public FCSFunction(FlightControlSystem fcs, XmlElement element)
: base(fcs, element)
{
XmlNodeList childs = element.GetElementsByTagName("function");
if (childs != null && childs.Count > 0)
{
function = new Function(fcs.GetPropertyManager(), childs[0] as XmlElement);
}
base.Bind();
}
public Gain(FlightControlSystem fcs, XmlElement element)
: base(fcs, element)
{
XmlElement scale_element, zero_centered;
XmlNodeList childs;
string gain_string, sZeroCentered;
XmlElement gainElement = element.GetElementsByTagName("gain")[0] as XmlElement;
if (compType.Equals("PURE_GAIN"))
{
if (gainElement == null)
{
if (log.IsErrorEnabled)
{
log.Error("No GAIN specified (default: 1.0)");
}
}
}
if (gainElement != null)
{
gain_string = gainElement.InnerText.Trim();
Match match = testRegex.Match(gain_string);
if (match.Success && match.Groups["prop1"].Value.Length != 0)
{ // property
gainPropertyNode = fcs.GetPropertyManager().GetPropertyNode(match.Groups["prop1"].Value);
}
else
{
gain = FormatHelper.ValueAsNumber(gainElement);
}
}
if (compType.Equals("AEROSURFACE_SCALE"))
{
scale_element = element.GetElementsByTagName("domain")[0] as XmlElement;
if (scale_element != null)
{
childs = scale_element.GetElementsByTagName("max");
inMax = FormatHelper.ValueAsNumber(childs[0] as XmlElement);
childs = scale_element.GetElementsByTagName("min");
inMin = FormatHelper.ValueAsNumber(childs[0] as XmlElement);
}
scale_element = element.GetElementsByTagName("range")[0] as XmlElement;
if (scale_element == null)
{
if (log.IsErrorEnabled)
{
log.Error("No range supplied for aerosurface scale component");
}
throw new Exception("No range supplied for aerosurface scale component");
}
try
{
childs = scale_element.GetElementsByTagName("max");
outMax = FormatHelper.ValueAsNumber(childs[0] as XmlElement);
childs = scale_element.GetElementsByTagName("min");
outMin = FormatHelper.ValueAsNumber(childs[0] as XmlElement);
}
catch (Exception e)
{
if (log.IsErrorEnabled)
{
log.Error("Maximum and minimum output values must be supplied for the " +
"aerosurface scale component");
}
throw new Exception("Maximum and minimum output values must be supplied. Catch exception: " + e);
}
zeroCentered = true;
zero_centered = element.GetElementsByTagName("zero_centered")[0] as XmlElement;
if (zero_centered != null)
{
sZeroCentered = zero_centered.InnerText.Trim();
if (sZeroCentered.Equals("0") || sZeroCentered.Equals("false"))
{
zeroCentered = false;
}
}
}
if (compType.Equals("SCHEDULED_GAIN"))
{
XmlElement tableElement = element.GetElementsByTagName("table")[0] as XmlElement;
if (tableElement != null)
{
table = new Table(fcs.GetPropertyManager(), tableElement);
}
else
{
if (log.IsErrorEnabled)
{
log.Error("A table must be provided for the scheduled gain component");
}
throw new Exception("A table must be provided for the scheduled gain component");
}
}
base.Bind();
}
/// Constructor
public FCSComponent(FlightControlSystem fcsParent, XmlElement element)
{
fcs = fcsParent;
propertyManager = fcs.GetPropertyManager();
compType = "";
isOutput = false;
name = element.GetAttribute("name");
compType = element.GetAttribute("type"); // Old, deprecated format
if (compType.Length == 0)
{
if (element.LocalName.Equals("lag_filter"))
{
compType = "LAG_FILTER";
}
else if (element.LocalName.Equals("lead_lag_filter"))
{
compType = "LEAD_LAG_FILTER";
}
else if (element.LocalName.Equals("washout_filter"))
{
compType = "WASHOUT_FILTER";
}
else if (element.LocalName.Equals("second_order_filter"))
{
compType = "SECOND_ORDER_FILTER";
}
else if (element.LocalName.Equals("integrator"))
{
compType = "INTEGRATOR";
}
else if (element.LocalName.Equals("summer"))
{
compType = "SUMMER";
}
else if (element.LocalName.Equals("pure_gain"))
{
compType = "PURE_GAIN";
}
else if (element.LocalName.Equals("scheduled_gain"))
{
compType = "SCHEDULED_GAIN";
}
else if (element.LocalName.Equals("aerosurface_scale"))
{
compType = "AEROSURFACE_SCALE";
}
else if (element.LocalName.Equals("switch"))
{
compType = "SWITCH";
}
else if (element.LocalName.Equals("kinematic"))
{
compType = "KINEMATIC";
}
else if (element.LocalName.Equals("deadband"))
{
compType = "DEADBAND";
}
else if (element.LocalName.Equals("fcs_function"))
{
compType = "FCS_FUNCTION";
}
else if (element.LocalName.Equals("sensor"))
{
compType = "SENSOR";
}
else
{ // illegal component in this channel
compType = "UNKNOWN";
}
}
foreach (XmlNode currentNode in element.ChildNodes)
{
if (currentNode.NodeType == XmlNodeType.Element)
{
XmlElement currentElement = (XmlElement)currentNode;
if (currentElement.LocalName.Equals("input"))
{
string inputTxt = currentElement.InnerText.Trim();
if (inputTxt[0] == '-')
{
inputSigns.Add(-1.0f);
inputTxt = inputTxt.Remove(0, 1);
}
else
{
inputSigns.Add(1.0f);
}
inputNodes.Add(ResolveSymbol(inputTxt));
}
else if (currentElement.LocalName.Equals("output"))
{
isOutput = true;
outputNode = propertyManager.GetPropertyNode(currentElement.InnerText.Trim());
if (outputNode == null)
{
log.Error(" Unable to process property: " + currentElement.InnerText);
throw new Exception("Invalid output property name in flight control definition");
}
else if (currentElement.LocalName.Equals("clipto"))
{
XmlNodeList childs;
string clip_string;
childs = currentElement.GetElementsByTagName("min");
if (childs != null)
{
clip_string = ((XmlElement)childs[0]).InnerText.Trim();
}
else
{
throw new Exception("clipto doesn't have a min tag");
}
if (!clip_string.StartsWith("+-.0123456789"))
{ // it's a property
if (clip_string[0] == '-')
{
clipMinSign = -1.0f;
}
clip_string = clip_string.Remove(0, 1); //TODO test it
ClipMinPropertyNode = propertyManager.GetPropertyNode(clip_string);
}
else
{
clipmin = double.Parse(clip_string, FormatHelper.numberFormatInfo);
}
childs = currentElement.GetElementsByTagName("max");
if (childs != null)
{
clip_string = ((XmlElement)childs[0]).InnerText.Trim();
}
else
{
throw new Exception("clipto doesn't have a max tag");
}
if (!clip_string.StartsWith("+-.0123456789"))
{ // it's a property
if (clip_string[0] == '-')
{
clipMaxSign = -1.0f;
}
clip_string = clip_string.Remove(0, 1); //TODO test it
ClipMaxPropertyNode = propertyManager.GetPropertyNode(clip_string);
}
else
{
clipmax = double.Parse(clip_string, FormatHelper.numberFormatInfo);
}
clip = true;
}
}
}
}
}
