src/FDM/JSBSim/models/FGFCS.cpp

   1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
   2
   3  Module:       FGFCS.cpp
   4  Author:       Jon Berndt
   5  Date started: 12/12/98
   6  Purpose:      Model the flight controls
   7  Called by:    FDMExec
   8
   9  ------------- Copyright (C) 1999  Jon S. Berndt (jon@jsbsim.org) -------------
  10
  11  This program is free software; you can redistribute it and/or modify it under
  12  the terms of the GNU Lesser General Public License as published by the Free Software
  13  Foundation; either version 2 of the License, or (at your option) any later
  14  version.
  15
  16  This program is distributed in the hope that it will be useful, but WITHOUT
  17  ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
  18  FOR A PARTICULAR PURPOSE.  See the GNU Lesser General Public License for more
  19  details.
  20
  21  You should have received a copy of the GNU Lesser General Public License along with
  22  this program; if not, write to the Free Software Foundation, Inc., 59 Temple
  23  Place - Suite 330, Boston, MA  02111-1307, USA.
  24
  25  Further information about the GNU Lesser General Public License can also be found on
  26  the world wide web at http://www.gnu.org.
  27
  28 FUNCTIONAL DESCRIPTION
  29 --------------------------------------------------------------------------------
  30 This class models the flight controls for a specific airplane
  31
  32 HISTORY
  33 --------------------------------------------------------------------------------
  34 12/12/98   JSB   Created
  35
  36 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  37 INCLUDES
  38 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  39
  40 #include <fstream>
  41 #include <sstream>
  42 #include <iomanip>
  43
  44 #include "FGFCS.h"
  45 #include "FGFDMExec.h"
  46 #include "FGGroundReactions.h"
  47 #include "input_output/FGPropertyManager.h"
  48
  49 #include "models/flight_control/FGFilter.h"
  50 #include "models/flight_control/FGDeadBand.h"
  51 #include "models/flight_control/FGGain.h"
  52 #include "models/flight_control/FGPID.h"
  53 #include "models/flight_control/FGSwitch.h"
  54 #include "models/flight_control/FGSummer.h"
  55 #include "models/flight_control/FGKinemat.h"
  56 #include "models/flight_control/FGFCSFunction.h"
  57 #include "models/flight_control/FGSensor.h"
  58 #include "models/flight_control/FGActuator.h"
  59 #include "models/flight_control/FGAccelerometer.h"
  60 #include "models/flight_control/FGMagnetometer.h"
  61 #include "models/flight_control/FGGyro.h"
  62
  63 using namespace std;
  64
  65 namespace JSBSim {
  66
  67 static const char *IdSrc = "$Id: FGFCS.cpp,v 1.77 2011/09/25 14:05:40 bcoconni Exp $";
  68 static const char *IdHdr = ID_FCS;
  69
  70 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  71 CLASS IMPLEMENTATION
  72 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  73
  74 FGFCS::FGFCS(FGFDMExec* fdmex) : FGModel(fdmex)
  75 {
  76   int i;
  77   Name = "FGFCS";
  78
  79   DaCmd = DeCmd = DrCmd = DsCmd = DfCmd = DsbCmd = DspCmd = 0;
  80   PTrimCmd = YTrimCmd = RTrimCmd = 0.0;
  81   GearCmd = GearPos = 1; // default to gear down
  82   BrakePos.resize(FGLGear::bgNumBrakeGroups);
  83   TailhookPos = WingFoldPos = 0.0;
  84
  85   bind();
  86   for (i=0;i<NForms;i++) {
  87     DePos[i] = DaLPos[i] = DaRPos[i] = DrPos[i] = 0.0;
  88     DfPos[i] = DsbPos[i] = DspPos[i] = 0.0;
  89   }
  90
  91   Debug(0);
  92 }
  93
  94 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  95
  96 FGFCS::~FGFCS()
  97 {
  98   ThrottleCmd.clear();
  99   ThrottlePos.clear();
 100   MixtureCmd.clear();
 101   MixturePos.clear();
 102   PropAdvanceCmd.clear();
 103   PropAdvance.clear();
 104   SteerPosDeg.clear();
 105   PropFeatherCmd.clear();
 106   PropFeather.clear();
 107
 108   unsigned int i;
 109
 110   for (i=0;i<APComponents.size();i++) delete APComponents[i];
 111   APComponents.clear();
 112   for (i=0;i<FCSComponents.size();i++) delete FCSComponents[i];
 113   FCSComponents.clear();
 114   for (i=0;i<Systems.size();i++) delete Systems[i];
 115   Systems.clear();
 116
 117
 118   Debug(1);
 119 }
 120
 121 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 122
 123 bool FGFCS::InitModel(void)
 124 {
 125   unsigned int i;
 126
 127   for (i=0; i<ThrottlePos.size(); i++) ThrottlePos[i] = 0.0;
 128   for (i=0; i<MixturePos.size(); i++) MixturePos[i] = 0.0;
 129   for (i=0; i<ThrottleCmd.size(); i++) ThrottleCmd[i] = 0.0;
 130   for (i=0; i<MixtureCmd.size(); i++) MixtureCmd[i] = 0.0;
 131   for (i=0; i<PropAdvance.size(); i++) PropAdvance[i] = 0.0;
 132   for (i=0; i<PropFeather.size(); i++) PropFeather[i] = 0.0;
 133
 134   DaCmd = DeCmd = DrCmd = DsCmd = DfCmd = DsbCmd = DspCmd = 0;
 135   PTrimCmd = YTrimCmd = RTrimCmd = 0.0;
 136   TailhookPos = WingFoldPos = 0.0;
 137
 138   for (i=0;i<NForms;i++) {
 139     DePos[i] = DaLPos[i] = DaRPos[i] = DrPos[i] = 0.0;
 140     DfPos[i] = DsbPos[i] = DspPos[i] = 0.0;
 141   }
 142
 143   for (unsigned int i=0; i<Systems.size(); i++) {
 144     if (Systems[i]->GetType() == "LAG" ||
 145         Systems[i]->GetType() == "LEAD_LAG" ||
 146         Systems[i]->GetType() == "WASHOUT" ||
 147         Systems[i]->GetType() == "SECOND_ORDER_FILTER" ||
 148         Systems[i]->GetType() == "INTEGRATOR")
 149     {
 150       ((FGFilter*)Systems[i])->ResetPastStates();
 151     } else if (Systems[i]->GetType() == "PID" ) {
 152       ((FGPID*)Systems[i])->ResetPastStates();
 153     }
 154   }
 155
 156   for (unsigned int i=0; i<FCSComponents.size(); i++) {
 157     if (FCSComponents[i]->GetType() == "LAG" ||
 158         FCSComponents[i]->GetType() == "LEAD_LAG" ||
 159         FCSComponents[i]->GetType() == "WASHOUT" ||
 160         FCSComponents[i]->GetType() == "SECOND_ORDER_FILTER" ||
 161         FCSComponents[i]->GetType() == "INTEGRATOR")
 162     {
 163       ((FGFilter*)FCSComponents[i])->ResetPastStates();
 164     } else if (FCSComponents[i]->GetType() == "PID" ) {
 165       ((FGPID*)FCSComponents[i])->ResetPastStates();
 166     }
 167   }
 168
 169   for (unsigned int i=0; i<APComponents.size(); i++) {
 170     if (APComponents[i]->GetType() == "LAG" ||
 171         APComponents[i]->GetType() == "LEAD_LAG" ||
 172         APComponents[i]->GetType() == "WASHOUT" ||
 173         APComponents[i]->GetType() == "SECOND_ORDER_FILTER" ||
 174         APComponents[i]->GetType() == "INTEGRATOR")
 175     {
 176       ((FGFilter*)APComponents[i])->ResetPastStates();
 177     } else if (APComponents[i]->GetType() == "PID" ) {
 178       ((FGPID*)APComponents[i])->ResetPastStates();
 179     }
 180   }
 181
 182   return true;
 183 }
 184
 185 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 186 // Notes: In this logic the default engine commands are set. This is simply a
 187 // sort of safe-mode method in case the user has not defined control laws for
 188 // throttle, mixture, and prop-advance. The throttle, mixture, and prop advance
 189 // positions are set equal to the respective commands. Any control logic that is
 190 // actually present in the flight_control or autopilot section will override
 191 // these simple assignments.
 192
 193 bool FGFCS::Run(bool Holding)
 194 {
 195   unsigned int i;
 196
 197   if (FGModel::Run(Holding)) return true; // fast exit if nothing to do
 198   if (Holding) return false;
 199
 200   RunPreFunctions();
 201
 202   for (i=0; i<ThrottlePos.size(); i++) ThrottlePos[i] = ThrottleCmd[i];
 203   for (i=0; i<MixturePos.size(); i++) MixturePos[i] = MixtureCmd[i];
 204   for (i=0; i<PropAdvance.size(); i++) PropAdvance[i] = PropAdvanceCmd[i];
 205   for (i=0; i<PropFeather.size(); i++) PropFeather[i] = PropFeatherCmd[i];
 206
 207   // Set the default steering angle
 208   for (i=0; i<SteerPosDeg.size(); i++) {
 209     FGLGear* gear = FDMExec->GetGroundReactions()->GetGearUnit(i);
 210     SteerPosDeg[i] = gear->GetDefaultSteerAngle( GetDsCmd() );
 211   }
 212
 213   // Execute Systems in order
 214   for (i=0; i<Systems.size(); i++) Systems[i]->Run();
 215
 216   // Execute Autopilot
 217   for (i=0; i<APComponents.size(); i++) APComponents[i]->Run();
 218
 219   // Execute Flight Control System
 220   for (i=0; i<FCSComponents.size(); i++) FCSComponents[i]->Run();
 221
 222   RunPostFunctions();
 223
 224   return false;
 225 }
 226
 227 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 228
 229 void FGFCS::SetDaLPos( int form , double pos )
 230 {
 231   switch(form) {
 232   case ofRad:
 233     DaLPos[ofRad] = pos;
 234     DaLPos[ofDeg] = pos*radtodeg;
 235     break;
 236   case ofDeg:
 237     DaLPos[ofRad] = pos*degtorad;
 238     DaLPos[ofDeg] = pos;
 239     break;
 240   case ofNorm:
 241     DaLPos[ofNorm] = pos;
 242   }
 243   DaLPos[ofMag] = fabs(DaLPos[ofRad]);
 244 }
 245
 246 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 247
 248 void FGFCS::SetDaRPos( int form , double pos )
 249 {
 250   switch(form) {
 251   case ofRad:
 252     DaRPos[ofRad] = pos;
 253     DaRPos[ofDeg] = pos*radtodeg;
 254     break;
 255   case ofDeg:
 256     DaRPos[ofRad] = pos*degtorad;
 257     DaRPos[ofDeg] = pos;
 258     break;
 259   case ofNorm:
 260     DaRPos[ofNorm] = pos;
 261   }
 262   DaRPos[ofMag] = fabs(DaRPos[ofRad]);
 263 }
 264
 265 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 266
 267 void FGFCS::SetDePos( int form , double pos )
 268 {
 269   switch(form) {
 270   case ofRad:
 271     DePos[ofRad] = pos;
 272     DePos[ofDeg] = pos*radtodeg;
 273     break;
 274   case ofDeg:
 275     DePos[ofRad] = pos*degtorad;
 276     DePos[ofDeg] = pos;
 277     break;
 278   case ofNorm:
 279     DePos[ofNorm] = pos;
 280   }
 281   DePos[ofMag] = fabs(DePos[ofRad]);
 282 }
 283
 284 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 285
 286 void FGFCS::SetDrPos( int form , double pos )
 287 {
 288   switch(form) {
 289   case ofRad:
 290     DrPos[ofRad] = pos;
 291     DrPos[ofDeg] = pos*radtodeg;
 292     break;
 293   case ofDeg:
 294     DrPos[ofRad] = pos*degtorad;
 295     DrPos[ofDeg] = pos;
 296     break;
 297   case ofNorm:
 298     DrPos[ofNorm] = pos;
 299   }
 300   DrPos[ofMag] = fabs(DrPos[ofRad]);
 301 }
 302
 303 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 304
 305 void FGFCS::SetDfPos( int form , double pos )
 306 {
 307   switch(form) {
 308   case ofRad:
 309     DfPos[ofRad] = pos;
 310     DfPos[ofDeg] = pos*radtodeg;
 311     break;
 312   case ofDeg:
 313     DfPos[ofRad] = pos*degtorad;
 314     DfPos[ofDeg] = pos;
 315     break;
 316   case ofNorm:
 317     DfPos[ofNorm] = pos;
 318   }
 319   DfPos[ofMag] = fabs(DfPos[ofRad]);
 320 }
 321
 322 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 323
 324 void FGFCS::SetDsbPos( int form , double pos )
 325 {
 326   switch(form) {
 327   case ofRad:
 328     DsbPos[ofRad] = pos;
 329     DsbPos[ofDeg] = pos*radtodeg;
 330     break;
 331   case ofDeg:
 332     DsbPos[ofRad] = pos*degtorad;
 333     DsbPos[ofDeg] = pos;
 334     break;
 335   case ofNorm:
 336     DsbPos[ofNorm] = pos;
 337   }
 338   DsbPos[ofMag] = fabs(DsbPos[ofRad]);
 339 }
 340
 341 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 342
 343 void FGFCS::SetDspPos( int form , double pos )
 344 {
 345   switch(form) {
 346   case ofRad:
 347     DspPos[ofRad] = pos;
 348     DspPos[ofDeg] = pos*radtodeg;
 349     break;
 350   case ofDeg:
 351     DspPos[ofRad] = pos*degtorad;
 352     DspPos[ofDeg] = pos;
 353     break;
 354   case ofNorm:
 355     DspPos[ofNorm] = pos;
 356   }
 357   DspPos[ofMag] = fabs(DspPos[ofRad]);
 358 }
 359
 360 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 361
 362 void FGFCS::SetThrottleCmd(int engineNum, double setting)
 363 {
 364   unsigned int ctr;
 365
 366   if (engineNum < (int)ThrottlePos.size()) {
 367     if (engineNum < 0) {
 368       for (ctr=0;ctr<ThrottleCmd.size();ctr++) ThrottleCmd[ctr] = setting;
 369     } else {
 370       ThrottleCmd[engineNum] = setting;
 371     }
 372   } else {
 373     cerr << "Throttle " << engineNum << " does not exist! " << ThrottleCmd.size()
 374          << " engines exist, but attempted throttle command is for engine "
 375          << engineNum << endl;
 376   }
 377 }
 378
 379 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 380
 381 void FGFCS::SetThrottlePos(int engineNum, double setting)
 382 {
 383   unsigned int ctr;
 384
 385   if (engineNum < (int)ThrottlePos.size()) {
 386     if (engineNum < 0) {
 387       for (ctr=0;ctr<ThrottlePos.size();ctr++) ThrottlePos[ctr] = setting;
 388     } else {
 389       ThrottlePos[engineNum] = setting;
 390     }
 391   } else {
 392     cerr << "Throttle " << engineNum << " does not exist! " << ThrottlePos.size()
 393          << " engines exist, but attempted throttle position setting is for engine "
 394          << engineNum << endl;
 395   }
 396 }
 397
 398 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 399
 400 double FGFCS::GetThrottleCmd(int engineNum) const
 401 {
 402   if (engineNum < (int)ThrottlePos.size()) {
 403     if (engineNum < 0) {
 404        cerr << "Cannot get throttle value for ALL engines" << endl;
 405     } else {
 406       return ThrottleCmd[engineNum];
 407     }
 408   } else {
 409     cerr << "Throttle " << engineNum << " does not exist! " << ThrottleCmd.size()
 410          << " engines exist, but throttle setting for engine " << engineNum
 411          << " is selected" << endl;
 412   }
 413   return 0.0;
 414 }
 415
 416 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 417
 418 double FGFCS::GetThrottlePos(int engineNum) const
 419 {
 420   if (engineNum < (int)ThrottlePos.size()) {
 421     if (engineNum < 0) {
 422        cerr << "Cannot get throttle value for ALL engines" << endl;
 423     } else {
 424       return ThrottlePos[engineNum];
 425     }
 426   } else {
 427     cerr << "Throttle " << engineNum << " does not exist! " << ThrottlePos.size()
 428          << " engines exist, but attempted throttle position setting is for engine "
 429          << engineNum << endl;
 430   }
 431   return 0.0;
 432 }
 433
 434 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 435
 436 void FGFCS::SetMixtureCmd(int engineNum, double setting)
 437 {
 438   unsigned int ctr;
 439
 440   if (engineNum < (int)ThrottlePos.size()) {
 441     if (engineNum < 0) {
 442       for (ctr=0;ctr<MixtureCmd.size();ctr++) MixtureCmd[ctr] = setting;
 443     } else {
 444       MixtureCmd[engineNum] = setting;
 445     }
 446   }
 447 }
 448
 449 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 450
 451 void FGFCS::SetMixturePos(int engineNum, double setting)
 452 {
 453   unsigned int ctr;
 454
 455   if (engineNum < (int)ThrottlePos.size()) {
 456     if (engineNum < 0) {
 457       for (ctr=0;ctr<MixtureCmd.size();ctr++) MixturePos[ctr] = MixtureCmd[ctr];
 458     } else {
 459       MixturePos[engineNum] = setting;
 460     }
 461   }
 462 }
 463
 464 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 465
 466 void FGFCS::SetPropAdvanceCmd(int engineNum, double setting)
 467 {
 468   unsigned int ctr;
 469
 470   if (engineNum < (int)ThrottlePos.size()) {
 471     if (engineNum < 0) {
 472       for (ctr=0;ctr<PropAdvanceCmd.size();ctr++) PropAdvanceCmd[ctr] = setting;
 473     } else {
 474       PropAdvanceCmd[engineNum] = setting;
 475     }
 476   }
 477 }
 478
 479 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 480
 481 void FGFCS::SetPropAdvance(int engineNum, double setting)
 482 {
 483   unsigned int ctr;
 484
 485   if (engineNum < (int)ThrottlePos.size()) {
 486     if (engineNum < 0) {
 487       for (ctr=0;ctr<PropAdvanceCmd.size();ctr++) PropAdvance[ctr] = PropAdvanceCmd[ctr];
 488     } else {
 489       PropAdvance[engineNum] = setting;
 490     }
 491   }
 492 }
 493
 494 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 495
 496 void FGFCS::SetFeatherCmd(int engineNum, bool setting)
 497 {
 498   unsigned int ctr;
 499
 500   if (engineNum < (int)ThrottlePos.size()) {
 501     if (engineNum < 0) {
 502       for (ctr=0;ctr<PropFeatherCmd.size();ctr++) PropFeatherCmd[ctr] = setting;
 503     } else {
 504       PropFeatherCmd[engineNum] = setting;
 505     }
 506   }
 507 }
 508
 509 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 510
 511 void FGFCS::SetPropFeather(int engineNum, bool setting)
 512 {
 513   unsigned int ctr;
 514
 515   if (engineNum < (int)ThrottlePos.size()) {
 516     if (engineNum < 0) {
 517       for (ctr=0;ctr<PropFeatherCmd.size();ctr++) PropFeather[ctr] = PropFeatherCmd[ctr];
 518     } else {
 519       PropFeather[engineNum] = setting;
 520     }
 521   }
 522 }
 523
 524 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 525
 526 bool FGFCS::Load(Element* el, SystemType systype)
 527 {
 528   string name, file, fname="", interface_property_string, parent_name;
 529   vector <FGFCSComponent*> *Components;
 530   Element *component_element;
 531   Element *channel_element;
 532
 533   Components=0;
 534
 535 // ToDo: The handling of name and file attributes could be improved, here,
 536 //       considering that a name can be in the external file, as well.
 537
 538   name = el->GetAttributeValue("name");
 539
 540   if (name.empty() || !el->GetAttributeValue("file").empty()) {
 541     fname = el->GetAttributeValue("file");
 542     if (systype == stSystem) {
 543       file = FindSystemFullPathname(fname);
 544     } else {
 545       file = FDMExec->GetFullAircraftPath() + "/" + fname + ".xml";
 546     }
 547     if (fname.empty()) {
 548       cerr << "FCS, Autopilot, or system does not appear to be defined inline nor in a file" << endl;
 549       return false;
 550     } else {
 551       document = LoadXMLDocument(file);
 552       if (!document) {
 553         cerr << "Error loading file " << file << endl;
 554         return false;
 555       }
 556       name = document->GetAttributeValue("name");
 557     }
 558   } else {
 559     document = el;
 560   }
 561
 562   if (document->GetName() == "autopilot") {
 563     Components = &APComponents;
 564     Name = "Autopilot: " + document->GetAttributeValue("name");
 565   } else if (document->GetName() == "flight_control") {
 566     Components = &FCSComponents;
 567     Name = "FCS: " + document->GetAttributeValue("name");
 568   } else if (document->GetName() == "system") {
 569     Components = &Systems;
 570     Name = "System: " + document->GetAttributeValue("name");
 571   }
 572   Debug(2);
 573
 574   if (document->GetName() == "flight_control") bindModel();
 575
 576   FGModel::Load(document); // Load interface properties from document
 577
 578   // After reading interface properties in a file, read properties in the local
 579   // flight_control, autopilot, or system element. This allows general-purpose
 580   // systems to be defined in a file, with overrides or initial loaded constants
 581   // supplied in the relevant element of the aircraft configuration file.
 582
 583   Element* property_element = 0;
 584
 585   if (!fname.empty()) {
 586     property_element = el->FindElement("property");
 587     if (property_element && debug_lvl > 0) cout << endl << "    Overriding properties" << endl << endl;
 588     while (property_element) {
 589       double value=0.0;
 590       if ( ! property_element->GetAttributeValue("value").empty())
 591         value = property_element->GetAttributeValueAsNumber("value");
 592
 593       interface_property_string = property_element->GetDataLine();
 594       if (PropertyManager->HasNode(interface_property_string)) {
 595         FGPropertyManager* node = PropertyManager->GetNode(interface_property_string);
 596         if (debug_lvl > 0)
 597           cout << "      " << "Overriding value for property " << interface_property_string
 598                << " (old value: " << node->getDoubleValue() << "  new value: " << value << ")" << endl;
 599         node->setDoubleValue(value);
 600       } else {
 601         interface_properties.push_back(new double(value));
 602         PropertyManager->Tie(interface_property_string, interface_properties.back());
 603         if (debug_lvl > 0)
 604           cout << "      " << interface_property_string << " (initial value: " << value << ")" << endl;
 605       }
 606
 607       property_element = el->FindNextElement("property");
 608     }
 609   }
 610
 611   channel_element = document->FindElement("channel");
 612   while (channel_element) {
 613
 614     if (debug_lvl > 0)
 615       cout << endl << highint << fgblue << "    Channel "
 616          << normint << channel_element->GetAttributeValue("name") << reset << endl;
 617
 618     component_element = channel_element->GetElement();
 619     while (component_element) {
 620       try {
 621         if ((component_element->GetName() == string("lag_filter")) ||
 622             (component_element->GetName() == string("lead_lag_filter")) ||
 623             (component_element->GetName() == string("washout_filter")) ||
 624             (component_element->GetName() == string("second_order_filter")) ||
 625             (component_element->GetName() == string("integrator")) )
 626         {
 627           Components->push_back(new FGFilter(this, component_element));
 628         } else if ((component_element->GetName() == string("pure_gain")) ||
 629                    (component_element->GetName() == string("scheduled_gain")) ||
 630                    (component_element->GetName() == string("aerosurface_scale")))
 631         {
 632           Components->push_back(new FGGain(this, component_element));
 633         } else if (component_element->GetName() == string("summer")) {
 634           Components->push_back(new FGSummer(this, component_element));
 635         } else if (component_element->GetName() == string("deadband")) {
 636           Components->push_back(new FGDeadBand(this, component_element));
 637         } else if (component_element->GetName() == string("switch")) {
 638           Components->push_back(new FGSwitch(this, component_element));
 639         } else if (component_element->GetName() == string("kinematic")) {
 640           Components->push_back(new FGKinemat(this, component_element));
 641         } else if (component_element->GetName() == string("fcs_function")) {
 642           Components->push_back(new FGFCSFunction(this, component_element));
 643         } else if (component_element->GetName() == string("pid")) {
 644           Components->push_back(new FGPID(this, component_element));
 645         } else if (component_element->GetName() == string("actuator")) {
 646           Components->push_back(new FGActuator(this, component_element));
 647         } else if (component_element->GetName() == string("sensor")) {
 648           Components->push_back(new FGSensor(this, component_element));
 649         } else if (component_element->GetName() == string("accelerometer")) {
 650           Components->push_back(new FGAccelerometer(this, component_element));
 651         } else if (component_element->GetName() == string("magnetometer")) {
 652           Components->push_back(new FGMagnetometer(this, component_element));
 653         } else if (component_element->GetName() == string("gyro")) {
 654           Components->push_back(new FGGyro(this, component_element));
 655         } else {
 656           cerr << "Unknown FCS component: " << component_element->GetName() << endl;
 657         }
 658       } catch(string s) {
 659         cerr << highint << fgred << endl << "  " << s << endl;
 660         cerr << reset << endl;
 661         return false;
 662       }
 663       component_element = channel_element->GetNextElement();
 664     }
 665     channel_element = document->FindNextElement("channel");
 666   }
 667
 668   PostLoad(document, PropertyManager);
 669
 670   ResetParser();
 671
 672   return true;
 673 }
 674
 675 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 676
 677 double FGFCS::GetBrake(FGLGear::BrakeGroup bg)
 678 {
 679   return BrakePos[bg];
 680 }
 681
 682 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 683
 684 string FGFCS::FindSystemFullPathname(const string& sysfilename)
 685 {
 686   string fullpath, localpath;
 687   string system_filename = sysfilename;
 688   string systemPath = FDMExec->GetSystemsPath();
 689   string aircraftPath = FDMExec->GetFullAircraftPath();
 690   ifstream system_file;
 691
 692   fullpath = systemPath + "/";
 693   localpath = aircraftPath + "/Systems/";
 694
 695   if (system_filename.length() <=4 || system_filename.substr(system_filename.length()-4, 4) != ".xml") {
 696     system_filename.append(".xml");
 697   }
 698
 699   system_file.open(string(localpath + system_filename).c_str());
 700   if ( !system_file.is_open()) {
 701     system_file.open(string(fullpath + system_filename).c_str());
 702       if ( !system_file.is_open()) {
 703         cerr << " Could not open system file: " << system_filename << " in path "
 704              << fullpath << " or " << localpath << endl;
 705         return string("");
 706       } else {
 707         return string(fullpath + system_filename);
 708       }
 709   }
 710   return string(localpath + system_filename);
 711 }
 712
 713 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 714
 715 ifstream* FGFCS::FindSystemFile(const string& sysfilename)
 716 {
 717   string fullpath, localpath;
 718   string system_filename = sysfilename;
 719   string systemPath = FDMExec->GetSystemsPath();
 720   string aircraftPath = FDMExec->GetFullAircraftPath();
 721   ifstream* system_file = new ifstream();
 722
 723   fullpath = systemPath + "/";
 724   localpath = aircraftPath + "/Systems/";
 725
 726   if (system_filename.substr(system_filename.length()-4, 4) != ".xml") {
 727     system_filename.append(".xml");
 728   }
 729
 730   system_file->open(string(localpath + system_filename).c_str());
 731   if ( !system_file->is_open()) {
 732     system_file->open(string(fullpath + system_filename).c_str());
 733       if ( !system_file->is_open()) {
 734         cerr << " Could not open system file: " << system_filename << " in path "
 735              << fullpath << " or " << localpath << endl;
 736       }
 737   }
 738   return system_file;
 739 }
 740
 741 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 742
 743 string FGFCS::GetComponentStrings(const string& delimiter) const
 744 {
 745   unsigned int comp;
 746   string CompStrings = "";
 747   bool firstime = true;
 748   int total_count=0;
 749
 750   for (unsigned int i=0; i<Systems.size(); i++) {
 751     if (firstime) firstime = false;
 752     else          CompStrings += delimiter;
 753
 754     CompStrings += Systems[i]->GetName();
 755     total_count++;
 756   }
 757
 758   for (comp = 0; comp < APComponents.size(); comp++)
 759   {
 760     if (firstime) firstime = false;
 761     else          CompStrings += delimiter;
 762
 763     CompStrings += APComponents[comp]->GetName();
 764     total_count++;
 765   }
 766
 767   for (comp = 0; comp < FCSComponents.size(); comp++) {
 768     if (firstime) firstime = false;
 769     else          CompStrings += delimiter;
 770
 771     CompStrings += FCSComponents[comp]->GetName();
 772     total_count++;
 773   }
 774
 775   return CompStrings;
 776 }
 777
 778 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 779
 780 string FGFCS::GetComponentValues(const string& delimiter) const
 781 {
 782   std::ostringstream buf;
 783
 784   unsigned int comp;
 785   bool firstime = true;
 786   int total_count=0;
 787
 788   for (unsigned int i=0; i<Systems.size(); i++) {
 789     if (firstime) firstime = false;
 790     else          buf << delimiter;
 791
 792     buf << setprecision(9) << Systems[i]->GetOutput();
 793     total_count++;
 794   }
 795
 796   for (comp = 0; comp < APComponents.size(); comp++) {
 797     if (firstime) firstime = false;
 798     else          buf << delimiter;
 799
 800     buf << setprecision(9) << APComponents[comp]->GetOutput();
 801     total_count++;
 802   }
 803
 804   for (comp = 0; comp < FCSComponents.size(); comp++) {
 805     if (firstime) firstime = false;
 806     else          buf << delimiter;
 807
 808     buf << setprecision(9) << FCSComponents[comp]->GetOutput();
 809     total_count++;
 810   }
 811
 812   return buf.str();
 813 }
 814
 815 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 816
 817 void FGFCS::AddThrottle(void)
 818 {
 819   ThrottleCmd.push_back(0.0);
 820   ThrottlePos.push_back(0.0);
 821   MixtureCmd.push_back(0.0);     // assume throttle and mixture are coupled
 822   MixturePos.push_back(0.0);
 823   PropAdvanceCmd.push_back(0.0); // assume throttle and prop pitch are coupled
 824   PropAdvance.push_back(0.0);
 825   PropFeatherCmd.push_back(false);
 826   PropFeather.push_back(false);
 827
 828   unsigned int num = (unsigned int)ThrottleCmd.size()-1;
 829   bindThrottle(num);
 830 }
 831
 832 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 833
 834 void FGFCS::AddGear(unsigned int NumGear)
 835 {
 836   SteerPosDeg.clear();
 837   for (unsigned int i=0; i<NumGear; i++) SteerPosDeg.push_back(0.0);
 838 }
 839
 840 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 841
 842 double FGFCS::GetDt(void)
 843 {
 844   return FDMExec->GetDeltaT()*rate;
 845 }
 846
 847 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 848
 849 void FGFCS::bind(void)
 850 {
 851   PropertyManager->Tie("fcs/aileron-cmd-norm", this, &FGFCS::GetDaCmd, &FGFCS::SetDaCmd);
 852   PropertyManager->Tie("fcs/elevator-cmd-norm", this, &FGFCS::GetDeCmd, &FGFCS::SetDeCmd);
 853   PropertyManager->Tie("fcs/rudder-cmd-norm", this, &FGFCS::GetDrCmd, &FGFCS::SetDrCmd);
 854   PropertyManager->Tie("fcs/flap-cmd-norm", this, &FGFCS::GetDfCmd, &FGFCS::SetDfCmd);
 855   PropertyManager->Tie("fcs/speedbrake-cmd-norm", this, &FGFCS::GetDsbCmd, &FGFCS::SetDsbCmd);
 856   PropertyManager->Tie("fcs/spoiler-cmd-norm", this, &FGFCS::GetDspCmd, &FGFCS::SetDspCmd);
 857   PropertyManager->Tie("fcs/pitch-trim-cmd-norm", this, &FGFCS::GetPitchTrimCmd, &FGFCS::SetPitchTrimCmd);
 858   PropertyManager->Tie("fcs/roll-trim-cmd-norm", this, &FGFCS::GetRollTrimCmd, &FGFCS::SetRollTrimCmd);
 859   PropertyManager->Tie("fcs/yaw-trim-cmd-norm", this, &FGFCS::GetYawTrimCmd, &FGFCS::SetYawTrimCmd);
 860
 861   PropertyManager->Tie("fcs/left-aileron-pos-rad", this, ofRad, &FGFCS::GetDaLPos, &FGFCS::SetDaLPos);
 862   PropertyManager->Tie("fcs/left-aileron-pos-deg", this, ofDeg, &FGFCS::GetDaLPos, &FGFCS::SetDaLPos);
 863   PropertyManager->Tie("fcs/left-aileron-pos-norm", this, ofNorm, &FGFCS::GetDaLPos, &FGFCS::SetDaLPos);
 864   PropertyManager->Tie("fcs/mag-left-aileron-pos-rad", this, ofMag, &FGFCS::GetDaLPos);
 865
 866   PropertyManager->Tie("fcs/right-aileron-pos-rad", this, ofRad, &FGFCS::GetDaRPos, &FGFCS::SetDaRPos);
 867   PropertyManager->Tie("fcs/right-aileron-pos-deg", this, ofDeg, &FGFCS::GetDaRPos, &FGFCS::SetDaRPos);
 868   PropertyManager->Tie("fcs/right-aileron-pos-norm", this, ofNorm, &FGFCS::GetDaRPos, &FGFCS::SetDaRPos);
 869   PropertyManager->Tie("fcs/mag-right-aileron-pos-rad", this, ofMag, &FGFCS::GetDaRPos);
 870
 871   PropertyManager->Tie("fcs/elevator-pos-rad", this, ofRad, &FGFCS::GetDePos, &FGFCS::SetDePos);
 872   PropertyManager->Tie("fcs/elevator-pos-deg", this, ofDeg, &FGFCS::GetDePos, &FGFCS::SetDePos);
 873   PropertyManager->Tie("fcs/elevator-pos-norm", this, ofNorm, &FGFCS::GetDePos, &FGFCS::SetDePos);
 874   PropertyManager->Tie("fcs/mag-elevator-pos-rad", this, ofMag, &FGFCS::GetDePos);
 875
 876   PropertyManager->Tie("fcs/rudder-pos-rad", this,ofRad, &FGFCS::GetDrPos, &FGFCS::SetDrPos);
 877   PropertyManager->Tie("fcs/rudder-pos-deg", this,ofDeg, &FGFCS::GetDrPos, &FGFCS::SetDrPos);
 878   PropertyManager->Tie("fcs/rudder-pos-norm", this,ofNorm, &FGFCS::GetDrPos, &FGFCS::SetDrPos);
 879   PropertyManager->Tie("fcs/mag-rudder-pos-rad", this,ofMag, &FGFCS::GetDrPos);
 880
 881   PropertyManager->Tie("fcs/flap-pos-rad", this,ofRad, &FGFCS::GetDfPos, &FGFCS::SetDfPos);
 882   PropertyManager->Tie("fcs/flap-pos-deg", this,ofDeg, &FGFCS::GetDfPos, &FGFCS::SetDfPos);
 883   PropertyManager->Tie("fcs/flap-pos-norm", this,ofNorm, &FGFCS::GetDfPos, &FGFCS::SetDfPos);
 884
 885   PropertyManager->Tie("fcs/speedbrake-pos-rad", this,ofRad, &FGFCS::GetDsbPos, &FGFCS::SetDsbPos);
 886   PropertyManager->Tie("fcs/speedbrake-pos-deg", this,ofDeg, &FGFCS::GetDsbPos, &FGFCS::SetDsbPos);
 887   PropertyManager->Tie("fcs/speedbrake-pos-norm", this,ofNorm, &FGFCS::GetDsbPos, &FGFCS::SetDsbPos);
 888   PropertyManager->Tie("fcs/mag-speedbrake-pos-rad", this,ofMag, &FGFCS::GetDsbPos);
 889
 890   PropertyManager->Tie("fcs/spoiler-pos-rad", this, ofRad, &FGFCS::GetDspPos, &FGFCS::SetDspPos);
 891   PropertyManager->Tie("fcs/spoiler-pos-deg", this, ofDeg, &FGFCS::GetDspPos, &FGFCS::SetDspPos);
 892   PropertyManager->Tie("fcs/spoiler-pos-norm", this, ofNorm, &FGFCS::GetDspPos, &FGFCS::SetDspPos);
 893   PropertyManager->Tie("fcs/mag-spoiler-pos-rad", this, ofMag, &FGFCS::GetDspPos);
 894
 895   PropertyManager->Tie("gear/gear-pos-norm", this, &FGFCS::GetGearPos, &FGFCS::SetGearPos);
 896   PropertyManager->Tie("gear/gear-cmd-norm", this, &FGFCS::GetGearCmd, &FGFCS::SetGearCmd);
 897   PropertyManager->Tie("fcs/left-brake-cmd-norm", this, &FGFCS::GetLBrake, &FGFCS::SetLBrake);
 898   PropertyManager->Tie("fcs/right-brake-cmd-norm", this, &FGFCS::GetRBrake, &FGFCS::SetRBrake);
 899   PropertyManager->Tie("fcs/center-brake-cmd-norm", this, &FGFCS::GetCBrake, &FGFCS::SetCBrake);
 900   PropertyManager->Tie("fcs/steer-cmd-norm", this, &FGFCS::GetDsCmd, &FGFCS::SetDsCmd);
 901
 902   PropertyManager->Tie("gear/tailhook-pos-norm", this, &FGFCS::GetTailhookPos, &FGFCS::SetTailhookPos);
 903   PropertyManager->Tie("fcs/wing-fold-pos-norm", this, &FGFCS::GetWingFoldPos, &FGFCS::SetWingFoldPos);
 904 }
 905
 906 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 907 // Technically, this function should probably bind propulsion type specific controls
 908 // rather than mixture and prop-advance.
 909
 910 void FGFCS::bindThrottle(unsigned int num)
 911 {
 912   string tmp;
 913
 914   tmp = CreateIndexedPropertyName("fcs/throttle-cmd-norm", num);
 915   PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetThrottleCmd,
 916                                         &FGFCS::SetThrottleCmd);
 917   tmp = CreateIndexedPropertyName("fcs/throttle-pos-norm", num);
 918   PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetThrottlePos,
 919                                         &FGFCS::SetThrottlePos);
 920   tmp = CreateIndexedPropertyName("fcs/mixture-cmd-norm", num);
 921   PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetMixtureCmd,
 922                                         &FGFCS::SetMixtureCmd);
 923   tmp = CreateIndexedPropertyName("fcs/mixture-pos-norm", num);
 924   PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetMixturePos,
 925                                         &FGFCS::SetMixturePos);
 926   tmp = CreateIndexedPropertyName("fcs/advance-cmd-norm", num);
 927   PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetPropAdvanceCmd,
 928                                         &FGFCS::SetPropAdvanceCmd);
 929   tmp = CreateIndexedPropertyName("fcs/advance-pos-norm", num);
 930   PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetPropAdvance,
 931                                         &FGFCS::SetPropAdvance);
 932   tmp = CreateIndexedPropertyName("fcs/feather-cmd-norm", num);
 933   PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetFeatherCmd,
 934                                         &FGFCS::SetFeatherCmd);
 935   tmp = CreateIndexedPropertyName("fcs/feather-pos-norm", num);
 936   PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetPropFeather,
 937                                         &FGFCS::SetPropFeather);
 938 }
 939
 940 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 941
 942 void FGFCS::bindModel(void)
 943 {
 944   unsigned int i;
 945   string tmp;
 946
 947   for (i=0; i<SteerPosDeg.size(); i++) {
 948     if (FDMExec->GetGroundReactions()->GetGearUnit(i)->GetSteerable()) {
 949       tmp = CreateIndexedPropertyName("fcs/steer-pos-deg", i);
 950       PropertyManager->Tie( tmp.c_str(), this, i, &FGFCS::GetSteerPosDeg, &FGFCS::SetSteerPosDeg);
 951     }
 952   }
 953 }
 954
 955 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 956 //    The bitmasked value choices are as follows:
 957 //    unset: In this case (the default) JSBSim would only print
 958 //       out the normally expected messages, essentially echoing
 959 //       the config files as they are read. If the environment
 960 //       variable is not set, debug_lvl is set to 1 internally
 961 //    0: This requests JSBSim not to output any messages
 962 //       whatsoever.
 963 //    1: This value explicity requests the normal JSBSim
 964 //       startup messages
 965 //    2: This value asks for a message to be printed out when
 966 //       a class is instantiated
 967 //    4: When this value is set, a message is displayed when a
 968 //       FGModel object executes its Run() method
 969 //    8: When this value is set, various runtime state variables
 970 //       are printed out periodically
 971 //    16: When set various parameters are sanity checked and
 972 //       a message is printed out when they go out of bounds
 973
 974 void FGFCS::Debug(int from)
 975 {
 976   if (debug_lvl <= 0) return;
 977
 978   if (debug_lvl & 1) { // Standard console startup message output
 979     if (from == 2) { // Loader
 980       cout << endl << "  " << Name << endl;
 981     }
 982   }
 983   if (debug_lvl & 2 ) { // Instantiation/Destruction notification
 984     if (from == 0) cout << "Instantiated: FGFCS" << endl;
 985     if (from == 1) cout << "Destroyed:    FGFCS" << endl;
 986   }
 987   if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
 988   }
 989   if (debug_lvl & 8 ) { // Runtime state variables
 990   }
 991   if (debug_lvl & 16) { // Sanity checking
 992   }
 993   if (debug_lvl & 64) {
 994     if (from == 0) { // Constructor
 995       cout << IdSrc << endl;
 996       cout << IdHdr << endl;
 997     }
 998   }
 999 }
1000
1001 }