src/FDM/JSBSim/FGFDMExec.cpp

   1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
   2
   3  Module:       FGFDMExec.cpp
   4  Author:       Jon S. Berndt
   5  Date started: 11/17/98
   6  Purpose:      Schedules and runs the model routines.
   7  Called by:    The GUI.
   8
   9  ------------- Copyright (C) 1999  Jon S. Berndt (jsb@hal-pc.org) -------------
  10
  11  This program is free software; you can redistribute it and/or modify it under
  12  the terms of the GNU General Public License as published by the Free Software
  13  Foundation; either version 2 of the License, or (at your option) any later
  14  version.
  15
  16  This program is distributed in the hope that it will be useful, but WITHOUT
  17  ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
  18  FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
  19  details.
  20
  21  You should have received a copy of the GNU General Public License along with
  22  this program; if not, write to the Free Software Foundation, Inc., 59 Temple
  23  Place - Suite 330, Boston, MA  02111-1307, USA.
  24
  25  Further information about the GNU General Public License can also be found on
  26  the world wide web at http://www.gnu.org.
  27
  28 FUNCTIONAL DESCRIPTION
  29 --------------------------------------------------------------------------------
  30
  31 This class wraps up the simulation scheduling routines.
  32
  33 HISTORY
  34 --------------------------------------------------------------------------------
  35 11/17/98   JSB   Created
  36
  37 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  38 COMMENTS, REFERENCES,  and NOTES
  39 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  40
  41 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  42 INCLUDES
  43 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  44
  45 #ifdef FGFS
  46 #  include <time.h>
  47 #  include <simgear/compiler.h>
  48 #  include STL_IOSTREAM
  49 #  include STL_ITERATOR
  50 #else
  51 #  if defined(sgi) && !defined(__GNUC__)
  52 #    include <iostream.h>
  53 #    include <time.h>
  54 #  else
  55 #    include <iostream>
  56 #    include <ctime>
  57 #  endif
  58 #  include <iterator>
  59 #endif
  60
  61 #include "FGFDMExec.h"
  62 #include "FGState.h"
  63 #include "FGAtmosphere.h"
  64 #include "FGFCS.h"
  65 #include "FGPropulsion.h"
  66 #include "FGMassBalance.h"
  67 #include "FGGroundReactions.h"
  68 #include "FGAerodynamics.h"
  69 #include "FGInertial.h"
  70 #include "FGAircraft.h"
  71 #include "FGTranslation.h"
  72 #include "FGRotation.h"
  73 #include "FGPosition.h"
  74 #include "FGAuxiliary.h"
  75 #include "FGOutput.h"
  76 #include "FGConfigFile.h"
  77
  78 static const char *IdSrc = "$Id$";
  79 static const char *IdHdr = ID_FDMEXEC;
  80
  81 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  82 GLOBAL DECLARATIONS
  83 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  84
  85 short debug_lvl;  // This describes to any interested entity the debug level
  86                   // requested by setting the JSBSIM_DEBUG environment variable.
  87                   // The bitmasked value choices are as follows:
  88                   // a) unset: In this case (the default) JSBSim would only print
  89                   //    out the normally expected messages, essentially echoing
  90                   //    the config files as they are read. If the environment
  91                   //    variable is not set, debug_lvl is set to 1 internally
  92                   // b) 0: This requests JSBSim not to output any messages
  93                   //    whatsoever.
  94                   // c) 1: This value explicity requests the normal JSBSim
  95                   //    startup messages
  96                   // d) 2: This value asks for a message to be printed out when
  97                   //    a class is instantiated
  98                   // e) 4: When this value is set, a message is displayed when a
  99                   //    FGModel object executes its Run() method
 100                   // f) 8: When this value is set, various runtime state variables
 101                   //    are printed out periodically
 102                   // g) 16: When set various parameters are sanity checked and
 103                   //    a message is printed out when they go out of bounds.
 104
 105 unsigned int FGFDMExec::FDMctr = 0;
 106
 107 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 108 CLASS IMPLEMENTATION
 109 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 110
 111 // Constructor
 112
 113 FGFDMExec::FGFDMExec(void)
 114 {
 115   Frame           = 0;
 116   FirstModel      = 0;
 117   Error           = 0;
 118   State           = 0;
 119   Atmosphere      = 0;
 120   FCS             = 0;
 121   Propulsion      = 0;
 122   MassBalance     = 0;
 123   Aerodynamics    = 0;
 124   Inertial        = 0;
 125   GroundReactions = 0;
 126   Aircraft        = 0;
 127   Translation     = 0;
 128   Rotation        = 0;
 129   Position        = 0;
 130   Auxiliary       = 0;
 131   Output          = 0;
 132
 133   terminate = false;
 134   frozen = false;
 135   modelLoaded = false;
 136   Scripted = false;
 137
 138   IdFDM = FDMctr;
 139   FDMctr++;
 140
 141   try {
 142     char* num = getenv("JSBSIM_DEBUG");
 143     if (!num) debug_lvl = 1;
 144     else debug_lvl = atoi(num); // set debug level
 145   } catch (...) {               // if error set to 1
 146     debug_lvl = 1;
 147   }
 148
 149   if (debug_lvl > 0) {
 150     cout << "\n\n     " << highint << underon << "JSBSim Flight Dynamics Model v"
 151                                    << JSBSim_version << underoff << normint << endl;
 152     cout << halfint << "            [cfg file spec v" << needed_cfg_version << "]\n\n";
 153     cout << normint << "JSBSim startup beginning ...\n\n";
 154   }
 155
 156   if (debug_lvl & 2) cout << "Instantiated: FGFDMExec" << endl;
 157
 158   Allocate();
 159 }
 160
 161 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 162
 163 FGFDMExec::~FGFDMExec() {
 164   DeAllocate();
 165   if (debug_lvl & 2) cout << "Destroyed:    FGFDMExec" << endl;
 166 }
 167
 168 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 169
 170 bool FGFDMExec::Allocate(void) {
 171
 172   bool result=true;
 173
 174   Atmosphere      = new FGAtmosphere(this);
 175   FCS             = new FGFCS(this);
 176   Propulsion      = new FGPropulsion(this);
 177   MassBalance     = new FGMassBalance(this);
 178   Aerodynamics    = new FGAerodynamics (this);
 179   Inertial        = new FGInertial(this);
 180   GroundReactions = new FGGroundReactions(this);
 181   Aircraft        = new FGAircraft(this);
 182   Translation     = new FGTranslation(this);
 183   Rotation        = new FGRotation(this);
 184   Position        = new FGPosition(this);
 185   Auxiliary       = new FGAuxiliary(this);
 186   Output          = new FGOutput(this);
 187
 188   State        = new FGState(this); // This must be done here, as the FGState
 189                                     // class needs valid pointers to the above
 190                                     // model classes
 191
 192   // Initialize models so they can communicate with each other
 193
 194   if (!Atmosphere->InitModel()) {
 195     cerr << fgred << "Atmosphere model init failed" << fgdef << endl;
 196     Error+=1;}
 197   if (!FCS->InitModel())        {
 198     cerr << fgred << "FCS model init failed" << fgdef << endl;
 199     Error+=2;}
 200   if (!Propulsion->InitModel()) {
 201     cerr << fgred << "FGPropulsion model init failed" << fgdef << endl;
 202     Error+=4;}
 203   if (!MassBalance->InitModel()) {
 204     cerr << fgred << "FGMassBalance model init failed" << fgdef << endl;
 205     Error+=8;}
 206   if (!Aerodynamics->InitModel()) {
 207     cerr << fgred << "FGAerodynamics model init failed" << fgdef << endl;
 208     Error+=16;}
 209   if (!Inertial->InitModel()) {
 210     cerr << fgred << "FGInertial model init failed" << fgdef << endl;
 211     Error+=32;}
 212   if (!GroundReactions->InitModel())   {
 213     cerr << fgred << "Ground Reactions model init failed" << fgdef << endl;
 214     Error+=64;}
 215   if (!Aircraft->InitModel())   {
 216     cerr << fgred << "Aircraft model init failed" << fgdef << endl;
 217     Error+=128;}
 218   if (!Translation->InitModel()){
 219     cerr << fgred << "Translation model init failed" << fgdef << endl;
 220     Error+=256;}
 221   if (!Rotation->InitModel())   {
 222     cerr << fgred << "Rotation model init failed" << fgdef << endl;
 223     Error+=512;}
 224   if (!Position->InitModel())   {
 225     cerr << fgred << "Position model init failed" << fgdef << endl;
 226     Error+=1024;}
 227   if (!Auxiliary->InitModel())  {
 228     cerr << fgred << "Auxiliary model init failed" << fgdef << endl;
 229     Error+=2058;}
 230   if (!Output->InitModel())     {
 231     cerr << fgred << "Output model init failed" << fgdef << endl;
 232     Error+=4096;}
 233
 234   if (Error > 0) result = false;
 235
 236   // Schedule a model. The second arg (the integer) is the pass number. For
 237   // instance, the atmosphere model gets executed every fifth pass it is called
 238   // by the executive. Everything else here gets executed each pass.
 239
 240   Schedule(Atmosphere,      1);
 241   Schedule(FCS,             1);
 242   Schedule(Propulsion,      1);
 243   Schedule(MassBalance,     1);
 244   Schedule(Aerodynamics,    1);
 245   Schedule(Inertial,        1);
 246   Schedule(GroundReactions, 1);
 247   Schedule(Aircraft,        1);
 248   Schedule(Rotation,        1);
 249   Schedule(Translation,     1);
 250   Schedule(Position,        1);
 251   Schedule(Auxiliary,       1);
 252   Schedule(Output,          1);
 253
 254   modelLoaded = false;
 255
 256   return result;
 257 }
 258
 259 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 260
 261 bool FGFDMExec::DeAllocate(void) {
 262
 263   if ( Atmosphere != 0 )     delete Atmosphere;
 264   if ( FCS != 0 )            delete FCS;
 265   if ( Propulsion != 0)      delete Propulsion;
 266   if ( MassBalance != 0)     delete MassBalance;
 267   if ( Aerodynamics != 0)    delete Aerodynamics;
 268   if ( Inertial != 0)        delete Inertial;
 269   if ( GroundReactions != 0) delete GroundReactions;
 270   if ( Aircraft != 0 )       delete Aircraft;
 271   if ( Translation != 0 )    delete Translation;
 272   if ( Rotation != 0 )       delete Rotation;
 273   if ( Position != 0 )       delete Position;
 274   if ( Auxiliary != 0 )      delete Auxiliary;
 275   if ( Output != 0 )         delete Output;
 276   if ( State != 0 )          delete State;
 277
 278   FirstModel  = 0L;
 279   Error       = 0;
 280
 281   State           = 0;
 282   Atmosphere      = 0;
 283   FCS             = 0;
 284   Propulsion      = 0;
 285   MassBalance     = 0;
 286   Aerodynamics    = 0;
 287   Inertial        = 0;
 288   GroundReactions = 0;
 289   Aircraft        = 0;
 290   Translation     = 0;
 291   Rotation        = 0;
 292   Position        = 0;
 293   Auxiliary       = 0;
 294   Output          = 0;
 295
 296   modelLoaded = false;
 297   return modelLoaded;
 298 }
 299
 300 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 301
 302 int FGFDMExec::Schedule(FGModel* model, int rate)
 303 {
 304   FGModel* model_iterator;
 305
 306   model_iterator = FirstModel;
 307
 308   if (model_iterator == 0L) {                  // this is the first model
 309
 310     FirstModel = model;
 311     FirstModel->NextModel = 0L;
 312     FirstModel->SetRate(rate);
 313
 314   } else {                                     // subsequent model
 315
 316     while (model_iterator->NextModel != 0L) {
 317       model_iterator = model_iterator->NextModel;
 318     }
 319     model_iterator->NextModel = model;
 320     model_iterator->NextModel->SetRate(rate);
 321
 322   }
 323   return 0;
 324 }
 325
 326 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 327
 328 bool FGFDMExec::Run(void)
 329 {
 330   FGModel* model_iterator;
 331
 332   if (frozen) return true;
 333
 334   model_iterator = FirstModel;
 335   if (model_iterator == 0L) return false;
 336
 337   if (Scripted) {
 338     RunScript();
 339     if (State->Getsim_time() >= EndTime) return false;
 340   }
 341
 342   if (debug_lvl & 4)
 343     cout << "================== Frame: " << Frame << "  Time: "
 344          << State->Getsim_time() << endl;
 345
 346   while (!model_iterator->Run()) {
 347     model_iterator = model_iterator->NextModel;
 348     if (model_iterator == 0L) break;
 349   }
 350
 351   Frame++;
 352   State->IncrTime();
 353
 354   return true;
 355 }
 356
 357 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 358
 359 bool FGFDMExec::RunIC(FGInitialCondition *fgic)
 360 {
 361   State->Suspend();
 362   State->Initialize(fgic);
 363   Run();
 364   State->Resume();
 365   return true;
 366 }
 367
 368 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 369
 370 bool FGFDMExec::LoadModel(string APath, string EPath, string model)
 371 {
 372   bool result = false;
 373
 374   string aircraftCfgFileName;
 375
 376   AircraftPath = APath;
 377   EnginePath   = EPath;
 378
 379 # ifndef macintosh
 380   aircraftCfgFileName = AircraftPath + "/" + model + "/" + model + ".xml";
 381 # else
 382   aircraftCfgFileName = AircraftPath + ";" + model + ";" + model + ".xml";
 383 # endif
 384
 385   FGConfigFile AC_cfg(aircraftCfgFileName);
 386   if (!AC_cfg.IsOpen()) return false;
 387
 388   if (modelLoaded) {
 389     DeAllocate();
 390     Allocate();
 391   }
 392
 393   result = Aircraft->Load(&AC_cfg);
 394
 395   if (result) {
 396     modelLoaded = true;
 397   } else {
 398     cerr << fgred
 399          << "FGFDMExec: Failed to load aircraft and/or engine model"
 400          << fgdef << endl;
 401   }
 402
 403   if (debug_lvl > 0) cout << "\n\nJSBSim startup complete\n\n";
 404   return result;
 405 }
 406
 407 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 408
 409 bool FGFDMExec::LoadScript(string script)
 410 {
 411   FGConfigFile Script(script);
 412   string token="";
 413   string aircraft="";
 414   string initialize="";
 415   bool result=false;
 416   float dt=0.0;
 417   int i;
 418   struct condition *newCondition;
 419
 420   if (!Script.IsOpen()) return false;
 421
 422   Script.GetNextConfigLine();
 423   ScriptName = Script.GetValue("name");
 424   Scripted = true;
 425   if (debug_lvl > 0) cout << "Reading Script File " << ScriptName << endl;
 426
 427   while (Script.GetNextConfigLine() != "EOF" && Script.GetValue() != "/runscript") {
 428     token = Script.GetValue();
 429     if (token == "use") {
 430       if ((token = Script.GetValue("aircraft")) != "") {
 431         aircraft = token;
 432         if (debug_lvl > 0) cout << "  Use aircraft: " << token << endl;
 433       } else if ((token = Script.GetValue("initialize")) != "") {
 434         initialize = token;
 435         if (debug_lvl > 0) cout << "  Use reset file: " << token << endl;
 436       } else {
 437         cerr << "Unknown 'use' keyword: \"" << token << "\"" << endl;
 438       }
 439     } else if (token == "run") {
 440       StartTime = strtod(Script.GetValue("start").c_str(), NULL);
 441       State->Setsim_time(StartTime);
 442       EndTime   = strtod(Script.GetValue("end").c_str(), NULL);
 443       dt        = strtod(Script.GetValue("dt").c_str(), NULL);
 444       State->Setdt(dt);
 445       Script.GetNextConfigLine();
 446       token = Script.GetValue();
 447       while (token != "/run") {
 448
 449         if (token == "when") {
 450           Script.GetNextConfigLine();
 451           token = Script.GetValue();
 452           newCondition = new struct condition();
 453           while (token != "/when") {
 454             if (token == "parameter") {
 455               newCondition->TestParam.push_back(State->GetParameterIndex(Script.GetValue("name")));
 456               newCondition->TestValue.push_back(strtod(Script.GetValue("value").c_str(), NULL));
 457               newCondition->Comparison.push_back(Script.GetValue("comparison"));
 458             } else if (token == "set") {
 459               newCondition->SetParam.push_back(State->GetParameterIndex(Script.GetValue("name")));
 460               newCondition->SetValue.push_back(strtod(Script.GetValue("value").c_str(), NULL));
 461               newCondition->Triggered.push_back(false);
 462               newCondition->OriginalValue.push_back(0.0);
 463               newCondition->newValue.push_back(0.0);
 464               newCondition->StartTime.push_back(0.0);
 465               newCondition->EndTime.push_back(0.0);
 466               string tempCompare = Script.GetValue("type");
 467               if      (tempCompare == "FG_DELTA") newCondition->Type.push_back(FG_DELTA);
 468               else if (tempCompare == "FG_BOOL")  newCondition->Type.push_back(FG_BOOL);
 469               else if (tempCompare == "FG_VALUE") newCondition->Type.push_back(FG_VALUE);
 470               else                                newCondition->Type.push_back((eType)0);
 471               tempCompare = Script.GetValue("action");
 472               if      (tempCompare == "FG_RAMP") newCondition->Action.push_back(FG_RAMP);
 473               else if (tempCompare == "FG_STEP") newCondition->Action.push_back(FG_STEP);
 474               else if (tempCompare == "FG_EXP")  newCondition->Action.push_back(FG_EXP);
 475               else                               newCondition->Action.push_back((eAction)0);
 476
 477               if (Script.GetValue("persistent") == "true")
 478                 newCondition->Persistent.push_back(true);
 479               else
 480                 newCondition->Persistent.push_back(false);
 481
 482               newCondition->TC.push_back(strtod(Script.GetValue("tc").c_str(), NULL));
 483
 484             } else {
 485               cerr << "Unrecognized keyword in script file: \" [when] " << token << "\"" << endl;
 486             }
 487             Script.GetNextConfigLine();
 488             token = Script.GetValue();
 489           }
 490           Conditions.push_back(*newCondition);
 491           Script.GetNextConfigLine();
 492           token = Script.GetValue();
 493
 494         } else {
 495           cerr << "Error reading script file: expected \"when\", got \"" << token << "\"" << endl;
 496         }
 497
 498       }
 499     } else {
 500       cerr << "Unrecognized keyword in script file: \"" << token << "\" [runscript] " << endl;
 501     }
 502   }
 503
 504   if (aircraft == "") {
 505     cerr << "Aircraft file not loaded in script" << endl;
 506     exit(-1);
 507   }
 508
 509   // print out conditions for double-checking if requested
 510
 511   if (debug_lvl > 0) {
 512     vector <struct condition>::iterator iterConditions = Conditions.begin();
 513     int count=0;
 514
 515     cout << "\n  Script goes from " << StartTime << " to " << EndTime
 516          << " with dt = " << dt << endl << endl;
 517
 518     while (iterConditions < Conditions.end()) {
 519       cout << "  Condition: " << count++ << endl;
 520       cout << "    if (";
 521
 522       for (i=0; i<iterConditions->TestValue.size(); i++) {
 523         if (i>0) cout << " and" << endl << "        ";
 524         cout << "(" << State->paramdef[iterConditions->TestParam[i]]
 525                     << iterConditions->Comparison[i] << " "
 526                     << iterConditions->TestValue[i] << ")";
 527       }
 528       cout << ") then {";
 529
 530       for (i=0; i<iterConditions->SetValue.size(); i++) {
 531         cout << endl << "      set" << State->paramdef[iterConditions->SetParam[i]]
 532              << "to " << iterConditions->SetValue[i];
 533
 534         switch (iterConditions->Type[i]) {
 535         case FG_VALUE:
 536           cout << " (constant";
 537           break;
 538         case FG_DELTA:
 539           cout << " (delta";
 540           break;
 541         case FG_BOOL:
 542           cout << " (boolean";
 543           break;
 544         default:
 545           cout << " (unspecified type";
 546         }
 547
 548         switch (iterConditions->Action[i]) {
 549         case FG_RAMP:
 550           cout << " via ramp";
 551           break;
 552         case FG_STEP:
 553           cout << " via step";
 554           break;
 555         case FG_EXP:
 556           cout << " via exponential approach";
 557           break;
 558         default:
 559           cout << " via unspecified action";
 560         }
 561
 562         if (!iterConditions->Persistent[i]) cout << endl
 563                            << "                              once";
 564         else cout << endl
 565                            << "                              repeatedly";
 566
 567         if (iterConditions->Action[i] == FG_RAMP ||
 568             iterConditions->Action[i] == FG_EXP) cout << endl
 569                            << "                              with time constant "
 570                            << iterConditions->TC[i];
 571       }
 572       cout << ")" << endl << "    }" << endl << endl;
 573
 574       iterConditions++;
 575     }
 576
 577     cout << endl;
 578   }
 579
 580   result = LoadModel("aircraft", "engine", aircraft);
 581   if (!result) {
 582     cerr << "Aircraft file " << aircraft << " was not found" << endl;
 583           exit(-1);
 584   }
 585   if ( ! State->Reset("aircraft", aircraft, initialize))
 586                  State->Initialize(2000,0,0,0,0,0,0.5,0.5,40000,0,0,0);
 587
 588   return true;
 589 }
 590
 591 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 592
 593 void FGFDMExec::RunScript(void)
 594 {
 595   vector <struct condition>::iterator iC = Conditions.begin();
 596   bool truth;
 597   bool WholeTruth;
 598   int i;
 599
 600   int count=0;
 601
 602   float currentTime = State->Getsim_time();
 603   float newSetValue;
 604
 605   while (iC < Conditions.end()) {
 606     // determine whether the set of conditional tests for this condition equate
 607     // to true
 608     for (i=0; i<iC->TestValue.size(); i++) {
 609            if (iC->Comparison[i] == "lt")
 610               truth = State->GetParameter(iC->TestParam[i]) <  iC->TestValue[i];
 611       else if (iC->Comparison[i] == "le")
 612               truth = State->GetParameter(iC->TestParam[i]) <= iC->TestValue[i];
 613       else if (iC->Comparison[i] == "eq")
 614               truth = State->GetParameter(iC->TestParam[i]) == iC->TestValue[i];
 615       else if (iC->Comparison[i] == "ge")
 616               truth = State->GetParameter(iC->TestParam[i]) >= iC->TestValue[i];
 617       else if (iC->Comparison[i] == "gt")
 618               truth = State->GetParameter(iC->TestParam[i]) >  iC->TestValue[i];
 619       else if (iC->Comparison[i] == "ne")
 620               truth = State->GetParameter(iC->TestParam[i]) != iC->TestValue[i];
 621       else
 622               cerr << "Bad comparison" << endl;
 623
 624       if (i == 0) WholeTruth = truth;
 625       else        WholeTruth = WholeTruth && truth;
 626
 627       if (!truth && iC->Persistent[i] && iC->Triggered[i]) iC->Triggered[i] = false;
 628     }
 629
 630     // if the conditions are true, do the setting of the desired parameters
 631
 632     if (WholeTruth) {
 633       for (i=0; i<iC->SetValue.size(); i++) {
 634         if ( ! iC->Triggered[i]) {
 635           iC->OriginalValue[i] = State->GetParameter(iC->SetParam[i]);
 636           switch (iC->Type[i]) {
 637           case FG_VALUE:
 638             iC->newValue[i] = iC->SetValue[i];
 639             break;
 640           case FG_DELTA:
 641             iC->newValue[i] = iC->OriginalValue[i] + iC->SetValue[i];
 642             break;
 643           case FG_BOOL:
 644             break;
 645           default:
 646             cerr << "Invalid Type specified" << endl;
 647             break;
 648           }
 649           iC->Triggered[i] = true;
 650           iC->StartTime[i] = currentTime;
 651         }
 652
 653         switch (iC->Action[i]) {
 654         case FG_RAMP:
 655           newSetValue = (currentTime - iC->StartTime[i])/(iC->TC[i])
 656                       * (iC->newValue[i] - iC->OriginalValue[i]) + iC->OriginalValue[i];
 657           if (newSetValue > iC->newValue[i]) newSetValue = iC->newValue[i];
 658           break;
 659         case FG_STEP:
 660           newSetValue = iC->newValue[i];
 661           break;
 662         case FG_EXP:
 663           newSetValue = (1 - exp(-(currentTime - iC->StartTime[i])/(iC->TC[i])))
 664               * (iC->newValue[i] - iC->OriginalValue[i]) + iC->OriginalValue[i];
 665           break;
 666         default:
 667           cerr << "Invalid Action specified" << endl;
 668           break;
 669         }
 670         State->SetParameter(iC->SetParam[i], newSetValue);
 671       }
 672     }
 673     iC++;
 674   }
 675 }
 676
 677 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 678
 679 void FGFDMExec::Debug(void)
 680 {
 681     //TODO: Add your source code here
 682 }
 683