src/FDM/JSBSim/FGScript.cpp

   1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
   2
   3  Module:       FGScript.cpp
   4  Author:       Jon S. Berndt
   5  Date started: 12/21/01
   6  Purpose:      Loads and runs JSBSim scripts.
   7
   8  ------------- Copyright (C) 1999  Jon S. Berndt (jsb@hal-pc.org) -------------
   9
  10  This program is free software; you can redistribute it and/or modify it under
  11  the terms of the GNU General Public License as published by the Free Software
  12  Foundation; either version 2 of the License, or (at your option) any later
  13  version.
  14
  15  This program is distributed in the hope that it will be useful, but WITHOUT
  16  ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
  17  FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
  18  details.
  19
  20  You should have received a copy of the GNU General Public License along with
  21  this program; if not, write to the Free Software Foundation, Inc., 59 Temple
  22  Place - Suite 330, Boston, MA  02111-1307, USA.
  23
  24  Further information about the GNU General Public License can also be found on
  25  the world wide web at http://www.gnu.org.
  26
  27 FUNCTIONAL DESCRIPTION
  28 --------------------------------------------------------------------------------
  29
  30 This class wraps up the simulation scripting routines.
  31
  32 HISTORY
  33 --------------------------------------------------------------------------------
  34 12/21/01   JSB   Created
  35
  36 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  37 COMMENTS, REFERENCES,  and NOTES
  38 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  39
  40 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  41 INCLUDES
  42 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  43
  44 #ifdef FGFS
  45 #  include <simgear/compiler.h>
  46 #  include STL_IOSTREAM
  47 #  include STL_ITERATOR
  48 #else
  49 #  if defined(sgi) && !defined(__GNUC__)
  50 #    include <iostream.h>
  51 #  else
  52 #    include <iostream>
  53 #  endif
  54 #  include <iterator>
  55 #endif
  56
  57 #include "FGScript.h"
  58 #include "FGConfigFile.h"
  59
  60 static const char *IdSrc = "$Id$";
  61 static const char *IdHdr = ID_FGSCRIPT;
  62
  63 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  64 GLOBAL DECLARATIONS
  65 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  66
  67 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  68 CLASS IMPLEMENTATION
  69 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  70
  71 // Constructor
  72
  73 FGScript::FGScript(FGFDMExec* fgex) : FDMExec(fgex)
  74 {
  75   State = FDMExec->GetState();
  76   Debug(0);
  77 }
  78
  79 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  80
  81 FGScript::~FGScript()
  82 {
  83   Debug(1);
  84 }
  85
  86 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  87
  88 bool FGScript::LoadScript(string script)
  89 {
  90   FGConfigFile Script(script);
  91   string token="";
  92   string aircraft="";
  93   string initialize="";
  94   bool result = false;
  95   double dt = 0.0;
  96   struct condition *newCondition;
  97
  98   if (!Script.IsOpen()) return false;
  99
 100   Script.GetNextConfigLine();
 101   if (Script.GetValue("runscript").length() <= 0) {
 102     cerr << "File: " << script << " is not a script file" << endl;
 103     delete FDMExec;
 104     return false;
 105   }
 106   ScriptName = Script.GetValue("name");
 107   Scripted = true;
 108
 109   if (debug_lvl > 0) cout << "Reading Script File " << ScriptName << endl;
 110
 111   while (Script.GetNextConfigLine() != string("EOF") && Script.GetValue() != string("/runscript")) {
 112     token = Script.GetValue();
 113     if (token == "use") {
 114       if ((token = Script.GetValue("aircraft")) != string("")) {
 115         aircraft = token;
 116         if (debug_lvl > 0) cout << "  Use aircraft: " << token << endl;
 117       } else if ((token = Script.GetValue("initialize")) != string("")) {
 118         initialize = token;
 119         if (debug_lvl > 0) cout << "  Use reset file: " << token << endl;
 120       } else {
 121         cerr << "Unknown 'use' keyword: \"" << token << "\"" << endl;
 122       }
 123     } else if (token == "run") {
 124       StartTime = strtod(Script.GetValue("start").c_str(), NULL);
 125       State->Setsim_time(StartTime);
 126       EndTime   = strtod(Script.GetValue("end").c_str(), NULL);
 127       dt        = strtod(Script.GetValue("dt").c_str(), NULL);
 128       State->Setdt(dt);
 129       Script.GetNextConfigLine();
 130       token = Script.GetValue();
 131       while (token != string("/run")) {
 132
 133         if (token == "when") {
 134           Script.GetNextConfigLine();
 135           token = Script.GetValue();
 136           newCondition = new struct condition();
 137           while (token != string("/when")) {
 138             if (token == "parameter") {
 139               newCondition->TestParam.push_back(State->GetParameterIndex(Script.GetValue("name")));
 140               newCondition->TestValue.push_back(strtod(Script.GetValue("value").c_str(), NULL));
 141               newCondition->Comparison.push_back(Script.GetValue("comparison"));
 142             } else if (token == "set") {
 143               newCondition->SetParam.push_back(State->GetParameterIndex(Script.GetValue("name")));
 144               newCondition->SetValue.push_back(strtod(Script.GetValue("value").c_str(), NULL));
 145               newCondition->Triggered.push_back(false);
 146               newCondition->OriginalValue.push_back(0.0);
 147               newCondition->newValue.push_back(0.0);
 148               newCondition->StartTime.push_back(0.0);
 149               newCondition->EndTime.push_back(0.0);
 150               string tempCompare = Script.GetValue("type");
 151               if      (tempCompare == "FG_DELTA") newCondition->Type.push_back(FG_DELTA);
 152               else if (tempCompare == "FG_BOOL")  newCondition->Type.push_back(FG_BOOL);
 153               else if (tempCompare == "FG_VALUE") newCondition->Type.push_back(FG_VALUE);
 154               else                                newCondition->Type.push_back((eType)0);
 155               tempCompare = Script.GetValue("action");
 156               if      (tempCompare == "FG_RAMP") newCondition->Action.push_back(FG_RAMP);
 157               else if (tempCompare == "FG_STEP") newCondition->Action.push_back(FG_STEP);
 158               else if (tempCompare == "FG_EXP")  newCondition->Action.push_back(FG_EXP);
 159               else                               newCondition->Action.push_back((eAction)0);
 160
 161               if (Script.GetValue("persistent") == "true")
 162                 newCondition->Persistent.push_back(true);
 163               else
 164                 newCondition->Persistent.push_back(false);
 165
 166               newCondition->TC.push_back(strtod(Script.GetValue("tc").c_str(), NULL));
 167
 168             } else {
 169               cerr << "Unrecognized keyword in script file: \" [when] " << token << "\"" << endl;
 170             }
 171             Script.GetNextConfigLine();
 172             token = Script.GetValue();
 173           }
 174           Conditions.push_back(*newCondition);
 175           Script.GetNextConfigLine();
 176           token = Script.GetValue();
 177
 178         } else {
 179           cerr << "Error reading script file: expected \"when\", got \"" << token << "\"" << endl;
 180         }
 181
 182       }
 183     } else if (token.empty()) {
 184      // do nothing
 185     } else {
 186       cerr << "Unrecognized keyword in script file: \"" << token << "\" [runscript] " << endl;
 187     }
 188   }
 189
 190   if (aircraft == "") {
 191     cerr << "Aircraft file not loaded in script" << endl;
 192     exit(-1);
 193   }
 194
 195   Debug(4);
 196
 197   result = FDMExec->LoadModel("aircraft", "engine", aircraft);
 198   if (!result) {
 199     cerr << "Aircraft file " << aircraft << " was not found" << endl;
 200           exit(-1);
 201   }
 202
 203   FGInitialCondition IC(FDMExec);
 204   if ( ! IC.Load("aircraft", aircraft, initialize)) {
 205     cerr << "Initialization unsuccessful" << endl;
 206     exit(-1);
 207   }
 208
 209   return true;
 210 }
 211
 212 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 213
 214 bool FGScript::RunScript(void)
 215 {
 216   vector <struct condition>::iterator iC = Conditions.begin();
 217   bool truth = false;
 218   bool WholeTruth = false;
 219   unsigned i;
 220
 221   double currentTime = State->Getsim_time();
 222   double newSetValue = 0;
 223
 224   if (currentTime > EndTime) return false;
 225
 226   while (iC < Conditions.end()) {
 227     // determine whether the set of conditional tests for this condition equate
 228     // to true
 229     for (i=0; i<iC->TestValue.size(); i++) {
 230            if (iC->Comparison[i] == "lt")
 231               truth = State->GetParameter(iC->TestParam[i]) <  iC->TestValue[i];
 232       else if (iC->Comparison[i] == "le")
 233               truth = State->GetParameter(iC->TestParam[i]) <= iC->TestValue[i];
 234       else if (iC->Comparison[i] == "eq")
 235               truth = State->GetParameter(iC->TestParam[i]) == iC->TestValue[i];
 236       else if (iC->Comparison[i] == "ge")
 237               truth = State->GetParameter(iC->TestParam[i]) >= iC->TestValue[i];
 238       else if (iC->Comparison[i] == "gt")
 239               truth = State->GetParameter(iC->TestParam[i]) >  iC->TestValue[i];
 240       else if (iC->Comparison[i] == "ne")
 241               truth = State->GetParameter(iC->TestParam[i]) != iC->TestValue[i];
 242       else
 243               cerr << "Bad comparison" << endl;
 244
 245       if (i == 0) WholeTruth = truth;
 246       else        WholeTruth = WholeTruth && truth;
 247
 248       if (!truth && iC->Persistent[i] && iC->Triggered[i]) iC->Triggered[i] = false;
 249     }
 250
 251     // if the conditions are true, do the setting of the desired parameters
 252
 253     if (WholeTruth) {
 254       for (i=0; i<iC->SetValue.size(); i++) {
 255         if ( ! iC->Triggered[i]) {
 256           iC->OriginalValue[i] = State->GetParameter(iC->SetParam[i]);
 257           switch (iC->Type[i]) {
 258           case FG_VALUE:
 259             iC->newValue[i] = iC->SetValue[i];
 260             break;
 261           case FG_DELTA:
 262             iC->newValue[i] = iC->OriginalValue[i] + iC->SetValue[i];
 263             break;
 264           case FG_BOOL:
 265             iC->newValue[i] = iC->SetValue[i];
 266             break;
 267           default:
 268             cerr << "Invalid Type specified" << endl;
 269             break;
 270           }
 271           iC->Triggered[i] = true;
 272           iC->StartTime[i] = currentTime;
 273         }
 274
 275         switch (iC->Action[i]) {
 276         case FG_RAMP:
 277         newSetValue = (currentTime - iC->StartTime[i])/(iC->TC[i])
 278                       * (iC->newValue[i] - iC->OriginalValue[i]) + iC->OriginalValue[i];
 279           if (newSetValue > iC->newValue[i]) newSetValue = iC->newValue[i];
 280           break;
 281         case FG_STEP:
 282           newSetValue = iC->newValue[i];
 283           break;
 284         case FG_EXP:
 285           newSetValue = (1 - exp(-(currentTime - iC->StartTime[i])/(iC->TC[i])))
 286               * (iC->newValue[i] - iC->OriginalValue[i]) + iC->OriginalValue[i];
 287           break;
 288         default:
 289           cerr << "Invalid Action specified" << endl;
 290           break;
 291         }
 292         State->SetParameter(iC->SetParam[i], newSetValue);
 293       }
 294     }
 295     iC++;
 296   }
 297   return true;
 298 }
 299
 300 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 301 //    The bitmasked value choices are as follows:
 302 //    unset: In this case (the default) JSBSim would only print
 303 //       out the normally expected messages, essentially echoing
 304 //       the config files as they are read. If the environment
 305 //       variable is not set, debug_lvl is set to 1 internally
 306 //    0: This requests JSBSim not to output any messages
 307 //       whatsoever.
 308 //    1: This value explicity requests the normal JSBSim
 309 //       startup messages
 310 //    2: This value asks for a message to be printed out when
 311 //       a class is instantiated
 312 //    4: When this value is set, a message is displayed when a
 313 //       FGModel object executes its Run() method
 314 //    8: When this value is set, various runtime state variables
 315 //       are printed out periodically
 316 //    16: When set various parameters are sanity checked and
 317 //       a message is printed out when they go out of bounds
 318
 319 void FGScript::Debug(int from)
 320 {
 321   unsigned int i;
 322
 323   if (debug_lvl <= 0) return;
 324
 325   if (debug_lvl & 1) { // Standard console startup message output
 326     if (from == 0) { // Constructor
 327     } else if (from == 3) {
 328     } else if (from == 4)  { // print out script data
 329       vector <struct condition>::iterator iterConditions = Conditions.begin();
 330       int count=0;
 331
 332       cout << "\n  Script goes from " << StartTime << " to " << EndTime
 333            << " with dt = " << State->Getdt() << endl << endl;
 334
 335       while (iterConditions < Conditions.end()) {
 336         cout << "  Condition: " << count++ << endl;
 337         cout << "    if (";
 338
 339         for (i=0; i<iterConditions->TestValue.size(); i++) {
 340           if (i>0) cout << " and" << endl << "        ";
 341           cout << "(" << State->GetParameterName(iterConditions->TestParam[i])
 342                       << iterConditions->Comparison[i] << " "
 343                       << iterConditions->TestValue[i] << ")";
 344         }
 345         cout << ") then {";
 346
 347         for (i=0; i<iterConditions->SetValue.size(); i++) {
 348           cout << endl << "      set" << State->GetParameterName(iterConditions->SetParam[i])
 349                << "to " << iterConditions->SetValue[i];
 350
 351           switch (iterConditions->Type[i]) {
 352           case FG_VALUE:
 353             cout << " (constant";
 354             break;
 355           case FG_DELTA:
 356             cout << " (delta";
 357             break;
 358           case FG_BOOL:
 359             cout << " (boolean";
 360             break;
 361           default:
 362             cout << " (unspecified type";
 363           }
 364
 365           switch (iterConditions->Action[i]) {
 366           case FG_RAMP:
 367             cout << " via ramp";
 368             break;
 369           case FG_STEP:
 370             cout << " via step";
 371             break;
 372           case FG_EXP:
 373             cout << " via exponential approach";
 374             break;
 375           default:
 376             cout << " via unspecified action";
 377           }
 378
 379           if (!iterConditions->Persistent[i]) cout << endl
 380                              << "                              once";
 381           else cout << endl
 382                              << "                              repeatedly";
 383
 384           if (iterConditions->Action[i] == FG_RAMP ||
 385               iterConditions->Action[i] == FG_EXP) cout << endl
 386                              << "                              with time constant "
 387                              << iterConditions->TC[i];
 388         }
 389         cout << ")" << endl << "    }" << endl << endl;
 390
 391         iterConditions++;
 392       }
 393
 394       cout << endl;
 395     }
 396   }
 397   if (debug_lvl & 2 ) { // Instantiation/Destruction notification
 398     if (from == 0) cout << "Instantiated: FGScript" << endl;
 399     if (from == 1) cout << "Destroyed:    FGScript" << endl;
 400   }
 401   if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
 402   }
 403   if (debug_lvl & 8 ) { // Runtime state variables
 404   }
 405   if (debug_lvl & 16) { // Sanity checking
 406   }
 407   if (debug_lvl & 64) {
 408     if (from == 0) { // Constructor
 409       cout << IdSrc << endl;
 410       cout << IdHdr << endl;
 411     }
 412   }
 413 }
 414