 [ - + ]: 3 : if (!is_number(property_string)) { // property
109 [ # # ]: 0 : if (property_string[0] == '-') {
110 : 0 : PropertySign[index] = -1.0;
111 : 0 : property_string.erase(0,1);
112 : : } else {
113 : 0 : PropertySign[index] = 1.0;
114 : : }
115 : 0 : PropertyNode[index] = PropertyManager->GetNode(property_string);
116 : 0 : DynamicFilter = true;
117 : : } else {
118 : 3 : C[index] = element->FindElementValueAsNumber(coefficient);
119 : 3 : }
120 : 18 : }
121 : 18 : }
122 : :
123 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
124 : :
125 : 3 : void FGFilter::CalculateDynamicFilters(void)
126 : : {
127 : : double denom;
128 : :
129 [ + - - - : 3 : switch (FilterType) {
- - - ]
130 : : case eLag:
131 [ - + ]: 3 : if (PropertyNode[1] != 0L) C[1] = PropertyNode[1]->getDoubleValue()*PropertySign[1];
132 : 3 : denom = 2.00 + dt*C[1];
133 : 3 : ca = dt*C[1] / denom;
134 : 3 : cb = (2.00 - dt*C[1]) / denom;
135 : :
136 : 3 : break;
137 : : case eLeadLag:
138 [ # # ]: 0 : if (PropertyNode[1] != 0L) C[1] = PropertyNode[1]->getDoubleValue()*PropertySign[1];
139 [ # # ]: 0 : if (PropertyNode[2] != 0L) C[2] = PropertyNode[2]->getDoubleValue()*PropertySign[2];
140 [ # # ]: 0 : if (PropertyNode[3] != 0L) C[3] = PropertyNode[3]->getDoubleValue()*PropertySign[3];
141 [ # # ]: 0 : if (PropertyNode[4] != 0L) C[4] = PropertyNode[4]->getDoubleValue()*PropertySign[4];
142 : 0 : denom = 2.00*C[3] + dt*C[4];
143 : 0 : ca = (2.00*C[1] + dt*C[2]) / denom;
144 : 0 : cb = (dt*C[2] - 2.00*C[1]) / denom;
145 : 0 : cc = (2.00*C[3] - dt*C[4]) / denom;
146 : 0 : break;
147 : : case eOrder2:
148 [ # # ]: 0 : if (PropertyNode[1] != 0L) C[1] = PropertyNode[1]->getDoubleValue()*PropertySign[1];
149 [ # # ]: 0 : if (PropertyNode[2] != 0L) C[2] = PropertyNode[2]->getDoubleValue()*PropertySign[2];
150 [ # # ]: 0 : if (PropertyNode[3] != 0L) C[3] = PropertyNode[3]->getDoubleValue()*PropertySign[3];
151 [ # # ]: 0 : if (PropertyNode[4] != 0L) C[4] = PropertyNode[4]->getDoubleValue()*PropertySign[4];
152 [ # # ]: 0 : if (PropertyNode[5] != 0L) C[5] = PropertyNode[5]->getDoubleValue()*PropertySign[5];
153 [ # # ]: 0 : if (PropertyNode[6] != 0L) C[6] = PropertyNode[6]->getDoubleValue()*PropertySign[6];
154 : 0 : denom = 4.0*C[4] + 2.0*C[5]*dt + C[6]*dt*dt;
155 : 0 : ca = (4.0*C[1] + 2.0*C[2]*dt + C[3]*dt*dt) / denom;
156 : 0 : cb = (2.0*C[3]*dt*dt - 8.0*C[1]) / denom;
157 : 0 : cc = (4.0*C[1] - 2.0*C[2]*dt + C[3]*dt*dt) / denom;
158 : 0 : cd = (2.0*C[6]*dt*dt - 8.0*C[4]) / denom;
159 : 0 : ce = (4.0*C[4] - 2.0*C[5]*dt + C[6]*dt*dt) / denom;
160 : 0 : break;
161 : : case eWashout:
162 [ # # ]: 0 : if (PropertyNode[1] != 0L) C[1] = PropertyNode[1]->getDoubleValue()*PropertySign[1];
163 : 0 : denom = 2.00 + dt*C[1];
164 : 0 : ca = 2.00 / denom;
165 : 0 : cb = (2.00 - dt*C[1]) / denom;
166 : 0 : break;
167 : : case eIntegrator:
168 [ # # ]: 0 : if (PropertyNode[1] != 0L) C[1] = PropertyNode[1]->getDoubleValue()*PropertySign[1];
169 : 0 : ca = dt*C[1] / 2.00;
170 : 0 : break;
171 : : case eUnknown:
172 : 0 : cerr << "Unknown filter type" << endl;
173 : : break;
174 : : }
175 : :
176 : 3 : }
177 : :
178 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
179 : :
180 : 162015 : bool FGFilter::Run(void)
181 : : {
182 : 162015 : double test = 0.0;
183 : :
184 [ + + ]: 162015 : if (Initialize) {
185 : :
186 : 3 : PreviousOutput1 = PreviousInput1 = Output = Input;
187 : 3 : Initialize = false;
188 : :
189 : : } else {
190 : :
191 : 162012 : Input = InputNodes[0]->getDoubleValue() * InputSigns[0];
192 : :
193 [ - + ]: 162012 : if (DynamicFilter) CalculateDynamicFilters();
194 : :
195 [ + - - - : 162012 : switch (FilterType) {
- - ]
196 : : case eLag:
197 : 162012 : Output = Input * ca + PreviousInput1 * ca + PreviousOutput1 * cb;
198 : 162012 : break;
199 : : case eLeadLag:
200 : 0 : Output = Input * ca + PreviousInput1 * cb + PreviousOutput1 * cc;
201 : 0 : break;
202 : : case eOrder2:
203 : : Output = Input * ca + PreviousInput1 * cb + PreviousInput2 * cc
204 : 0 : - PreviousOutput1 * cd - PreviousOutput2 * ce;
205 : 0 : break;
206 : : case eWashout:
207 : 0 : Output = Input * ca - PreviousInput1 * ca + PreviousOutput1 * cb;
208 : 0 : break;
209 : : case eIntegrator:
210 [ # # ]: 0 : if (Trigger != 0) {
211 : 0 : test = Trigger->getDoubleValue();
212 [ # # ]: 0 : if (fabs(test) > 0.000001) {
213 : 0 : Input = PreviousInput1 = PreviousInput2 = 0.0;
214 : : }
215 : : }
216 : 0 : Output = Input * ca + PreviousInput1 * ca + PreviousOutput1;
217 : : break;
218 : : case eUnknown:
219 : : break;
220 : : }
221 : :
222 : : }
223 : :
224 : 162015 : PreviousOutput2 = PreviousOutput1;
225 : 162015 : PreviousOutput1 = Output;
226 : 162015 : PreviousInput2 = PreviousInput1;
227 : 162015 : PreviousInput1 = Input;
228 : :
229 : 162015 : Clip();
230 [ - + ]: 162015 : if (IsOutput) SetOutput();
231 : :
232 : 162015 : return true;
233 : : }
234 : :
235 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
236 : : // The bitmasked value choices are as follows:
237 : : // unset: In this case (the default) JSBSim would only print
238 : : // out the normally expected messages, essentially echoing
239 : : // the config files as they are read. If the environment
240 : : // variable is not set, debug_lvl is set to 1 internally
241 : : // 0: This requests JSBSim not to output any messages
242 : : // whatsoever.
243 : : // 1: This value explicity requests the normal JSBSim
244 : : // startup messages
245 : : // 2: This value asks for a message to be printed out when
246 : : // a class is instantiated
247 : : // 4: When this value is set, a message is displayed when a
248 : : // FGModel object executes its Run() method
249 : : // 8: When this value is set, various runtime state variables
250 : : // are printed out periodically
251 : : // 16: When set various parameters are sanity checked and
252 : : // a message is printed out when they go out of bounds
253 : :
254 : 6 : void FGFilter::Debug(int from)
255 : : {
256 : 6 : string sgn="";
257 : :
258 [ + - ]: 6 : if (debug_lvl <= 0) return;
259 : :
260 [ + - ]: 6 : if (debug_lvl & 1) { // Standard console startup message output
261 [ + + ]: 6 : if (from == 0) { // Constructor
262 : 3 : cout << " INPUT: " << InputNames[0] << endl;
263 [ + - - - : 3 : switch (FilterType) {
- - ]
264 : : case eLag:
265 [ - + ]: 3 : if (PropertySign[1] < 0.0) sgn="-";
266 : : else sgn = "";
267 [ + - ]: 3 : if (PropertyNode[1] == 0L) cout << " C[1]: " << C[1] << endl;
268 : 0 : else cout << " C[1] is the value of property: " << sgn << PropertyNode[1]->GetName() << endl;
269 : : break;
270 : : case eLeadLag:
271 [ # # ]: 0 : if (PropertySign[1] < 0.0) sgn="-";
272 : : else sgn = "";
273 [ # # ]: 0 : if (PropertyNode[1] == 0L) cout << " C[1]: " << C[1] << endl;
274 : 0 : else cout << " C[1] is the value of property: " << sgn << PropertyNode[1]->GetName() << endl;
275 [ # # ]: 0 : if (PropertySign[2] < 0.0) sgn="-";
276 : : else sgn = "";
277 [ # # ]: 0 : if (PropertyNode[2] == 0L) cout << " C[2]: " << C[2] << endl;
278 : 0 : else cout << " C[2] is the value of property: " << sgn << PropertyNode[2]->GetName() << endl;
279 [ # # ]: 0 : if (PropertySign[3] < 0.0) sgn="-";
280 : : else sgn = "";
281 [ # # ]: 0 : if (PropertyNode[3] == 0L) cout << " C[3]: " << C[3] << endl;
282 : 0 : else cout << " C[3] is the value of property: " << sgn << PropertyNode[3]->GetName() << endl;
283 [ # # ]: 0 : if (PropertySign[4] < 0.0) sgn="-";
284 : : else sgn = "";
285 [ # # ]: 0 : if (PropertyNode[4] == 0L) cout << " C[4]: " << C[4] << endl;
286 : 0 : else cout << " C[4] is the value of property: " << sgn << PropertyNode[4]->GetName() << endl;
287 : : break;
288 : : case eOrder2:
289 [ # # ]: 0 : if (PropertySign[1] < 0.0) sgn="-";
290 : : else sgn = "";
291 [ # # ]: 0 : if (PropertyNode[1] == 0L) cout << " C[1]: " << C[1] << endl;
292 : 0 : else cout << " C[1] is the value of property: " << sgn << PropertyNode[1]->GetName() << endl;
293 [ # # ]: 0 : if (PropertySign[2] < 0.0) sgn="-";
294 : : else sgn = "";
295 [ # # ]: 0 : if (PropertyNode[2] == 0L) cout << " C[2]: " << C[2] << endl;
296 : 0 : else cout << " C[2] is the value of property: " << sgn << PropertyNode[2]->GetName() << endl;
297 [ # # ]: 0 : if (PropertySign[3] < 0.0) sgn="-";
298 : : else sgn = "";
299 [ # # ]: 0 : if (PropertyNode[3] == 0L) cout << " C[3]: " << C[3] << endl;
300 : 0 : else cout << " C[3] is the value of property: " << sgn << PropertyNode[3]->GetName() << endl;
301 [ # # ]: 0 : if (PropertySign[4] < 0.0) sgn="-";
302 : : else sgn = "";
303 [ # # ]: 0 : if (PropertyNode[4] == 0L) cout << " C[4]: " << C[4] << endl;
304 : 0 : else cout << " C[4] is the value of property: " << sgn << PropertyNode[4]->GetName() << endl;
305 [ # # ]: 0 : if (PropertySign[5] < 0.0) sgn="-";
306 : : else sgn = "";
307 [ # # ]: 0 : if (PropertyNode[5] == 0L) cout << " C[5]: " << C[5] << endl;
308 : 0 : else cout << " C[5] is the value of property: " << sgn << PropertyNode[5]->GetName() << endl;
309 [ # # ]: 0 : if (PropertySign[6] < 0.0) sgn="-";
310 : : else sgn = "";
311 [ # # ]: 0 : if (PropertyNode[6] == 0L) cout << " C[6]: " << C[6] << endl;
312 : 0 : else cout << " C[6] is the value of property: " << sgn << PropertyNode[6]->GetName() << endl;
313 : : break;
314 : : case eWashout:
315 [ # # ]: 0 : if (PropertySign[1] < 0.0) sgn="-";
316 : : else sgn = "";
317 [ # # ]: 0 : if (PropertyNode[1] == 0L) cout << " C[1]: " << C[1] << endl;
318 : 0 : else cout << " C[1] is the value of property: " << sgn << PropertyNode[1]->GetName() << endl;
319 : : break;
320 : : case eIntegrator:
321 [ # # ]: 0 : if (PropertySign[1] < 0.0) sgn="-";
322 : : else sgn = "";
323 [ # # ]: 0 : if (PropertyNode[1] == 0L) cout << " C[1]: " << C[1] << endl;
324 : 0 : else cout << " C[1] is the value of property: " << sgn << PropertyNode[1]->GetName() << endl;
325 : : break;
326 : : case eUnknown:
327 : : break;
328 : : }
329 [ - + ]: 3 : if (IsOutput) {
330 [ # # ]: 0 : for (unsigned int i=0; i<OutputNodes.size(); i++)
331 : 0 : cout << " OUTPUT: " << OutputNodes[i]->getName() << endl;
332 : : }
333 : : }
334 : : }
335 [ - + ]: 6 : if (debug_lvl & 2 ) { // Instantiation/Destruction notification
336 [ # # ]: 0 : if (from == 0) cout << "Instantiated: FGFilter" << endl;
337 [ # # ]: 0 : if (from == 1) cout << "Destroyed: FGFilter" << endl;
338 : : }
339 : 6 : if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
340 : : }
341 : 6 : if (debug_lvl & 8 ) { // Runtime state variables
342 : : }
343 : 6 : if (debug_lvl & 16) { // Sanity checking
344 : : }
345 [ - + ]: 6 : if (debug_lvl & 64) {
346 [ # # ]: 0 : if (from == 0) { // Constructor
347 : 0 : cout << IdSrc << endl;
348 : 0 : cout << IdHdr << endl;
349 : : }
350 : 6 : }
351 : : }
352 [ + + ][ + - ]: 12 : }
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