1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
4 Date started: 12/21/2001
6 ------------- Copyright (C) 2001 Jon S. Berndt (jon@jsbsim.org) -------------
8 This program is free software; you can redistribute it and/or modify it under
9 the terms of the GNU Lesser General Public License as published by the Free Software
10 Foundation; either version 2 of the License, or (at your option) any later
13 This program is distributed in the hope that it will be useful, but WITHOUT
14 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
15 FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
18 You should have received a copy of the GNU Lesser General Public License along with
19 this program; if not, write to the Free Software Foundation, Inc., 59 Temple
20 Place - Suite 330, Boston, MA 02111-1307, USA.
22 Further information about the GNU Lesser General Public License can also be found on
23 the world wide web at http://www.gnu.org.
26 --------------------------------------------------------------------------------
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31 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
33 #ifndef FGSCRIPT_HEADER_H
34 #define FGSCRIPT_HEADER_H
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38 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
40 #include "FGJSBBase.h"
41 #include "FGFDMExec.h"
42 #include "math/FGFunction.h"
43 #include "math/FGCondition.h"
45 #include "input_output/FGXMLFileRead.h"
47 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
49 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
51 #define ID_FGSCRIPT "$Id: FGScript.h,v 1.18 2010/04/11 13:44:42 jberndt Exp $"
53 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
55 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
59 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
61 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
63 /** Encapsulates the JSBSim scripting capability.
64 <h4>Scripting support provided via FGScript.</h4>
66 <p>There is support for scripting provided in the FGScript
67 class. Commands are specified using the <em>Scripting
68 Directives for JSBSim</em>. The script file is in XML
69 format. A test condition (or conditions) can be set up in an event in a
70 script and when the condition evaluates to true, the specified
71 action[s] is/are taken. An event can be <em>persistent</em>,
72 meaning that at every time the test condition first evaluates to true
73 (toggling from false to true) then the specified <em>set</em> actions take
74 place. An event can also be defined to execute or evaluate continuously
75 while the condition is true. When the set of tests evaluates to true for a given
76 condition, an item may be set to another value. This value may
77 be a value, or a delta value, and the change from the
78 current value to the new value can be either via a step action,
79 a ramp, or an exponential approach. The speed of a ramp or exponential
80 approach is specified via the time constant. Here is an example
81 illustrating the format of the script file:
85 <runscript name="C172-01A takeoff run">
87 This run is for testing the C172 altitude hold autopilot
90 <use aircraft="c172x"/>
91 <use initialize="reset00"/>
92 <run start="0.0" end="3000" dt="0.0083333">
94 <event name="engine start">
99 <set name="fcs/throttle-cmd-norm" value="1.0" action="FG_RAMP" tc ="0.5"/>
100 <set name="fcs/mixture-cmd-norm" value="0.87" action="FG_RAMP" tc ="0.5"/>
101 <set name="propulsion/magneto_cmd" value="3"/>
102 <set name="propulsion/starter_cmd" value="1"/>
105 <event name="set heading hold">
106 <!-- Set Heading when reach 5 ft -->
109 position/h-agl-ft >= 5
111 <set name="ap/heading_setpoint" value="200"/>
112 <set name="ap/attitude_hold" value="0"/>
113 <set name="ap/heading_hold" value="1"/>
116 <event name="set autopilot">
117 <!-- Set Autopilot for 20 ft -->
122 <set name="ap/altitude_setpoint" value="100.0" action="FG_EXP" tc ="2.0"/>
123 <set name="ap/altitude_hold" value="1"/>
124 <set name="fcs/flap-cmd-norm" value=".33"/>
127 <event name="set autopilot 2" persistent="true">
128 <!-- Set Autopilot for 6000 ft -->
133 <set name="ap/altitude_setpoint" value="6000.0"/>
136 <event name="Time Notify">
138 <condition> sim-time-sec >= 500 </condition>
141 <event name="Time Notify">
143 <condition> sim-time-sec >= 1000 </condition>
151 The first line must always be present - it identifies the file
152 as an XML format file. The second line
153 identifies this file as a script file, and gives a descriptive
154 name to the script file. Comments are next, delineated by the
155 <!-- and --> symbols. The aircraft and initialization files
156 to be used are specified in the "use" lines. Next,
157 comes the "run" section, where the conditions are
158 described in "event" clauses.</p>
159 @author Jon S. Berndt
160 @version "$Id: FGScript.h,v 1.18 2010/04/11 13:44:42 jberndt Exp $"
163 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
165 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
167 class FGScript : public FGJSBBase, public FGXMLFileRead
170 /// Default constructor
171 FGScript(FGFDMExec* exec);
173 /// Default destructor
176 /** Loads a script to drive JSBSim (usually in standalone mode).
177 The language is the Script Directives for JSBSim. If a simulation step size
178 has been supplied on the command line, it will be override the script-
179 specified simulation step size.
180 @param script the filename (including path name, if any) for the script.
181 @param deltaT a simulation step size from the command line
182 @return true if successful */
183 bool LoadScript(string script, double deltaT);
185 /** This function is called each pass through the executive Run() method IF
186 scripting is enabled.
187 @return false if script should exit (i.e. if time limits are violated */
188 bool RunScript(void);
190 void ResetEvents(void) {
191 for (unsigned int i=0; i<Events.size(); i++) Events[i].reset();
208 FGCondition *Condition;
218 vector <FGPropertyManager*> SetParam;
219 vector <FGPropertyManager*> NotifyProperties;
220 vector <eAction> Action;
222 vector <double> SetValue;
224 vector <double> newValue;
225 vector <double> OriginalValue;
226 vector <double> ValueSpan;
227 vector <bool> Transiting;
228 vector <FGFunction*> Functions;
235 Notify = Notified = false;
251 LocalProps(double initial_value=0) {
252 value = new double(initial_value);
260 vector <struct event> Events;
261 vector <LocalProps*> local_properties;
264 FGPropertyManager* PropertyManager;
265 void Debug(int from);
268 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%