------------- Copyright (C) 2000 -------------
This program is free software; you can redistribute it and/or modify it under
- the terms of the GNU General Public License as published by the Free Software
+ the terms of the GNU Lesser General Public License as published by the Free Software
Foundation; either version 2 of the License, or (at your option) any later
version.
This program is distributed in the hope that it will be useful, but WITHOUT
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
- FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
+ FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
details.
- You should have received a copy of the GNU General Public License along with
+ You should have received a copy of the GNU Lesser General Public License along with
this program; if not, write to the Free Software Foundation, Inc., 59 Temple
Place - Suite 330, Boston, MA 02111-1307, USA.
- Further information about the GNU General Public License can also be found on
+ Further information about the GNU Lesser General Public License can also be found on
the world wide web at http://www.gnu.org.
FUNCTIONAL DESCRIPTION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#include "FGFCSComponent.h"
+#include "input_output/FGPropertyManager.h"
+#include "input_output/FGXMLElement.h"
+#include <iostream>
+#include <cstdlib>
+
+using namespace std;
namespace JSBSim {
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGFCSComponent.cpp,v 1.29 2010/09/07 00:40:03 jberndt Exp $";
static const char *IdHdr = ID_FCSCOMPONENT;
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
{
Element *input_element, *clip_el;
Input = Output = clipmin = clipmax = 0.0;
- OutputNode = treenode = 0;
+ treenode = 0;
+ delay = index = 0;
ClipMinPropertyNode = ClipMaxPropertyNode = 0;
+ clipMinSign = clipMaxSign = 1.0;
IsOutput = clip = false;
string input, clip_string;
+ dt = fcs->GetDt();
PropertyManager = fcs->GetPropertyManager();
- Type = element->GetAttributeValue("type"); // Old, deprecated format
- if (Type.empty()) {
- if (element->GetName() == string("lag_filter")) {
- Type = "LAG_FILTER";
- } else if (element->GetName() == string("lead_lag_filter")) {
- Type = "LEAD_LAG_FILTER";
- } else if (element->GetName() == string("washout_filter")) {
- Type = "WASHOUT_FILTER";
- } else if (element->GetName() == string("second_order_filter")) {
- Type = "SECOND_ORDER_FILTER";
- } else if (element->GetName() == string("integrator")) {
- Type = "INTEGRATOR";
- } else if (element->GetName() == string("summer")) {
- Type = "SUMMER";
- } else if (element->GetName() == string("pure_gain")) {
- Type = "PURE_GAIN";
- } else if (element->GetName() == string("scheduled_gain")) {
- Type = "SCHEDULED_GAIN";
- } else if (element->GetName() == string("aerosurface_scale")) {
- Type = "AEROSURFACE_SCALE";
- } else if (element->GetName() == string("switch")) {
- Type = "SWITCH";
- } else if (element->GetName() == string("kinematic")) {
- Type = "KINEMATIC";
- } else if (element->GetName() == string("deadband")) {
- Type = "DEADBAND";
- } else if (element->GetName() == string("fcs_function")) {
- Type = "FCS_FUNCTION";
- } else if (element->GetName() == string("sensor")) {
- Type = "SENSOR";
- } else { // illegal component in this channel
- Type = "UNKNOWN";
- }
+ if (element->GetName() == string("lag_filter")) {
+ Type = "LAG_FILTER";
+ } else if (element->GetName() == string("lead_lag_filter")) {
+ Type = "LEAD_LAG_FILTER";
+ } else if (element->GetName() == string("washout_filter")) {
+ Type = "WASHOUT_FILTER";
+ } else if (element->GetName() == string("second_order_filter")) {
+ Type = "SECOND_ORDER_FILTER";
+ } else if (element->GetName() == string("integrator")) {
+ Type = "INTEGRATOR";
+ } else if (element->GetName() == string("summer")) {
+ Type = "SUMMER";
+ } else if (element->GetName() == string("pure_gain")) {
+ Type = "PURE_GAIN";
+ } else if (element->GetName() == string("scheduled_gain")) {
+ Type = "SCHEDULED_GAIN";
+ } else if (element->GetName() == string("aerosurface_scale")) {
+ Type = "AEROSURFACE_SCALE";
+ } else if (element->GetName() == string("switch")) {
+ Type = "SWITCH";
+ } else if (element->GetName() == string("kinematic")) {
+ Type = "KINEMATIC";
+ } else if (element->GetName() == string("deadband")) {
+ Type = "DEADBAND";
+ } else if (element->GetName() == string("fcs_function")) {
+ Type = "FCS_FUNCTION";
+ } else if (element->GetName() == string("pid")) {
+ Type = "PID";
+ } else if (element->GetName() == string("sensor")) {
+ Type = "SENSOR";
+ } else if (element->GetName() == string("accelerometer")) {
+ Type = "ACCELEROMETER";
+ } else if (element->GetName() == string("magnetometer")) {
+ Type = "MAGNETOMETER";
+ } else if (element->GetName() == string("gyro")) {
+ Type = "GYRO";
+ } else if (element->GetName() == string("actuator")) {
+ Type = "ACTUATOR";
+ } else { // illegal component in this channel
+ Type = "UNKNOWN";
}
Name = element->GetAttributeValue("name");
+ FGPropertyManager *tmp=0;
+
input_element = element->FindElement("input");
while (input_element) {
input = input_element->GetDataLine();
} else {
InputSigns.push_back( 1.0);
}
- InputNodes.push_back( resolveSymbol(input) );
+ if (PropertyManager->HasNode(input)) {
+ tmp = PropertyManager->GetNode(input);
+ } else {
+ tmp = 0L;
+ // cerr << fgcyan << "In component: " + Name + " property "
+ // + input + " is initially undefined." << reset << endl;
+ }
+ InputNodes.push_back( tmp );
+ InputNames.push_back( input );
+
input_element = element->FindNextElement("input");
}
- if (element->FindElement("output")) {
+ Element *out_elem = element->FindElement("output");
+ while (out_elem) {
IsOutput = true;
- OutputNode = PropertyManager->GetNode( element->FindElementValue("output") );
+ string output_node_name = out_elem->GetDataLine();
+ FGPropertyManager* OutputNode = PropertyManager->GetNode( output_node_name, true );
+ OutputNodes.push_back(OutputNode);
if (!OutputNode) {
- cerr << endl << " Unable to process property: " << element->FindElementValue("output") << endl;
+ cerr << endl << " Unable to process property: " << output_node_name << endl;
throw(string("Invalid output property name in flight control definition"));
}
+ out_elem = element->FindNextElement("output");
+ }
+
+ Element* delay_elem = element->FindElement("delay");
+ if ( delay_elem ) {
+ delay = (unsigned int)delay_elem->GetDataAsNumber();
+ string delayType = delay_elem->GetAttributeValue("type");
+ if (delayType.length() > 0) {
+ if (delayType == "time") {
+ delay = (int)(delay / dt);
+ } else if (delayType == "frames") {
+ // no op. the delay type of "frames" is assumed and is the default.
+ } else {
+ cerr << "Unallowed delay type" << endl;
+ }
+ } else {
+ delay = (int)(delay / dt);
+ }
+ output_array.resize(delay);
+ for (int i=0; i<delay; i++) output_array[i] = 0.0;
}
clip_el = element->FindElement("clipto");
if (clip_el) {
clip_string = clip_el->FindElementValue("min");
- if (clip_string.find_first_not_of("+-.0123456789") != string::npos) { // it's a property
+ if (!is_number(clip_string)) { // it's a property
+ if (clip_string[0] == '-') {
+ clipMinSign = -1.0;
+ clip_string.erase(0,1);
+ }
ClipMinPropertyNode = PropertyManager->GetNode( clip_string );
} else {
clipmin = clip_el->FindElementValueAsNumber("min");
}
clip_string = clip_el->FindElementValue("max");
- if (clip_string.find_first_not_of("+-.0123456789") != string::npos) { // it's a property
+ if (!is_number(clip_string)) { // it's a property
+ if (clip_string[0] == '-') {
+ clipMaxSign = -1.0;
+ clip_string.erase(0,1);
+ }
ClipMaxPropertyNode = PropertyManager->GetNode( clip_string );
} else {
clipmax = clip_el->FindElementValueAsNumber("max");
FGFCSComponent::~FGFCSComponent()
{
-// string tmp = "fcs/" + PropertyManager->mkPropertyName(Name, true);
-// PropertyManager->Untie( tmp);
-
Debug(1);
}
void FGFCSComponent::SetOutput(void)
{
- OutputNode->setDoubleValue(Output);
+ for (unsigned int i=0; i<OutputNodes.size(); i++) OutputNodes[i]->setDoubleValue(Output);
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+void FGFCSComponent::Delay(void)
+{
+ output_array[index] = Output;
+ if (index == delay-1) index = 0;
+ else index++;
+ Output = output_array[index];
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
void FGFCSComponent::Clip(void)
{
if (clip) {
- if (ClipMinPropertyNode != 0) clipmin = ClipMinPropertyNode->getDoubleValue();
- if (ClipMaxPropertyNode != 0) clipmax = ClipMaxPropertyNode->getDoubleValue();
+ if (ClipMinPropertyNode != 0) clipmin = clipMinSign*ClipMinPropertyNode->getDoubleValue();
+ if (ClipMaxPropertyNode != 0) clipmax = clipMaxSign*ClipMaxPropertyNode->getDoubleValue();
if (Output > clipmax) Output = clipmax;
else if (Output < clipmin) Output = clipmin;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-FGPropertyManager* FGFCSComponent::resolveSymbol(string token)
+void FGFCSComponent::LateBind(void)
{
- string prop;
- FGPropertyManager* tmp = PropertyManager->GetNode(token,false);
- if (!tmp) {
- if (token.find("/") == token.npos) prop = "model/" + token;
- cerr << "Creating new property " << prop << endl;
- tmp = PropertyManager->GetNode(token,true);
+ FGPropertyManager* node = 0L;
+
+ for (unsigned int i=0; i<InputNodes.size(); i++) {
+ if (!InputNodes[i]) {
+ if (PropertyManager->HasNode(InputNames[i])) {
+ node = PropertyManager->GetNode(InputNames[i]);
+ InputNodes[i] = node;
+ } else {
+ throw(InputNames[i]);
+ }
+ }
}
- return tmp;
}
-
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+//
+// The old way of naming FCS components allowed upper or lower case, spaces, etc.
+// but then the names were modified to fit into a property name heirarchy. This
+// was confusing (it wasn't done intentionally - it was a carryover from the early
+// design). We now support the direct naming of properties in the FCS component
+// name attribute. The old way is supported in code at this time, but deprecated.
void FGFCSComponent::bind(void)
{
- string tmp = "fcs/" + PropertyManager->mkPropertyName(Name, true);
+ string tmp;
+ if (Name.find("/") == string::npos) {
+ tmp = "fcs/" + PropertyManager->mkPropertyName(Name, true);
+ } else {
+ tmp = Name;
+ }
PropertyManager->Tie( tmp, this, &FGFCSComponent::GetOutput);
}
void FGFCSComponent::Debug(int from)
{
+ string propsign="";
+
if (debug_lvl <= 0) return;
if (debug_lvl & 1) { // Standard console startup message output
if (from == 0) {
cout << endl << " Loading Component \"" << Name
<< "\" of type: " << Type << endl;
+
+ if (clip) {
+ if (ClipMinPropertyNode != 0L) {
+ if (clipMinSign < 0.0) propsign="-";
+ cout << " Minimum limit: " << propsign << ClipMinPropertyNode->GetName() << endl;
+ propsign="";
+ } else {
+ cout << " Minimum limit: " << clipmin << endl;
+ }
+ if (ClipMaxPropertyNode != 0L) {
+ if (clipMaxSign < 0.0) propsign="-";
+ cout << " Maximum limit: " << propsign << ClipMaxPropertyNode->GetName() << endl;
+ propsign="";
+ } else {
+ cout << " Maximum limit: " << clipmax << endl;
+ }
+ }
+ if (delay > 0) cout <<" Frame delay: " << delay
+ << " frames (" << delay*dt << " sec)" << endl;
}
}
if (debug_lvl & 2 ) { // Instantiation/Destruction notification
projects / flightgear.git / blobdiff