Added "target_integ_time" to Integrator class. It can be useful to kn…

…ow the integration time. (#1760) Co-authored-by: Thomas Brain <[email protected]>
nasa · Aug 13, 2024 · 26f6a02 · 26f6a02
1 parent 446f1fa
commit 26f6a02
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Showing 5 changed files with 20 additions and 3 deletions.
diff --git a/include/trick/Integrator.hh b/include/trick/Integrator.hh
@@ -128,6 +128,8 @@ namespace Trick {
         bool use_deriv2;                  // -- set by integration technique
 
         double dt;               // -- set by IntegLoopSimObject.cpp
+        double target_integ_time; // -- set by IntegLoopScheduler.cpp. Final integration time regardless of
+                                  //    intermediate step.
 #ifndef USE_ER7_UTILS_INTEGRATORS
         double **state_origin;
 #endif

diff --git a/include/trick/integrator_c_intf.h b/include/trick/integrator_c_intf.h
@@ -11,6 +11,8 @@ int integrate(void);
 int integrate_1st_order_ode(const double* deriv, double* state);
 int integrate_2nd_order_ode(const double* acc, double* vel, double * pos);
 double get_integ_time(void);
+double get_integ_dt(void);
+double get_integ_target_time(void);
 void set_integ_time(double time_value);
 void reset_state();
 #ifndef USE_ER7_UTILS_INTEGRATORS

diff --git a/trick_source/sim_services/Integrator/src/IntegLoopScheduler.cpp b/trick_source/sim_services/Integrator/src/IntegLoopScheduler.cpp
@@ -444,6 +444,8 @@ int Trick::IntegLoopScheduler::integrate_dt ( double t_start, double dt) {
     int ex_pass = 0;
     bool need_derivs = get_first_step_deriv_from_integrator();
 
+    double target_time = t_start + dt;
+
     do {
         ex_pass ++;
         // Call all of the jobs in the derivative job queue if needed.
@@ -482,11 +484,12 @@ int Trick::IntegLoopScheduler::integrate_dt ( double t_start, double dt) {
             if (ex_pass == 1) {
                 trick_curr_integ->time = t_start;
                 trick_curr_integ->dt   = dt;
+                trick_curr_integ->target_integ_time = target_time;
             }
 
             if (verbosity || trick_curr_integ->verbosity) {
-                message_publish (MSG_DEBUG, "Job: %s, time: %f, dt: %f\n",
-                                 curr_job->name.c_str(), t_start, dt);
+                message_publish (MSG_DEBUG, "Job: %s, target_integ_time: %f, integ_time: %f, dt: %f, ipass = %d\n",
+                                 curr_job->name.c_str(), target_time, t_start, dt, ipass);
             }
 
             ipass = curr_job->call();

diff --git a/trick_source/sim_services/Integrator/src/Integrator.cpp b/trick_source/sim_services/Integrator/src/Integrator.cpp
@@ -15,6 +15,7 @@ Trick::Integrator::Integrator() {
    is_2nd_order_ODE_technique = 0;
    use_deriv2 = 0;
    dt = 0.01;
+   target_integ_time = dt;
    state = NULL;
    deriv = NULL;
    deriv2 = NULL;

diff --git a/trick_source/sim_services/Integrator/src/Integrator_C_Intf.cpp b/trick_source/sim_services/Integrator/src/Integrator_C_Intf.cpp
@@ -22,11 +22,20 @@ extern "C" int integrate_2nd_order_ode(const double* acc, double* vel, double *
 }
 
 extern "C" double get_integ_time() {
-    return (trick_curr_integ->time);
+	return (trick_curr_integ->time);
+}
+
+extern "C" double get_integ_dt(void) {
+	return (trick_curr_integ->dt);
+}
+
+extern "C" double get_integ_target_time(void) {
+	return (trick_curr_integ->target_integ_time);
 }
 
 extern "C" void set_integ_time(double time_value) {
     trick_curr_integ->time = time_value;
+    trick_curr_integ->target_integ_time = time_value;
 }
 
 extern "C" void reset_state() {