using std::cout;
using std::endl;
+FGXMLAutoInput::FGXMLAutoInput( SGPropertyNode_ptr node, double value, double offset, double scale) :
+ value(0.0),
+ abs(false),
+ property(NULL),
+ offset(NULL),
+ scale(NULL),
+ min(NULL),
+ max(NULL),
+ _condition(NULL)
+{
+ parse( node, value, offset, scale );
+}
+
+
void FGXMLAutoInput::parse( SGPropertyNode_ptr node, double aValue, double aOffset, double aScale )
{
value = aValue;
return abs ? fabs(value) : value;
}
-FGXMLAutoComponent::FGXMLAutoComponent( SGPropertyNode * node ) :
- debug(false),
- name(""),
+FGXMLAutoComponent::FGXMLAutoComponent() :
+ _condition( NULL ),
enable_prop( NULL ),
- passive_mode( fgGetNode("/autopilot/locks/passive-mode", true) ),
enable_value( NULL ),
+ passive_mode( fgGetNode("/autopilot/locks/passive-mode", true) ),
honor_passive( false ),
- enabled( false ),
- _condition( NULL ),
- feedback_if_disabled( false )
+ name(""),
+ feedback_if_disabled( false ),
+ debug(false),
+ enabled( false )
{
- int i;
- SGPropertyNode *prop;
-
- for ( i = 0; i < node->nChildren(); ++i ) {
- SGPropertyNode *child = node->getChild(i);
- string cname = child->getName();
- string cval = child->getStringValue();
- if ( cname == "name" ) {
- name = cval;
-
- } else if ( cname == "feedback-if-disabled" ) {
- feedback_if_disabled = child->getBoolValue();
-
- } else if ( cname == "debug" ) {
- debug = child->getBoolValue();
-
- } else if ( cname == "enable" ) {
- if( (prop = child->getChild("condition")) != NULL ) {
- _condition = sgReadCondition(child, prop);
- } else {
- if ( (prop = child->getChild( "prop" )) != NULL ) {
- enable_prop = fgGetNode( prop->getStringValue(), true );
- }
-
- if ( (prop = child->getChild( "value" )) != NULL ) {
- delete enable_value;
- enable_value = new string(prop->getStringValue());
- }
- }
- if ( (prop = child->getChild( "honor-passive" )) != NULL ) {
- honor_passive = prop->getBoolValue();
- }
-
- } else if ( cname == "input" ) {
-
- valueInput.push_back( new FGXMLAutoInput( child ) );
-
- } else if ( cname == "reference" ) {
+}
- referenceInput.push_back( new FGXMLAutoInput( child ) );
+FGXMLAutoComponent::~FGXMLAutoComponent()
+{
+ delete enable_value;
+}
- } else if ( cname == "output" ) {
- // grab all <prop> and <property> childs
- int found = 0;
- // backwards compatibility: allow <prop> elements
- for( int i = 0; (prop = child->getChild("prop", i)) != NULL; i++ ) {
- SGPropertyNode *tmp = fgGetNode( prop->getStringValue(), true );
- output_list.push_back( tmp );
- found++;
- }
- for( int i = 0; (prop = child->getChild("property", i)) != NULL; i++ ) {
- SGPropertyNode *tmp = fgGetNode( prop->getStringValue(), true );
- output_list.push_back( tmp );
- found++;
- }
+void FGXMLAutoComponent::parseNode(SGPropertyNode* aNode)
+{
+ SGPropertyNode *prop;
+ for (int i = 0; i < aNode->nChildren(); ++i ) {
+ SGPropertyNode *child = aNode->getChild(i);
+ string cname(child->getName());
+
+ if (parseNodeHook(cname, child)) {
+ // derived class handled it, fine
+ } else if ( cname == "name" ) {
+ name = child->getStringValue();
+ } else if ( cname == "feedback-if-disabled" ) {
+ feedback_if_disabled = child->getBoolValue();
+ } else if ( cname == "debug" ) {
+ debug = child->getBoolValue();
+ } else if ( cname == "enable" ) {
+ if( (prop = child->getChild("condition")) != NULL ) {
+ _condition = sgReadCondition(child, prop);
+ } else {
+ if ( (prop = child->getChild( "prop" )) != NULL ) {
+ enable_prop = fgGetNode( prop->getStringValue(), true );
+ }
+
+ if ( (prop = child->getChild( "value" )) != NULL ) {
+ delete enable_value;
+ enable_value = new string(prop->getStringValue());
+ }
+ }
+ if ( (prop = child->getChild( "honor-passive" )) != NULL ) {
+ honor_passive = prop->getBoolValue();
+ }
+ } else if ( cname == "input" ) {
+ valueInput.push_back( new FGXMLAutoInput( child ) );
+ } else if ( cname == "reference" ) {
+ referenceInput.push_back( new FGXMLAutoInput( child ) );
+ } else if ( cname == "output" ) {
+ // grab all <prop> and <property> childs
+ int found = 0;
+ // backwards compatibility: allow <prop> elements
+ for( int i = 0; (prop = child->getChild("prop", i)) != NULL; i++ ) {
+ SGPropertyNode *tmp = fgGetNode( prop->getStringValue(), true );
+ output_list.push_back( tmp );
+ found++;
+ }
+ for( int i = 0; (prop = child->getChild("property", i)) != NULL; i++ ) {
+ SGPropertyNode *tmp = fgGetNode( prop->getStringValue(), true );
+ output_list.push_back( tmp );
+ found++;
+ }
+
+ // no <prop> elements, text node of <output> is property name
+ if( found == 0 )
+ output_list.push_back( fgGetNode(child->getStringValue(), true ) );
+ } else if ( cname == "config" ) {
+ parseConfig(child);
+ } else if ( cname == "min" ) {
+ uminInput.push_back( new FGXMLAutoInput( child ) );
+ } else if ( cname == "u_min" ) {
+ uminInput.push_back( new FGXMLAutoInput( child ) );
+ } else if ( cname == "max" ) {
+ umaxInput.push_back( new FGXMLAutoInput( child ) );
+ } else if ( cname == "u_max" ) {
+ umaxInput.push_back( new FGXMLAutoInput( child ) );
+ } else {
+ SG_LOG(SG_AUTOPILOT, SG_ALERT, "malformed autopilot definition - unrecognized node:"
+ << cname << " in section " << name);
+ throw sg_io_exception("XMLAuto: unrecognized component node:" + cname, "Section=" + name);
+ }
+ } // of top-level iteration
+}
- // no <prop> elements, text node of <output> is property name
- if( found == 0 )
- output_list.push_back( fgGetNode(child->getStringValue(), true ) );
+void FGXMLAutoComponent::parseConfig(SGPropertyNode* aConfig)
+{
+ for (int i = 0; i < aConfig->nChildren(); ++i ) {
+ SGPropertyNode *child = aConfig->getChild(i);
+ string cname(child->getName());
+
+ if (parseConfigHook(cname, child)) {
+ // derived class handled it, fine
+ } else if ( cname == "min" ) {
+ uminInput.push_back( new FGXMLAutoInput( child ) );
+ } else if ( cname == "u_min" ) {
+ uminInput.push_back( new FGXMLAutoInput( child ) );
+ } else if ( cname == "max" ) {
+ umaxInput.push_back( new FGXMLAutoInput( child ) );
+ } else if ( cname == "u_max" ) {
+ umaxInput.push_back( new FGXMLAutoInput( child ) );
+ } else {
+ SG_LOG(SG_AUTOPILOT, SG_ALERT, "malformed autopilot definition - unrecognized config node:"
+ << cname << " in section " << name);
+ throw sg_io_exception("XMLAuto: unrecognized config node:" + cname, "Section=" + name);
+ }
+ } // of config iteration
+}
- } else if ( cname == "config" ) {
- if( (prop = child->getChild("min")) != NULL ) {
- uminInput.push_back( new FGXMLAutoInput( prop ) );
- }
- if( (prop = child->getChild("u_min")) != NULL ) {
- uminInput.push_back( new FGXMLAutoInput( prop ) );
- }
- if( (prop = child->getChild("max")) != NULL ) {
- umaxInput.push_back( new FGXMLAutoInput( prop ) );
- }
- if( (prop = child->getChild("u_max")) != NULL ) {
- umaxInput.push_back( new FGXMLAutoInput( prop ) );
- }
- } else if ( cname == "min" ) {
- uminInput.push_back( new FGXMLAutoInput( child ) );
- } else if ( cname == "u_min" ) {
- uminInput.push_back( new FGXMLAutoInput( child ) );
- } else if ( cname == "max" ) {
- umaxInput.push_back( new FGXMLAutoInput( child ) );
- } else if ( cname == "u_max" ) {
- umaxInput.push_back( new FGXMLAutoInput( child ) );
- }
- }
+bool FGXMLAutoComponent::parseNodeHook(const string& aName, SGPropertyNode* aNode)
+{
+ return false;
}
-FGXMLAutoComponent::~FGXMLAutoComponent()
+bool FGXMLAutoComponent::parseConfigHook(const string& aName, SGPropertyNode* aNode)
{
- delete enable_value;
+ return false;
}
bool FGXMLAutoComponent::isPropertyEnabled()
}
FGPIDController::FGPIDController( SGPropertyNode *node ):
- FGXMLAutoComponent( node ),
+ FGXMLAutoComponent(),
alpha( 0.1 ),
beta( 1.0 ),
gamma( 0.0 ),
desiredTs( 0.0 ),
elapsedTime( 0.0 )
{
- int i;
- for ( i = 0; i < node->nChildren(); ++i ) {
- SGPropertyNode *child = node->getChild(i);
- string cname = child->getName();
- string cval = child->getStringValue();
- if ( cname == "config" ) {
- SGPropertyNode *config;
-
- if ( (config = child->getChild( "Ts" )) != NULL ) {
- desiredTs = config->getDoubleValue();
- }
-
- Kp.push_back( new FGXMLAutoInput( child->getChild( "Kp" ) ) );
- Ti.push_back( new FGXMLAutoInput( child->getChild( "Ti" ) ) );
- Td.push_back( new FGXMLAutoInput( child->getChild( "Td" ) ) );
-
- config = child->getChild( "beta" );
- if ( config != NULL ) {
- beta = config->getDoubleValue();
- }
-
- config = child->getChild( "alpha" );
- if ( config != NULL ) {
- alpha = config->getDoubleValue();
- }
-
- config = child->getChild( "gamma" );
- if ( config != NULL ) {
- gamma = config->getDoubleValue();
- }
-
- } else {
- SG_LOG( SG_AUTOPILOT, SG_WARN, "Error in autopilot config logic" );
- if ( get_name().length() ) {
- SG_LOG( SG_AUTOPILOT, SG_WARN, "Section = " << get_name() );
- }
- }
- }
+ parseNode(node);
}
+bool FGPIDController::parseConfigHook(const string& aName, SGPropertyNode* aNode)
+{
+ if (aName == "Ts") {
+ desiredTs = aNode->getDoubleValue();
+ } else if (aName == "Kp") {
+ Kp.push_back( new FGXMLAutoInput(aNode) );
+ } else if (aName == "Ti") {
+ Ti.push_back( new FGXMLAutoInput(aNode) );
+ } else if (aName == "Td") {
+ Td.push_back( new FGXMLAutoInput(aNode) );
+ } else if (aName == "beta") {
+ beta = aNode->getDoubleValue();
+ } else if (aName == "alpha") {
+ alpha = aNode->getDoubleValue();
+ } else if (aName == "gamma") {
+ gamma = aNode->getDoubleValue();
+ } else {
+ // unhandled by us, let the base class try it
+ return false;
+ }
+
+ return true;
+}
/*
* Roy Vegard Ovesen:
FGPISimpleController::FGPISimpleController( SGPropertyNode *node ):
- FGXMLAutoComponent( node ),
+ FGXMLAutoComponent(),
int_sum( 0.0 )
{
- int i;
- for ( i = 0; i < node->nChildren(); ++i ) {
- SGPropertyNode *child = node->getChild(i);
- string cname = child->getName();
- string cval = child->getStringValue();
- if ( cname == "config" ) {
- Kp.push_back( new FGXMLAutoInput( child->getChild( "Kp" ) ) );
- Ki.push_back( new FGXMLAutoInput( child->getChild( "Ki" ) ) );
- } else {
- SG_LOG( SG_AUTOPILOT, SG_WARN, "Error in autopilot config logic" );
- if ( get_name().length() ) {
- SG_LOG( SG_AUTOPILOT, SG_WARN, "Section = " << get_name() );
- }
- }
- }
+ parseNode(node);
}
+bool FGPISimpleController::parseConfigHook(const string& aName, SGPropertyNode* aNode)
+{
+ if (aName == "Kp") {
+ Kp.push_back( new FGXMLAutoInput(aNode) );
+ } else if (aName == "Ki") {
+ Ki.push_back( new FGXMLAutoInput(aNode) );
+ } else {
+ // unhandled by us, let the base class try it
+ return false;
+ }
+
+ return true;
+}
void FGPISimpleController::update( double dt ) {
FGPredictor::FGPredictor ( SGPropertyNode *node ):
- FGXMLAutoComponent( node )
+ FGXMLAutoComponent(),
+ average(0.0)
{
- int i;
- for ( i = 0; i < node->nChildren(); ++i ) {
- SGPropertyNode *child = node->getChild(i);
- string cname = child->getName();
- if ( cname == "seconds" ) {
- seconds.push_back( new FGXMLAutoInput( child, 0 ) );
- } else if ( cname == "filter-gain" ) {
- filter_gain.push_back( new FGXMLAutoInput( child, 0 ) );
- }
- }
+ parseNode(node);
+}
+
+bool FGPredictor::parseNodeHook(const string& aName, SGPropertyNode* aNode)
+{
+ if (aName == "seconds") {
+ seconds.push_back( new FGXMLAutoInput( aNode, 0 ) );
+ } else if (aName == "filter-gain") {
+ filter_gain.push_back( new FGXMLAutoInput( aNode, 0 ) );
+ } else {
+ return false;
+ }
+
+ return true;
}
void FGPredictor::update( double dt ) {
if ( dt > 0.0 ) {
double current = (ivalue - last_value)/dt; // calculate current error change (per second)
- double average = dt < 1.0 ? ((1.0 - dt) * average + current * dt) : current;
+ average = dt < 1.0 ? ((1.0 - dt) * average + current * dt) : current;
// calculate output with filter gain adjustment
double output = ivalue +
FGDigitalFilter::FGDigitalFilter(SGPropertyNode *node):
- FGXMLAutoComponent( node ),
+ FGXMLAutoComponent(),
filterType(none)
{
- int i;
- for ( i = 0; i < node->nChildren(); ++i ) {
- SGPropertyNode *child = node->getChild(i);
- string cname = child->getName();
- string cval = child->getStringValue();
- if ( cname == "type" ) {
- if ( cval == "exponential" ) {
- filterType = exponential;
- } else if (cval == "double-exponential") {
- filterType = doubleExponential;
- } else if (cval == "moving-average") {
- filterType = movingAverage;
- } else if (cval == "noise-spike") {
- filterType = noiseSpike;
- } else if (cval == "gain") {
- filterType = gain;
- } else if (cval == "reciprocal") {
- filterType = reciprocal;
- }
- } else if ( cname == "filter-time" ) {
- TfInput.push_back( new FGXMLAutoInput( child, 1.0 ) );
- if( filterType == none ) filterType = exponential;
- } else if ( cname == "samples" ) {
- samplesInput.push_back( new FGXMLAutoInput( child, 1 ) );
- if( filterType == none ) filterType = movingAverage;
- } else if ( cname == "max-rate-of-change" ) {
- rateOfChangeInput.push_back( new FGXMLAutoInput( child, 1 ) );
- if( filterType == none ) filterType = noiseSpike;
- } else if ( cname == "gain" ) {
- gainInput.push_back( new FGXMLAutoInput( child, 1 ) );
- if( filterType == none ) filterType = gain;
- }
- }
+ parseNode(node);
output.resize(2, 0.0);
input.resize(samplesInput.get_value() + 1, 0.0);
}
+
+bool FGDigitalFilter::parseNodeHook(const string& aName, SGPropertyNode* aNode)
+{
+ if (aName == "type" ) {
+ string val(aNode->getStringValue());
+ if ( val == "exponential" ) {
+ filterType = exponential;
+ } else if (val == "double-exponential") {
+ filterType = doubleExponential;
+ } else if (val == "moving-average") {
+ filterType = movingAverage;
+ } else if (val == "noise-spike") {
+ filterType = noiseSpike;
+ } else if (val == "gain") {
+ filterType = gain;
+ } else if (val == "reciprocal") {
+ filterType = reciprocal;
+ }
+ } else if (aName == "filter-time" ) {
+ TfInput.push_back( new FGXMLAutoInput( aNode, 1.0 ) );
+ if( filterType == none ) filterType = exponential;
+ } else if (aName == "samples" ) {
+ samplesInput.push_back( new FGXMLAutoInput( aNode, 1 ) );
+ if( filterType == none ) filterType = movingAverage;
+ } else if (aName == "max-rate-of-change" ) {
+ rateOfChangeInput.push_back( new FGXMLAutoInput( aNode, 1 ) );
+ if( filterType == none ) filterType = noiseSpike;
+ } else if (aName == "gain" ) {
+ gainInput.push_back( new FGXMLAutoInput( aNode, 1 ) );
+ if( filterType == none ) filterType = gain;
+ } else {
+ return false; // not handled by us, let the base class try
+ }
+
+ return true;
+}
+
void FGDigitalFilter::update(double dt)
{
if ( isPropertyEnabled() ) {
" details.");
exit(-1);
}
- } catch (const sg_exception&) {
+ } catch (const sg_exception& e) {
SG_LOG( SG_ALL, SG_ALERT, "Failed to load autopilot configuration: "
- << config.str() );
+ << config.str() << ":" << e.getMessage() );
}
} else {
projects / flightgear.git / blobdiff