X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FFDM%2FJSBSim%2Fmodels%2FFGFCS.cpp;h=3f659831f5c03944085cc9eb75ae589ed4e657db;hb=642735ab18421db87a07d6841dd720fd4615bfff;hp=477890295478671424b026873c20664dfeb362fb;hpb=bb419b588c3b9819081461e196b5ddbbd9f11d69;p=flightgear.git

diff --git a/src/FDM/JSBSim/models/FGFCS.cpp b/src/FDM/JSBSim/models/FGFCS.cpp
index 477890295..3f659831f 100644
--- a/src/FDM/JSBSim/models/FGFCS.cpp
+++ b/src/FDM/JSBSim/models/FGFCS.cpp
@@ -37,13 +37,14 @@ HISTORY
 INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
+#include <fstream>
+#include <sstream>
+#include <iomanip>
+
 #include "FGFCS.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"
@@ -63,7 +64,7 @@ using namespace std;
 
 namespace JSBSim {
 
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGFCS.cpp,v 1.77 2011/09/25 14:05:40 bcoconni Exp $";
 static const char *IdHdr = ID_FCS;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -78,7 +79,7 @@ FGFCS::FGFCS(FGFDMExec* fdmex) : FGModel(fdmex)
   DaCmd = DeCmd = DrCmd = DsCmd = DfCmd = DsbCmd = DspCmd = 0;
   PTrimCmd = YTrimCmd = RTrimCmd = 0.0;
   GearCmd = GearPos = 1; // default to gear down
-  LeftBrake = RightBrake = CenterBrake = 0.0;
+  BrakePos.resize(FGLGear::bgNumBrakeGroups);
   TailhookPos = WingFoldPos = 0.0; 
 
   bind();
@@ -123,8 +124,6 @@ bool FGFCS::InitModel(void)
 {
   unsigned int i;
 
-  if (!FGModel::InitModel()) return false;
-
   for (i=0; i<ThrottlePos.size(); i++) ThrottlePos[i] = 0.0;
   for (i=0; i<MixturePos.size(); i++) MixturePos[i] = 0.0;
   for (i=0; i<ThrottleCmd.size(); i++) ThrottleCmd[i] = 0.0;
@@ -182,7 +181,7 @@ 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
@@ -191,12 +190,12 @@ bool FGFCS::InitModel(void)
 // actually present in the flight_control or autopilot section will override
 // these simple assignments.
 
-bool FGFCS::Run(void)
+bool FGFCS::Run(bool Holding)
 {
   unsigned int i;
 
-  if (FGModel::Run()) return true; // fast exit if nothing to do
-  if (FDMExec->Holding()) return false;
+  if (FGModel::Run(Holding)) return true; // fast exit if nothing to do
+  if (Holding) return false;
 
   RunPreFunctions();
 
@@ -207,7 +206,7 @@ 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() );
   }
 
@@ -533,19 +532,17 @@ 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;
@@ -668,6 +665,8 @@ bool FGFCS::Load(Element* el, SystemType systype)
     channel_element = document->FindNextElement("channel");
   }
 
+  PostLoad(document, PropertyManager);
+
   ResetParser();
 
   return true;
@@ -677,64 +676,60 @@ bool FGFCS::Load(Element* el, SystemType systype)
 
 double FGFCS::GetBrake(FGLGear::BrakeGroup bg)
 {
-  switch (bg) {
-  case FGLGear::bgLeft:
-    return LeftBrake;
-  case FGLGear::bgRight:
-    return RightBrake;
-  case FGLGear::bgCenter:
-    return CenterBrake;
-  default:
-    cerr << "GetBrake asked to return a bogus brake value" << endl;
-  }
-  return 0.0;
+  return BrakePos[bg];
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-string FGFCS::FindSystemFullPathname(const 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(const 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;
@@ -745,7 +740,7 @@ ifstream* FGFCS::FindSystemFile(const string& system_filename)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-string FGFCS::GetComponentStrings(const string& delimiter)
+string FGFCS::GetComponentStrings(const string& delimiter) const
 {
   unsigned int comp;
   string CompStrings = "";
@@ -782,7 +777,7 @@ string FGFCS::GetComponentStrings(const string& delimiter)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-string FGFCS::GetComponentValues(const string& delimiter)
+string FGFCS::GetComponentValues(const string& delimiter) const
 {
   std::ostringstream buf;
 
@@ -836,9 +831,10 @@ void FGFCS::AddThrottle(void)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-void FGFCS::AddGear(void)
+void FGFCS::AddGear(unsigned int NumGear)
 {
-  SteerPosDeg.push_back(0.0);
+  SteerPosDeg.clear();
+  for (unsigned int i=0; i<NumGear; i++) SteerPosDeg.push_back(0.0);
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -949,7 +945,7 @@ 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);
     }