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 "FGFCS.h"
  41 #include "FGFDMExec.h"
  42 #include "FGGroundReactions.h"
  43 #include "input_output/FGPropertyManager.h"
  44 #include <fstream>
  45 #include <sstream>
  46 #include <iomanip>
  47
  48 #include "models/flight_control/FGFilter.h"
  49 #include "models/flight_control/FGDeadBand.h"
  50 #include "models/flight_control/FGGain.h"
  51 #include "models/flight_control/FGPID.h"
  52 #include "models/flight_control/FGSwitch.h"
  53 #include "models/flight_control/FGSummer.h"
  54 #include "models/flight_control/FGKinemat.h"
  55 #include "models/flight_control/FGFCSFunction.h"
  56 #include "models/flight_control/FGSensor.h"
  57 #include "models/flight_control/FGActuator.h"
  58 #include "models/flight_control/FGAccelerometer.h"
  59 #include "models/flight_control/FGMagnetometer.h"
  60 #include "models/flight_control/FGGyro.h"
  61
  62 using namespace std;
  63
  64 namespace JSBSim {
  65
  66 static const char *IdSrc = "$Id: FGFCS.cpp,v 1.74 2011/05/20 03:18:36 jberndt Exp $";
  67 static const char *IdHdr = ID_FCS;
  68
  69 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  70 CLASS IMPLEMENTATION
  71 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  72
  73 FGFCS::FGFCS(FGFDMExec* fdmex) : FGModel(fdmex)
  74 {
  75   int i;
  76   Name = "FGFCS";
  77
  78   DaCmd = DeCmd = DrCmd = DsCmd = DfCmd = DsbCmd = DspCmd = 0;
  79   PTrimCmd = YTrimCmd = RTrimCmd = 0.0;
  80   GearCmd = GearPos = 1; // default to gear down
  81   LeftBrake = RightBrake = CenterBrake = 0.0;
  82   TailhookPos = WingFoldPos = 0.0;
  83
  84   bind();
  85   for (i=0;i<NForms;i++) {
  86     DePos[i] = DaLPos[i] = DaRPos[i] = DrPos[i] = 0.0;
  87     DfPos[i] = DsbPos[i] = DspPos[i] = 0.0;
  88   }
  89
  90   Debug(0);
  91 }
  92
  93 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  94
  95 FGFCS::~FGFCS()
  96 {
  97   ThrottleCmd.clear();
  98   ThrottlePos.clear();
  99   MixtureCmd.clear();
 100   MixturePos.clear();
 101   PropAdvanceCmd.clear();
 102   PropAdvance.clear();
 103   SteerPosDeg.clear();
 104   PropFeatherCmd.clear();
 105   PropFeather.clear();
 106
 107   unsigned int i;
 108
 109   for (i=0;i<APComponents.size();i++) delete APComponents[i];
 110   APComponents.clear();
 111   for (i=0;i<FCSComponents.size();i++) delete FCSComponents[i];
 112   FCSComponents.clear();
 113   for (i=0;i<Systems.size();i++) delete Systems[i];
 114   Systems.clear();
 115
 116
 117   Debug(1);
 118 }
 119
 120 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 121
 122 bool FGFCS::InitModel(void)
 123 {
 124   unsigned int i;
 125
 126   for (i=0; i<ThrottlePos.size(); i++) ThrottlePos[i] = 0.0;
 127   for (i=0; i<MixturePos.size(); i++) MixturePos[i] = 0.0;
 128   for (i=0; i<ThrottleCmd.size(); i++) ThrottleCmd[i] = 0.0;
 129   for (i=0; i<MixtureCmd.size(); i++) MixtureCmd[i] = 0.0;
 130   for (i=0; i<PropAdvance.size(); i++) PropAdvance[i] = 0.0;
 131   for (i=0; i<PropFeather.size(); i++) PropFeather[i] = 0.0;
 132
 133   DaCmd = DeCmd = DrCmd = DsCmd = DfCmd = DsbCmd = DspCmd = 0;
 134   PTrimCmd = YTrimCmd = RTrimCmd = 0.0;
 135   TailhookPos = WingFoldPos = 0.0;
 136
 137   for (i=0;i<NForms;i++) {
 138     DePos[i] = DaLPos[i] = DaRPos[i] = DrPos[i] = 0.0;
 139     DfPos[i] = DsbPos[i] = DspPos[i] = 0.0;
 140   }
 141
 142   for (unsigned int i=0; i<Systems.size(); i++) {
 143     if (Systems[i]->GetType() == "LAG" ||
 144         Systems[i]->GetType() == "LEAD_LAG" ||
 145         Systems[i]->GetType() == "WASHOUT" ||
 146         Systems[i]->GetType() == "SECOND_ORDER_FILTER" ||
 147         Systems[i]->GetType() == "INTEGRATOR")
 148     {
 149       ((FGFilter*)Systems[i])->ResetPastStates();
 150     } else if (Systems[i]->GetType() == "PID" ) {
 151       ((FGPID*)Systems[i])->ResetPastStates();
 152     }
 153   }
 154
 155   for (unsigned int i=0; i<FCSComponents.size(); i++) {
 156     if (FCSComponents[i]->GetType() == "LAG" ||
 157         FCSComponents[i]->GetType() == "LEAD_LAG" ||
 158         FCSComponents[i]->GetType() == "WASHOUT" ||
 159         FCSComponents[i]->GetType() == "SECOND_ORDER_FILTER" ||
 160         FCSComponents[i]->GetType() == "INTEGRATOR")
 161     {
 162       ((FGFilter*)FCSComponents[i])->ResetPastStates();
 163     } else if (FCSComponents[i]->GetType() == "PID" ) {
 164       ((FGPID*)FCSComponents[i])->ResetPastStates();
 165     }
 166   }
 167
 168   for (unsigned int i=0; i<APComponents.size(); i++) {
 169     if (APComponents[i]->GetType() == "LAG" ||
 170         APComponents[i]->GetType() == "LEAD_LAG" ||
 171         APComponents[i]->GetType() == "WASHOUT" ||
 172         APComponents[i]->GetType() == "SECOND_ORDER_FILTER" ||
 173         APComponents[i]->GetType() == "INTEGRATOR")
 174     {
 175       ((FGFilter*)APComponents[i])->ResetPastStates();
 176     } else if (APComponents[i]->GetType() == "PID" ) {
 177       ((FGPID*)APComponents[i])->ResetPastStates();
 178     }
 179   }
 180
 181   return true;
 182 }
 183
 184 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 185 // Notes: In this logic the default engine commands are set. This is simply a
 186 // sort of safe-mode method in case the user has not defined control laws for
 187 // throttle, mixture, and prop-advance. The throttle, mixture, and prop advance
 188 // positions are set equal to the respective commands. Any control logic that is
 189 // actually present in the flight_control or autopilot section will override
 190 // these simple assignments.
 191
 192 bool FGFCS::Run(bool Holding)
 193 {
 194   unsigned int i;
 195
 196   if (FGModel::Run(Holding)) return true; // fast exit if nothing to do
 197   if (Holding) return false;
 198
 199   RunPreFunctions();
 200
 201   for (i=0; i<ThrottlePos.size(); i++) ThrottlePos[i] = ThrottleCmd[i];
 202   for (i=0; i<MixturePos.size(); i++) MixturePos[i] = MixtureCmd[i];
 203   for (i=0; i<PropAdvance.size(); i++) PropAdvance[i] = PropAdvanceCmd[i];
 204   for (i=0; i<PropFeather.size(); i++) PropFeather[i] = PropFeatherCmd[i];
 205
 206   // Set the default steering angle
 207   for (i=0; i<SteerPosDeg.size(); i++) {
 208     FGLGear* gear = FDMExec->GetGroundReactions()->GetGearUnit(i);
 209     SteerPosDeg[i] = gear->GetDefaultSteerAngle( GetDsCmd() );
 210   }
 211
 212   // Execute Systems in order
 213   for (i=0; i<Systems.size(); i++) Systems[i]->Run();
 214
 215   // Execute Autopilot
 216   for (i=0; i<APComponents.size(); i++) APComponents[i]->Run();
 217
 218   // Execute Flight Control System
 219   for (i=0; i<FCSComponents.size(); i++) FCSComponents[i]->Run();
 220
 221   RunPostFunctions();
 222
 223   return false;
 224 }
 225
 226 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 227
 228 void FGFCS::SetDaLPos( int form , double pos )
 229 {
 230   switch(form) {
 231   case ofRad:
 232     DaLPos[ofRad] = pos;
 233     DaLPos[ofDeg] = pos*radtodeg;
 234     break;
 235   case ofDeg:
 236     DaLPos[ofRad] = pos*degtorad;
 237     DaLPos[ofDeg] = pos;
 238     break;
 239   case ofNorm:
 240     DaLPos[ofNorm] = pos;
 241   }
 242   DaLPos[ofMag] = fabs(DaLPos[ofRad]);
 243 }
 244
 245 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 246
 247 void FGFCS::SetDaRPos( int form , double pos )
 248 {
 249   switch(form) {
 250   case ofRad:
 251     DaRPos[ofRad] = pos;
 252     DaRPos[ofDeg] = pos*radtodeg;
 253     break;
 254   case ofDeg:
 255     DaRPos[ofRad] = pos*degtorad;
 256     DaRPos[ofDeg] = pos;
 257     break;
 258   case ofNorm:
 259     DaRPos[ofNorm] = pos;
 260   }
 261   DaRPos[ofMag] = fabs(DaRPos[ofRad]);
 262 }
 263
 264 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 265
 266 void FGFCS::SetDePos( int form , double pos )
 267 {
 268   switch(form) {
 269   case ofRad:
 270     DePos[ofRad] = pos;
 271     DePos[ofDeg] = pos*radtodeg;
 272     break;
 273   case ofDeg:
 274     DePos[ofRad] = pos*degtorad;
 275     DePos[ofDeg] = pos;
 276     break;
 277   case ofNorm:
 278     DePos[ofNorm] = pos;
 279   }
 280   DePos[ofMag] = fabs(DePos[ofRad]);
 281 }
 282
 283 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 284
 285 void FGFCS::SetDrPos( int form , double pos )
 286 {
 287   switch(form) {
 288   case ofRad:
 289     DrPos[ofRad] = pos;
 290     DrPos[ofDeg] = pos*radtodeg;
 291     break;
 292   case ofDeg:
 293     DrPos[ofRad] = pos*degtorad;
 294     DrPos[ofDeg] = pos;
 295     break;
 296   case ofNorm:
 297     DrPos[ofNorm] = pos;
 298   }
 299   DrPos[ofMag] = fabs(DrPos[ofRad]);
 300 }
 301
 302 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 303
 304 void FGFCS::SetDfPos( int form , double pos )
 305 {
 306   switch(form) {
 307   case ofRad:
 308     DfPos[ofRad] = pos;
 309     DfPos[ofDeg] = pos*radtodeg;
 310     break;
 311   case ofDeg:
 312     DfPos[ofRad] = pos*degtorad;
 313     DfPos[ofDeg] = pos;
 314     break;
 315   case ofNorm:
 316     DfPos[ofNorm] = pos;
 317   }
 318   DfPos[ofMag] = fabs(DfPos[ofRad]);
 319 }
 320
 321 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 322
 323 void FGFCS::SetDsbPos( int form , double pos )
 324 {
 325   switch(form) {
 326   case ofRad:
 327     DsbPos[ofRad] = pos;
 328     DsbPos[ofDeg] = pos*radtodeg;
 329     break;
 330   case ofDeg:
 331     DsbPos[ofRad] = pos*degtorad;
 332     DsbPos[ofDeg] = pos;
 333     break;
 334   case ofNorm:
 335     DsbPos[ofNorm] = pos;
 336   }
 337   DsbPos[ofMag] = fabs(DsbPos[ofRad]);
 338 }
 339
 340 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 341
 342 void FGFCS::SetDspPos( int form , double pos )
 343 {
 344   switch(form) {
 345   case ofRad:
 346     DspPos[ofRad] = pos;
 347     DspPos[ofDeg] = pos*radtodeg;
 348     break;
 349   case ofDeg:
 350     DspPos[ofRad] = pos*degtorad;
 351     DspPos[ofDeg] = pos;
 352     break;
 353   case ofNorm:
 354     DspPos[ofNorm] = pos;
 355   }
 356   DspPos[ofMag] = fabs(DspPos[ofRad]);
 357 }
 358
 359 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 360
 361 void FGFCS::SetThrottleCmd(int engineNum, double setting)
 362 {
 363   unsigned int ctr;
 364
 365   if (engineNum < (int)ThrottlePos.size()) {
 366     if (engineNum < 0) {
 367       for (ctr=0;ctr<ThrottleCmd.size();ctr++) ThrottleCmd[ctr] = setting;
 368     } else {
 369       ThrottleCmd[engineNum] = setting;
 370     }
 371   } else {
 372     cerr << "Throttle " << engineNum << " does not exist! " << ThrottleCmd.size()
 373          << " engines exist, but attempted throttle command is for engine "
 374          << engineNum << endl;
 375   }
 376 }
 377
 378 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 379
 380 void FGFCS::SetThrottlePos(int engineNum, double setting)
 381 {
 382   unsigned int ctr;
 383
 384   if (engineNum < (int)ThrottlePos.size()) {
 385     if (engineNum < 0) {
 386       for (ctr=0;ctr<ThrottlePos.size();ctr++) ThrottlePos[ctr] = setting;
 387     } else {
 388       ThrottlePos[engineNum] = setting;
 389     }
 390   } else {
 391     cerr << "Throttle " << engineNum << " does not exist! " << ThrottlePos.size()
 392          << " engines exist, but attempted throttle position setting is for engine "
 393          << engineNum << endl;
 394   }
 395 }
 396
 397 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 398
 399 double FGFCS::GetThrottleCmd(int engineNum) const
 400 {
 401   if (engineNum < (int)ThrottlePos.size()) {
 402     if (engineNum < 0) {
 403        cerr << "Cannot get throttle value for ALL engines" << endl;
 404     } else {
 405       return ThrottleCmd[engineNum];
 406     }
 407   } else {
 408     cerr << "Throttle " << engineNum << " does not exist! " << ThrottleCmd.size()
 409          << " engines exist, but throttle setting for engine " << engineNum
 410          << " is selected" << endl;
 411   }
 412   return 0.0;
 413 }
 414
 415 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 416
 417 double FGFCS::GetThrottlePos(int engineNum) const
 418 {
 419   if (engineNum < (int)ThrottlePos.size()) {
 420     if (engineNum < 0) {
 421        cerr << "Cannot get throttle value for ALL engines" << endl;
 422     } else {
 423       return ThrottlePos[engineNum];
 424     }
 425   } else {
 426     cerr << "Throttle " << engineNum << " does not exist! " << ThrottlePos.size()
 427          << " engines exist, but attempted throttle position setting is for engine "
 428          << engineNum << endl;
 429   }
 430   return 0.0;
 431 }
 432
 433 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 434
 435 void FGFCS::SetMixtureCmd(int engineNum, double setting)
 436 {
 437   unsigned int ctr;
 438
 439   if (engineNum < (int)ThrottlePos.size()) {
 440     if (engineNum < 0) {
 441       for (ctr=0;ctr<MixtureCmd.size();ctr++) MixtureCmd[ctr] = setting;
 442     } else {
 443       MixtureCmd[engineNum] = setting;
 444     }
 445   }
 446 }
 447
 448 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 449
 450 void FGFCS::SetMixturePos(int engineNum, double setting)
 451 {
 452   unsigned int ctr;
 453
 454   if (engineNum < (int)ThrottlePos.size()) {
 455     if (engineNum < 0) {
 456       for (ctr=0;ctr<MixtureCmd.size();ctr++) MixturePos[ctr] = MixtureCmd[ctr];
 457     } else {
 458       MixturePos[engineNum] = setting;
 459     }
 460   }
 461 }
 462
 463 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 464
 465 void FGFCS::SetPropAdvanceCmd(int engineNum, double setting)
 466 {
 467   unsigned int ctr;
 468
 469   if (engineNum < (int)ThrottlePos.size()) {
 470     if (engineNum < 0) {
 471       for (ctr=0;ctr<PropAdvanceCmd.size();ctr++) PropAdvanceCmd[ctr] = setting;
 472     } else {
 473       PropAdvanceCmd[engineNum] = setting;
 474     }
 475   }
 476 }
 477
 478 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 479
 480 void FGFCS::SetPropAdvance(int engineNum, double setting)
 481 {
 482   unsigned int ctr;
 483
 484   if (engineNum < (int)ThrottlePos.size()) {
 485     if (engineNum < 0) {
 486       for (ctr=0;ctr<PropAdvanceCmd.size();ctr++) PropAdvance[ctr] = PropAdvanceCmd[ctr];
 487     } else {
 488       PropAdvance[engineNum] = setting;
 489     }
 490   }
 491 }
 492
 493 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 494
 495 void FGFCS::SetFeatherCmd(int engineNum, bool setting)
 496 {
 497   unsigned int ctr;
 498
 499   if (engineNum < (int)ThrottlePos.size()) {
 500     if (engineNum < 0) {
 501       for (ctr=0;ctr<PropFeatherCmd.size();ctr++) PropFeatherCmd[ctr] = setting;
 502     } else {
 503       PropFeatherCmd[engineNum] = setting;
 504     }
 505   }
 506 }
 507
 508 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 509
 510 void FGFCS::SetPropFeather(int engineNum, bool setting)
 511 {
 512   unsigned int ctr;
 513
 514   if (engineNum < (int)ThrottlePos.size()) {
 515     if (engineNum < 0) {
 516       for (ctr=0;ctr<PropFeatherCmd.size();ctr++) PropFeather[ctr] = PropFeatherCmd[ctr];
 517     } else {
 518       PropFeather[engineNum] = setting;
 519     }
 520   }
 521 }
 522
 523 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 524
 525 bool FGFCS::Load(Element* el, SystemType systype)
 526 {
 527   string name, file, fname="", interface_property_string, parent_name;
 528   vector <FGFCSComponent*> *Components;
 529   Element *component_element;
 530   Element *channel_element;
 531
 532   Components=0;
 533
 534 // ToDo: The handling of name and file attributes could be improved, here,
 535 //       considering that a name can be in the external file, as well.
 536
 537   name = el->GetAttributeValue("name");
 538
 539   if (name.empty() || !el->GetAttributeValue("file").empty()) {
 540     fname = el->GetAttributeValue("file");
 541     if (systype == stSystem) {
 542       file = FindSystemFullPathname(fname);
 543     } else {
 544       file = FDMExec->GetFullAircraftPath() + "/" + fname + ".xml";
 545     }
 546     if (fname.empty()) {
 547       cerr << "FCS, Autopilot, or system does not appear to be defined inline nor in a file" << endl;
 548       return false;
 549     } else {
 550       document = LoadXMLDocument(file);
 551       if (!document) {
 552         cerr << "Error loading file " << file << endl;
 553         return false;
 554       }
 555       name = document->GetAttributeValue("name");
 556     }
 557   } else {
 558     document = el;
 559   }
 560
 561   if (document->GetName() == "autopilot") {
 562     Components = &APComponents;
 563     Name = "Autopilot: " + document->GetAttributeValue("name");
 564   } else if (document->GetName() == "flight_control") {
 565     Components = &FCSComponents;
 566     Name = "FCS: " + document->GetAttributeValue("name");
 567   } else if (document->GetName() == "system") {
 568     Components = &Systems;
 569     Name = "System: " + document->GetAttributeValue("name");
 570   }
 571   Debug(2);
 572
 573   if (document->GetName() == "flight_control") bindModel();
 574
 575   FGModel::Load(document); // Load interface properties from document
 576
 577   // After reading interface properties in a file, read properties in the local
 578   // flight_control, autopilot, or system element. This allows general-purpose
 579   // systems to be defined in a file, with overrides or initial loaded constants
 580   // supplied in the relevant element of the aircraft configuration file.
 581
 582   Element* property_element = 0;
 583
 584   if (!fname.empty()) {
 585     property_element = el->FindElement("property");
 586     if (property_element && debug_lvl > 0) cout << endl << "    Overriding properties" << endl << endl;
 587     while (property_element) {
 588       double value=0.0;
 589       if ( ! property_element->GetAttributeValue("value").empty())
 590         value = property_element->GetAttributeValueAsNumber("value");
 591
 592       interface_property_string = property_element->GetDataLine();
 593       if (PropertyManager->HasNode(interface_property_string)) {
 594         FGPropertyManager* node = PropertyManager->GetNode(interface_property_string);
 595         if (debug_lvl > 0)
 596           cout << "      " << "Overriding value for property " << interface_property_string
 597                << " (old value: " << node->getDoubleValue() << "  new value: " << value << ")" << endl;
 598         node->setDoubleValue(value);
 599       } else {
 600         interface_properties.push_back(new double(value));
 601         PropertyManager->Tie(interface_property_string, interface_properties.back());
 602         if (debug_lvl > 0)
 603           cout << "      " << interface_property_string << " (initial value: " << value << ")" << endl;
 604       }
 605
 606       property_element = el->FindNextElement("property");
 607     }
 608   }
 609
 610   channel_element = document->FindElement("channel");
 611   while (channel_element) {
 612
 613     if (debug_lvl > 0)
 614       cout << endl << highint << fgblue << "    Channel "
 615          << normint << channel_element->GetAttributeValue("name") << reset << endl;
 616
 617     component_element = channel_element->GetElement();
 618     while (component_element) {
 619       try {
 620         if ((component_element->GetName() == string("lag_filter")) ||
 621             (component_element->GetName() == string("lead_lag_filter")) ||
 622             (component_element->GetName() == string("washout_filter")) ||
 623             (component_element->GetName() == string("second_order_filter")) ||
 624             (component_element->GetName() == string("integrator")) )
 625         {
 626           Components->push_back(new FGFilter(this, component_element));
 627         } else if ((component_element->GetName() == string("pure_gain")) ||
 628                    (component_element->GetName() == string("scheduled_gain")) ||
 629                    (component_element->GetName() == string("aerosurface_scale")))
 630         {
 631           Components->push_back(new FGGain(this, component_element));
 632         } else if (component_element->GetName() == string("summer")) {
 633           Components->push_back(new FGSummer(this, component_element));
 634         } else if (component_element->GetName() == string("deadband")) {
 635           Components->push_back(new FGDeadBand(this, component_element));
 636         } else if (component_element->GetName() == string("switch")) {
 637           Components->push_back(new FGSwitch(this, component_element));
 638         } else if (component_element->GetName() == string("kinematic")) {
 639           Components->push_back(new FGKinemat(this, component_element));
 640         } else if (component_element->GetName() == string("fcs_function")) {
 641           Components->push_back(new FGFCSFunction(this, component_element));
 642         } else if (component_element->GetName() == string("pid")) {
 643           Components->push_back(new FGPID(this, component_element));
 644         } else if (component_element->GetName() == string("actuator")) {
 645           Components->push_back(new FGActuator(this, component_element));
 646         } else if (component_element->GetName() == string("sensor")) {
 647           Components->push_back(new FGSensor(this, component_element));
 648         } else if (component_element->GetName() == string("accelerometer")) {
 649           Components->push_back(new FGAccelerometer(this, component_element));
 650         } else if (component_element->GetName() == string("magnetometer")) {
 651           Components->push_back(new FGMagnetometer(this, component_element));
 652         } else if (component_element->GetName() == string("gyro")) {
 653           Components->push_back(new FGGyro(this, component_element));
 654         } else {
 655           cerr << "Unknown FCS component: " << component_element->GetName() << endl;
 656         }
 657       } catch(string s) {
 658         cerr << highint << fgred << endl << "  " << s << endl;
 659         cerr << reset << endl;
 660         return false;
 661       }
 662       component_element = channel_element->GetNextElement();
 663     }
 664     channel_element = document->FindNextElement("channel");
 665   }
 666
 667   ResetParser();
 668
 669   return true;
 670 }
 671
 672 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 673
 674 double FGFCS::GetBrake(FGLGear::BrakeGroup bg)
 675 {
 676   switch (bg) {
 677   case FGLGear::bgLeft:
 678     return LeftBrake;
 679   case FGLGear::bgRight:
 680     return RightBrake;
 681   case FGLGear::bgCenter:
 682     return CenterBrake;
 683   default:
 684     cerr << "GetBrake asked to return a bogus brake value" << endl;
 685   }
 686   return 0.0;
 687 }
 688
 689 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 690
 691 string FGFCS::FindSystemFullPathname(const string& sysfilename)
 692 {
 693   string fullpath, localpath;
 694   string system_filename = sysfilename;
 695   string systemPath = FDMExec->GetSystemsPath();
 696   string aircraftPath = FDMExec->GetFullAircraftPath();
 697   ifstream system_file;
 698
 699   fullpath = systemPath + "/";
 700   localpath = aircraftPath + "/Systems/";
 701
 702   if (system_filename.length() <=4 || system_filename.substr(system_filename.length()-4, 4) != ".xml") {
 703     system_filename.append(".xml");
 704   }
 705
 706   system_file.open(string(localpath + system_filename).c_str());
 707   if ( !system_file.is_open()) {
 708     system_file.open(string(fullpath + system_filename).c_str());
 709       if ( !system_file.is_open()) {
 710         cerr << " Could not open system file: " << system_filename << " in path "
 711              << fullpath << " or " << localpath << endl;
 712         return string("");
 713       } else {
 714         return string(fullpath + system_filename);
 715       }
 716   }
 717   return string(localpath + system_filename);
 718 }
 719
 720 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 721
 722 ifstream* FGFCS::FindSystemFile(const string& sysfilename)
 723 {
 724   string fullpath, localpath;
 725   string system_filename = sysfilename;
 726   string systemPath = FDMExec->GetSystemsPath();
 727   string aircraftPath = FDMExec->GetFullAircraftPath();
 728   ifstream* system_file = new ifstream();
 729
 730   fullpath = systemPath + "/";
 731   localpath = aircraftPath + "/Systems/";
 732
 733   if (system_filename.substr(system_filename.length()-4, 4) != ".xml") {
 734     system_filename.append(".xml");
 735   }
 736
 737   system_file->open(string(localpath + system_filename).c_str());
 738   if ( !system_file->is_open()) {
 739     system_file->open(string(fullpath + system_filename).c_str());
 740       if ( !system_file->is_open()) {
 741         cerr << " Could not open system file: " << system_filename << " in path "
 742              << fullpath << " or " << localpath << endl;
 743       }
 744   }
 745   return system_file;
 746 }
 747
 748 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 749
 750 string FGFCS::GetComponentStrings(const string& delimiter) const
 751 {
 752   unsigned int comp;
 753   string CompStrings = "";
 754   bool firstime = true;
 755   int total_count=0;
 756
 757   for (unsigned int i=0; i<Systems.size(); i++) {
 758     if (firstime) firstime = false;
 759     else          CompStrings += delimiter;
 760
 761     CompStrings += Systems[i]->GetName();
 762     total_count++;
 763   }
 764
 765   for (comp = 0; comp < APComponents.size(); comp++)
 766   {
 767     if (firstime) firstime = false;
 768     else          CompStrings += delimiter;
 769
 770     CompStrings += APComponents[comp]->GetName();
 771     total_count++;
 772   }
 773
 774   for (comp = 0; comp < FCSComponents.size(); comp++) {
 775     if (firstime) firstime = false;
 776     else          CompStrings += delimiter;
 777
 778     CompStrings += FCSComponents[comp]->GetName();
 779     total_count++;
 780   }
 781
 782   return CompStrings;
 783 }
 784
 785 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 786
 787 string FGFCS::GetComponentValues(const string& delimiter) const
 788 {
 789   std::ostringstream buf;
 790
 791   unsigned int comp;
 792   bool firstime = true;
 793   int total_count=0;
 794
 795   for (unsigned int i=0; i<Systems.size(); i++) {
 796     if (firstime) firstime = false;
 797     else          buf << delimiter;
 798
 799     buf << setprecision(9) << Systems[i]->GetOutput();
 800     total_count++;
 801   }
 802
 803   for (comp = 0; comp < APComponents.size(); comp++) {
 804     if (firstime) firstime = false;
 805     else          buf << delimiter;
 806
 807     buf << setprecision(9) << APComponents[comp]->GetOutput();
 808     total_count++;
 809   }
 810
 811   for (comp = 0; comp < FCSComponents.size(); comp++) {
 812     if (firstime) firstime = false;
 813     else          buf << delimiter;
 814
 815     buf << setprecision(9) << FCSComponents[comp]->GetOutput();
 816     total_count++;
 817   }
 818
 819   return buf.str();
 820 }
 821
 822 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 823
 824 void FGFCS::AddThrottle(void)
 825 {
 826   ThrottleCmd.push_back(0.0);
 827   ThrottlePos.push_back(0.0);
 828   MixtureCmd.push_back(0.0);     // assume throttle and mixture are coupled
 829   MixturePos.push_back(0.0);
 830   PropAdvanceCmd.push_back(0.0); // assume throttle and prop pitch are coupled
 831   PropAdvance.push_back(0.0);
 832   PropFeatherCmd.push_back(false);
 833   PropFeather.push_back(false);
 834
 835   unsigned int num = (unsigned int)ThrottleCmd.size()-1;
 836   bindThrottle(num);
 837 }
 838
 839 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 840
 841 void FGFCS::AddGear(void)
 842 {
 843   SteerPosDeg.push_back(0.0);
 844 }
 845
 846 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 847
 848 double FGFCS::GetDt(void)
 849 {
 850   return FDMExec->GetDeltaT()*rate;
 851 }
 852
 853 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 854
 855 void FGFCS::bind(void)
 856 {
 857   PropertyManager->Tie("fcs/aileron-cmd-norm", this, &FGFCS::GetDaCmd, &FGFCS::SetDaCmd);
 858   PropertyManager->Tie("fcs/elevator-cmd-norm", this, &FGFCS::GetDeCmd, &FGFCS::SetDeCmd);
 859   PropertyManager->Tie("fcs/rudder-cmd-norm", this, &FGFCS::GetDrCmd, &FGFCS::SetDrCmd);
 860   PropertyManager->Tie("fcs/flap-cmd-norm", this, &FGFCS::GetDfCmd, &FGFCS::SetDfCmd);
 861   PropertyManager->Tie("fcs/speedbrake-cmd-norm", this, &FGFCS::GetDsbCmd, &FGFCS::SetDsbCmd);
 862   PropertyManager->Tie("fcs/spoiler-cmd-norm", this, &FGFCS::GetDspCmd, &FGFCS::SetDspCmd);
 863   PropertyManager->Tie("fcs/pitch-trim-cmd-norm", this, &FGFCS::GetPitchTrimCmd, &FGFCS::SetPitchTrimCmd);
 864   PropertyManager->Tie("fcs/roll-trim-cmd-norm", this, &FGFCS::GetRollTrimCmd, &FGFCS::SetRollTrimCmd);
 865   PropertyManager->Tie("fcs/yaw-trim-cmd-norm", this, &FGFCS::GetYawTrimCmd, &FGFCS::SetYawTrimCmd);
 866
 867   PropertyManager->Tie("fcs/left-aileron-pos-rad", this, ofRad, &FGFCS::GetDaLPos, &FGFCS::SetDaLPos);
 868   PropertyManager->Tie("fcs/left-aileron-pos-deg", this, ofDeg, &FGFCS::GetDaLPos, &FGFCS::SetDaLPos);
 869   PropertyManager->Tie("fcs/left-aileron-pos-norm", this, ofNorm, &FGFCS::GetDaLPos, &FGFCS::SetDaLPos);
 870   PropertyManager->Tie("fcs/mag-left-aileron-pos-rad", this, ofMag, &FGFCS::GetDaLPos);
 871
 872   PropertyManager->Tie("fcs/right-aileron-pos-rad", this, ofRad, &FGFCS::GetDaRPos, &FGFCS::SetDaRPos);
 873   PropertyManager->Tie("fcs/right-aileron-pos-deg", this, ofDeg, &FGFCS::GetDaRPos, &FGFCS::SetDaRPos);
 874   PropertyManager->Tie("fcs/right-aileron-pos-norm", this, ofNorm, &FGFCS::GetDaRPos, &FGFCS::SetDaRPos);
 875   PropertyManager->Tie("fcs/mag-right-aileron-pos-rad", this, ofMag, &FGFCS::GetDaRPos);
 876
 877   PropertyManager->Tie("fcs/elevator-pos-rad", this, ofRad, &FGFCS::GetDePos, &FGFCS::SetDePos);
 878   PropertyManager->Tie("fcs/elevator-pos-deg", this, ofDeg, &FGFCS::GetDePos, &FGFCS::SetDePos);
 879   PropertyManager->Tie("fcs/elevator-pos-norm", this, ofNorm, &FGFCS::GetDePos, &FGFCS::SetDePos);
 880   PropertyManager->Tie("fcs/mag-elevator-pos-rad", this, ofMag, &FGFCS::GetDePos);
 881
 882   PropertyManager->Tie("fcs/rudder-pos-rad", this,ofRad, &FGFCS::GetDrPos, &FGFCS::SetDrPos);
 883   PropertyManager->Tie("fcs/rudder-pos-deg", this,ofDeg, &FGFCS::GetDrPos, &FGFCS::SetDrPos);
 884   PropertyManager->Tie("fcs/rudder-pos-norm", this,ofNorm, &FGFCS::GetDrPos, &FGFCS::SetDrPos);
 885   PropertyManager->Tie("fcs/mag-rudder-pos-rad", this,ofMag, &FGFCS::GetDrPos);
 886
 887   PropertyManager->Tie("fcs/flap-pos-rad", this,ofRad, &FGFCS::GetDfPos, &FGFCS::SetDfPos);
 888   PropertyManager->Tie("fcs/flap-pos-deg", this,ofDeg, &FGFCS::GetDfPos, &FGFCS::SetDfPos);
 889   PropertyManager->Tie("fcs/flap-pos-norm", this,ofNorm, &FGFCS::GetDfPos, &FGFCS::SetDfPos);
 890
 891   PropertyManager->Tie("fcs/speedbrake-pos-rad", this,ofRad, &FGFCS::GetDsbPos, &FGFCS::SetDsbPos);
 892   PropertyManager->Tie("fcs/speedbrake-pos-deg", this,ofDeg, &FGFCS::GetDsbPos, &FGFCS::SetDsbPos);
 893   PropertyManager->Tie("fcs/speedbrake-pos-norm", this,ofNorm, &FGFCS::GetDsbPos, &FGFCS::SetDsbPos);
 894   PropertyManager->Tie("fcs/mag-speedbrake-pos-rad", this,ofMag, &FGFCS::GetDsbPos);
 895
 896   PropertyManager->Tie("fcs/spoiler-pos-rad", this, ofRad, &FGFCS::GetDspPos, &FGFCS::SetDspPos);
 897   PropertyManager->Tie("fcs/spoiler-pos-deg", this, ofDeg, &FGFCS::GetDspPos, &FGFCS::SetDspPos);
 898   PropertyManager->Tie("fcs/spoiler-pos-norm", this, ofNorm, &FGFCS::GetDspPos, &FGFCS::SetDspPos);
 899   PropertyManager->Tie("fcs/mag-spoiler-pos-rad", this, ofMag, &FGFCS::GetDspPos);
 900
 901   PropertyManager->Tie("gear/gear-pos-norm", this, &FGFCS::GetGearPos, &FGFCS::SetGearPos);
 902   PropertyManager->Tie("gear/gear-cmd-norm", this, &FGFCS::GetGearCmd, &FGFCS::SetGearCmd);
 903   PropertyManager->Tie("fcs/left-brake-cmd-norm", this, &FGFCS::GetLBrake, &FGFCS::SetLBrake);
 904   PropertyManager->Tie("fcs/right-brake-cmd-norm", this, &FGFCS::GetRBrake, &FGFCS::SetRBrake);
 905   PropertyManager->Tie("fcs/center-brake-cmd-norm", this, &FGFCS::GetCBrake, &FGFCS::SetCBrake);
 906   PropertyManager->Tie("fcs/steer-cmd-norm", this, &FGFCS::GetDsCmd, &FGFCS::SetDsCmd);
 907
 908   PropertyManager->Tie("gear/tailhook-pos-norm", this, &FGFCS::GetTailhookPos, &FGFCS::SetTailhookPos);
 909   PropertyManager->Tie("fcs/wing-fold-pos-norm", this, &FGFCS::GetWingFoldPos, &FGFCS::SetWingFoldPos);
 910 }
 911
 912 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 913 // Technically, this function should probably bind propulsion type specific controls
 914 // rather than mixture and prop-advance.
 915
 916 void FGFCS::bindThrottle(unsigned int num)
 917 {
 918   string tmp;
 919
 920   tmp = CreateIndexedPropertyName("fcs/throttle-cmd-norm", num);
 921   PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetThrottleCmd,
 922                                         &FGFCS::SetThrottleCmd);
 923   tmp = CreateIndexedPropertyName("fcs/throttle-pos-norm", num);
 924   PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetThrottlePos,
 925                                         &FGFCS::SetThrottlePos);
 926   tmp = CreateIndexedPropertyName("fcs/mixture-cmd-norm", num);
 927   PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetMixtureCmd,
 928                                         &FGFCS::SetMixtureCmd);
 929   tmp = CreateIndexedPropertyName("fcs/mixture-pos-norm", num);
 930   PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetMixturePos,
 931                                         &FGFCS::SetMixturePos);
 932   tmp = CreateIndexedPropertyName("fcs/advance-cmd-norm", num);
 933   PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetPropAdvanceCmd,
 934                                         &FGFCS::SetPropAdvanceCmd);
 935   tmp = CreateIndexedPropertyName("fcs/advance-pos-norm", num);
 936   PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetPropAdvance,
 937                                         &FGFCS::SetPropAdvance);
 938   tmp = CreateIndexedPropertyName("fcs/feather-cmd-norm", num);
 939   PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetFeatherCmd,
 940                                         &FGFCS::SetFeatherCmd);
 941   tmp = CreateIndexedPropertyName("fcs/feather-pos-norm", num);
 942   PropertyManager->Tie( tmp.c_str(), this, num, &FGFCS::GetPropFeather,
 943                                         &FGFCS::SetPropFeather);
 944 }
 945
 946 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 947
 948 void FGFCS::bindModel(void)
 949 {
 950   unsigned int i;
 951   string tmp;
 952
 953   for (i=0; i<SteerPosDeg.size(); i++) {
 954     if (FDMExec->GetGroundReactions()->GetGearUnit(i)->GetSteerable()) {
 955       tmp = CreateIndexedPropertyName("fcs/steer-pos-deg", i);
 956       PropertyManager->Tie( tmp.c_str(), this, i, &FGFCS::GetSteerPosDeg, &FGFCS::SetSteerPosDeg);
 957     }
 958   }
 959 }
 960
 961 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 962 //    The bitmasked value choices are as follows:
 963 //    unset: In this case (the default) JSBSim would only print
 964 //       out the normally expected messages, essentially echoing
 965 //       the config files as they are read. If the environment
 966 //       variable is not set, debug_lvl is set to 1 internally
 967 //    0: This requests JSBSim not to output any messages
 968 //       whatsoever.
 969 //    1: This value explicity requests the normal JSBSim
 970 //       startup messages
 971 //    2: This value asks for a message to be printed out when
 972 //       a class is instantiated
 973 //    4: When this value is set, a message is displayed when a
 974 //       FGModel object executes its Run() method
 975 //    8: When this value is set, various runtime state variables
 976 //       are printed out periodically
 977 //    16: When set various parameters are sanity checked and
 978 //       a message is printed out when they go out of bounds
 979
 980 void FGFCS::Debug(int from)
 981 {
 982   if (debug_lvl <= 0) return;
 983
 984   if (debug_lvl & 1) { // Standard console startup message output
 985     if (from == 2) { // Loader
 986       cout << endl << "  " << Name << endl;
 987     }
 988   }
 989   if (debug_lvl & 2 ) { // Instantiation/Destruction notification
 990     if (from == 0) cout << "Instantiated: FGFCS" << endl;
 991     if (from == 1) cout << "Destroyed:    FGFCS" << endl;
 992   }
 993   if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
 994   }
 995   if (debug_lvl & 8 ) { // Runtime state variables
 996   }
 997   if (debug_lvl & 16) { // Sanity checking
 998   }
 999   if (debug_lvl & 64) {
1000     if (from == 0) { // Constructor
1001       cout << IdSrc << endl;
1002       cout << IdHdr << endl;
1003     }
1004   }
1005 }
1006
1007 }