1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
3 Module: FGFCSComponent.cpp
7 ------------- Copyright (C) 2000 -------------
9 This program is free software; you can redistribute it and/or modify it under
10 the terms of the GNU Lesser General Public License as published by the Free Software
11 Foundation; either version 2 of the License, or (at your option) any later
14 This program is distributed in the hope that it will be useful, but WITHOUT
15 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
16 FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
19 You should have received a copy of the GNU Lesser General Public License along with
20 this program; if not, write to the Free Software Foundation, Inc., 59 Temple
21 Place - Suite 330, Boston, MA 02111-1307, USA.
23 Further information about the GNU Lesser General Public License can also be found on
24 the world wide web at http://www.gnu.org.
26 FUNCTIONAL DESCRIPTION
27 --------------------------------------------------------------------------------
30 --------------------------------------------------------------------------------
32 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
33 COMMENTS, REFERENCES, and NOTES
34 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
36 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
38 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
40 #include "FGFCSComponent.h"
44 static const char *IdSrc = "$Id$";
45 static const char *IdHdr = ID_FCSCOMPONENT;
47 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
49 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
51 FGFCSComponent::FGFCSComponent(FGFCS* _fcs, Element* element) : fcs(_fcs)
53 Element *input_element, *clip_el;
54 Input = Output = clipmin = clipmax = 0.0;
55 OutputNode = treenode = 0;
56 ClipMinPropertyNode = ClipMaxPropertyNode = 0;
57 clipMinSign = clipMaxSign = 1.0;
58 IsOutput = clip = false;
59 string input, clip_string;
61 PropertyManager = fcs->GetPropertyManager();
62 if (element->GetName() == string("lag_filter")) {
64 } else if (element->GetName() == string("lead_lag_filter")) {
65 Type = "LEAD_LAG_FILTER";
66 } else if (element->GetName() == string("washout_filter")) {
67 Type = "WASHOUT_FILTER";
68 } else if (element->GetName() == string("second_order_filter")) {
69 Type = "SECOND_ORDER_FILTER";
70 } else if (element->GetName() == string("integrator")) {
72 } else if (element->GetName() == string("summer")) {
74 } else if (element->GetName() == string("pure_gain")) {
76 } else if (element->GetName() == string("scheduled_gain")) {
77 Type = "SCHEDULED_GAIN";
78 } else if (element->GetName() == string("aerosurface_scale")) {
79 Type = "AEROSURFACE_SCALE";
80 } else if (element->GetName() == string("switch")) {
82 } else if (element->GetName() == string("kinematic")) {
84 } else if (element->GetName() == string("deadband")) {
86 } else if (element->GetName() == string("fcs_function")) {
87 Type = "FCS_FUNCTION";
88 } else if (element->GetName() == string("pid")) {
90 } else if (element->GetName() == string("sensor")) {
92 } else if (element->GetName() == string("actuator")) {
94 } else { // illegal component in this channel
98 Name = element->GetAttributeValue("name");
100 FGPropertyManager *tmp=0;
102 input_element = element->FindElement("input");
103 while (input_element) {
104 input = input_element->GetDataLine();
105 if (input[0] == '-') {
106 InputSigns.push_back(-1.0);
109 InputSigns.push_back( 1.0);
111 tmp = PropertyManager->GetNode(input);
113 InputNodes.push_back( tmp );
115 cerr << fgred << " In component: " << Name << " unknown property "
116 << input << " referenced. Aborting" << reset << endl;
119 input_element = element->FindNextElement("input");
122 if (element->FindElement("output")) {
124 OutputNode = PropertyManager->GetNode( element->FindElementValue("output"), true );
126 cerr << endl << " Unable to process property: " << element->FindElementValue("output") << endl;
127 throw(string("Invalid output property name in flight control definition"));
131 clip_el = element->FindElement("clipto");
133 clip_string = clip_el->FindElementValue("min");
134 if (clip_string.find_first_not_of("+-.0123456789") != string::npos) { // it's a property
135 if (clip_string[0] == '-') {
137 clip_string.erase(0,1);
139 ClipMinPropertyNode = PropertyManager->GetNode( clip_string );
141 clipmin = clip_el->FindElementValueAsNumber("min");
143 clip_string = clip_el->FindElementValue("max");
144 if (clip_string.find_first_not_of("+-.0123456789") != string::npos) { // it's a property
145 if (clip_string[0] == '-') {
147 clip_string.erase(0,1);
149 ClipMaxPropertyNode = PropertyManager->GetNode( clip_string );
151 clipmax = clip_el->FindElementValueAsNumber("max");
159 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
161 FGFCSComponent::~FGFCSComponent()
166 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
168 void FGFCSComponent::SetOutput(void)
170 OutputNode->setDoubleValue(Output);
173 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
175 bool FGFCSComponent::Run(void)
180 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
182 void FGFCSComponent::Clip(void)
185 if (ClipMinPropertyNode != 0) clipmin = clipMinSign*ClipMinPropertyNode->getDoubleValue();
186 if (ClipMaxPropertyNode != 0) clipmax = clipMaxSign*ClipMaxPropertyNode->getDoubleValue();
187 if (Output > clipmax) Output = clipmax;
188 else if (Output < clipmin) Output = clipmin;
192 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
194 // The old way of naming FCS components allowed upper or lower case, spaces, etc.
195 // but then the names were modified to fit into a property name heirarchy. This
196 // was confusing (it wasn't done intentionally - it was a carryover from the early
197 // design). We now support the direct naming of properties in the FCS component
198 // name attribute. The old way is supported in code at this time, but deprecated.
200 void FGFCSComponent::bind(void)
203 if (Name.find("/") == string::npos) {
204 tmp = "fcs/" + PropertyManager->mkPropertyName(Name, true);
208 PropertyManager->Tie( tmp, this, &FGFCSComponent::GetOutput);
211 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
212 // The bitmasked value choices are as follows:
213 // unset: In this case (the default) JSBSim would only print
214 // out the normally expected messages, essentially echoing
215 // the config files as they are read. If the environment
216 // variable is not set, debug_lvl is set to 1 internally
217 // 0: This requests JSBSim not to output any messages
219 // 1: This value explicity requests the normal JSBSim
221 // 2: This value asks for a message to be printed out when
222 // a class is instantiated
223 // 4: When this value is set, a message is displayed when a
224 // FGModel object executes its Run() method
225 // 8: When this value is set, various runtime state variables
226 // are printed out periodically
227 // 16: When set various parameters are sanity checked and
228 // a message is printed out when they go out of bounds
230 void FGFCSComponent::Debug(int from)
234 if (debug_lvl <= 0) return;
236 if (debug_lvl & 1) { // Standard console startup message output
238 cout << endl << " Loading Component \"" << Name
239 << "\" of type: " << Type << endl;
242 if (ClipMinPropertyNode != 0L) {
243 if (clipMinSign < 0.0) propsign="-";
244 cout << " Minimum limit: " << propsign << ClipMinPropertyNode->GetName() << endl;
247 cout << " Minimum limit: " << clipmin << endl;
249 if (ClipMaxPropertyNode != 0L) {
250 if (clipMaxSign < 0.0) propsign="-";
251 cout << " Maximum limit: " << propsign << ClipMaxPropertyNode->GetName() << endl;
254 cout << " Maximum limit: " << clipmax << endl;
259 if (debug_lvl & 2 ) { // Instantiation/Destruction notification
260 if (from == 0) cout << "Instantiated: FGFCSComponent" << endl;
261 if (from == 1) cout << "Destroyed: FGFCSComponent" << endl;
263 if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
265 if (debug_lvl & 8 ) { // Runtime state variables
267 if (debug_lvl & 16) { // Sanity checking
269 if (debug_lvl & 64) {
270 if (from == 0) { // Constructor
271 cout << IdSrc << endl;
272 cout << IdHdr << endl;