/// <summary>
/// This constructor is called when tests are inside an element
/// </summary>
/// <param name="element"></param>
/// <param name="propertyManager"></param>
public Condition(XmlElement element, PropertyManager propertyManager)
{
InitializeConditionals();
string logic = element.GetAttribute("logic");
if (!string.IsNullOrEmpty(logic))
{
if (logic.Equals("OR"))
{
Logic = eLogic.eOR;
}
else if (logic.Equals("AND"))
{
Logic = eLogic.eAND;
}
else
{
if (log.IsErrorEnabled)
{
log.Error("Unrecognized LOGIC token " + logic + " in switch component.");
}
throw new Exception("Unrecognized LOGIC token " + logic + " in switch component");
}
}
else
{
Logic = eLogic.eAND; // default
}
ReaderText rtxt = new ReaderText(new StringReader(element.InnerText));
while (rtxt.Done)
{
string tmp = rtxt.ReadLine().Trim();
conditions.Add(new Condition(tmp, propertyManager));
}
string elName = element.Name;
foreach (XmlNode currentNode in element.ChildNodes)
{
if (currentNode.NodeType == XmlNodeType.Element)
{
XmlElement condition_element = currentNode as XmlElement;
string tagName = condition_element.Name;
if (tagName != elName)
{
log.Error("Unrecognized tag <" + tagName + "> in the condition statement.");
throw new Exception("Illegal argument");
}
conditions.Add(new Condition(currentNode as XmlElement, propertyManager));
}
}
}
public void ReadTable(ReaderText rtxt)
{
int startRow = 0;
int startCol = 0;
int tableCtr = 0;
if (tableType == TableType.Table1D ||
tableType == TableType.Table3D)
{
startRow = 1;
}
if (tableType == TableType.Table3D)
{
startCol = 1;
}
try
{
for (int r = startRow; r <= nRows; r++)
{
for (int c = startCol; c <= nCols; c++)
{
if (r != 0 || c != 0)
{
data[r, c] = rtxt.ReadDouble();
if (tableType == TableType.Table3D)
{
((Table)tables[tableCtr]).ReadTable(rtxt);
tableCtr++;
}
}
}
}
}
catch (Exception e)
{
if (log.IsErrorEnabled)
{
log.Error("Exception " + e + " reading Table data");
}
}
if (log.IsDebugEnabled)
{
StringBuilder buff = new StringBuilder();
Print(0, buff);
log.Debug(buff);
}
}
public Condition(XmlElement element, PropertyManager propertyManager)
{
string logic;
isGroup = true;
InitializeConditionals();
logic = element.GetAttribute("logic");
if (logic.Equals("OR"))
{
Logic = eLogic.eOR;
}
else if (logic.Equals("AND"))
{
Logic = eLogic.eAND;
}
else
{
if (log.IsErrorEnabled)
{
log.Error("Unrecognized LOGIC token " + logic + " in switch component.");
}
throw new Exception("Unrecognized LOGIC token " + logic + " in switch component");
}
foreach (XmlNode currentNode in element.ChildNodes)
{
if (currentNode.NodeType == XmlNodeType.Element)
{
conditions.Add(new Condition(currentNode as XmlElement, propertyManager));
}
}
ReaderText rtxt = new ReaderText(new StringReader(element.InnerText));
while (rtxt.Done)
{
string tmp = rtxt.ReadLine().Trim();
conditions.Add(new Condition(tmp, propertyManager));
}
}
private void FindNumColumnsAndLines(string test_line, out int numColumns, out int numLines)
{
// determine number of data columns in table (first column is row lookup - don't count)
ReaderText rtxt = new ReaderText(new StringReader(test_line));
numLines = 0;
numColumns = 0;
while (rtxt.Done)
{
string tmp = rtxt.ReadLine().Trim();
if (tmp.Length != 0)
{
// determine number of data columns in table (first column is row lookup - don't count)
if (numColumns == 0)
{
ReaderText rcnt = new ReaderText(new StringReader(tmp));
while (rcnt.Done)
{
rcnt.ReadDouble();
if (rcnt.Done)
{
numColumns++;
}
}
}
numLines++;
}
}
/*
* int position=0;
* int nCols=0;
* while ((position = test_line.find_first_not_of(" \t", position)) != string::npos) {
* nCols++;
* position = test_line.find_first_of(" \t", position);
* }
* return nCols;
*/
}
public Switch(FlightControlSystem fcs, XmlElement element)
: base(fcs, element)
{
string value, logic;
TestSwitch current_test;
foreach (XmlNode currentNode in element.ChildNodes)
{
if (currentNode.NodeType == XmlNodeType.Element)
{
XmlElement currentElement = (XmlElement)currentNode;
current_test = new TestSwitch();
if (currentElement.LocalName.Equals("default"))
{
tests.Add(current_test);
current_test.Logic = eLogic.eDefault;
}
else if (currentElement.LocalName.Equals("test"))
{
tests.Add(current_test);
logic = currentElement.GetAttribute("logic");
if (logic.Equals("OR"))
{
current_test.Logic = eLogic.eOR;
}
else if (logic.Equals("AND"))
{
current_test.Logic = eLogic.eAND;
}
else if (logic.Length == 0)
{
current_test.Logic = eLogic.eAND; // default
}
else
{ // error
if (log.IsErrorEnabled)
{
log.Error("Unrecognized LOGIC token " + logic + " in switch component: " + name);
}
}
ReaderText rtxt = new ReaderText(new StringReader(currentElement.InnerText));
while (rtxt.Done)
{
string tmp = rtxt.ReadLine().Trim();
if (tmp.Length != 0)
{
current_test.conditions.Add(new Condition(tmp, propertyManager));
}
}
foreach (XmlNode currentNode2 in currentElement.ChildNodes)
{
if (currentNode2.NodeType == XmlNodeType.Element)
{
current_test.conditions.Add(new Condition(currentNode2 as XmlElement, propertyManager));
}
}
}
if (!currentElement.LocalName.Equals("output"))
{
value = currentElement.GetAttribute("value");
if (value.Length == 0)
{
if (log.IsErrorEnabled)
{
log.Error("No VALUE supplied for switch component: " + name);
}
}
else
{
Match match = testRegex.Match(value);
if (match.Success)
{
if (match.Groups["prop"].Value == "") // if true (and execution falls into this block), "value" is a number.
{
current_test.OutputVal = double.Parse(value, FormatHelper.numberFormatInfo);
}
else
{
// "value" must be a property if execution passes to here.
if (value[0] == '-')
{
current_test.sign = -1.0;
value = value.Remove(0, 1);
}
else
{
current_test.sign = 1.0;
}
current_test.OutputProp = propertyManager.GetPropertyNode(value);
}
}
}
}
}
}
base.Bind();
}
public Table(PropertyManager propMan, XmlElement element, string prefix = "")
{
propertyManager = propMan;
PropertyValue node;
this.prefix = prefix;
nTables = 0;
// Is this an internal lookup table?
isInternal = false;
name = element.GetAttribute("name"); // Allow this table to be named with a property
string brkpt_string = null;
dimension = 0;
XmlElement parent_element;
XmlNodeList tableDataList;
string tableData = null;
int numLines = 0, numColumns = 0;
isInternal = false;
string call_type = element.GetAttribute("type");
if (call_type.Equals("internal"))
{
parent_element = element.ParentNode as XmlElement;
string parent_type = parent_element.Name;
if (!operation_types.Contains(parent_type))
{
isInternal = true;
}
else
{
// internal table is a child element of a restricted type
if (log.IsErrorEnabled)
{
log.Error("An internal table cannot be nested within another type,");
log.Error("such as a function. The 'internal' keyword of table " + name + " is ignored.");
}
}
}
else if (call_type.Length != 0)
{
if (log.IsErrorEnabled)
{
log.Error(" An unknown table type attribute is listed: " + call_type + ". Execution cannot continue.");
}
throw new Exception("An unknown table type attribute is listed: " + call_type);
}
// Determine and store the lookup properties for this table unless this table
// is part of a 3D table, in which case its independentVar property indexes will
// be set by a call from the owning table during creation
dimension = 0;
XmlNodeList varNodes = element.GetElementsByTagName("independentVar");
if (varNodes.Count > 0)
{
foreach (XmlNode currentNode in varNodes)
{
// The 'internal' attribute of the table element cannot be specified
// at the same time that independentVars are specified.
if (isInternal && log.IsErrorEnabled)
{
log.Error(" This table specifies both 'internal' call type");
log.Error(" and specific lookup properties via the 'independentVar' element.");
log.Error(" These are mutually exclusive specifications. The 'internal'");
log.Error(" attribute will be ignored.");
isInternal = false;
}
if (currentNode.NodeType == XmlNodeType.Element)
{
XmlElement currentElement = (XmlElement)currentNode;
string property_string = currentElement.InnerText.Trim();
if (property_string.Contains("#"))
{
double n;
if (double.TryParse(prefix, out n))
{
property_string = property_string.Replace("#", prefix);
}
}
node = new PropertyValue(property_string, propertyManager);
if (node == null)
{
if (log.IsErrorEnabled)
{
log.Error("IndependenVar property, " + currentElement.InnerText.Trim() + " in Table definition is not defined.");
}
throw new Exception("IndependenVar property, " + currentElement.InnerText.Trim() + " in Table definition is not defined.");
}
if (currentElement.GetAttribute("lookup").Equals("row"))
{
lookupProperty[(int)AxisType.Row] = node;
}
else if (currentElement.GetAttribute("lookup").Equals("column"))
{
lookupProperty[(int)AxisType.Column] = node;
}
else if (currentElement.GetAttribute("lookup").Equals("table"))
{
lookupProperty[(int)AxisType.Table] = node;
}
else
{ // assumed single dimension table; row lookup
lookupProperty[(int)AxisType.Row] = node;
}
dimension++;
}
}
}
else if (isInternal) // This table is an internal table
{
// determine how many rows, columns, and tables in this table (dimension).
tableDataList = element.GetElementsByTagName("tableData");
if (tableDataList.Count > 1)
{
dimension = 3; // this is a 3D table
}
else
{
tableData = tableDataList[0].InnerText; // examine second line in table for dimension
FindNumColumnsAndLines(tableData, out numColumns, out numLines);
if (numColumns == 2)
{
dimension = 1; // 1D table
}
else if (numColumns > 2)
{
dimension = 2; // 2D table
}
else
{
if (log.IsErrorEnabled)
{
log.Error("Invalid number of columns in table");
}
}
}
}
else
{
brkpt_string = element.GetAttribute("breakPoint");
if (string.IsNullOrEmpty(brkpt_string))
{
// no independentVars found, and table is not marked as internal
if (log.IsErrorEnabled)
{
log.Error("No independent variable found for table.");
}
throw new Exception("No independent variable found for table.");
}
}
// end lookup property code
if (string.IsNullOrEmpty(brkpt_string)) // Not a 3D table "table element"
{
//TODO tableData = element.GetElementsByTagName("tableData")[0] as XmlElement;
}
else // This is a table in a 3D table
{
//TODO tableData = element;
dimension = 2; // Currently, infers 2D table
}
if (tableData == null)
{
tableDataList = element.GetElementsByTagName("tableData");
tableData = tableDataList[0].InnerText; // examine second line in table for dimension
FindNumColumnsAndLines(tableData, out numColumns, out numLines);
}
ReaderText rtxt = new ReaderText(new StringReader(tableData));
switch (dimension)
{
case 1:
nRows = numLines;
nCols = 1;
tableType = TableType.Table1D;
colCounter = 0;
rowCounter = 1;
data = new double[nRows + 1, nCols + 1];
lastRowIndex = lastColumnIndex = 2;
ReadTable(rtxt);
break;
case 2:
nRows = numLines - 1;
nCols = numColumns;
if (nCols > 1)
{
tableType = TableType.Table2D;
colCounter = 1;
rowCounter = 0;
}
else if (nCols == 1)
{
tableType = TableType.Table1D;
colCounter = 1;
rowCounter = 1;
}
else
{
log.Error("Table cannot accept 'Rows=0'");
}
data = new double[nRows + 1, nCols + 1];
lastRowIndex = lastColumnIndex = 2;
ReadTable(rtxt);
break;
case 3:
nTables = varNodes.Count;
nRows = nTables;
nCols = 1;
tableType = TableType.Table3D;
colCounter = 1;
rowCounter = 1;
lastRowIndex = lastColumnIndex = 2;
data = new double[nRows + 1, nCols + 1]; // this data array will contain the keys for the associated tables
tables.Capacity = nTables; // necessary?
XmlNodeList tableDataElems = element.GetElementsByTagName("tableData");
tableData = tableDataElems[0].InnerText;
for (int i = 0; i < nTables; i++)
{
XmlElement tableDataElem = tableDataElems[i] as XmlElement;
tables.Add(new Table(propertyManager, tableDataElem));
data[i + 1, 1] = double.Parse(tableDataElem.GetAttribute("breakPoint"));
tables[i].lookupProperty[(int)AxisType.Row] = lookupProperty[(int)AxisType.Row];
tables[i].lookupProperty[(int)AxisType.Column] = lookupProperty[(int)AxisType.Column];
}
break;
default:
log.Error("No dimension given");
break;
}
// Sanity checks: lookup indices must be increasing monotonically
int r, c, b;
// find next xml element containing a name attribute
// to indicate where the error occured
XmlElement nameel = element;
while (nameel != null && nameel.GetAttribute("name") == "")
{
nameel = nameel.ParentNode as XmlElement;
}
// check breakpoints, if applicable
if (dimension > 2)
{
for (b = 2; b <= nTables; ++b)
{
if (data[b, 1] <= data[b - 1, 1])
{
string errormsg = " Table: breakpoint lookup is not monotonically increasing\n" +
" in breakpoint " + b;
if (nameel != null)
{
errormsg += " of table in " + nameel.GetAttribute("name");
}
errormsg += ":\n" + " " + data[b, 1] + "<=" + data[b - 1, 1] + "\n";
throw new Exception(errormsg);
}
}
}
// check columns, if applicable
if (dimension > 1)
{
for (c = 2; c <= nCols; ++c)
{
if (data[0, c] <= data[0, c - 1])
{
string errormsg = " FGTable: column lookup is not monotonically increasing\n" +
" in column " + c;
if (nameel != null)
{
errormsg += " of table in " + nameel.GetAttribute("name");
}
errormsg += ":\n" + " " + data[0, c] + "<=" + data[0, c - 1] + "\n";
throw new Exception(errormsg);
}
}
}
// check rows
if (dimension < 3)
{ // in 3D tables, check only rows of subtables
for (r = 2; r <= nRows; ++r)
{
if (data[r, 0] <= data[r - 1, 0])
{
string errormsg = " FGTable: row lookup is not monotonically increasing\n" +
" in row " + r;
if (nameel != null)
{
errormsg += " of table in " + nameel.GetAttribute("name");
}
errormsg += ":\n" + " " + data[r, 0] + "<=" + data[r - 1, 0] + "\n";
throw new Exception(errormsg);
}
}
}
Bind(element);
if (log.IsDebugEnabled)
{
log.Debug(Print());
}
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="File">the config file instance</param>
/// <param name="exec">the parent executive object</param>
/// <param name="number"></param>
public LGear(string str, FDMExecutive exec, int number)
{
FDMExec = exec;
GearNumber = number;
StringReader sr = new StringReader(str);
ReaderText reader = new ReaderText(sr);
reader.ReadWord();
name = reader.ReadWord();
vXYZ = new Vector3D(reader.ReadDouble(), reader.ReadDouble(), reader.ReadDouble());
kSpring = reader.ReadDouble();
bDamp = reader.ReadDouble();
dynamicFCoeff = reader.ReadDouble();
staticFCoeff = reader.ReadDouble();
rollingFCoeff = reader.ReadDouble();
sSteerType = reader.ReadWord();
sBrakeGroup = reader.ReadWord();
maxSteerAngle = reader.ReadInt();
string sRetractable = reader.ReadWord();
if (log.IsDebugEnabled)
{
log.Debug("name " + name);
log.Debug("vXYZ(1) " + vXYZ.X);
log.Debug("vXYZ(2) " + vXYZ.Y);
log.Debug("vXYZ(3) " + vXYZ.Z);
log.Debug("kSpring " + kSpring);
log.Debug("bDamp " + bDamp);
log.Debug("dynamicFCoeff " + dynamicFCoeff);
log.Debug("staticFCoeff " + staticFCoeff);
log.Debug("rollingFCoeff " + rollingFCoeff);
log.Debug("sSteerType " + sSteerType);
log.Debug("sBrakeGroup " + sBrakeGroup);
log.Debug("maxSteerAngle " + maxSteerAngle);
log.Debug("sRetractable " + sRetractable);
}
if (sBrakeGroup == "LEFT")
{
eBrakeGrp = BrakeGroup.Left;
}
else if (sBrakeGroup == "RIGHT")
{
eBrakeGrp = BrakeGroup.Right;
}
else if (sBrakeGroup == "CENTER")
{
eBrakeGrp = BrakeGroup.Center;
}
else if (sBrakeGroup == "NOSE")
{
eBrakeGrp = BrakeGroup.Nose;
}
else if (sBrakeGroup == "TAIL")
{
eBrakeGrp = BrakeGroup.Tail;
}
else if (sBrakeGroup == "NONE")
{
eBrakeGrp = BrakeGroup.None;
}
else
{
if (log.IsErrorEnabled)
{
log.Error("Improper braking group specification in config file: "
+ sBrakeGroup + " is undefined.");
}
}
if (sSteerType == "STEERABLE")
{
eSteerType = SteerType.Steer;
}
else if (sSteerType == "FIXED")
{
eSteerType = SteerType.Fixed;
}
else if (sSteerType == "CASTERED")
{
eSteerType = SteerType.Caster;
}
else
{
if (log.IsErrorEnabled)
{
log.Error("Improper steering type specification in config file: "
+ sSteerType + " is undefined.");
}
}
if (sRetractable == "RETRACT")
{
isRetractable = true;
}
else
{
isRetractable = false;
}
vWhlBodyVec = FDMExec.MassBalance.StructuralToBody(vXYZ);
vLocalGear = FDMExec.Propagate.GetTb2l() * vWhlBodyVec;
}
public Table(PropertyManager propMan, XmlElement element)
{
propertyManager = propMan;
PropertyNode node;
dimension = 0;
XmlElement parent_element;
XmlNodeList tableDataList;
string tableData = null;
int numLines = 0, numColumns = 0;
isInternal = false;
string call_type = element.GetAttribute("type");
if (call_type.Equals("internal"))
{
parent_element = element.ParentNode as XmlElement;
string parent_type = parent_element.Name;
if (!operation_types.Contains(parent_type))
{
isInternal = true;
}
else
{
// internal table is a child element of a restricted type
if (log.IsErrorEnabled)
{
log.Error("An internal table cannot be nested within another type,");
log.Error(" such as a function. The 'internal' keyword is ignored.");
}
}
}
else if (call_type.Length != 0)
{
if (log.IsErrorEnabled)
{
log.Error(" An unknown table type attribute is listed: " + call_type + ". Execution cannot continue.");
}
throw new Exception("An unknown table type attribute is listed: " + call_type);
}
// Determine and store the lookup properties for this table unless this table
// is part of a 3D table, in which case its independentVar property indexes will
// be set by a call from the owning table during creation
XmlNodeList varNodes = element.GetElementsByTagName("independentVar");
if (varNodes.Count > 0)
{
foreach (XmlNode currentNode in varNodes)
{
// The 'internal' attribute of the table element cannot be specified
// at the same time that independentVars are specified.
if (isInternal && log.IsErrorEnabled)
{
log.Error(" This table specifies both 'internal' call type");
log.Error(" and specific lookup properties via the 'independentVar' element.");
log.Error(" These are mutually exclusive specifications. The 'internal'");
log.Error(" attribute will be ignored.");
isInternal = false;
}
if (currentNode.NodeType == XmlNodeType.Element)
{
XmlElement currentElement = (XmlElement)currentNode;
node = propertyManager.GetPropertyNode(currentElement.InnerText.Trim());
if (node == null)
{
if (log.IsErrorEnabled)
{
log.Error("IndependenVar property, " + currentElement.InnerText.Trim() + " in Table definition is not defined.");
}
throw new Exception("IndependenVar property, " + currentElement.InnerText.Trim() + " in Table definition is not defined.");
}
if (currentElement.GetAttribute("lookup").Equals("row"))
{
lookupProperty[(int)AxisType.Row] = node.GetDoubleDelegate;
}
else if (currentElement.GetAttribute("lookup").Equals("column"))
{
lookupProperty[(int)AxisType.Column] = node.GetDoubleDelegate;
}
else if (currentElement.GetAttribute("lookup").Equals("table"))
{
lookupProperty[(int)AxisType.Table] = node.GetDoubleDelegate;
}
else
{ // assumed single dimension table; row lookup
lookupProperty[(int)AxisType.Row] = node.GetDoubleDelegate;
}
dimension++;
}
}
}
else if (isInternal) // This table is an internal table
{
// determine how many rows, columns, and tables in this table (dimension).
tableDataList = element.GetElementsByTagName("tableData");
if (tableDataList.Count > 1)
{
dimension = 3; // this is a 3D table
}
else
{
tableData = tableDataList[0].InnerText; // examine second line in table for dimension
FindNumColumnsAndLines(tableData, out numColumns, out numLines);
if (numColumns == 2)
{
dimension = 1; // 1D table
}
else if (numColumns > 2)
{
dimension = 2; // 2D table
}
else
{
if (log.IsErrorEnabled)
{
log.Error("Invalid number of columns in table");
}
}
}
}
else
{
// no independentVars found, and table is not marked as internal
if (log.IsErrorEnabled)
{
log.Error("No independent variable found for table.");
}
throw new Exception("No independent variable found for table.");
}
/* Obsolete
* for (int i = 0; i < 3; i++)
* if (lookupProperty[i] != null) dimension++;
*/
if (tableData == null)
{
tableDataList = element.GetElementsByTagName("tableData");
tableData = tableDataList[0].InnerText; // examine second line in table for dimension
FindNumColumnsAndLines(tableData, out numColumns, out numLines);
}
ReaderText rtxt = new ReaderText(new StringReader(tableData));
switch (dimension)
{
case 1:
nRows = numLines;
nCols = 1;
tableType = TableType.Table1D;
data = new double[nRows + 1, nCols + 1];
lastRowIndex = lastColumnIndex = 2;
ReadTable(rtxt);
break;
case 2:
nRows = numLines - 1;
nCols = numColumns;
if (nCols > 1)
{
tableType = TableType.Table2D;
}
else if (nCols == 1)
{
tableType = TableType.Table1D;
}
else
{
log.Error("Table cannot accept 'Rows=0'");
}
data = new double[nRows + 1, nCols + 1];
lastRowIndex = lastColumnIndex = 2;
ReadTable(rtxt);
break;
case 3:
nTables = varNodes.Count;
nRows = nTables;
nCols = 1;
tableType = TableType.Table3D;
/*
* Data = Allocate(); // this data array will contain the keys for the associated tables
* Tables.reserve(nTables); // necessary?
* tableData = el->FindElement("tableData");
* for (i = 0; i < nTables; i++)
* {
* Tables.push_back(new FGTable(PropertyManager, tableData));
* Data[i + 1][1] = tableData->GetAttributeValueAsNumber("breakPoint");
* Tables[i]->SetRowIndexProperty(lookupProperty[eRow]);
* Tables[i]->SetColumnIndexProperty(lookupProperty[eColumn]);
* tableData = el->FindNextElement("tableData");
* }
*/
break;
default:
log.Error("No dimension given");
break;
}
}
