Author: Jon Berndt
Date started: 12/21/2001
- ------------- Copyright (C) 2001 Jon S. Berndt (jsb@hal-pc.org) -------------
+ ------------- Copyright (C) 2001 Jon S. Berndt (jon@jsbsim.org) -------------
This program is free software; you can redistribute it and/or modify it under
- the terms of the GNU General Public License as published by the Free Software
+ the terms of the GNU Lesser General Public License as published by the Free Software
Foundation; either version 2 of the License, or (at your option) any later
version.
This program is distributed in the hope that it will be useful, but WITHOUT
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
- FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
+ FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
details.
- You should have received a copy of the GNU General Public License along with
+ You should have received a copy of the GNU Lesser General Public License along with
this program; if not, write to the Free Software Foundation, Inc., 59 Temple
Place - Suite 330, Boston, MA 02111-1307, USA.
- Further information about the GNU General Public License can also be found on
+ Further information about the GNU Lesser General Public License can also be found on
the world wide web at http://www.gnu.org.
HISTORY
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#include "FGJSBBase.h"
-#include "FGState.h"
#include "FGFDMExec.h"
+#include "math/FGFunction.h"
+#include "math/FGCondition.h"
#include <vector>
+#include "input_output/FGXMLFileRead.h"
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
DEFINITIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-#define ID_FGSCRIPT "$Id$"
+#define ID_FGSCRIPT "$Id: FGScript.h,v 1.18 2010/04/11 13:44:42 jberndt Exp $"
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FORWARD DECLARATIONS
/** Encapsulates the JSBSim scripting capability.
<h4>Scripting support provided via FGScript.</h4>
- <p>There is simple scripting support provided in the FGScript
- class. Commands are specified using the <em>Simple Scripting
- Directives for JSBSim</em> (SSDJ). The script file is in XML
- format. A test condition (or conditions) can be set up in the
+ <p>There is support for scripting provided in the FGScript
+ class. Commands are specified using the <em>Scripting
+ Directives for JSBSim</em>. The script file is in XML
+ format. A test condition (or conditions) can be set up in an event in a
script and when the condition evaluates to true, the specified
- action[s] is/are taken. A test condition can be <em>persistent</em>,
- meaning that if a test condition evaluates to true, then passes
- and evaluates to false, the condition is reset and may again be
- triggered. When the set of tests evaluates to true for a given
- condition, an item may be set to another value. This value might
- be a boolean, a value, or a delta value, and the change from the
- current value to the new value can be either via a step function,
- a ramp, or an exponential approach. The speed of a ramp or
- approach is specified via the time constant. Here is the format
- of the script file:</p>
-
- <pre><strong><?xml version="1.0"?>
- <runscript name="C172-01A">
-
- <!--
- This run is for testing C172 runs
- -->
-
- <use aircraft="c172">
- <use initialize="reset00">
-
- <run start="0.0" end="4.5" dt="0.05">
- <when>
- <parameter name="FG_TIME" comparison="ge" value="0.25">
- <parameter name="FG_TIME" comparison="le" value="0.50">
- <set name="FG_AILERON_CMD" type="FG_VALUE" value="0.25"
- action="FG_STEP" persistent="false" tc ="0.25">
- </when>
- <when>
- <parameter name="FG_TIME" comparison="ge" value="0.5">
- <parameter name="FG_TIME" comparison="le" value="1.5">
- <set name="FG_AILERON_CMD" type="FG_DELTA" value="0.5"
- action="FG_EXP" persistent="false" tc ="0.5">
- </when>
- <when>
- <parameter name="FG_TIME" comparison="ge" value="1.5">
- <parameter name="FG_TIME" comparison="le" value="2.5">
- <set name="FG_RUDDER_CMD" type="FG_DELTA" value="0.5"
- action="FG_RAMP" persistent="false" tc ="0.5">
- </when>
- </run>
-
- </runscript></strong></pre>
-
- <p>The first line must always be present. The second line
+ action[s] is/are taken. An event can be <em>persistent</em>,
+ meaning that at every time the test condition first evaluates to true
+ (toggling from false to true) then the specified <em>set</em> actions take
+ place. An event can also be defined to execute or evaluate continuously
+ while the condition is true. When the set of tests evaluates to true for a given
+ condition, an item may be set to another value. This value may
+ be a value, or a delta value, and the change from the
+ current value to the new value can be either via a step action,
+ a ramp, or an exponential approach. The speed of a ramp or exponential
+ approach is specified via the time constant. Here is an example
+ illustrating the format of the script file:
+
+ @code
+<?xml version="1.0"?>
+<runscript name="C172-01A takeoff run">
+ <!--
+ This run is for testing the C172 altitude hold autopilot
+ -->
+
+ <use aircraft="c172x"/>
+ <use initialize="reset00"/>
+ <run start="0.0" end="3000" dt="0.0083333">
+
+ <event name="engine start">
+ <notify/>
+ <condition>
+ sim-time-sec >= 0.25
+ </condition>
+ <set name="fcs/throttle-cmd-norm" value="1.0" action="FG_RAMP" tc ="0.5"/>
+ <set name="fcs/mixture-cmd-norm" value="0.87" action="FG_RAMP" tc ="0.5"/>
+ <set name="propulsion/magneto_cmd" value="3"/>
+ <set name="propulsion/starter_cmd" value="1"/>
+ </event>
+
+ <event name="set heading hold">
+ <!-- Set Heading when reach 5 ft -->
+ <notify/>
+ <condition>
+ position/h-agl-ft >= 5
+ </condition>
+ <set name="ap/heading_setpoint" value="200"/>
+ <set name="ap/attitude_hold" value="0"/>
+ <set name="ap/heading_hold" value="1"/>
+ </event>
+
+ <event name="set autopilot">
+ <!-- Set Autopilot for 20 ft -->
+ <notify/>
+ <condition>
+ aero/qbar-psf >= 4
+ </condition>
+ <set name="ap/altitude_setpoint" value="100.0" action="FG_EXP" tc ="2.0"/>
+ <set name="ap/altitude_hold" value="1"/>
+ <set name="fcs/flap-cmd-norm" value=".33"/>
+ </event>
+
+ <event name="set autopilot 2" persistent="true">
+ <!-- Set Autopilot for 6000 ft -->
+ <notify/>
+ <condition>
+ aero/qbar-psf > 5
+ </condition>
+ <set name="ap/altitude_setpoint" value="6000.0"/>
+ </event>
+
+ <event name="Time Notify">
+ <notify/>
+ <condition> sim-time-sec >= 500 </condition>
+ </event>
+
+ <event name="Time Notify">
+ <notify/>
+ <condition> sim-time-sec >= 1000 </condition>
+ </event>
+
+ </run>
+
+</runscript>
+ @endcode
+
+ The first line must always be present - it identifies the file
+ as an XML format file. The second line
identifies this file as a script file, and gives a descriptive
name to the script file. Comments are next, delineated by the
<!-- and --> symbols. The aircraft and initialization files
to be used are specified in the "use" lines. Next,
comes the "run" section, where the conditions are
- described in "when" clauses.</p>
+ described in "event" clauses.</p>
@author Jon S. Berndt
- @version "$Id$"
-
+ @version "$Id: FGScript.h,v 1.18 2010/04/11 13:44:42 jberndt Exp $"
*/
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DECLARATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-class FGScript : public FGJSBBase
+class FGScript : public FGJSBBase, public FGXMLFileRead
{
public:
/// Default constructor
~FGScript();
/** Loads a script to drive JSBSim (usually in standalone mode).
- The language is the Simple Script Directives for JSBSim (SSDJ).
+ The language is the Script Directives for JSBSim. If a simulation step size
+ has been supplied on the command line, it will be override the script-
+ specified simulation step size.
@param script the filename (including path name, if any) for the script.
+ @param deltaT a simulation step size from the command line
@return true if successful */
- bool LoadScript( string script );
+ bool LoadScript(string script, double deltaT);
/** This function is called each pass through the executive Run() method IF
- scripting is enabled.
+ scripting is enabled.
@return false if script should exit (i.e. if time limits are violated */
bool RunScript(void);
+ void ResetEvents(void) {
+ for (unsigned int i=0; i<Events.size(); i++) Events[i].reset();
+ }
+
private:
enum eAction {
FG_RAMP = 1,
FG_BOOL = 3
};
- struct condition {
- vector <FGPropertyManager*> TestParam;
+ struct event {
+ FGCondition *Condition;
+ bool Persistent;
+ bool Continuous;
+ bool Triggered;
+ bool Notify;
+ bool Notified;
+ double Delay;
+ double StartTime;
+ double TimeSpan;
+ string Name;
vector <FGPropertyManager*> SetParam;
- vector <double> TestValue;
- vector <double> SetValue;
- vector <string> Comparison;
- vector <double> TC;
- vector <bool> Persistent;
+ vector <FGPropertyManager*> NotifyProperties;
vector <eAction> Action;
vector <eType> Type;
- vector <bool> Triggered;
+ vector <double> SetValue;
+ vector <double> TC;
vector <double> newValue;
vector <double> OriginalValue;
- vector <double> StartTime;
- vector <double> EndTime;
+ vector <double> ValueSpan;
+ vector <bool> Transiting;
+ vector <FGFunction*> Functions;
+
+ event() {
+ Triggered = false;
+ Persistent = false;
+ Continuous = false;
+ Delay = 0.0;
+ Notify = Notified = false;
+ Name = "";
+ StartTime = 0.0;
+ TimeSpan = 0.0;
+ }
- condition() {
+ void reset(void) {
+ Triggered = false;
+ Notified = false;
+ StartTime = 0.0;
}
};
- bool Scripted;
+ struct LocalProps {
+ double *value;
+ string title;
+ LocalProps(double initial_value=0) {
+ value = new double(initial_value);
+ title = "";
+ }
+ };
string ScriptName;
double StartTime;
double EndTime;
- vector <struct condition> Conditions;
+ vector <struct event> Events;
+ vector <LocalProps*> local_properties;
FGFDMExec* FDMExec;
- FGState* State;
FGPropertyManager* PropertyManager;
void Debug(int from);
};
projects / flightgear.git / blobdiff