1 // autopilotgroup.cxx - an even more flexible, generic way to build autopilots
3 // Written by Torsten Dreyer
4 // Based heavily on work created by Curtis Olson, started January 2004.
6 // Copyright (C) 2004 Curtis L. Olson - http://www.flightgear.org/~curt
7 // Copyright (C) 2010 Torsten Dreyer - Torsten (at) t3r (dot) de
9 // This program is free software; you can redistribute it and/or
10 // modify it under the terms of the GNU General Public License as
11 // published by the Free Software Foundation; either version 2 of the
12 // License, or (at your option) any later version.
14 // This program is distributed in the hope that it will be useful, but
15 // WITHOUT ANY WARRANTY; without even the implied warranty of
16 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
17 // General Public License for more details.
19 // You should have received a copy of the GNU General Public License
20 // along with this program; if not, write to the Free Software
21 // Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
28 #include "autopilot.hxx"
29 #include "autopilotgroup.hxx"
34 #include <simgear/structure/subsystem_mgr.hxx>
35 #include <simgear/structure/exception.hxx>
36 #include <Main/fg_props.hxx>
39 using simgear::PropertyList;
41 class FGXMLAutopilotGroupImplementation : public FGXMLAutopilotGroup
46 void update( double dt );
48 void initFrom( SGPropertyNode_ptr rootNode, const char * childName );
49 vector<string> _autopilotNames;
53 void FGXMLAutopilotGroupImplementation::update( double dt )
55 // update all configured autopilots
56 SGSubsystemGroup::update( dt );
59 void FGXMLAutopilotGroupImplementation::reinit()
61 SGSubsystemGroup::unbind();
63 for( vector<string>::size_type i = 0; i < _autopilotNames.size(); i++ ) {
64 FGXMLAutopilot::Autopilot * ap = (FGXMLAutopilot::Autopilot*)get_subsystem( _autopilotNames[i] );
65 if( ap == NULL ) continue; // ?
66 remove_subsystem( _autopilotNames[i] );
69 _autopilotNames.clear();
73 void FGXMLAutopilotGroupImplementation::init()
75 static const char * nodeNames[] = {
79 for( unsigned i = 0; i < sizeof(nodeNames)/sizeof(nodeNames[0]); i++ )
80 initFrom( fgGetNode( "/sim/systems" ), nodeNames[i] );
82 SGSubsystemGroup::bind();
83 SGSubsystemGroup::init();
86 void FGXMLAutopilotGroupImplementation::initFrom( SGPropertyNode_ptr rootNode, const char * childName )
88 if( rootNode == NULL )
91 PropertyList autopilotNodes = rootNode->getChildren(childName);
92 for( PropertyList::size_type i = 0; i < autopilotNodes.size(); i++ ) {
93 SGPropertyNode_ptr pathNode = autopilotNodes[i]->getNode( "path" );
94 if( pathNode == NULL ) {
95 SG_LOG( SG_ALL, SG_WARN, "No configuration file specified for this property-rule!");
100 SGPropertyNode_ptr nameNode = autopilotNodes[i]->getNode( "name" );
101 if( nameNode != NULL ) {
102 apName = nameNode->getStringValue();
104 std::ostringstream buf;
105 buf << "unnamed_autopilot_" << i;
110 // check for duplicate names
111 string name = apName;
112 for( unsigned i = 0; get_subsystem( apName.c_str() ) != NULL; i++ ) {
114 buf << name << "_" << i;
118 SG_LOG( SG_ALL, SG_WARN, "Duplicate property-rule configuration name " << name << ", renamed to " << apName );
121 SGPath config = globals->resolve_maybe_aircraft_path(pathNode->getStringValue());
123 SG_LOG( SG_ALL, SG_INFO, "Reading property-rule configuration from " << config.str() );
126 SGPropertyNode_ptr root = new SGPropertyNode();
127 readProperties( config.str(), root );
129 SG_LOG( SG_AUTOPILOT, SG_INFO, "adding property-rule subsystem " << apName );
130 FGXMLAutopilot::Autopilot * ap = new FGXMLAutopilot::Autopilot( autopilotNodes[i], root );
131 ap->set_name( apName );
132 set_subsystem( apName, ap );
133 _autopilotNames.push_back( apName );
135 } catch (const sg_exception& e) {
136 SG_LOG( SG_AUTOPILOT, SG_ALERT, "Failed to load property-rule configuration: "
137 << config.str() << ":" << e.getMessage() );
143 FGXMLAutopilotGroup * FGXMLAutopilotGroup::createInstance()
145 return new FGXMLAutopilotGroupImplementation();