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/props/props_io.hxx>
35 #include <simgear/structure/subsystem_mgr.hxx>
36 #include <simgear/structure/exception.hxx>
37 #include <Main/fg_props.hxx>
38 #include <boost/foreach.hpp>
42 using simgear::PropertyList;
44 class FGXMLAutopilotGroupImplementation : public FGXMLAutopilotGroup
47 virtual void addAutopilot( const std::string & name, SGPropertyNode_ptr apNode, SGPropertyNode_ptr config );
48 virtual void removeAutopilot( const std::string & name );
51 void update( double dt );
53 void initFrom( SGPropertyNode_ptr rootNode, const char * childName );
54 vector<string> _autopilotNames;
58 void FGXMLAutopilotGroupImplementation::addAutopilot( const std::string & name, SGPropertyNode_ptr apNode, SGPropertyNode_ptr config )
60 BOOST_FOREACH( std::string & n, _autopilotNames ) {
62 SG_LOG(SG_ALL, SG_ALERT, "NOT adding duplicate property rule name " << name );
66 FGXMLAutopilot::Autopilot * ap = new FGXMLAutopilot::Autopilot( apNode, config );
69 double updateInterval = config->getDoubleValue( "update-interval-secs", 0.0 );
70 set_subsystem( name, ap, updateInterval );
71 _autopilotNames.push_back( name );
74 void FGXMLAutopilotGroupImplementation::removeAutopilot( const std::string & name )
76 FGXMLAutopilot::Autopilot * ap = (FGXMLAutopilot::Autopilot*)get_subsystem( name );
77 if( ap == NULL ) return; // ?
78 remove_subsystem( name );
84 void FGXMLAutopilotGroupImplementation::update( double dt )
86 // update all configured autopilots
87 SGSubsystemGroup::update( dt );
90 void FGXMLAutopilotGroupImplementation::reinit()
92 SGSubsystemGroup::unbind();
94 for( vector<string>::size_type i = 0; i < _autopilotNames.size(); i++ ) {
95 removeAutopilot( _autopilotNames[i] );
97 _autopilotNames.clear();
101 void FGXMLAutopilotGroupImplementation::init()
103 static const char * nodeNames[] = {
107 for( unsigned i = 0; i < sizeof(nodeNames)/sizeof(nodeNames[0]); i++ )
108 initFrom( fgGetNode( "/sim/systems" ), nodeNames[i] );
110 SGSubsystemGroup::bind();
111 SGSubsystemGroup::init();
114 void FGXMLAutopilotGroupImplementation::initFrom( SGPropertyNode_ptr rootNode, const char * childName )
116 if( rootNode == NULL )
119 BOOST_FOREACH( SGPropertyNode_ptr autopilotNode, rootNode->getChildren(childName) ) {
120 SGPropertyNode_ptr pathNode = autopilotNode->getNode( "path" );
121 if( pathNode == NULL ) {
122 SG_LOG( SG_ALL, SG_WARN, "No configuration file specified for this property-rule!");
127 SGPropertyNode_ptr nameNode = autopilotNode->getNode( "name" );
128 if( nameNode != NULL ) {
129 apName = nameNode->getStringValue();
131 std::ostringstream buf;
132 buf << "unnamed_autopilot_" << autopilotNode->getIndex();
137 // check for duplicate names
138 string name = apName;
139 for( unsigned i = 0; get_subsystem( apName.c_str() ) != NULL; i++ ) {
140 std::ostringstream buf;
141 buf << name << "_" << i;
145 SG_LOG( SG_ALL, SG_WARN, "Duplicate property-rule configuration name " << name << ", renamed to " << apName );
148 addAutopilotFromFile( apName, autopilotNode, pathNode->getStringValue() );
152 void FGXMLAutopilotGroup::addAutopilotFromFile( const std::string & name, SGPropertyNode_ptr apNode, const char * path )
154 SGPath config = globals->resolve_maybe_aircraft_path(path);
157 SG_LOG( SG_ALL, SG_ALERT, "Cannot find property-rule configuration file '" << path << "'." );
160 SG_LOG( SG_ALL, SG_INFO, "Reading property-rule configuration from " << config.str() );
163 SGPropertyNode_ptr configNode = new SGPropertyNode();
164 readProperties( config.str(), configNode );
166 SG_LOG( SG_AUTOPILOT, SG_INFO, "adding property-rule subsystem " << name );
167 addAutopilot( name, apNode, configNode );
169 } catch (const sg_exception& e) {
170 SG_LOG( SG_AUTOPILOT, SG_ALERT, "Failed to load property-rule configuration: "
171 << config.str() << ":" << e.getMessage() );
176 FGXMLAutopilotGroup * FGXMLAutopilotGroup::createInstance()
178 return new FGXMLAutopilotGroupImplementation();