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