418 lines
14 KiB
C++
418 lines
14 KiB
C++
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
|
|
|
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
|
|
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
|
|
|
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
|
INCLUDES
|
|
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
|
|
|
|
#ifdef FGFS
|
|
# include <simgear/compiler.h>
|
|
# include STL_IOSTREAM
|
|
# include STL_ITERATOR
|
|
#else
|
|
# if defined(sgi) && !defined(__GNUC__)
|
|
# include <iostream.h>
|
|
# else
|
|
# include <iostream>
|
|
# endif
|
|
# include <iterator>
|
|
#endif
|
|
|
|
#include "FGScript.h"
|
|
#include "FGConfigFile.h"
|
|
|
|
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;
|
|
}
|
|
}
|
|
}
|
|
|