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