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 );
68 set_subsystem( name, ap );
69 _autopilotNames.push_back( name );
72 void FGXMLAutopilotGroupImplementation::removeAutopilot( const std::string & name )
74 FGXMLAutopilot::Autopilot * ap = (FGXMLAutopilot::Autopilot*)get_subsystem( name );
75 if( ap == NULL ) return; // ?
76 remove_subsystem( name );
82 void FGXMLAutopilotGroupImplementation::update( double dt )
84 // update all configured autopilots
85 SGSubsystemGroup::update( dt );
88 void FGXMLAutopilotGroupImplementation::reinit()
90 SGSubsystemGroup::unbind();
92 for( vector<string>::size_type i = 0; i < _autopilotNames.size(); i++ ) {
93 removeAutopilot( _autopilotNames[i] );
95 _autopilotNames.clear();
99 void FGXMLAutopilotGroupImplementation::init()
101 static const char * nodeNames[] = {
105 for( unsigned i = 0; i < sizeof(nodeNames)/sizeof(nodeNames[0]); i++ )
106 initFrom( fgGetNode( "/sim/systems" ), nodeNames[i] );
108 SGSubsystemGroup::bind();
109 SGSubsystemGroup::init();
112 void FGXMLAutopilotGroupImplementation::initFrom( SGPropertyNode_ptr rootNode, const char * childName )
114 if( rootNode == NULL )
117 BOOST_FOREACH( SGPropertyNode_ptr autopilotNode, rootNode->getChildren(childName) ) {
118 SGPropertyNode_ptr pathNode = autopilotNode->getNode( "path" );
119 if( pathNode == NULL ) {
120 SG_LOG( SG_ALL, SG_WARN, "No configuration file specified for this property-rule!");
125 SGPropertyNode_ptr nameNode = autopilotNode->getNode( "name" );
126 if( nameNode != NULL ) {
127 apName = nameNode->getStringValue();
129 std::ostringstream buf;
130 buf << "unnamed_autopilot_" << autopilotNode->getIndex();
135 // check for duplicate names
136 string name = apName;
137 for( unsigned i = 0; get_subsystem( apName.c_str() ) != NULL; i++ ) {
138 std::ostringstream buf;
139 buf << name << "_" << i;
143 SG_LOG( SG_ALL, SG_WARN, "Duplicate property-rule configuration name " << name << ", renamed to " << apName );
146 addAutopilotFromFile( apName, autopilotNode, pathNode->getStringValue() );
150 void FGXMLAutopilotGroup::addAutopilotFromFile( const std::string & name, SGPropertyNode_ptr apNode, const char * path )
152 SGPath config = globals->resolve_maybe_aircraft_path(path);
155 SG_LOG( SG_ALL, SG_ALERT, "Cannot find property-rule configuration file '" << path << "'." );
158 SG_LOG( SG_ALL, SG_INFO, "Reading property-rule configuration from " << config.str() );
161 SGPropertyNode_ptr configNode = new SGPropertyNode();
162 readProperties( config.str(), configNode );
164 SG_LOG( SG_AUTOPILOT, SG_INFO, "adding property-rule subsystem " << name );
165 addAutopilot( name, apNode, configNode );
167 } catch (const sg_exception& e) {
168 SG_LOG( SG_AUTOPILOT, SG_ALERT, "Failed to load property-rule configuration: "
169 << config.str() << ":" << e.getMessage() );
174 FGXMLAutopilotGroup * FGXMLAutopilotGroup::createInstance()
176 return new FGXMLAutopilotGroupImplementation();