Merge branch 'next' of http://git.gitorious.org/fg/flightgear into next

[flightgear.git] / src / FDM / JSBSim / models / FGFCS.cpp

diff --git a/src/FDM/JSBSim/models/FGFCS.cpp b/src/FDM/JSBSim/models/FGFCS.cpp
index aaca68478d4639e0cf439d5ced5e23cc9355542b..a3b7e91bc5e3ba65bcb1c90e242b29f459b0138c 100644 (file)
--- a/src/FDM/JSBSim/models/FGFCS.cpp
+++ b/src/FDM/JSBSim/models/FGFCS.cpp
@@ -39,6 +39,7 @@ INCLUDES
 
 #include "FGFCS.h"
 #include "FGFDMExec.h"
+#include "FGGroundReactions.h"
 #include "input_output/FGPropertyManager.h"
 #include <fstream>
 #include <sstream>
@@ -58,9 +59,11 @@ INCLUDES
 #include "models/flight_control/FGMagnetometer.h"
 #include "models/flight_control/FGGyro.h"
 
+using namespace std;
+
 namespace JSBSim {
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGFCS.cpp,v 1.73 2011/04/05 20:20:21 andgi Exp $";
 static const char *IdHdr = ID_FCS;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -179,7 +182,7 @@ bool FGFCS::InitModel(void)
 
   return true;
 }
-  
+
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 // Notes: In this logic the default engine commands are set. This is simply a
 // sort of safe-mode method in case the user has not defined control laws for
@@ -195,6 +198,8 @@ bool FGFCS::Run(void)
   if (FGModel::Run()) return true; // fast exit if nothing to do
   if (FDMExec->Holding()) return false;
 
+  RunPreFunctions();
+
   for (i=0; i<ThrottlePos.size(); i++) ThrottlePos[i] = ThrottleCmd[i];
   for (i=0; i<MixturePos.size(); i++) MixturePos[i] = MixtureCmd[i];
   for (i=0; i<PropAdvance.size(); i++) PropAdvance[i] = PropAdvanceCmd[i];
@@ -202,7 +207,7 @@ bool FGFCS::Run(void)
 
   // Set the default steering angle
   for (i=0; i<SteerPosDeg.size(); i++) {
-    FGLGear* gear = GroundReactions->GetGearUnit(i);
+    FGLGear* gear = FDMExec->GetGroundReactions()->GetGearUnit(i);
     SteerPosDeg[i] = gear->GetDefaultSteerAngle( GetDsCmd() );
   }
 
@@ -215,6 +220,8 @@ bool FGFCS::Run(void)
   // Execute Flight Control System
   for (i=0; i<FCSComponents.size(); i++) FCSComponents[i]->Run();
 
+  RunPostFunctions();
+
   return false;
 }
 
@@ -526,19 +533,17 @@ bool FGFCS::Load(Element* el, SystemType systype)
 
   Components=0;
 
-  string separator = "/";
-
 // ToDo: The handling of name and file attributes could be improved, here,
 //       considering that a name can be in the external file, as well.
 
   name = el->GetAttributeValue("name");
 
-  if (name.empty()) {
+  if (name.empty() || !el->GetAttributeValue("file").empty()) {
     fname = el->GetAttributeValue("file");
     if (systype == stSystem) {
       file = FindSystemFullPathname(fname);
     } else { 
-      file = FDMExec->GetFullAircraftPath() + separator + fname + ".xml";
+      file = FDMExec->GetFullAircraftPath() + "/" + fname + ".xml";
     }
     if (fname.empty()) {
       cerr << "FCS, Autopilot, or system does not appear to be defined inline nor in a file" << endl;
@@ -685,49 +690,55 @@ double FGFCS::GetBrake(FGLGear::BrakeGroup bg)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-string FGFCS::FindSystemFullPathname(string system_filename)
+string FGFCS::FindSystemFullPathname(const string& sysfilename)
 {
   string fullpath, localpath;
+  string system_filename = sysfilename;
   string systemPath = FDMExec->GetSystemsPath();
   string aircraftPath = FDMExec->GetFullAircraftPath();
   ifstream system_file;
 
-  string separator = "/";
+  fullpath = systemPath + "/";
+  localpath = aircraftPath + "/Systems/";
 
-  fullpath = systemPath + separator;
-  localpath = aircraftPath + separator + "Systems" + separator;
+  if (system_filename.length() <=4 || system_filename.substr(system_filename.length()-4, 4) != ".xml") {
+    system_filename.append(".xml");
+  }
 
-  system_file.open(string(fullpath + system_filename + ".xml").c_str());
+  system_file.open(string(localpath + system_filename).c_str());
   if ( !system_file.is_open()) {
-    system_file.open(string(localpath + system_filename + ".xml").c_str());
+    system_file.open(string(fullpath + system_filename).c_str());
       if ( !system_file.is_open()) {
         cerr << " Could not open system file: " << system_filename << " in path "
              << fullpath << " or " << localpath << endl;
         return string("");
       } else {
-        return string(localpath + system_filename + ".xml");
+        return string(fullpath + system_filename);
       }
   }
-  return string(fullpath + system_filename + ".xml");
+  return string(localpath + system_filename);
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-ifstream* FGFCS::FindSystemFile(string system_filename)
+ifstream* FGFCS::FindSystemFile(const string& sysfilename)
 {
   string fullpath, localpath;
+  string system_filename = sysfilename;
   string systemPath = FDMExec->GetSystemsPath();
   string aircraftPath = FDMExec->GetFullAircraftPath();
   ifstream* system_file = new ifstream();
 
-  string separator = "/";
+  fullpath = systemPath + "/";
+  localpath = aircraftPath + "/Systems/";
 
-  fullpath = systemPath + separator;
-  localpath = aircraftPath + separator + "Systems" + separator;
+  if (system_filename.substr(system_filename.length()-4, 4) != ".xml") {
+    system_filename.append(".xml");
+  }
 
-  system_file->open(string(fullpath + system_filename + ".xml").c_str());
+  system_file->open(string(localpath + system_filename).c_str());
   if ( !system_file->is_open()) {
-    system_file->open(string(localpath + system_filename + ".xml").c_str());
+    system_file->open(string(fullpath + system_filename).c_str());
       if ( !system_file->is_open()) {
         cerr << " Could not open system file: " << system_filename << " in path "
              << fullpath << " or " << localpath << endl;
@@ -738,7 +749,7 @@ ifstream* FGFCS::FindSystemFile(string system_filename)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-string FGFCS::GetComponentStrings(string delimeter)
+string FGFCS::GetComponentStrings(const string& delimiter) const
 {
   unsigned int comp;
   string CompStrings = "";
@@ -747,7 +758,7 @@ string FGFCS::GetComponentStrings(string delimeter)
 
   for (unsigned int i=0; i<Systems.size(); i++) {
     if (firstime) firstime = false;
-    else          CompStrings += delimeter;
+    else          CompStrings += delimiter;
 
     CompStrings += Systems[i]->GetName();
     total_count++;
@@ -756,7 +767,7 @@ string FGFCS::GetComponentStrings(string delimeter)
   for (comp = 0; comp < APComponents.size(); comp++)
   {
     if (firstime) firstime = false;
-    else          CompStrings += delimeter;
+    else          CompStrings += delimiter;
 
     CompStrings += APComponents[comp]->GetName();
     total_count++;
@@ -764,7 +775,7 @@ string FGFCS::GetComponentStrings(string delimeter)
 
   for (comp = 0; comp < FCSComponents.size(); comp++) {
     if (firstime) firstime = false;
-    else          CompStrings += delimeter;
+    else          CompStrings += delimiter;
 
     CompStrings += FCSComponents[comp]->GetName();
     total_count++;
@@ -775,7 +786,7 @@ string FGFCS::GetComponentStrings(string delimeter)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-string FGFCS::GetComponentValues(string delimeter)
+string FGFCS::GetComponentValues(const string& delimiter) const
 {
   std::ostringstream buf;
 
@@ -785,7 +796,7 @@ string FGFCS::GetComponentValues(string delimeter)
 
   for (unsigned int i=0; i<Systems.size(); i++) {
     if (firstime) firstime = false;
-    else          buf << delimeter;
+    else          buf << delimiter;
 
     buf << setprecision(9) << Systems[i]->GetOutput();
     total_count++;
@@ -793,7 +804,7 @@ string FGFCS::GetComponentValues(string delimeter)
 
   for (comp = 0; comp < APComponents.size(); comp++) {
     if (firstime) firstime = false;
-    else          buf << delimeter;
+    else          buf << delimiter;
 
     buf << setprecision(9) << APComponents[comp]->GetOutput();
     total_count++;
@@ -801,7 +812,7 @@ string FGFCS::GetComponentValues(string delimeter)
 
   for (comp = 0; comp < FCSComponents.size(); comp++) {
     if (firstime) firstime = false;
-    else          buf << delimeter;
+    else          buf << delimiter;
 
     buf << setprecision(9) << FCSComponents[comp]->GetOutput();
     total_count++;
@@ -942,7 +953,7 @@ void FGFCS::bindModel(void)
   string tmp;
 
   for (i=0; i<SteerPosDeg.size(); i++) {
-    if (GroundReactions->GetGearUnit(i)->GetSteerable()) {
+    if (FDMExec->GetGroundReactions()->GetGearUnit(i)->GetSteerable()) {
       tmp = CreateIndexedPropertyName("fcs/steer-pos-deg", i);
       PropertyManager->Tie( tmp.c_str(), this, i, &FGFCS::GetSteerPosDeg, &FGFCS::SetSteerPosDeg);
     }