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 FGXMLAutopilotGroupImplementation(const std::string& nodeName) :
48 FGXMLAutopilotGroup(), _nodeName(nodeName) {}
49 virtual void addAutopilot( const std::string & name, SGPropertyNode_ptr apNode, SGPropertyNode_ptr config );
50 virtual void removeAutopilot( const std::string & name );
52 InitStatus incrementalInit();
54 void update( double dt );
56 void initFrom( SGPropertyNode_ptr rootNode, const char * childName );
57 vector<string> _autopilotNames;
58 std::string _nodeName;
62 void FGXMLAutopilotGroupImplementation::addAutopilot( const std::string & name, SGPropertyNode_ptr apNode, SGPropertyNode_ptr config )
64 BOOST_FOREACH( std::string & n, _autopilotNames ) {
66 SG_LOG(SG_ALL, SG_ALERT, "NOT adding duplicate property rule name " << name );
70 FGXMLAutopilot::Autopilot * ap = new FGXMLAutopilot::Autopilot( apNode, config );
73 double updateInterval = config->getDoubleValue( "update-interval-secs", 0.0 );
74 set_subsystem( name, ap, updateInterval );
75 _autopilotNames.push_back( name );
78 void FGXMLAutopilotGroupImplementation::removeAutopilot( const std::string & name )
80 FGXMLAutopilot::Autopilot * ap = (FGXMLAutopilot::Autopilot*)get_subsystem( name );
81 if( ap == NULL ) return; // ?
82 remove_subsystem( name );
88 void FGXMLAutopilotGroupImplementation::update( double dt )
90 // update all configured autopilots
91 SGSubsystemGroup::update( dt );
94 void FGXMLAutopilotGroupImplementation::reinit()
96 SGSubsystemGroup::unbind();
98 for( vector<string>::size_type i = 0; i < _autopilotNames.size(); i++ ) {
99 removeAutopilot( _autopilotNames[i] );
101 _autopilotNames.clear();
105 SGSubsystem::InitStatus FGXMLAutopilotGroupImplementation::incrementalInit()
111 void FGXMLAutopilotGroupImplementation::init()
113 initFrom( fgGetNode( "/sim/systems" ), _nodeName.c_str() );
115 SGSubsystemGroup::bind();
116 SGSubsystemGroup::init();
119 void FGXMLAutopilotGroupImplementation::initFrom( SGPropertyNode_ptr rootNode, const char * childName )
121 if( rootNode == NULL )
124 BOOST_FOREACH( SGPropertyNode_ptr autopilotNode, rootNode->getChildren(childName) ) {
125 SGPropertyNode_ptr pathNode = autopilotNode->getNode( "path" );
126 if( pathNode == NULL ) {
127 SG_LOG( SG_ALL, SG_WARN, "No configuration file specified for this property-rule!");
132 SGPropertyNode_ptr nameNode = autopilotNode->getNode( "name" );
133 if( nameNode != NULL ) {
134 apName = nameNode->getStringValue();
136 std::ostringstream buf;
137 buf << "unnamed_autopilot_" << autopilotNode->getIndex();
142 // check for duplicate names
143 string name = apName;
144 for( unsigned i = 0; get_subsystem( apName.c_str() ) != NULL; i++ ) {
145 std::ostringstream buf;
146 buf << name << "_" << i;
150 SG_LOG( SG_ALL, SG_WARN, "Duplicate property-rule configuration name " << name << ", renamed to " << apName );
153 addAutopilotFromFile( apName, autopilotNode, pathNode->getStringValue() );
157 void FGXMLAutopilotGroup::addAutopilotFromFile( const std::string & name, SGPropertyNode_ptr apNode, const char * path )
159 SGPath config = globals->resolve_maybe_aircraft_path(path);
162 SG_LOG( SG_ALL, SG_ALERT, "Cannot find property-rule configuration file '" << path << "'." );
165 SG_LOG( SG_ALL, SG_INFO, "Reading property-rule configuration from " << config.str() );
168 SGPropertyNode_ptr configNode = new SGPropertyNode();
169 readProperties( config.str(), configNode );
171 SG_LOG( SG_AUTOPILOT, SG_INFO, "adding property-rule subsystem " << name );
172 addAutopilot( name, apNode, configNode );
174 } catch (const sg_exception& e) {
175 SG_LOG( SG_AUTOPILOT, SG_ALERT, "Failed to load property-rule configuration: "
176 << config.str() << ":" << e.getMessage() );
181 FGXMLAutopilotGroup * FGXMLAutopilotGroup::createInstance(const std::string& nodeName)
183 return new FGXMLAutopilotGroupImplementation(nodeName);