431 lines
15 KiB
C++
431 lines
15 KiB
C++
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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Module: FGScript.cpp
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Author: Jon S. Berndt
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Date started: 12/21/01
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Purpose: Loads and runs JSBSim scripts.
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------------- Copyright (C) 1999 Jon S. Berndt (jsb@hal-pc.org) -------------
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This program is free software; you can redistribute it and/or modify it under
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the terms of the GNU General Public License as published by the Free Software
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Foundation; either version 2 of the License, or (at your option) any later
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version.
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This program is distributed in the hope that it will be useful, but WITHOUT
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ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
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details.
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You should have received a copy of the GNU General Public License along with
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this program; if not, write to the Free Software Foundation, Inc., 59 Temple
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Place - Suite 330, Boston, MA 02111-1307, USA.
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Further information about the GNU General Public License can also be found on
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the world wide web at http://www.gnu.org.
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FUNCTIONAL DESCRIPTION
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--------------------------------------------------------------------------------
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This class wraps up the simulation scripting routines.
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HISTORY
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--------------------------------------------------------------------------------
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12/21/01 JSB Created
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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COMMENTS, REFERENCES, and NOTES
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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INCLUDES
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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#ifdef HAVE_CONFIG_H
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# include <config.h>
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#endif
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#ifdef FGFS
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# include <simgear/compiler.h>
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# include STL_IOSTREAM
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# include STL_ITERATOR
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#else
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# if defined(sgi) && !defined(__GNUC__) && (_COMPILER_VERSION < 740)
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# include <iostream.h>
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# else
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# include <iostream>
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# endif
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# include <iterator>
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#endif
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#include "FGScript.h"
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#include "FGConfigFile.h"
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#include "FGTrim.h"
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namespace JSBSim {
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static const char *IdSrc = "$Id$";
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static const char *IdHdr = ID_FGSCRIPT;
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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GLOBAL DECLARATIONS
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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CLASS IMPLEMENTATION
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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// Constructor
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FGScript::FGScript(FGFDMExec* fgex) : FDMExec(fgex)
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{
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State = FDMExec->GetState();
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PropertyManager=FDMExec->GetPropertyManager();
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Debug(0);
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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FGScript::~FGScript()
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{
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Debug(1);
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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bool FGScript::LoadScript( string script )
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{
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FGConfigFile Script(script);
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string token="";
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string aircraft="";
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string initialize="";
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string prop_name;
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bool result = false;
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double dt = 0.0;
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struct condition *newCondition;
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if (!Script.IsOpen()) return false;
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Script.GetNextConfigLine();
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if (Script.GetValue("runscript").length() <= 0) {
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cerr << "File: " << script << " is not a script file" << endl;
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delete FDMExec;
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return false;
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}
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ScriptName = Script.GetValue("name");
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Scripted = true;
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if (debug_lvl > 0) cout << "Reading and running from script file " << ScriptName << endl << endl;
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while (Script.GetNextConfigLine() != string("EOF") && Script.GetValue() != string("/runscript")) {
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token = Script.GetValue();
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if (token == "use") {
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if ((token = Script.GetValue("aircraft")) != string("")) {
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aircraft = token;
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result = FDMExec->LoadModel(aircraft);
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if (!result) {
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cerr << "Aircraft file " << aircraft << " was not found" << endl;
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exit(-1);
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}
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if (debug_lvl > 0) cout << " Use aircraft: " << token << endl;
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} else if ((token = Script.GetValue("initialize")) != string("")) {
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initialize = token;
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if (debug_lvl > 0) cout << " Use reset file: " << token << endl;
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} else {
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cerr << "Unknown 'use' keyword: \"" << token << "\"" << endl;
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}
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} else if (token == "run") {
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StartTime = strtod(Script.GetValue("start").c_str(), NULL);
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State->Setsim_time(StartTime);
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EndTime = strtod(Script.GetValue("end").c_str(), NULL);
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dt = strtod(Script.GetValue("dt").c_str(), NULL);
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State->Setdt(dt);
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Script.GetNextConfigLine();
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token = Script.GetValue();
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while (token != string("/run")) {
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if (token == "when") {
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Script.GetNextConfigLine();
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token = Script.GetValue();
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newCondition = new struct condition();
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while (token != string("/when")) {
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if (token == "parameter") {
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prop_name = Script.GetValue("name");
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newCondition->TestParam.push_back( PropertyManager->GetNode(prop_name) );
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newCondition->TestValue.push_back(strtod(Script.GetValue("value").c_str(), NULL));
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newCondition->Comparison.push_back(Script.GetValue("comparison"));
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} else if (token == "set") {
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prop_name = Script.GetValue("name");
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newCondition->SetParam.push_back( PropertyManager->GetNode(prop_name) );
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newCondition->SetValue.push_back(strtod(Script.GetValue("value").c_str(), NULL));
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newCondition->Triggered.push_back(false);
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newCondition->OriginalValue.push_back(0.0);
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newCondition->newValue.push_back(0.0);
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newCondition->StartTime.push_back(0.0);
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newCondition->EndTime.push_back(0.0);
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string tempCompare = Script.GetValue("type");
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if (tempCompare == "FG_DELTA") newCondition->Type.push_back(FG_DELTA);
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else if (tempCompare == "FG_BOOL") newCondition->Type.push_back(FG_BOOL);
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else if (tempCompare == "FG_VALUE") newCondition->Type.push_back(FG_VALUE);
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else newCondition->Type.push_back((eType)0);
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tempCompare = Script.GetValue("action");
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if (tempCompare == "FG_RAMP") newCondition->Action.push_back(FG_RAMP);
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else if (tempCompare == "FG_STEP") newCondition->Action.push_back(FG_STEP);
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else if (tempCompare == "FG_EXP") newCondition->Action.push_back(FG_EXP);
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else newCondition->Action.push_back((eAction)0);
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if (Script.GetValue("persistent") == "true")
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newCondition->Persistent.push_back(true);
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else
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newCondition->Persistent.push_back(false);
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newCondition->TC.push_back(strtod(Script.GetValue("tc").c_str(), NULL));
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} else {
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cerr << "Unrecognized keyword in script file: \" [when] " << token << "\"" << endl;
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}
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Script.GetNextConfigLine();
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token = Script.GetValue();
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}
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Conditions.push_back(*newCondition);
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Script.GetNextConfigLine();
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token = Script.GetValue();
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} else {
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cerr << "Error reading script file: expected \"when\", got \"" << token << "\"" << endl;
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}
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}
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} else if (token.empty()) {
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// do nothing
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} else {
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cerr << "Unrecognized keyword in script file: \"" << token << "\" [runscript] " << endl;
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}
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}
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if (aircraft == "") {
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cerr << "Aircraft file not loaded in script" << endl;
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exit(-1);
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}
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Debug(4);
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FGInitialCondition *IC=FDMExec->GetIC();
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if ( ! IC->Load( initialize )) {
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cerr << "Initialization unsuccessful" << endl;
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exit(-1);
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}
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/* comment this out for conversion capability
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FGTrim fgt(FDMExec, tFull);
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if ( !fgt.DoTrim() ) {
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cout << "Trim Failed" << endl;
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}
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fgt.Report();
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*/
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return true;
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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bool FGScript::RunScript(void)
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{
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vector <struct condition>::iterator iC = Conditions.begin();
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bool truth = false;
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bool WholeTruth = false;
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unsigned i;
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double currentTime = State->Getsim_time();
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double newSetValue = 0;
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if (currentTime > EndTime) return false;
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while (iC < Conditions.end()) {
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// determine whether the set of conditional tests for this condition equate
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// to true
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for (i=0; i<iC->TestValue.size(); i++) {
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if (iC->Comparison[i] == "lt")
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truth = iC->TestParam[i]->getDoubleValue() < iC->TestValue[i];
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else if (iC->Comparison[i] == "le")
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truth = iC->TestParam[i]->getDoubleValue() <= iC->TestValue[i];
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else if (iC->Comparison[i] == "eq")
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truth = iC->TestParam[i]->getDoubleValue() == iC->TestValue[i];
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else if (iC->Comparison[i] == "ge")
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truth = iC->TestParam[i]->getDoubleValue() >= iC->TestValue[i];
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else if (iC->Comparison[i] == "gt")
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truth = iC->TestParam[i]->getDoubleValue() > iC->TestValue[i];
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else if (iC->Comparison[i] == "ne")
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truth = iC->TestParam[i]->getDoubleValue() != iC->TestValue[i];
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else
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cerr << "Bad comparison" << endl;
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if (i == 0) WholeTruth = truth;
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else WholeTruth = WholeTruth && truth;
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if (!truth && iC->Persistent[i] && iC->Triggered[i]) iC->Triggered[i] = false;
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}
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// if the conditions are true, do the setting of the desired parameters
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if (WholeTruth) {
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for (i=0; i<iC->SetValue.size(); i++) {
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if ( ! iC->Triggered[i]) {
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iC->OriginalValue[i] = iC->SetParam[i]->getDoubleValue();
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switch (iC->Type[i]) {
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case FG_VALUE:
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iC->newValue[i] = iC->SetValue[i];
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break;
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case FG_DELTA:
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iC->newValue[i] = iC->OriginalValue[i] + iC->SetValue[i];
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break;
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case FG_BOOL:
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iC->newValue[i] = iC->SetValue[i];
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break;
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default:
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cerr << "Invalid Type specified" << endl;
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break;
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}
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iC->Triggered[i] = true;
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iC->StartTime[i] = currentTime;
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}
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switch (iC->Action[i]) {
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case FG_RAMP:
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newSetValue = (currentTime - iC->StartTime[i])/(iC->TC[i])
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* (iC->newValue[i] - iC->OriginalValue[i]) + iC->OriginalValue[i];
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if (newSetValue > iC->newValue[i]) newSetValue = iC->newValue[i];
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break;
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case FG_STEP:
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newSetValue = iC->newValue[i];
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break;
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case FG_EXP:
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newSetValue = (1 - exp(-(currentTime - iC->StartTime[i])/(iC->TC[i])))
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* (iC->newValue[i] - iC->OriginalValue[i]) + iC->OriginalValue[i];
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break;
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default:
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cerr << "Invalid Action specified" << endl;
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break;
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}
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iC->SetParam[i]->setDoubleValue(newSetValue);
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}
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}
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iC++;
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}
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return true;
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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// The bitmasked value choices are as follows:
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// unset: In this case (the default) JSBSim would only print
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// out the normally expected messages, essentially echoing
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// the config files as they are read. If the environment
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// variable is not set, debug_lvl is set to 1 internally
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// 0: This requests JSBSim not to output any messages
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// whatsoever.
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// 1: This value explicity requests the normal JSBSim
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// startup messages
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// 2: This value asks for a message to be printed out when
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// a class is instantiated
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// 4: When this value is set, a message is displayed when a
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// FGModel object executes its Run() method
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// 8: When this value is set, various runtime state variables
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// are printed out periodically
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// 16: When set various parameters are sanity checked and
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// a message is printed out when they go out of bounds
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void FGScript::Debug(int from)
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{
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unsigned int i;
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if (debug_lvl <= 0) return;
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if (debug_lvl & 1) { // Standard console startup message output
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if (from == 0) { // Constructor
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} else if (from == 3) {
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} else if (from == 4) { // print out script data
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vector <struct condition>::iterator iterConditions = Conditions.begin();
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int count=0;
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cout << "\n Script goes from " << StartTime << " to " << EndTime
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<< " with dt = " << State->Getdt() << endl << endl;
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while (iterConditions < Conditions.end()) {
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cout << " Condition: " << count++ << endl;
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cout << " if (";
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for (i=0; i<iterConditions->TestValue.size(); i++) {
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if (i>0) cout << " and" << endl << " ";
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cout << "(" << iterConditions->TestParam[i]->GetName()
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<< " " << iterConditions->Comparison[i] << " "
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<< iterConditions->TestValue[i] << ")";
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}
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cout << ") then {";
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for (i=0; i<iterConditions->SetValue.size(); i++) {
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cout << endl << " set " << iterConditions->SetParam[i]->GetName()
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<< " to " << iterConditions->SetValue[i];
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switch (iterConditions->Type[i]) {
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case FG_VALUE:
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cout << " (constant";
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break;
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case FG_DELTA:
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cout << " (delta";
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break;
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case FG_BOOL:
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cout << " (boolean";
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break;
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default:
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cout << " (unspecified type";
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}
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switch (iterConditions->Action[i]) {
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case FG_RAMP:
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cout << " via ramp";
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break;
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case FG_STEP:
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cout << " via step";
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break;
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case FG_EXP:
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cout << " via exponential approach";
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break;
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default:
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cout << " via unspecified action";
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}
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if (!iterConditions->Persistent[i]) cout << endl
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<< " once";
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else cout << endl
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<< " repeatedly";
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if (iterConditions->Action[i] == FG_RAMP ||
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iterConditions->Action[i] == FG_EXP) cout << endl
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<< " with time constant "
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<< iterConditions->TC[i];
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}
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cout << ")" << endl << " }" << endl << endl;
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iterConditions++;
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}
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cout << endl;
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}
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}
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if (debug_lvl & 2 ) { // Instantiation/Destruction notification
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if (from == 0) cout << "Instantiated: FGScript" << endl;
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if (from == 1) cout << "Destroyed: FGScript" << endl;
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}
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if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
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}
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if (debug_lvl & 8 ) { // Runtime state variables
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}
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if (debug_lvl & 16) { // Sanity checking
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}
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if (debug_lvl & 64) {
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if (from == 0) { // Constructor
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cout << IdSrc << endl;
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cout << IdHdr << endl;
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}
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}
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}
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}
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