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