using namespace FGXMLAutopilot;
+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>();
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 )