/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
Module: FGScript.cpp
Author: Jon S. Berndt
Date started: 12/21/01
Purpose: Loads and runs JSBSim scripts.
------------- Copyright (C) 1999 Jon S. Berndt (jsb@hal-pc.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
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
details.
You should have received a copy of the GNU 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
the world wide web at http://www.gnu.org.
FUNCTIONAL DESCRIPTION
--------------------------------------------------------------------------------
This class wraps up the simulation scripting routines.
HISTORY
--------------------------------------------------------------------------------
12/21/01 JSB Created
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
COMMENTS, REFERENCES, and NOTES
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
INCLUDES
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#ifdef FGFS
# include <simgear/compiler.h>
# include STL_IOSTREAM
# include STL_ITERATOR
#else
# if defined(sgi) && !defined(__GNUC__) && (_COMPILER_VERSION < 740)
# include <iostream.h>
# else
# include <iostream>
# endif
# include <iterator>
#endif
#include "FGScript.h"
#include "FGConfigFile.h"
namespace JSBSim {
static const char *IdSrc = "$Id$";
static const char *IdHdr = ID_FGSCRIPT;
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
GLOBAL DECLARATIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS IMPLEMENTATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
// Constructor
FGScript::FGScript(FGFDMExec* fgex) : FDMExec(fgex)
{
State = FDMExec->GetState();
PropertyManager=FDMExec->GetPropertyManager();
Debug(0);
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FGScript::~FGScript()
{
Debug(1);
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
bool FGScript::LoadScript( string script )
{
FGConfigFile Script(script);
string token="";
string aircraft="";
string initialize="";
string prop_name;
bool result = false;
double dt = 0.0;
struct condition *newCondition;
if (!Script.IsOpen()) return false;
Script.GetNextConfigLine();
if (Script.GetValue("runscript").length() <= 0) {
cerr << "File: " << script << " is not a script file" << endl;
delete FDMExec;
return false;
}
ScriptName = Script.GetValue("name");
Scripted = true;
if (debug_lvl > 0) cout << "Reading and running from script file " << ScriptName << endl << endl;
while (Script.GetNextConfigLine() != string("EOF") && Script.GetValue() != string("/runscript")) {
token = Script.GetValue();
if (token == "use") {
if ((token = Script.GetValue("aircraft")) != string("")) {
aircraft = token;
result = FDMExec->LoadModel(aircraft);
if (!result) {
cerr << "Aircraft file " << aircraft << " was not found" << endl;
exit(-1);
}
if (debug_lvl > 0) cout << " Use aircraft: " << token << endl;
} else if ((token = Script.GetValue("initialize")) != string("")) {
initialize = token;
if (debug_lvl > 0) cout << " Use reset file: " << token << endl;
} else {
cerr << "Unknown 'use' keyword: \"" << token << "\"" << endl;
}
} else if (token == "run") {
StartTime = strtod(Script.GetValue("start").c_str(), NULL);
State->Setsim_time(StartTime);
EndTime = strtod(Script.GetValue("end").c_str(), NULL);
dt = strtod(Script.GetValue("dt").c_str(), NULL);
State->Setdt(dt);
Script.GetNextConfigLine();
token = Script.GetValue();
while (token != string("/run")) {
if (token == "when") {
Script.GetNextConfigLine();
token = Script.GetValue();
newCondition = new struct condition();
while (token != string("/when")) {
if (token == "parameter") {
prop_name = Script.GetValue("name");
newCondition->TestParam.push_back( PropertyManager->GetNode(prop_name) );
newCondition->TestValue.push_back(strtod(Script.GetValue("value").c_str(), NULL));
newCondition->Comparison.push_back(Script.GetValue("comparison"));
} else if (token == "set") {
prop_name = Script.GetValue("name");
newCondition->SetParam.push_back( PropertyManager->GetNode(prop_name) );
newCondition->SetValue.push_back(strtod(Script.GetValue("value").c_str(), NULL));
newCondition->Triggered.push_back(false);
newCondition->OriginalValue.push_back(0.0);
newCondition->newValue.push_back(0.0);
newCondition->StartTime.push_back(0.0);
newCondition->EndTime.push_back(0.0);
string tempCompare = Script.GetValue("type");
if (tempCompare == "FG_DELTA") newCondition->Type.push_back(FG_DELTA);
else if (tempCompare == "FG_BOOL") newCondition->Type.push_back(FG_BOOL);
else if (tempCompare == "FG_VALUE") newCondition->Type.push_back(FG_VALUE);
else newCondition->Type.push_back((eType)0);
tempCompare = Script.GetValue("action");
if (tempCompare == "FG_RAMP") newCondition->Action.push_back(FG_RAMP);
else if (tempCompare == "FG_STEP") newCondition->Action.push_back(FG_STEP);
else if (tempCompare == "FG_EXP") newCondition->Action.push_back(FG_EXP);
else newCondition->Action.push_back((eAction)0);
if (Script.GetValue("persistent") == "true")
newCondition->Persistent.push_back(true);
else
newCondition->Persistent.push_back(false);
newCondition->TC.push_back(strtod(Script.GetValue("tc").c_str(), NULL));
} else {
cerr << "Unrecognized keyword in script file: \" [when] " << token << "\"" << endl;
}
Script.GetNextConfigLine();
token = Script.GetValue();
}
Conditions.push_back(*newCondition);
Script.GetNextConfigLine();
token = Script.GetValue();
} else {
cerr << "Error reading script file: expected \"when\", got \"" << token << "\"" << endl;
}
}
} else if (token.empty()) {
// do nothing
} else {
cerr << "Unrecognized keyword in script file: \"" << token << "\" [runscript] " << endl;
}
}
if (aircraft == "") {
cerr << "Aircraft file not loaded in script" << endl;
exit(-1);
}
Debug(4);
FGInitialCondition *IC=FDMExec->GetIC();
if ( ! IC->Load( initialize )) {
cerr << "Initialization unsuccessful" << endl;
exit(-1);
}
return true;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
bool FGScript::RunScript(void)
{
vector <struct condition>::iterator iC = Conditions.begin();
bool truth = false;
bool WholeTruth = false;
unsigned i;
double currentTime = State->Getsim_time();
double newSetValue = 0;
if (currentTime > EndTime) return false;
while (iC < Conditions.end()) {
// determine whether the set of conditional tests for this condition equate
// to true
for (i=0; i<iC->TestValue.size(); i++) {
if (iC->Comparison[i] == "lt")
truth = iC->TestParam[i]->getDoubleValue() < iC->TestValue[i];
else if (iC->Comparison[i] == "le")
truth = iC->TestParam[i]->getDoubleValue() <= iC->TestValue[i];
else if (iC->Comparison[i] == "eq")
truth = iC->TestParam[i]->getDoubleValue() == iC->TestValue[i];
else if (iC->Comparison[i] == "ge")
truth = iC->TestParam[i]->getDoubleValue() >= iC->TestValue[i];
else if (iC->Comparison[i] == "gt")
truth = iC->TestParam[i]->getDoubleValue() > iC->TestValue[i];
else if (iC->Comparison[i] == "ne")
truth = iC->TestParam[i]->getDoubleValue() != iC->TestValue[i];
else
cerr << "Bad comparison" << endl;
if (i == 0) WholeTruth = truth;
else WholeTruth = WholeTruth && truth;
if (!truth && iC->Persistent[i] && iC->Triggered[i]) iC->Triggered[i] = false;
}
// if the conditions are true, do the setting of the desired parameters
if (WholeTruth) {
for (i=0; i<iC->SetValue.size(); i++) {
if ( ! iC->Triggered[i]) {
iC->OriginalValue[i] = iC->SetParam[i]->getDoubleValue();
switch (iC->Type[i]) {
case FG_VALUE:
iC->newValue[i] = iC->SetValue[i];
break;
case FG_DELTA:
iC->newValue[i] = iC->OriginalValue[i] + iC->SetValue[i];
break;
case FG_BOOL:
iC->newValue[i] = iC->SetValue[i];
break;
default:
cerr << "Invalid Type specified" << endl;
break;
}
iC->Triggered[i] = true;
iC->StartTime[i] = currentTime;
}
switch (iC->Action[i]) {
case FG_RAMP:
newSetValue = (currentTime - iC->StartTime[i])/(iC->TC[i])
* (iC->newValue[i] - iC->OriginalValue[i]) + iC->OriginalValue[i];
if (newSetValue > iC->newValue[i]) newSetValue = iC->newValue[i];
break;
case FG_STEP:
newSetValue = iC->newValue[i];
break;
case FG_EXP:
newSetValue = (1 - exp(-(currentTime - iC->StartTime[i])/(iC->TC[i])))
* (iC->newValue[i] - iC->OriginalValue[i]) + iC->OriginalValue[i];
break;
default:
cerr << "Invalid Action specified" << endl;
break;
}
iC->SetParam[i]->setDoubleValue(newSetValue);
}
}
iC++;
}
return true;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
// The bitmasked value choices are as follows:
// unset: In this case (the default) JSBSim would only print
// out the normally expected messages, essentially echoing
// the config files as they are read. If the environment
// variable is not set, debug_lvl is set to 1 internally
// 0: This requests JSBSim not to output any messages
// whatsoever.
// 1: This value explicity requests the normal JSBSim
// startup messages
// 2: This value asks for a message to be printed out when
// a class is instantiated
// 4: When this value is set, a message is displayed when a
// FGModel object executes its Run() method
// 8: When this value is set, various runtime state variables
// are printed out periodically
// 16: When set various parameters are sanity checked and
// a message is printed out when they go out of bounds
void FGScript::Debug(int from)
{
unsigned int i;
if (debug_lvl <= 0) return;
if (debug_lvl & 1) { // Standard console startup message output
if (from == 0) { // Constructor
} else if (from == 3) {
} else if (from == 4) { // print out script data
vector <struct condition>::iterator iterConditions = Conditions.begin();
int count=0;
cout << "\n Script goes from " << StartTime << " to " << EndTime
<< " with dt = " << State->Getdt() << endl << endl;
while (iterConditions < Conditions.end()) {
cout << " Condition: " << count++ << endl;
cout << " if (";
for (i=0; i<iterConditions->TestValue.size(); i++) {
if (i>0) cout << " and" << endl << " ";
cout << "(" << iterConditions->TestParam[i]->GetName()
<< " " << iterConditions->Comparison[i] << " "
<< iterConditions->TestValue[i] << ")";
}
cout << ") then {";
for (i=0; i<iterConditions->SetValue.size(); i++) {
cout << endl << " set " << iterConditions->SetParam[i]->GetName()
<< " to " << iterConditions->SetValue[i];
switch (iterConditions->Type[i]) {
case FG_VALUE:
cout << " (constant";
break;
case FG_DELTA:
cout << " (delta";
break;
case FG_BOOL:
cout << " (boolean";
break;
default:
cout << " (unspecified type";
}
switch (iterConditions->Action[i]) {
case FG_RAMP:
cout << " via ramp";
break;
case FG_STEP:
cout << " via step";
break;
case FG_EXP:
cout << " via exponential approach";
break;
default:
cout << " via unspecified action";
}
if (!iterConditions->Persistent[i]) cout << endl
<< " once";
else cout << endl
<< " repeatedly";
if (iterConditions->Action[i] == FG_RAMP ||
iterConditions->Action[i] == FG_EXP) cout << endl
<< " with time constant "
<< iterConditions->TC[i];
}
cout << ")" << endl << " }" << endl << endl;
iterConditions++;
}
cout << endl;
}
}
if (debug_lvl & 2 ) { // Instantiation/Destruction notification
if (from == 0) cout << "Instantiated: FGScript" << endl;
if (from == 1) cout << "Destroyed: FGScript" << endl;
}
if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
}
if (debug_lvl & 8 ) { // Runtime state variables
}
if (debug_lvl & 16) { // Sanity checking
}
if (debug_lvl & 64) {
if (from == 0) { // Constructor
cout << IdSrc << endl;
cout << IdHdr << endl;
}
}
}
}