# include <config.h>
#endif
+#include "autopilot.hxx"
+
+#include <simgear/structure/StateMachine.hxx>
+#include <simgear/sg_inlines.h>
+
+#include "component.hxx"
#include "functor.hxx"
#include "predictor.hxx"
#include "digitalfilter.hxx"
#include "pisimplecontroller.hxx"
#include "pidcontroller.hxx"
-#include "autopilot.hxx"
#include "logic.hxx"
#include "flipflop.hxx"
using namespace FGXMLAutopilot;
+class StateMachineComponent : public Component
+{
+public:
+ StateMachineComponent(SGPropertyNode_ptr config)
+ {
+ inner = simgear::StateMachine::createFromPlist(config, globals->get_props());
+ }
+
+ virtual bool configure( const std::string & nodeName, SGPropertyNode_ptr config)
+ {
+ return false;
+ }
+
+ virtual void update( bool firstTime, double dt )
+ {
+ SG_UNUSED(firstTime);
+ inner->update(dt);
+ }
+
+private:
+ simgear::StateMachine_ptr inner;
+};
+
+class StateMachineFunctor : public FunctorBase<Component>
+{
+public:
+ virtual ~StateMachineFunctor() {}
+ virtual Component* operator()( SGPropertyNode_ptr configNode )
+ {
+ return new StateMachineComponent(configNode);
+ }
+};
+
+
+class ComponentForge : public map<string,FunctorBase<Component> *> {
+public:
+ virtual ~ ComponentForge();
+};
+
+ComponentForge::~ComponentForge()
+{
+ for( iterator it = begin(); it != end(); ++it )
+ delete it->second;
+}
+
+static ComponentForge componentForge;
+
Autopilot::Autopilot( SGPropertyNode_ptr rootNode, SGPropertyNode_ptr configNode ) :
_name("unnamed autopilot"),
_serviceable(true),
_rootNode(rootNode)
{
- map<string,FunctorBase<Component> *> componentForge;
- componentForge["pid-controller"] = new CreateAndConfigureFunctor<PIDController,Component>();
- componentForge["pi-simple-controller"] = new CreateAndConfigureFunctor<PISimpleController,Component>();
- componentForge["predict-simple"] = new CreateAndConfigureFunctor<Predictor,Component>();
- componentForge["filter"] = new CreateAndConfigureFunctor<DigitalFilter,Component>();
- componentForge["logic"] = new CreateAndConfigureFunctor<Logic,Component>();
- componentForge["flipflop"] = new CreateAndConfigureFunctor<FlipFlop,Component>();
+ if (componentForge.empty())
+ {
+ componentForge["pid-controller"] = new CreateAndConfigureFunctor<PIDController,Component>();
+ componentForge["pi-simple-controller"] = new CreateAndConfigureFunctor<PISimpleController,Component>();
+ componentForge["predict-simple"] = new CreateAndConfigureFunctor<Predictor,Component>();
+ componentForge["filter"] = new CreateAndConfigureFunctor<DigitalFilter,Component>();
+ componentForge["logic"] = new CreateAndConfigureFunctor<Logic,Component>();
+ componentForge["flipflop"] = new CreateAndConfigureFunctor<FlipFlop,Component>();
+ componentForge["state-machine"] = new StateMachineFunctor();
+ }
if( configNode == NULL ) configNode = rootNode;
component->set_name( buf.str() );
}
- SG_LOG( SG_AUTOPILOT, SG_INFO, "adding autopilot component \"" << childName << "\" as \"" << component->get_name() << "\"" );
- add_component(component);
+ double updateInterval = node->getDoubleValue( "update-interval-secs", 0.0 );
+
+ SG_LOG( SG_AUTOPILOT, SG_DEBUG, "adding autopilot component \"" << childName << "\" as \"" << component->get_name() << "\" with interval=" << updateInterval );
+ add_component(component,updateInterval);
}
}
_rootNode->untie( "serviceable" );
}
-void Autopilot::add_component( Component * component )
+void Autopilot::add_component( Component * component, double updateInterval )
{
if( component == NULL ) return;
if( name != component->get_name() )
SG_LOG( SG_ALL, SG_WARN, "Duplicate autopilot component " << component->get_name() << ", renamed to " << name );
- set_subsystem( name.c_str(), component );
+ set_subsystem( name.c_str(), component, updateInterval );
}
void Autopilot::update( double dt )