/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
 Module:       FGFCS.cpp
 Author:       Jon Berndt
 Date started: 12/12/98
 Purpose:      Model the flight controls
 Called by:    FDMExec
 
 ------------- Copyright (C) 1999  Jon S. Berndt (jsb@hal-pc.org) -------------
 
 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
 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
 details.
 
 You should have received a copy of the GNU 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
 the world wide web at http://www.gnu.org.
 
FUNCTIONAL DESCRIPTION
--------------------------------------------------------------------------------
This class models the flight controls for a specific airplane
 
HISTORY
--------------------------------------------------------------------------------
12/12/98   JSB   Created
 
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
INCLUDES
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/

#include "FGFCS.h"
#include "FGState.h"
#include "FGFDMExec.h"
#include "FGAtmosphere.h"
#include "FGAircraft.h"
#include "FGTranslation.h"
#include "FGRotation.h"
#include "FGPosition.h"
#include "FGAuxiliary.h"
#include "FGOutput.h"

#include "filtersjb/FGFilter.h"
#include "filtersjb/FGDeadBand.h"
#include "filtersjb/FGGain.h"
#include "filtersjb/FGGradient.h"
#include "filtersjb/FGSwitch.h"
#include "filtersjb/FGSummer.h"
#include "filtersjb/FGKinemat.h"

static const char *IdSrc = "$Id$";
static const char *IdHdr = ID_FCS;

/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS IMPLEMENTATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/

FGFCS::FGFCS(FGFDMExec* fdmex) : FGModel(fdmex)
{
  Name = "FGFCS";

  DaCmd = DeCmd = DrCmd = DfCmd = DsbCmd = DspCmd = 0.0;
  PTrimCmd = YTrimCmd = RTrimCmd = 0.0;
  DaPos = DePos = DrPos = DfPos = DsbPos = DspPos = 0.0;
  GearCmd = GearPos = 1; // default to gear down
  LeftBrake = RightBrake = CenterBrake = 0.0;

  Debug(0);
}

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

FGFCS::~FGFCS()
{
  ThrottleCmd.clear();
  ThrottlePos.clear();
  MixtureCmd.clear();
  MixturePos.clear();
  PropAdvanceCmd.clear();
  PropAdvance.clear();

  unsigned int i;

  for (i=0;i<Components.size();i++) delete Components[i];
  Debug(1);
}

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

bool FGFCS::Run(void)
{
  unsigned int i;

  if (!FGModel::Run()) {
    for (i=0; i<ThrottlePos.size(); i++) ThrottlePos[i] = ThrottleCmd[i];
    for (i=0; i<MixturePos.size(); i++) MixturePos[i] = MixtureCmd[i];
    for (i=0; i<PropAdvance.size(); i++) PropAdvance[i] = PropAdvanceCmd[i];
    for (i=0; i<Components.size(); i++)  Components[i]->Run();
  } else {
  }

  return false;
}

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

void FGFCS::SetThrottleCmd(int engineNum, double setting)
{
  unsigned int ctr;

  if (engineNum < (int)ThrottlePos.size()) {
    if (engineNum < 0) {
      for (ctr=0;ctr<ThrottleCmd.size();ctr++) ThrottleCmd[ctr] = setting;
    } else {
      ThrottleCmd[engineNum] = setting;
    }
  } else {
    cerr << "Throttle " << engineNum << " does not exist! " << ThrottleCmd.size()
         << " engines exist, but attempted throttle command is for engine "
         << engineNum << endl;
  }
}

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

void FGFCS::SetThrottlePos(int engineNum, double setting)
{
  unsigned int ctr;

  if (engineNum < (int)ThrottlePos.size()) {
    if (engineNum < 0) {
      for (ctr=0;ctr<ThrottlePos.size();ctr++) ThrottlePos[ctr] = setting;
    } else {
      ThrottlePos[engineNum] = setting;
    }
  } else {
    cerr << "Throttle " << engineNum << " does not exist! " << ThrottlePos.size()
         << " engines exist, but attempted throttle position setting is for engine "
         << engineNum << endl;
  }
}

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

double FGFCS::GetThrottleCmd(int engineNum)
{
  if (engineNum < (int)ThrottlePos.size()) {
    if (engineNum < 0) {
       cerr << "Cannot get throttle value for ALL engines" << endl;
    } else {
      return ThrottleCmd[engineNum];
    }
  } else {
    cerr << "Throttle " << engineNum << " does not exist! " << ThrottleCmd.size()
         << " engines exist, but throttle setting for engine " << engineNum
         << " is selected" << endl;
  }
  return 0.0;
}

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

double FGFCS::GetThrottlePos(int engineNum)
{
  if (engineNum < (int)ThrottlePos.size()) {
    if (engineNum < 0) {
       cerr << "Cannot get throttle value for ALL engines" << endl;
    } else {
      return ThrottlePos[engineNum];
    }
  } else {
    cerr << "Throttle " << engineNum << " does not exist! " << ThrottlePos.size()
         << " engines exist, but attempted throttle position setting is for engine "
         << engineNum << endl;
  }
  return 0.0; 
}

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

void FGFCS::SetMixtureCmd(int engineNum, double setting)
{
  unsigned int ctr;

  if (engineNum < (int)ThrottlePos.size()) {
    if (engineNum < 0) {
      for (ctr=0;ctr<MixtureCmd.size();ctr++) MixtureCmd[ctr] = setting;
    } else {
      MixtureCmd[engineNum] = setting;
    }
  }
}

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

void FGFCS::SetMixturePos(int engineNum, double setting)
{
  unsigned int ctr;

  if (engineNum < (int)ThrottlePos.size()) {
    if (engineNum < 0) {
      for (ctr=0;ctr<=MixtureCmd.size();ctr++) MixturePos[ctr] = MixtureCmd[ctr];
    } else {
      MixturePos[engineNum] = setting;
    }
  }
}

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

void FGFCS::SetPropAdvanceCmd(int engineNum, double setting)
{
  unsigned int ctr;

  if (engineNum < (int)ThrottlePos.size()) {
    if (engineNum < 0) {
      for (ctr=0;ctr<PropAdvanceCmd.size();ctr++) PropAdvanceCmd[ctr] = setting;
    } else {
      PropAdvanceCmd[engineNum] = setting;
    }
  }
}

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

void FGFCS::SetPropAdvance(int engineNum, double setting)
{
  unsigned int ctr;

  if (engineNum < (int)ThrottlePos.size()) {
    if (engineNum < 0) {
      for (ctr=0;ctr<=PropAdvanceCmd.size();ctr++) PropAdvance[ctr] = PropAdvanceCmd[ctr];
    } else {
      PropAdvance[engineNum] = setting;
    }
  }
}

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

bool FGFCS::Load(FGConfigFile* AC_cfg)
{
  string token;

  Name = Name + ":" + AC_cfg->GetValue("NAME");
  if (debug_lvl > 0) cout << "    Control System Name: " << Name << endl;
  AC_cfg->GetNextConfigLine();
  while ((token = AC_cfg->GetValue()) != string("/FLIGHT_CONTROL")) {
    if (token == "COMPONENT") {
      token = AC_cfg->GetValue("TYPE");
      if (debug_lvl > 0) cout << "    Loading Component \""
                              << AC_cfg->GetValue("NAME")
                              << "\" of type: " << token << endl;
      if ((token == "LAG_FILTER") ||
          (token == "LEAD_LAG_FILTER") ||
          (token == "SECOND_ORDER_FILTER") ||
          (token == "WASHOUT_FILTER") ||
          (token == "INTEGRATOR") ) {
        Components.push_back(new FGFilter(this, AC_cfg));
      } else if ((token == "PURE_GAIN") ||
                 (token == "SCHEDULED_GAIN") ||
                 (token == "AEROSURFACE_SCALE") ) {

        Components.push_back(new FGGain(this, AC_cfg));

      } else if (token == "SUMMER") {
        Components.push_back(new FGSummer(this, AC_cfg));
      } else if (token == "DEADBAND") {
        Components.push_back(new FGDeadBand(this, AC_cfg));
      } else if (token == "GRADIENT") {
        Components.push_back(new FGGradient(this, AC_cfg));
      } else if (token == "SWITCH") {
        Components.push_back(new FGSwitch(this, AC_cfg));
      } else if (token == "KINEMAT") {
        Components.push_back(new FGKinemat(this, AC_cfg));
      } else {
        cerr << "Unknown token [" << token << "] in FCS portion of config file" << endl;
        return false;
      }
      AC_cfg->GetNextConfigLine();
    }
  }
  return true;
}

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

double FGFCS::GetComponentOutput(eParam idx) {
  return Components[idx]->GetOutput();
}

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

string FGFCS::GetComponentName(int idx) {
  return Components[idx]->GetName();
}

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

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;
}

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

string FGFCS::GetComponentStrings(void)
{
  unsigned int comp;
  string CompStrings = "";
  bool firstime = true;

  for (comp = 0; comp < Components.size(); comp++) {
    if (firstime) firstime = false;
    else          CompStrings += ", ";

    CompStrings += Components[comp]->GetName();
  }

  return CompStrings;
}

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

string FGFCS::GetComponentValues(void)
{
  unsigned int comp;
  string CompValues = "";
  char buffer[10];
  bool firstime = true;

  for (comp = 0; comp < Components.size(); comp++) {
    if (firstime) firstime = false;
    else          CompValues += ", ";

    sprintf(buffer, "%9.6f", Components[comp]->GetOutput());
    CompValues += string(buffer);
  }

  return CompValues;
}

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

void FGFCS::AddThrottle(void)
{
  ThrottleCmd.push_back(0.0);
  ThrottlePos.push_back(0.0);
  MixtureCmd.push_back(0.0);     // assume throttle and mixture are coupled
  MixturePos.push_back(0.0);
  PropAdvanceCmd.push_back(0.0); // assume throttle and prop pitch are coupled
  PropAdvance.push_back(0.0);
}

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
//    The bitmasked value choices are as follows:
//    unset: In this case (the default) JSBSim would only print
//       out the normally expected messages, essentially echoing
//       the config files as they are read. If the environment
//       variable is not set, debug_lvl is set to 1 internally
//    0: This requests JSBSim not to output any messages
//       whatsoever.
//    1: This value explicity requests the normal JSBSim
//       startup messages
//    2: This value asks for a message to be printed out when
//       a class is instantiated
//    4: When this value is set, a message is displayed when a
//       FGModel object executes its Run() method
//    8: When this value is set, various runtime state variables
//       are printed out periodically
//    16: When set various parameters are sanity checked and
//       a message is printed out when they go out of bounds

void FGFCS::Debug(int from)
{
  if (debug_lvl <= 0) return;

  if (debug_lvl & 1) { // Standard console startup message output
    if (from == 0) { // Constructor

    }
  }
  if (debug_lvl & 2 ) { // Instantiation/Destruction notification
    if (from == 0) cout << "Instantiated: FGFCS" << endl;
    if (from == 1) cout << "Destroyed:    FGFCS" << endl;
  }
  if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
  }
  if (debug_lvl & 8 ) { // Runtime state variables
  }
  if (debug_lvl & 16) { // Sanity checking
  }
  if (debug_lvl & 64) {
    if (from == 0) { // Constructor
      cout << IdSrc << endl;
      cout << IdHdr << endl;
    }
  }
}