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
 324   return 0;
 325 }
 326
 327 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 328
 329 bool FGFDMExec::Run(void)
 330 {
 331   FGModel* model_iterator;
 332
 333   if (frozen) return true;
 334
 335   model_iterator = FirstModel;
 336   if (model_iterator == 0L) return false;
 337
 338   if (Scripted) {
 339     RunScript();
 340     if (State->Getsim_time() >= EndTime) return false;
 341   }
 342
 343   if (debug_lvl & 4)
 344     cout << "================== Frame: " << Frame << "  Time: "
 345          << State->Getsim_time() << endl;
 346
 347   while (!model_iterator->Run()) {
 348     model_iterator = model_iterator->NextModel;
 349     if (model_iterator == 0L) break;
 350   }
 351
 352   frame = Frame++;
 353   State->IncrTime();
 354
 355   return true;
 356 }
 357
 358 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 359
 360 bool FGFDMExec::RunIC(FGInitialCondition *fgic)
 361 {
 362   State->Suspend();
 363   State->Initialize(fgic);
 364   Run();
 365   State->Resume();
 366   return true;
 367 }
 368
 369 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 370
 371 bool FGFDMExec::LoadModel(string APath, string EPath, string model)
 372 {
 373   bool result = false;
 374
 375   string aircraftCfgFileName;
 376
 377   AircraftPath = APath;
 378   EnginePath   = EPath;
 379
 380 # ifndef macintosh
 381   aircraftCfgFileName = AircraftPath + "/" + model + "/" + model + ".xml";
 382 # else
 383   aircraftCfgFileName = AircraftPath + ";" + model + ";" + model + ".xml";
 384 # endif
 385
 386   FGConfigFile AC_cfg(aircraftCfgFileName);
 387   if (!AC_cfg.IsOpen()) return false;
 388
 389   if (modelLoaded) {
 390     DeAllocate();
 391     Allocate();
 392   }
 393
 394   result = Aircraft->Load(&AC_cfg);
 395
 396   if (result) {
 397     modelLoaded = true;
 398   } else {
 399     cerr << fgred
 400          << "FGFDMExec: Failed to load aircraft and/or engine model"
 401          << fgdef << endl;
 402   }
 403
 404   if (debug_lvl > 0) cout << "\n\nJSBSim startup complete\n\n";
 405   return result;
 406 }
 407
 408 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 409
 410 bool FGFDMExec::LoadScript(string script)
 411 {
 412   FGConfigFile Script(script);
 413   string token="";
 414   string aircraft="";
 415   string initialize="";
 416   bool result=false;
 417   double dt=0.0;
 418   int i;
 419   struct condition *newCondition;
 420
 421   if (!Script.IsOpen()) return false;
 422
 423   Script.GetNextConfigLine();
 424   ScriptName = Script.GetValue("name");
 425   Scripted = true;
 426   if (debug_lvl > 0) cout << "Reading Script File " << ScriptName << endl;
 427
 428   while (Script.GetNextConfigLine() != string("EOF") && Script.GetValue() != string("/runscript")) {
 429     token = Script.GetValue();
 430     if (token == "use") {
 431       if ((token = Script.GetValue("aircraft")) != string("")) {
 432         aircraft = token;
 433         if (debug_lvl > 0) cout << "  Use aircraft: " << token << endl;
 434       } else if ((token = Script.GetValue("initialize")) != string("")) {
 435         initialize = token;
 436         if (debug_lvl > 0) cout << "  Use reset file: " << token << endl;
 437       } else {
 438         cerr << "Unknown 'use' keyword: \"" << token << "\"" << endl;
 439       }
 440     } else if (token == "run") {
 441       StartTime = strtod(Script.GetValue("start").c_str(), NULL);
 442       State->Setsim_time(StartTime);
 443       EndTime   = strtod(Script.GetValue("end").c_str(), NULL);
 444       dt        = strtod(Script.GetValue("dt").c_str(), NULL);
 445       State->Setdt(dt);
 446       Script.GetNextConfigLine();
 447       token = Script.GetValue();
 448       while (token != string("/run")) {
 449
 450         if (token == "when") {
 451           Script.GetNextConfigLine();
 452           token = Script.GetValue();
 453           newCondition = new struct condition();
 454           while (token != string("/when")) {
 455             if (token == "parameter") {
 456               newCondition->TestParam.push_back(State->GetParameterIndex(Script.GetValue("name")));
 457               newCondition->TestValue.push_back(strtod(Script.GetValue("value").c_str(), NULL));
 458               newCondition->Comparison.push_back(Script.GetValue("comparison"));
 459             } else if (token == "set") {
 460               newCondition->SetParam.push_back(State->GetParameterIndex(Script.GetValue("name")));
 461               newCondition->SetValue.push_back(strtod(Script.GetValue("value").c_str(), NULL));
 462               newCondition->Triggered.push_back(false);
 463               newCondition->OriginalValue.push_back(0.0);
 464               newCondition->newValue.push_back(0.0);
 465               newCondition->StartTime.push_back(0.0);
 466               newCondition->EndTime.push_back(0.0);
 467               string tempCompare = Script.GetValue("type");
 468               if      (tempCompare == "FG_DELTA") newCondition->Type.push_back(FG_DELTA);
 469               else if (tempCompare == "FG_BOOL")  newCondition->Type.push_back(FG_BOOL);
 470               else if (tempCompare == "FG_VALUE") newCondition->Type.push_back(FG_VALUE);
 471               else                                newCondition->Type.push_back((eType)0);
 472               tempCompare = Script.GetValue("action");
 473               if      (tempCompare == "FG_RAMP") newCondition->Action.push_back(FG_RAMP);
 474               else if (tempCompare == "FG_STEP") newCondition->Action.push_back(FG_STEP);
 475               else if (tempCompare == "FG_EXP")  newCondition->Action.push_back(FG_EXP);
 476               else                               newCondition->Action.push_back((eAction)0);
 477
 478               if (Script.GetValue("persistent") == "true")
 479                 newCondition->Persistent.push_back(true);
 480               else
 481                 newCondition->Persistent.push_back(false);
 482
 483               newCondition->TC.push_back(strtod(Script.GetValue("tc").c_str(), NULL));
 484
 485             } else {
 486               cerr << "Unrecognized keyword in script file: \" [when] " << token << "\"" << endl;
 487             }
 488             Script.GetNextConfigLine();
 489             token = Script.GetValue();
 490           }
 491           Conditions.push_back(*newCondition);
 492           Script.GetNextConfigLine();
 493           token = Script.GetValue();
 494
 495         } else {
 496           cerr << "Error reading script file: expected \"when\", got \"" << token << "\"" << endl;
 497         }
 498
 499       }
 500     } else {
 501       cerr << "Unrecognized keyword in script file: \"" << token << "\" [runscript] " << endl;
 502     }
 503   }
 504
 505   if (aircraft == "") {
 506     cerr << "Aircraft file not loaded in script" << endl;
 507     exit(-1);
 508   }
 509
 510   // print out conditions for double-checking if requested
 511
 512   if (debug_lvl > 0) {
 513     vector <struct condition>::iterator iterConditions = Conditions.begin();
 514     int count=0;
 515
 516     cout << "\n  Script goes from " << StartTime << " to " << EndTime
 517          << " with dt = " << dt << endl << endl;
 518
 519     while (iterConditions < Conditions.end()) {
 520       cout << "  Condition: " << count++ << endl;
 521       cout << "    if (";
 522
 523       for (i=0; i<iterConditions->TestValue.size(); i++) {
 524         if (i>0) cout << " and" << endl << "        ";
 525         cout << "(" << State->paramdef[iterConditions->TestParam[i]]
 526                     << iterConditions->Comparison[i] << " "
 527                     << iterConditions->TestValue[i] << ")";
 528       }
 529       cout << ") then {";
 530
 531       for (i=0; i<iterConditions->SetValue.size(); i++) {
 532         cout << endl << "      set" << State->paramdef[iterConditions->SetParam[i]]
 533              << "to " << iterConditions->SetValue[i];
 534
 535         switch (iterConditions->Type[i]) {
 536         case FG_VALUE:
 537           cout << " (constant";
 538           break;
 539         case FG_DELTA:
 540           cout << " (delta";
 541           break;
 542         case FG_BOOL:
 543           cout << " (boolean";
 544           break;
 545         default:
 546           cout << " (unspecified type";
 547         }
 548
 549         switch (iterConditions->Action[i]) {
 550         case FG_RAMP:
 551           cout << " via ramp";
 552           break;
 553         case FG_STEP:
 554           cout << " via step";
 555           break;
 556         case FG_EXP:
 557           cout << " via exponential approach";
 558           break;
 559         default:
 560           cout << " via unspecified action";
 561         }
 562
 563         if (!iterConditions->Persistent[i]) cout << endl
 564                            << "                              once";
 565         else cout << endl
 566                            << "                              repeatedly";
 567
 568         if (iterConditions->Action[i] == FG_RAMP ||
 569             iterConditions->Action[i] == FG_EXP) cout << endl
 570                            << "                              with time constant "
 571                            << iterConditions->TC[i];
 572       }
 573       cout << ")" << endl << "    }" << endl << endl;
 574
 575       iterConditions++;
 576     }
 577
 578     cout << endl;
 579   }
 580
 581   result = LoadModel("aircraft", "engine", aircraft);
 582   if (!result) {
 583     cerr << "Aircraft file " << aircraft << " was not found" << endl;
 584           exit(-1);
 585   }
 586   if ( ! State->Reset("aircraft", aircraft, initialize))
 587                  State->Initialize(2000,0,0,0,0,0,0.5,0.5,40000,0,0,0);
 588
 589   return true;
 590 }
 591
 592 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 593
 594 void FGFDMExec::RunScript(void)
 595 {
 596   vector <struct condition>::iterator iC = Conditions.begin();
 597   bool truth;
 598   bool WholeTruth;
 599   int i;
 600
 601   int count=0;
 602
 603   double currentTime = State->Getsim_time();
 604   double newSetValue;
 605
 606   while (iC < Conditions.end()) {
 607     // determine whether the set of conditional tests for this condition equate
 608     // to true
 609     for (i=0; i<iC->TestValue.size(); i++) {
 610            if (iC->Comparison[i] == "lt")
 611               truth = State->GetParameter(iC->TestParam[i]) <  iC->TestValue[i];
 612       else if (iC->Comparison[i] == "le")
 613               truth = State->GetParameter(iC->TestParam[i]) <= iC->TestValue[i];
 614       else if (iC->Comparison[i] == "eq")
 615               truth = State->GetParameter(iC->TestParam[i]) == iC->TestValue[i];
 616       else if (iC->Comparison[i] == "ge")
 617               truth = State->GetParameter(iC->TestParam[i]) >= iC->TestValue[i];
 618       else if (iC->Comparison[i] == "gt")
 619               truth = State->GetParameter(iC->TestParam[i]) >  iC->TestValue[i];
 620       else if (iC->Comparison[i] == "ne")
 621               truth = State->GetParameter(iC->TestParam[i]) != iC->TestValue[i];
 622       else
 623               cerr << "Bad comparison" << endl;
 624
 625       if (i == 0) WholeTruth = truth;
 626       else        WholeTruth = WholeTruth && truth;
 627
 628       if (!truth && iC->Persistent[i] && iC->Triggered[i]) iC->Triggered[i] = false;
 629     }
 630
 631     // if the conditions are true, do the setting of the desired parameters
 632
 633     if (WholeTruth) {
 634       for (i=0; i<iC->SetValue.size(); i++) {
 635         if ( ! iC->Triggered[i]) {
 636           iC->OriginalValue[i] = State->GetParameter(iC->SetParam[i]);
 637           switch (iC->Type[i]) {
 638           case FG_VALUE:
 639             iC->newValue[i] = iC->SetValue[i];
 640             break;
 641           case FG_DELTA:
 642             iC->newValue[i] = iC->OriginalValue[i] + iC->SetValue[i];
 643             break;
 644           case FG_BOOL:
 645             break;
 646           default:
 647             cerr << "Invalid Type specified" << endl;
 648             break;
 649           }
 650           iC->Triggered[i] = true;
 651           iC->StartTime[i] = currentTime;
 652         }
 653
 654         switch (iC->Action[i]) {
 655         case FG_RAMP:
 656           newSetValue = (currentTime - iC->StartTime[i])/(iC->TC[i])
 657                       * (iC->newValue[i] - iC->OriginalValue[i]) + iC->OriginalValue[i];
 658           if (newSetValue > iC->newValue[i]) newSetValue = iC->newValue[i];
 659           break;
 660         case FG_STEP:
 661           newSetValue = iC->newValue[i];
 662           break;
 663         case FG_EXP:
 664           newSetValue = (1 - exp(-(currentTime - iC->StartTime[i])/(iC->TC[i])))
 665               * (iC->newValue[i] - iC->OriginalValue[i]) + iC->OriginalValue[i];
 666           break;
 667         default:
 668           cerr << "Invalid Action specified" << endl;
 669           break;
 670         }
 671         State->SetParameter(iC->SetParam[i], newSetValue);
 672         if ((unsigned long int)Propulsion->GetTank(0) == 0) {
 673           cout << "Param # getting set: " << iC->SetParam[i] << " Value: " << newSetValue << endl;
 674         }
 675       }
 676     }
 677     iC++;
 678   }
 679 }
 680
 681 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 682
 683 void FGFDMExec::Debug(void)
 684 {
 685     //TODO: Add your source code here
 686 }
 687