/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

 Module:       FGFCSComponent.cpp
 Author:       Jon S. Berndt
 Date started: 11/1999

 ------------- Copyright (C) 2000 -------------

 This program is free software; you can redistribute it and/or modify it under
 the terms of the GNU Lesser 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 Lesser General Public License for more
 details.

 You should have received a copy of the GNU Lesser 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 Lesser General Public License can also be found on
 the world wide web at http://www.gnu.org.

FUNCTIONAL DESCRIPTION
--------------------------------------------------------------------------------

HISTORY
--------------------------------------------------------------------------------

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
COMMENTS, REFERENCES,  and NOTES
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
INCLUDES
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/

#include <iostream>
#include <cstdlib>

#include "FGFCSComponent.h"
#include "input_output/FGXMLElement.h"
#include "math/FGPropertyValue.h"
#include "models/FGFCS.h"

using namespace std;

namespace JSBSim {

IDENT(IdSrc,"$Id: FGFCSComponent.cpp,v 1.42 2016/02/27 16:54:15 bcoconni Exp $");
IDENT(IdHdr,ID_FCSCOMPONENT);

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

FGFCSComponent::FGFCSComponent(FGFCS* _fcs, Element* element) : fcs(_fcs)
{
  Element *input_element,*init_element, *clip_el;
  Input = Output = clipmin = clipmax = delay_time = 0.0;
  treenode = 0;
  delay = index = 0;
  ClipMinPropertyNode = ClipMaxPropertyNode = 0;
  clipMinSign = clipMaxSign = 1.0;
  IsOutput   = clip = false;
  string input,init, clip_string;
  dt = fcs->GetDt();

  PropertyManager = fcs->GetPropertyManager();
  if        (element->GetName() == string("lag_filter")) {
    Type = "LAG_FILTER";
  } else if (element->GetName() == string("lead_lag_filter")) {
    Type = "LEAD_LAG_FILTER";
  } else if (element->GetName() == string("washout_filter")) {
    Type = "WASHOUT_FILTER";
  } else if (element->GetName() == string("second_order_filter")) {
    Type = "SECOND_ORDER_FILTER";
  } else if (element->GetName() == string("integrator")) {
    Type = "INTEGRATOR";
  } else if (element->GetName() == string("summer")) {
    Type = "SUMMER";
  } else if (element->GetName() == string("pure_gain")) {
    Type = "PURE_GAIN";
  } else if (element->GetName() == string("scheduled_gain")) {
    Type = "SCHEDULED_GAIN";
  } else if (element->GetName() == string("aerosurface_scale")) {
    Type = "AEROSURFACE_SCALE";
  } else if (element->GetName() == string("switch")) {
    Type = "SWITCH";
  } else if (element->GetName() == string("kinematic")) {
    Type = "KINEMATIC";
  } else if (element->GetName() == string("deadband")) {
    Type = "DEADBAND";
  } else if (element->GetName() == string("fcs_function")) {
    Type = "FCS_FUNCTION";
  } else if (element->GetName() == string("pid")) {
    Type = "PID";
  } else if (element->GetName() == string("sensor")) {
    Type = "SENSOR";
  } else if (element->GetName() == string("accelerometer")) {
    Type = "ACCELEROMETER";
  } else if (element->GetName() == string("magnetometer")) {
    Type = "MAGNETOMETER";
  } else if (element->GetName() == string("gyro")) {
    Type = "GYRO";
  } else if (element->GetName() == string("actuator")) {
    Type = "ACTUATOR";
  } else if (element->GetName() == string("waypoint_heading")) {
    Type = "WAYPOINT_HEADING";
  } else if (element->GetName() == string("waypoint_distance")) {
    Type = "WAYPOINT_DISTANCE";
  } else if (element->GetName() == string("angle")) {
    Type = "ANGLE";
  } else if (element->GetName() == string("distributor")) {
    Type = "DISTRIBUTOR";
  } else { // illegal component in this channel
    Type = "UNKNOWN";
  }

  Name = element->GetAttributeValue("name");

  init_element = element->FindElement("init");
  while (init_element) {
    init = init_element->GetDataLine();
    if (init[0] == '-') {
      InitSigns.push_back(-1.0);
      init.erase(0,1);
    } else {
      InitSigns.push_back( 1.0);
    }

    if (PropertyManager->HasNode(init)) {
      FGPropertyNode* node = PropertyManager->GetNode(init);
      InitNodes.push_back(new FGPropertyValue( node ));
    } else {
      InitNodes.push_back(new FGPropertyValue( init,
                                                PropertyManager ));
    }
    InitNames.push_back( init );

    init_element = element->FindNextElement("init");
  }
  
  input_element = element->FindElement("input");
  while (input_element) {
    input = input_element->GetDataLine();
    if (input[0] == '-') {
      InputSigns.push_back(-1.0);
      input.erase(0,1);
    } else {
      InputSigns.push_back( 1.0);
    }

    if (PropertyManager->HasNode(input)) {
      FGPropertyNode* node = PropertyManager->GetNode(input);
      InputNodes.push_back(new FGPropertyValue( node ));
    } else {
      InputNodes.push_back(new FGPropertyValue( input,
                                                PropertyManager ));
    }
    InputNames.push_back( input );

    input_element = element->FindNextElement("input");
  }

  Element *out_elem = element->FindElement("output");
  while (out_elem) {
    IsOutput = true;
    string output_node_name = out_elem->GetDataLine();
    FGPropertyNode* OutputNode = PropertyManager->GetNode( output_node_name, true );
    OutputNodes.push_back(OutputNode);
    if (!OutputNode) {
      cerr << endl << "  Unable to process property: " << output_node_name << endl;
      throw(string("Invalid output property name in flight control definition"));
    }
    out_elem = element->FindNextElement("output");
  }

  Element* delay_elem = element->FindElement("delay");
  if ( delay_elem ) {
    delay_time = delay_elem->GetDataAsNumber();
    string delayType = delay_elem->GetAttributeValue("type");
    if (delayType.length() > 0) {
      if (delayType == "time") {
        delay = (unsigned int)(delay_time / dt);
      } else if (delayType == "frames") {
        delay = (unsigned int)delay_time;
      } else {
        cerr << "Unallowed delay type" << endl;
      }
    } else {
      delay = (unsigned int)(delay_time / dt);
    }
    output_array.resize(delay);
    for (unsigned int i=0; i<delay; i++) output_array[i] = 0.0;
  }

  clip_el = element->FindElement("clipto");
  if (clip_el) {
    clip_string = clip_el->FindElementValue("min");
    if (!is_number(clip_string)) { // it's a property
      if (clip_string[0] == '-') {
        clipMinSign = -1.0;
        clip_string.erase(0,1);
      }
      ClipMinPropertyNode = PropertyManager->GetNode( clip_string );
    } else {
      clipmin = clip_el->FindElementValueAsNumber("min");
    }
    clip_string = clip_el->FindElementValue("max");
    if (!is_number(clip_string)) { // it's a property
      if (clip_string[0] == '-') {
        clipMaxSign = -1.0;
        clip_string.erase(0,1);
      }
      ClipMaxPropertyNode = PropertyManager->GetNode( clip_string );
    } else {
      clipmax = clip_el->FindElementValueAsNumber("max");
    }
    clip = true;
  }

  Debug(0);
}

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

FGFCSComponent::~FGFCSComponent()
{
  Debug(1);
  for (unsigned int i=0; i<InputNodes.size(); i++) {
    delete InputNodes[i];
  }
}

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

void FGFCSComponent::ResetPastStates(void)
{
  index = 0;
  for (unsigned int i = 0; i < output_array.size(); ++i)
    output_array[i] = 0.0;
}

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

void FGFCSComponent::SetOutput(void)
{
  for (unsigned int i=0; i<OutputNodes.size(); i++) OutputNodes[i]->setDoubleValue(Output);
}

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

void FGFCSComponent::SetDtForFrameCount(int FrameCount)
{
  dt = fcs->GetDt() * FrameCount;
}

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

void FGFCSComponent::Delay(void)
{
  output_array[index] = Output;
  if ((unsigned int)index == delay-1) index = 0;
  else index++;
  Output = output_array[index];
}

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

void FGFCSComponent::Clip(void)
{
  if (clip) {
    if (ClipMinPropertyNode != 0) clipmin = clipMinSign*ClipMinPropertyNode->getDoubleValue();
    if (ClipMaxPropertyNode != 0) clipmax = clipMaxSign*ClipMaxPropertyNode->getDoubleValue();
    if (Output > clipmax)      Output = clipmax;
    else if (Output < clipmin) Output = clipmin;
  }
}

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
//
// The old way of naming FCS components allowed upper or lower case, spaces,
// etc. but then the names were modified to fit into a property name
// hierarchy. This was confusing (it wasn't done intentionally - it was a
// carryover from the early design). We now support the direct naming of
// properties in the FCS component name attribute. The old way is supported in
// code at this time, but deprecated.

void FGFCSComponent::bind(void)
{
  string tmp;
  if (Name.find("/") == string::npos) {
    tmp = "fcs/" + PropertyManager->mkPropertyName(Name, true);
  } else {
    tmp = Name;
  }
  PropertyManager->Tie( tmp, this, &FGFCSComponent::GetOutput);
}

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
//    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 FGFCSComponent::Debug(int from)
{
  if (debug_lvl <= 0) return;

  if (debug_lvl & 1) { // Standard console startup message output
    if (from == 0) {
      cout << endl << "    Loading Component \"" << Name
                   << "\" of type: " << Type << endl;

      if (clip) {
        string propsign;

        if (ClipMinPropertyNode != 0L) {
          if (clipMinSign < 0.0) propsign="-";
          cout << "      Minimum limit: " << propsign << ClipMinPropertyNode->GetName() << endl;
        } else {
          cout << "      Minimum limit: " << clipmin << endl;
        }

        propsign="";

        if (ClipMaxPropertyNode != 0L) {
          if (clipMaxSign < 0.0) propsign="-";
          cout << "      Maximum limit: " << propsign << ClipMaxPropertyNode->GetName() << endl;
        } else {
          cout << "      Maximum limit: " << clipmax << endl;
        }
      }  
      if (delay > 0) cout <<"      Frame delay: " << delay
                                   << " frames (" << delay*dt << " sec)" << endl;
    }
  }
  if (debug_lvl & 2 ) { // Instantiation/Destruction notification
    if (from == 0) cout << "Instantiated: FGFCSComponent" << endl;
    if (from == 1) cout << "Destroyed:    FGFCSComponent" << 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;
    }
  }
}
}
