1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
4 Date started: 12/21/2001
6 ------------- Copyright (C) 2001 Jon S. Berndt (jsb@hal-pc.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 --------------------------------------------------------------------------------
29 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
31 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
33 #ifndef FGSCRIPT_HEADER_H
34 #define FGSCRIPT_HEADER_H
36 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
38 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
40 #include "FGJSBBase.h"
42 #include "FGFDMExec.h"
43 #include <math/FGCondition.h>
45 #include <input_output/FGXMLFileRead.h>
47 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
49 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
51 #define ID_FGSCRIPT "$Id$"
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 all times when the test condition evaluates to true
73 the specified <em>set</em> actions take place. When the set of
74 tests evaluates to true for a given
75 condition, an item may be set to another value. This value may
76 be a value, or a delta value, and the change from the
77 current value to the new value can be either via a step function,
78 a ramp, or an exponential approach. The speed of a ramp or
79 approach is specified via the time constant. Here is an example
80 illustrating the format of the script file:
84 <runscript name="C172-01A takeoff run">
86 This run is for testing the C172 altitude hold autopilot
89 <use aircraft="c172x"/>
90 <use initialize="reset00"/>
91 <run start="0.0" end="3000" dt="0.0083333">
93 <event name="engine start">
98 <set name="fcs/throttle-cmd-norm" value="1.0" action="FG_RAMP" tc ="0.5"/>
99 <set name="fcs/mixture-cmd-norm" value="0.87" action="FG_RAMP" tc ="0.5"/>
100 <set name="propulsion/magneto_cmd" value="3"/>
101 <set name="propulsion/starter_cmd" value="1"/>
104 <event name="set heading hold">
105 <!-- Set Heading when reach 5 ft -->
108 position/h-agl-ft >= 5
110 <set name="ap/heading_setpoint" value="200"/>
111 <set name="ap/attitude_hold" value="0"/>
112 <set name="ap/heading_hold" value="1"/>
115 <event name="set autopilot">
116 <!-- Set Autopilot for 20 ft -->
121 <set name="ap/altitude_setpoint" value="100.0" action="FG_EXP" tc ="2.0"/>
122 <set name="ap/altitude_hold" value="1"/>
123 <set name="fcs/flap-cmd-norm" value=".33"/>
126 <event name="set autopilot 2" persistent="true">
127 <!-- Set Autopilot for 6000 ft -->
132 <set name="ap/altitude_setpoint" value="6000.0"/>
135 <event name="Time Notify">
137 <condition> sim-time-sec >= 500 </condition>
140 <event name="Time Notify">
142 <condition> sim-time-sec >= 1000 </condition>
150 The first line must always be present - it identifies the file
151 as an XML format file. The second line
152 identifies this file as a script file, and gives a descriptive
153 name to the script file. Comments are next, delineated by the
154 <!-- and --> symbols. The aircraft and initialization files
155 to be used are specified in the "use" lines. Next,
156 comes the "run" section, where the conditions are
157 described in "event" clauses.</p>
158 @author Jon S. Berndt
162 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
164 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
166 class FGScript : public FGJSBBase, public FGXMLFileRead
169 /// Default constructor
170 FGScript(FGFDMExec* exec);
172 /// Default destructor
175 /** Loads a script to drive JSBSim (usually in standalone mode).
176 The language is the Script Directives for JSBSim.
177 @param script the filename (including path name, if any) for the script.
178 @return true if successful */
179 bool LoadScript( string script );
181 /** This function is called each pass through the executive Run() method IF
182 scripting is enabled.
183 @return false if script should exit (i.e. if time limits are violated */
184 bool RunScript(void);
200 FGCondition *Condition;
210 vector <FGPropertyManager*> SetParam;
211 vector <FGPropertyManager*> NotifyProperties;
212 vector <eAction> Action;
214 vector <double> SetValue;
216 vector <double> newValue;
217 vector <double> OriginalValue;
218 vector <double> ValueSpan;
219 vector <bool> Transiting;
223 PrevTriggered = false;
226 Notify = Notified = false;
237 value = new double(0.0);
245 vector <struct event> Events;
246 vector <LocalProps*> local_properties;
250 FGPropertyManager* PropertyManager;
251 void Debug(int from);
254 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%