Merge branch 'next' of 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 e1b7b9fb42e6a29aa2f790c9d6288bda5cf68798..f5bbba07d885103ff29cb796df7993f3df08bd34 100644 (file)
--- a/src/FDM/JSBSim/models/FGFCS.cpp
+++ b/src/FDM/JSBSim/models/FGFCS.cpp
@@ -38,28 +38,32 @@ INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #include "FGFCS.h"
-#include <FGFDMExec.h>
-#include <input_output/FGPropertyManager.h>
+#include "FGFDMExec.h"
+#include "FGGroundReactions.h"
+#include "input_output/FGPropertyManager.h"
 #include <fstream>
 #include <sstream>
 #include <iomanip>
 
-#include <models/flight_control/FGFilter.h>
-#include <models/flight_control/FGDeadBand.h>
-#include <models/flight_control/FGGain.h>
-#include <models/flight_control/FGPID.h>
-#include <models/flight_control/FGSwitch.h>
-#include <models/flight_control/FGSummer.h>
-#include <models/flight_control/FGKinemat.h>
-#include <models/flight_control/FGFCSFunction.h>
-#include <models/flight_control/FGSensor.h>
-#include <models/flight_control/FGActuator.h>
-#include <models/flight_control/FGAccelerometer.h>
-#include <models/flight_control/FGGyro.h>
+#include "models/flight_control/FGFilter.h"
+#include "models/flight_control/FGDeadBand.h"
+#include "models/flight_control/FGGain.h"
+#include "models/flight_control/FGPID.h"
+#include "models/flight_control/FGSwitch.h"
+#include "models/flight_control/FGSummer.h"
+#include "models/flight_control/FGKinemat.h"
+#include "models/flight_control/FGFCSFunction.h"
+#include "models/flight_control/FGSensor.h"
+#include "models/flight_control/FGActuator.h"
+#include "models/flight_control/FGAccelerometer.h"
+#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 1.68 2010/03/18 13:21:24 jberndt Exp $";
 static const char *IdHdr = ID_FCS;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -194,6 +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];
@@ -214,6 +220,8 @@ bool FGFCS::Run(void)
   // Execute Flight Control System
   for (i=0; i<FCSComponents.size(); i++) FCSComponents[i]->Run();
 
+  RunPostFunctions();
+
   return false;
 }
 
@@ -525,19 +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;
@@ -643,6 +649,8 @@ bool FGFCS::Load(Element* el, SystemType systype)
           Components->push_back(new FGSensor(this, component_element));
         } else if (component_element->GetName() == string("accelerometer")) {
           Components->push_back(new FGAccelerometer(this, component_element));
+        } else if (component_element->GetName() == string("magnetometer")) {
+          Components->push_back(new FGMagnetometer(this, component_element));
         } else if (component_element->GetName() == string("gyro")) {
           Components->push_back(new FGGyro(this, component_element));
         } else {
@@ -682,49 +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(fullpath + system_filename).c_str());
   if ( !system_file.is_open()) {
-    system_file.open(string(localpath + system_filename + ".xml").c_str());
+    system_file.open(string(localpath + 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(localpath + system_filename);
       }
   }
-  return string(fullpath + system_filename + ".xml");
+  return string(fullpath + 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(fullpath + system_filename).c_str());
   if ( !system_file->is_open()) {
-    system_file->open(string(localpath + system_filename + ".xml").c_str());
+    system_file->open(string(localpath + system_filename).c_str());
       if ( !system_file->is_open()) {
         cerr << " Could not open system file: " << system_filename << " in path "
              << fullpath << " or " << localpath << endl;
@@ -735,7 +749,7 @@ ifstream* FGFCS::FindSystemFile(string system_filename)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-string FGFCS::GetComponentStrings(string delimeter)
+string FGFCS::GetComponentStrings(const string& delimiter)
 {
   unsigned int comp;
   string CompStrings = "";
@@ -744,7 +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++;
@@ -753,7 +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++;
@@ -761,7 +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++;
@@ -772,7 +786,7 @@ string FGFCS::GetComponentStrings(string delimeter)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-string FGFCS::GetComponentValues(string delimeter)
+string FGFCS::GetComponentValues(const string& delimiter)
 {
   std::ostringstream buf;
 
@@ -782,7 +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++;
@@ -790,7 +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++;
@@ -798,7 +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++;