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__) && (_COMPILER_VERSION < 740)
  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 #include "FGTrim.h"
  60
  61 namespace JSBSim {
  62
  63 static const char *IdSrc = "$Id$";
  64 static const char *IdHdr = ID_FGSCRIPT;
  65
  66 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  67 GLOBAL DECLARATIONS
  68 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  69
  70 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  71 CLASS IMPLEMENTATION
  72 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  73
  74 // Constructor
  75
  76 FGScript::FGScript(FGFDMExec* fgex) : FDMExec(fgex)
  77 {
  78   State = FDMExec->GetState();
  79   PropertyManager=FDMExec->GetPropertyManager();
  80   Debug(0);
  81 }
  82
  83 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  84
  85 FGScript::~FGScript()
  86 {
  87   Debug(1);
  88 }
  89
  90 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  91
  92 bool FGScript::LoadScript( string script )
  93 {
  94   FGConfigFile Script(script);
  95   string token="";
  96   string aircraft="";
  97   string initialize="";
  98   string prop_name;
  99   bool result = false;
 100   double dt = 0.0;
 101   struct condition *newCondition;
 102
 103   if (!Script.IsOpen()) return false;
 104
 105   Script.GetNextConfigLine();
 106   if (Script.GetValue("runscript").length() <= 0) {
 107     cerr << "File: " << script << " is not a script file" << endl;
 108     delete FDMExec;
 109     return false;
 110   }
 111   ScriptName = Script.GetValue("name");
 112   Scripted = true;
 113
 114   if (debug_lvl > 0) cout << "Reading and running from script file " << ScriptName << endl << endl;
 115
 116   while (Script.GetNextConfigLine() != string("EOF") && Script.GetValue() != string("/runscript")) {
 117     token = Script.GetValue();
 118     if (token == "use") {
 119       if ((token = Script.GetValue("aircraft")) != string("")) {
 120         aircraft = token;
 121         result = FDMExec->LoadModel(aircraft);
 122         if (!result) {
 123           cerr << "Aircraft file " << aircraft << " was not found" << endl;
 124           exit(-1);
 125         }
 126         if (debug_lvl > 0) cout << "  Use aircraft: " << token << endl;
 127       } else if ((token = Script.GetValue("initialize")) != string("")) {
 128         initialize = token;
 129         if (debug_lvl > 0) cout << "  Use reset file: " << token << endl;
 130       } else {
 131         cerr << "Unknown 'use' keyword: \"" << token << "\"" << endl;
 132       }
 133     } else if (token == "run") {
 134       StartTime = strtod(Script.GetValue("start").c_str(), NULL);
 135       State->Setsim_time(StartTime);
 136       EndTime   = strtod(Script.GetValue("end").c_str(), NULL);
 137       dt        = strtod(Script.GetValue("dt").c_str(), NULL);
 138       State->Setdt(dt);
 139       Script.GetNextConfigLine();
 140       token = Script.GetValue();
 141       while (token != string("/run")) {
 142
 143         if (token == "when") {
 144           Script.GetNextConfigLine();
 145           token = Script.GetValue();
 146           newCondition = new struct condition();
 147           while (token != string("/when")) {
 148             if (token == "parameter") {
 149               prop_name = Script.GetValue("name");
 150               newCondition->TestParam.push_back( PropertyManager->GetNode(prop_name) );
 151               newCondition->TestValue.push_back(strtod(Script.GetValue("value").c_str(), NULL));
 152               newCondition->Comparison.push_back(Script.GetValue("comparison"));
 153             } else if (token == "set") {
 154               prop_name = Script.GetValue("name");
 155               newCondition->SetParam.push_back( PropertyManager->GetNode(prop_name) );
 156               newCondition->SetValue.push_back(strtod(Script.GetValue("value").c_str(), NULL));
 157               newCondition->Triggered.push_back(false);
 158               newCondition->OriginalValue.push_back(0.0);
 159               newCondition->newValue.push_back(0.0);
 160               newCondition->StartTime.push_back(0.0);
 161               newCondition->EndTime.push_back(0.0);
 162               string tempCompare = Script.GetValue("type");
 163               if      (tempCompare == "FG_DELTA") newCondition->Type.push_back(FG_DELTA);
 164               else if (tempCompare == "FG_BOOL")  newCondition->Type.push_back(FG_BOOL);
 165               else if (tempCompare == "FG_VALUE") newCondition->Type.push_back(FG_VALUE);
 166               else                                newCondition->Type.push_back((eType)0);
 167               tempCompare = Script.GetValue("action");
 168               if      (tempCompare == "FG_RAMP") newCondition->Action.push_back(FG_RAMP);
 169               else if (tempCompare == "FG_STEP") newCondition->Action.push_back(FG_STEP);
 170               else if (tempCompare == "FG_EXP")  newCondition->Action.push_back(FG_EXP);
 171               else                               newCondition->Action.push_back((eAction)0);
 172
 173               if (Script.GetValue("persistent") == "true")
 174                 newCondition->Persistent.push_back(true);
 175               else
 176                 newCondition->Persistent.push_back(false);
 177
 178               newCondition->TC.push_back(strtod(Script.GetValue("tc").c_str(), NULL));
 179
 180             } else {
 181               cerr << "Unrecognized keyword in script file: \" [when] " << token << "\"" << endl;
 182             }
 183             Script.GetNextConfigLine();
 184             token = Script.GetValue();
 185           }
 186           Conditions.push_back(*newCondition);
 187           Script.GetNextConfigLine();
 188           token = Script.GetValue();
 189
 190         } else {
 191           cerr << "Error reading script file: expected \"when\", got \"" << token << "\"" << endl;
 192         }
 193
 194       }
 195     } else if (token.empty()) {
 196      // do nothing
 197     } else {
 198       cerr << "Unrecognized keyword in script file: \"" << token << "\" [runscript] " << endl;
 199     }
 200   }
 201
 202   if (aircraft == "") {
 203     cerr << "Aircraft file not loaded in script" << endl;
 204     exit(-1);
 205   }
 206
 207   Debug(4);
 208
 209
 210   FGInitialCondition *IC=FDMExec->GetIC();
 211   if ( ! IC->Load( initialize )) {
 212     cerr << "Initialization unsuccessful" << endl;
 213     exit(-1);
 214   }
 215 /* comment this out for conversion capability
 216   FGTrim fgt(FDMExec, tFull);
 217   if ( !fgt.DoTrim() ) {
 218     cout << "Trim Failed" << endl;
 219   }
 220   fgt.Report();
 221 */
 222   return true;
 223 }
 224
 225 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 226
 227 bool FGScript::RunScript(void)
 228 {
 229   vector <struct condition>::iterator iC = Conditions.begin();
 230   bool truth = false;
 231   bool WholeTruth = false;
 232   unsigned i;
 233
 234   double currentTime = State->Getsim_time();
 235   double newSetValue = 0;
 236
 237   if (currentTime > EndTime) return false;
 238
 239   while (iC < Conditions.end()) {
 240     // determine whether the set of conditional tests for this condition equate
 241     // to true
 242     for (i=0; i<iC->TestValue.size(); i++) {
 243            if (iC->Comparison[i] == "lt")
 244               truth = iC->TestParam[i]->getDoubleValue() <  iC->TestValue[i];
 245       else if (iC->Comparison[i] == "le")
 246               truth = iC->TestParam[i]->getDoubleValue() <= iC->TestValue[i];
 247       else if (iC->Comparison[i] == "eq")
 248               truth = iC->TestParam[i]->getDoubleValue() == iC->TestValue[i];
 249       else if (iC->Comparison[i] == "ge")
 250               truth = iC->TestParam[i]->getDoubleValue() >= iC->TestValue[i];
 251       else if (iC->Comparison[i] == "gt")
 252               truth = iC->TestParam[i]->getDoubleValue() >  iC->TestValue[i];
 253       else if (iC->Comparison[i] == "ne")
 254               truth = iC->TestParam[i]->getDoubleValue() != iC->TestValue[i];
 255       else
 256               cerr << "Bad comparison" << endl;
 257
 258       if (i == 0) WholeTruth = truth;
 259       else        WholeTruth = WholeTruth && truth;
 260
 261       if (!truth && iC->Persistent[i] && iC->Triggered[i]) iC->Triggered[i] = false;
 262     }
 263
 264     // if the conditions are true, do the setting of the desired parameters
 265
 266     if (WholeTruth) {
 267       for (i=0; i<iC->SetValue.size(); i++) {
 268         if ( ! iC->Triggered[i]) {
 269           iC->OriginalValue[i] = iC->SetParam[i]->getDoubleValue();
 270           switch (iC->Type[i]) {
 271           case FG_VALUE:
 272             iC->newValue[i] = iC->SetValue[i];
 273             break;
 274           case FG_DELTA:
 275             iC->newValue[i] = iC->OriginalValue[i] + iC->SetValue[i];
 276             break;
 277           case FG_BOOL:
 278             iC->newValue[i] = iC->SetValue[i];
 279             break;
 280           default:
 281             cerr << "Invalid Type specified" << endl;
 282             break;
 283           }
 284           iC->Triggered[i] = true;
 285           iC->StartTime[i] = currentTime;
 286         }
 287
 288         switch (iC->Action[i]) {
 289         case FG_RAMP:
 290         newSetValue = (currentTime - iC->StartTime[i])/(iC->TC[i])
 291                       * (iC->newValue[i] - iC->OriginalValue[i]) + iC->OriginalValue[i];
 292           if (newSetValue > iC->newValue[i]) newSetValue = iC->newValue[i];
 293           break;
 294         case FG_STEP:
 295           newSetValue = iC->newValue[i];
 296           break;
 297         case FG_EXP:
 298           newSetValue = (1 - exp(-(currentTime - iC->StartTime[i])/(iC->TC[i])))
 299               * (iC->newValue[i] - iC->OriginalValue[i]) + iC->OriginalValue[i];
 300           break;
 301         default:
 302           cerr << "Invalid Action specified" << endl;
 303           break;
 304         }
 305         iC->SetParam[i]->setDoubleValue(newSetValue);
 306       }
 307     }
 308     iC++;
 309   }
 310   return true;
 311 }
 312
 313 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 314 //    The bitmasked value choices are as follows:
 315 //    unset: In this case (the default) JSBSim would only print
 316 //       out the normally expected messages, essentially echoing
 317 //       the config files as they are read. If the environment
 318 //       variable is not set, debug_lvl is set to 1 internally
 319 //    0: This requests JSBSim not to output any messages
 320 //       whatsoever.
 321 //    1: This value explicity requests the normal JSBSim
 322 //       startup messages
 323 //    2: This value asks for a message to be printed out when
 324 //       a class is instantiated
 325 //    4: When this value is set, a message is displayed when a
 326 //       FGModel object executes its Run() method
 327 //    8: When this value is set, various runtime state variables
 328 //       are printed out periodically
 329 //    16: When set various parameters are sanity checked and
 330 //       a message is printed out when they go out of bounds
 331
 332 void FGScript::Debug(int from)
 333 {
 334   unsigned int i;
 335
 336   if (debug_lvl <= 0) return;
 337
 338   if (debug_lvl & 1) { // Standard console startup message output
 339     if (from == 0) { // Constructor
 340     } else if (from == 3) {
 341     } else if (from == 4)  { // print out script data
 342       vector <struct condition>::iterator iterConditions = Conditions.begin();
 343       int count=0;
 344
 345       cout << "\n  Script goes from " << StartTime << " to " << EndTime
 346            << " with dt = " << State->Getdt() << endl << endl;
 347
 348       while (iterConditions < Conditions.end()) {
 349         cout << "  Condition: " << count++ << endl;
 350         cout << "    if (";
 351
 352         for (i=0; i<iterConditions->TestValue.size(); i++) {
 353           if (i>0) cout << " and" << endl << "        ";
 354           cout << "(" << iterConditions->TestParam[i]->GetName()
 355                       << " " << iterConditions->Comparison[i] << " "
 356                       << iterConditions->TestValue[i] << ")";
 357         }
 358         cout << ") then {";
 359
 360         for (i=0; i<iterConditions->SetValue.size(); i++) {
 361           cout << endl << "      set " << iterConditions->SetParam[i]->GetName()
 362                << " to " << iterConditions->SetValue[i];
 363
 364           switch (iterConditions->Type[i]) {
 365           case FG_VALUE:
 366             cout << " (constant";
 367             break;
 368           case FG_DELTA:
 369             cout << " (delta";
 370             break;
 371           case FG_BOOL:
 372             cout << " (boolean";
 373             break;
 374           default:
 375             cout << " (unspecified type";
 376           }
 377
 378           switch (iterConditions->Action[i]) {
 379           case FG_RAMP:
 380             cout << " via ramp";
 381             break;
 382           case FG_STEP:
 383             cout << " via step";
 384             break;
 385           case FG_EXP:
 386             cout << " via exponential approach";
 387             break;
 388           default:
 389             cout << " via unspecified action";
 390           }
 391
 392           if (!iterConditions->Persistent[i]) cout << endl
 393                              << "                              once";
 394           else cout << endl
 395                              << "                              repeatedly";
 396
 397           if (iterConditions->Action[i] == FG_RAMP ||
 398               iterConditions->Action[i] == FG_EXP) cout << endl
 399                              << "                              with time constant "
 400                              << iterConditions->TC[i];
 401         }
 402         cout << ")" << endl << "    }" << endl << endl;
 403
 404         iterConditions++;
 405       }
 406
 407       cout << endl;
 408     }
 409   }
 410   if (debug_lvl & 2 ) { // Instantiation/Destruction notification
 411     if (from == 0) cout << "Instantiated: FGScript" << endl;
 412     if (from == 1) cout << "Destroyed:    FGScript" << endl;
 413   }
 414   if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
 415   }
 416   if (debug_lvl & 8 ) { // Runtime state variables
 417   }
 418   if (debug_lvl & 16) { // Sanity checking
 419   }
 420   if (debug_lvl & 64) {
 421     if (from == 0) { // Constructor
 422       cout << IdSrc << endl;
 423       cout << IdHdr << endl;
 424     }
 425   }
 426 }
 427 }