src/FDM/JSBSim/input_output/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 "FGXMLParse.h"
  59 #include <initialization/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   string aircraft="", initialize="", comparison = "", prop_name="";
  95   Element *document=0, *element=0, *run_element=0, *when_element=0;
  96   Element *parameter_element=0, *set_element=0;
  97   bool result = false;
  98   double dt = 0.0, value = 0.0;
  99   FGXMLParse script_file_parser;
 100   struct condition *newCondition;
 101   ifstream script_file(script.c_str());
 102
 103   if ( !script_file ) return false;
 104
 105   readXML(script_file, script_file_parser);
 106   document = script_file_parser.GetDocument();
 107
 108   if (document->GetName() != string("runscript")) {
 109     cerr << "File: " << script << " is not a script file" << endl;
 110     return false;
 111   }
 112
 113   // read aircraft and initialization files
 114
 115   element = document->FindElement("use");
 116   if (element) {
 117     aircraft = element->GetAttributeValue("aircraft");
 118     if (!aircraft.empty()) {
 119       result = FDMExec->LoadModel(aircraft);
 120       if (!result) return false;
 121     } else {
 122       cerr << "Aircraft must be specified first in script file." << endl;
 123       return false;
 124     }
 125
 126     element = document->FindNextElement("use");
 127     initialize = element->GetAttributeValue("initialize");
 128
 129   } else {
 130     cerr << "No \"use\" directives in the script file." << endl;
 131     return false;
 132   }
 133
 134   run_element = document->FindElement("run");
 135
 136   if (!run_element) {
 137     cerr << "No \"run\" element found in script." << endl;
 138     return false;
 139   }
 140
 141   // Set sim timing
 142
 143   StartTime = run_element->GetAttributeValueAsNumber("start");
 144   State->Setsim_time(StartTime);
 145   EndTime   = run_element->GetAttributeValueAsNumber("end");
 146   dt        = run_element->GetAttributeValueAsNumber("dt");
 147   State->Setdt(dt);
 148
 149   // read "when" tests from script
 150
 151   when_element = run_element->FindElement("when");
 152   while (when_element) { // "when" processing
 153     newCondition = new struct condition();
 154
 155     // read parameters
 156     parameter_element = when_element->FindElement("parameter");
 157     while (parameter_element) {
 158       prop_name = parameter_element->GetAttributeValue("name");
 159       newCondition->TestParam.push_back( PropertyManager->GetNode(prop_name) );
 160       value = parameter_element->GetAttributeValueAsNumber("value");
 161       newCondition->TestValue.push_back(value);
 162       comparison = parameter_element->GetAttributeValue("comparison");
 163       newCondition->Comparison.push_back(comparison);
 164       parameter_element = when_element->FindNextElement("parameter");
 165     }
 166
 167     // read set definitions
 168     set_element = when_element->FindElement("set");
 169     while (set_element) {
 170       prop_name = set_element->GetAttributeValue("name");
 171       newCondition->SetParam.push_back( PropertyManager->GetNode(prop_name) );
 172       value = set_element->GetAttributeValueAsNumber("value");
 173       newCondition->SetValue.push_back(value);
 174       newCondition->Triggered.push_back(false);
 175       newCondition->OriginalValue.push_back(0.0);
 176       newCondition->newValue.push_back(0.0);
 177       newCondition->StartTime.push_back(0.0);
 178       newCondition->EndTime.push_back(0.0);
 179       string tempCompare = set_element->GetAttributeValue("type");
 180       if      (tempCompare == "FG_DELTA") newCondition->Type.push_back(FG_DELTA);
 181       else if (tempCompare == "FG_BOOL")  newCondition->Type.push_back(FG_BOOL);
 182       else if (tempCompare == "FG_VALUE") newCondition->Type.push_back(FG_VALUE);
 183       else                                newCondition->Type.push_back(FG_VALUE); // DEFAULT
 184       tempCompare = set_element->GetAttributeValue("action");
 185       if      (tempCompare == "FG_RAMP") newCondition->Action.push_back(FG_RAMP);
 186       else if (tempCompare == "FG_STEP") newCondition->Action.push_back(FG_STEP);
 187       else if (tempCompare == "FG_EXP")  newCondition->Action.push_back(FG_EXP);
 188       else                               newCondition->Action.push_back(FG_STEP); // DEFAULT
 189
 190       if (set_element->GetAttributeValue("persistent") == "true")
 191         newCondition->Persistent.push_back(true);
 192       else
 193         newCondition->Persistent.push_back(false); // DEFAULT
 194
 195       if (!set_element->GetAttributeValue("tc").empty())
 196         newCondition->TC.push_back(set_element->GetAttributeValueAsNumber("tc"));
 197       else
 198         newCondition->TC.push_back(1.0); // DEFAULT
 199
 200       set_element = when_element->FindNextElement("set");
 201     }
 202     Conditions.push_back(*newCondition);
 203     when_element = run_element->FindNextElement("when");
 204   }
 205
 206   Debug(4);
 207
 208   FGInitialCondition *IC=FDMExec->GetIC();
 209   if ( ! IC->Load( initialize )) {
 210     cerr << "Initialization unsuccessful" << endl;
 211     exit(-1);
 212   }
 213
 214   return true;
 215 }
 216
 217 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 218
 219 bool FGScript::RunScript(void)
 220 {
 221   vector <struct condition>::iterator iC = Conditions.begin();
 222   bool truth = false;
 223   bool WholeTruth = false;
 224   unsigned i;
 225
 226   double currentTime = State->Getsim_time();
 227   double newSetValue = 0;
 228
 229   if (currentTime > EndTime) return false;
 230
 231   while (iC < Conditions.end()) {
 232     // determine whether the set of conditional tests for this condition equate
 233     // to true
 234     for (i=0; i<iC->TestValue.size(); i++) {
 235            if (iC->Comparison[i] == "lt")
 236               truth = iC->TestParam[i]->getDoubleValue() <  iC->TestValue[i];
 237       else if (iC->Comparison[i] == "le")
 238               truth = iC->TestParam[i]->getDoubleValue() <= iC->TestValue[i];
 239       else if (iC->Comparison[i] == "eq")
 240               truth = iC->TestParam[i]->getDoubleValue() == iC->TestValue[i];
 241       else if (iC->Comparison[i] == "ge")
 242               truth = iC->TestParam[i]->getDoubleValue() >= iC->TestValue[i];
 243       else if (iC->Comparison[i] == "gt")
 244               truth = iC->TestParam[i]->getDoubleValue() >  iC->TestValue[i];
 245       else if (iC->Comparison[i] == "ne")
 246               truth = iC->TestParam[i]->getDoubleValue() != iC->TestValue[i];
 247       else
 248               cerr << "Bad comparison" << endl;
 249
 250       if (i == 0) WholeTruth = truth;
 251       else        WholeTruth = WholeTruth && truth;
 252
 253       if (!truth && iC->Persistent[i] && iC->Triggered[i]) iC->Triggered[i] = false;
 254     }
 255
 256     // if the conditions are true, do the setting of the desired parameters
 257
 258     if (WholeTruth) {
 259       for (i=0; i<iC->SetValue.size(); i++) {
 260         if ( ! iC->Triggered[i]) {
 261           iC->OriginalValue[i] = iC->SetParam[i]->getDoubleValue();
 262           switch (iC->Type[i]) {
 263           case FG_VALUE:
 264             iC->newValue[i] = iC->SetValue[i];
 265             break;
 266           case FG_DELTA:
 267             iC->newValue[i] = iC->OriginalValue[i] + iC->SetValue[i];
 268             break;
 269           case FG_BOOL:
 270             iC->newValue[i] = iC->SetValue[i];
 271             break;
 272           default:
 273             cerr << "Invalid Type specified" << endl;
 274             break;
 275           }
 276           iC->Triggered[i] = true;
 277           iC->StartTime[i] = currentTime;
 278         }
 279
 280         double time_span = currentTime - iC->StartTime[i];
 281         double value_span = iC->newValue[i] - iC->OriginalValue[i];
 282
 283         switch (iC->Action[i]) {
 284         case FG_RAMP:
 285           if (time_span <= iC->TC[i])
 286             newSetValue = time_span/iC->TC[i] * value_span + iC->OriginalValue[i];
 287           else
 288             newSetValue = iC->newValue[i];
 289           break;
 290         case FG_STEP:
 291           newSetValue = iC->newValue[i];
 292           break;
 293         case FG_EXP:
 294           newSetValue = (1 - exp( -time_span/iC->TC[i] )) * value_span + iC->OriginalValue[i];
 295           break;
 296         default:
 297           cerr << "Invalid Action specified" << endl;
 298           break;
 299         }
 300         iC->SetParam[i]->setDoubleValue(newSetValue);
 301       }
 302     }
 303     iC++;
 304   }
 305   return true;
 306 }
 307
 308 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 309 //    The bitmasked value choices are as follows:
 310 //    unset: In this case (the default) JSBSim would only print
 311 //       out the normally expected messages, essentially echoing
 312 //       the config files as they are read. If the environment
 313 //       variable is not set, debug_lvl is set to 1 internally
 314 //    0: This requests JSBSim not to output any messages
 315 //       whatsoever.
 316 //    1: This value explicity requests the normal JSBSim
 317 //       startup messages
 318 //    2: This value asks for a message to be printed out when
 319 //       a class is instantiated
 320 //    4: When this value is set, a message is displayed when a
 321 //       FGModel object executes its Run() method
 322 //    8: When this value is set, various runtime state variables
 323 //       are printed out periodically
 324 //    16: When set various parameters are sanity checked and
 325 //       a message is printed out when they go out of bounds
 326
 327 void FGScript::Debug(int from)
 328 {
 329   unsigned int i;
 330
 331   if (debug_lvl <= 0) return;
 332
 333   if (debug_lvl & 1) { // Standard console startup message output
 334     if (from == 0) { // Constructor
 335     } else if (from == 3) {
 336     } else if (from == 4)  { // print out script data
 337       vector <struct condition>::iterator iterConditions = Conditions.begin();
 338       int count=0;
 339
 340       cout << "\n  Script goes from " << StartTime << " to " << EndTime
 341            << " with dt = " << State->Getdt() << endl << endl;
 342
 343       while (iterConditions < Conditions.end()) {
 344         cout << "  Condition: " << count++ << endl;
 345         cout << "    if (";
 346
 347         for (i=0; i<iterConditions->TestValue.size(); i++) {
 348           if (i>0) cout << " and" << endl << "        ";
 349           cout << "(" << iterConditions->TestParam[i]->GetName()
 350                       << " " << iterConditions->Comparison[i] << " "
 351                       << iterConditions->TestValue[i] << ")";
 352         }
 353         cout << ") then {";
 354
 355         for (i=0; i<iterConditions->SetValue.size(); i++) {
 356           cout << endl << "      set " << iterConditions->SetParam[i]->GetName()
 357                << " to " << iterConditions->SetValue[i];
 358
 359           switch (iterConditions->Type[i]) {
 360           case FG_VALUE:
 361             cout << " (constant";
 362             break;
 363           case FG_DELTA:
 364             cout << " (delta";
 365             break;
 366           case FG_BOOL:
 367             cout << " (boolean";
 368             break;
 369           default:
 370             cout << " (unspecified type";
 371           }
 372
 373           switch (iterConditions->Action[i]) {
 374           case FG_RAMP:
 375             cout << " via ramp";
 376             break;
 377           case FG_STEP:
 378             cout << " via step";
 379             break;
 380           case FG_EXP:
 381             cout << " via exponential approach";
 382             break;
 383           default:
 384             cout << " via unspecified action";
 385           }
 386
 387           if (!iterConditions->Persistent[i]) cout << endl
 388                              << "                              once";
 389           else cout << endl
 390                              << "                              repeatedly";
 391
 392           if (iterConditions->Action[i] == FG_RAMP ||
 393               iterConditions->Action[i] == FG_EXP) cout << endl
 394                              << "                              with time constant "
 395                              << iterConditions->TC[i];
 396         }
 397         cout << ")" << endl << "    }" << endl << endl;
 398
 399         iterConditions++;
 400       }
 401
 402       cout << endl;
 403     }
 404   }
 405   if (debug_lvl & 2 ) { // Instantiation/Destruction notification
 406     if (from == 0) cout << "Instantiated: FGScript" << endl;
 407     if (from == 1) cout << "Destroyed:    FGScript" << endl;
 408   }
 409   if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
 410   }
 411   if (debug_lvl & 8 ) { // Runtime state variables
 412   }
 413   if (debug_lvl & 16) { // Sanity checking
 414   }
 415   if (debug_lvl & 64) {
 416     if (from == 0) { // Constructor
 417       cout << IdSrc << endl;
 418       cout << IdHdr << endl;
 419     }
 420   }
 421 }
 422 }