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flightgear/src/FDM/JSBSim/input_output/FGScript.h
Erik Hofman 0b86f8f63c Sync with JSBSim CVS
2010-07-16 11:05:59 +02:00

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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
Header: FGScript.h
Author: Jon Berndt
Date started: 12/21/2001
------------- 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 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 Lesser General Public License for more
details.
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 Lesser General Public License can also be found on
the world wide web at http://www.gnu.org.
HISTORY
--------------------------------------------------------------------------------
12/21/01 JSB Created
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
SENTRY
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#ifndef FGSCRIPT_HEADER_H
#define FGSCRIPT_HEADER_H
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
INCLUDES
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#include "FGJSBBase.h"
#include "FGFDMExec.h"
#include "math/FGFunction.h"
#include "math/FGCondition.h"
#include <vector>
#include "input_output/FGXMLFileRead.h"
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
DEFINITIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#define ID_FGSCRIPT "$Id: FGScript.h,v 1.18 2010/04/11 13:44:42 jberndt Exp $"
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FORWARD DECLARATIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
namespace JSBSim {
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DOCUMENTATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
/** Encapsulates the JSBSim scripting capability.
<h4>Scripting support provided via FGScript.</h4>
<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. 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
&lt;!-- and --&gt; symbols. The aircraft and initialization files
to be used are specified in the &quot;use&quot; lines. Next,
comes the &quot;run&quot; section, where the conditions are
described in &quot;event&quot; clauses.</p>
@author Jon S. Berndt
@version "$Id: FGScript.h,v 1.18 2010/04/11 13:44:42 jberndt Exp $"
*/
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DECLARATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
class FGScript : public FGJSBBase, public FGXMLFileRead
{
public:
/// Default constructor
FGScript(FGFDMExec* exec);
/// Default destructor
~FGScript();
/** Loads a script to drive JSBSim (usually in standalone mode).
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, double deltaT);
/** This function is called each pass through the executive Run() method IF
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_STEP = 2,
FG_EXP = 3
};
enum eType {
FG_VALUE = 1,
FG_DELTA = 2,
FG_BOOL = 3
};
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 <FGPropertyManager*> NotifyProperties;
vector <eAction> Action;
vector <eType> Type;
vector <double> SetValue;
vector <double> TC;
vector <double> newValue;
vector <double> OriginalValue;
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;
}
void reset(void) {
Triggered = false;
Notified = false;
StartTime = 0.0;
}
};
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 event> Events;
vector <LocalProps*> local_properties;
FGFDMExec* FDMExec;
FGPropertyManager* PropertyManager;
void Debug(int from);
};
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
#endif
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