src/FDM/JSBSim/FGScript.cpp

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