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Initial work on state-machine AP module.

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This commit is contained in:
James Turner 2013-01-25 09:34:57 +01:00
parent 0729b0806e
commit 978a2cd8c6
2 changed files with 43 additions and 7 deletions
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42
src/Autopilot/autopilot.cxx
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@ -25,12 +25,17 @@
# include <config.h>
#endif
#include "autopilot.hxx"
#include <simgear/structure/StateMachine.hxx>
#include <simgear/sg_inlines.h>
#include "component.hxx"
#include "functor.hxx"
#include "predictor.hxx"
#include "digitalfilter.hxx"
#include "pisimplecontroller.hxx"
#include "pidcontroller.hxx"
#include "autopilot.hxx"
#include "logic.hxx"
#include "flipflop.hxx"
@ -41,6 +46,40 @@ using std::string;
using namespace FGXMLAutopilot;
class StateMachineComponent : public Component
{
public:
StateMachineComponent(SGPropertyNode_ptr config)
{
inner = simgear::StateMachine::createFromPlist(config, globals->get_props());
}
virtual bool configure( const std::string & nodeName, SGPropertyNode_ptr config)
{
return false;
}
virtual void update( bool firstTime, double dt )
{
SG_UNUSED(firstTime);
inner->update(dt);
}
private:
simgear::StateMachine_ptr inner;
};
class StateMachineFunctor : public FunctorBase<Component>
{
public:
virtual ~StateMachineFunctor() {}
virtual Component* operator()( SGPropertyNode_ptr configNode )
{
return new StateMachineComponent(configNode);
}
};
class ComponentForge : public map<string,FunctorBase<Component> *> {
public:
virtual ~ ComponentForge();
@ -67,6 +106,7 @@ Autopilot::Autopilot( SGPropertyNode_ptr rootNode, SGPropertyNode_ptr configNode
componentForge["filter"] = new CreateAndConfigureFunctor<DigitalFilter,Component>();
componentForge["logic"] = new CreateAndConfigureFunctor<Logic,Component>();
componentForge["flipflop"] = new CreateAndConfigureFunctor<FlipFlop,Component>();
componentForge["state-machine"] = new StateMachineFunctor();
}
if( configNode == NULL ) configNode = rootNode;

8
src/Autopilot/autopilot.hxx
View file

@ -23,17 +23,13 @@
#ifndef __AUTOPILOT_HXX
#define __AUTOPILOT_HXX 1
#ifdef HAVE_CONFIG_H
# include <config.h>
#endif
#include "component.hxx"
#include <simgear/props/props.hxx>
#include <simgear/structure/subsystem_mgr.hxx>
namespace FGXMLAutopilot {
class Component;
/**
* @brief A SGSubsystemGroup implementation to serve as a collection
* of Components