src/FDM/JSBSim/FGOutput.cpp

   1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
   2
   3  Module:       FGOutput.cpp
   4  Author:       Jon Berndt
   5  Date started: 12/02/98
   6  Purpose:      Manage output of sim parameters to file or stdout
   7  Called by:    FGSimExec
   8
   9  ------------- Copyright (C) 1999  Jon S. Berndt (jsb@hal-pc.org) -------------
  10
  11  This program is free software; you can redistribute it and/or modify it under
  12  the terms of the GNU General Public License as published by the Free Software
  13  Foundation; either version 2 of the License, or (at your option) any later
  14  version.
  15
  16  This program is distributed in the hope that it will be useful, but WITHOUT
  17  ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
  18  FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
  19  details.
  20
  21  You should have received a copy of the GNU General Public License along with
  22  this program; if not, write to the Free Software Foundation, Inc., 59 Temple
  23  Place - Suite 330, Boston, MA  02111-1307, USA.
  24
  25  Further information about the GNU General Public License can also be found on
  26  the world wide web at http://www.gnu.org.
  27
  28 FUNCTIONAL DESCRIPTION
  29 --------------------------------------------------------------------------------
  30 This is the place where you create output routines to dump data for perusal
  31 later.
  32
  33 HISTORY
  34 --------------------------------------------------------------------------------
  35 12/02/98   JSB   Created
  36
  37 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  38 INCLUDES
  39 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  40
  41 #include "FGOutput.h"
  42 #include "FGState.h"
  43 #include "FGFDMExec.h"
  44 #include "FGAtmosphere.h"
  45 #include "FGFCS.h"
  46 #include "FGAerodynamics.h"
  47 #include "FGGroundReactions.h"
  48 #include "FGAircraft.h"
  49 #include "FGMassBalance.h"
  50 #include "FGTranslation.h"
  51 #include "FGRotation.h"
  52 #include "FGPosition.h"
  53 #include "FGAuxiliary.h"
  54
  55 static const char *IdSrc = "$Id$";
  56 static const char *IdHdr = ID_OUTPUT;
  57
  58 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  59 CLASS IMPLEMENTATION
  60 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  61
  62 FGOutput::FGOutput(FGFDMExec* fdmex) : FGModel(fdmex)
  63 {
  64   Name = "FGOutput";
  65   sFirstPass = dFirstPass = true;
  66   socket = 0;
  67   Type = otNone;
  68   Filename = "JSBSim.out";
  69   SubSystems = 0;
  70   enabled = true;
  71
  72   Debug(0);
  73 }
  74
  75 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  76
  77 FGOutput::~FGOutput()
  78 {
  79   if (socket) delete socket;
  80   Debug(1);
  81 }
  82
  83 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  84
  85 bool FGOutput::Run(void)
  86 {
  87   if (enabled) {
  88     if (!FGModel::Run()) {
  89
  90       if (Type == otSocket) {
  91         SocketOutput();
  92       } else if (Type == otCSV) {
  93         DelimitedOutput(Filename);
  94       } else if (Type == otTerminal) {
  95         // Not done yet
  96       } else if (Type == otNone) {
  97         // Do nothing
  98       } else {
  99         // Not a valid type of output
 100       }
 101           return false;
 102     } else {
 103           return true;
 104     }
 105   }
 106   return false;
 107 }
 108
 109 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 110
 111 void FGOutput::SetType(string type)
 112 {
 113   if (type == "CSV") {
 114     Type = otCSV;
 115   } else if (type == "TABULAR") {
 116     Type = otTab;
 117   } else if (type == "SOCKET") {
 118     Type = otSocket;
 119   } else if (type == "TERMINAL") {
 120     Type = otTerminal;
 121   } else if (type != string("NONE")) {
 122     Type = otUnknown;
 123     cerr << "Unknown type of output specified in config file" << endl;
 124   }
 125 }
 126
 127 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 128
 129 void FGOutput::DelimitedOutput(string fname)
 130 {
 131   streambuf* buffer;
 132
 133   if (fname == "COUT" || fname == "cout") {
 134     buffer = cout.rdbuf();
 135   } else {
 136     datafile.open(fname.c_str());
 137     buffer = datafile.rdbuf();
 138   }
 139
 140   ostream outstream(buffer);
 141
 142   if (dFirstPass) {
 143     outstream << "Time";
 144     if (SubSystems & ssSimulation) {
 145       // Nothing here, yet
 146     }
 147     if (SubSystems & ssAerosurfaces) {
 148       outstream << ", ";
 149       outstream << "Aileron Cmd, ";
 150       outstream << "Elevator Cmd, ";
 151       outstream << "Rudder Cmd, ";
 152       outstream << "Flap Cmd, ";
 153       outstream << "Left Aileron Pos, ";
 154       outstream << "Right Aileron Pos, ";
 155       outstream << "Elevator Pos, ";
 156       outstream << "Rudder Pos, ";
 157       outstream << "Flap Pos";
 158     }
 159     if (SubSystems & ssRates) {
 160       outstream << ", ";
 161       outstream << "P, Q, R, ";
 162       outstream << "Pdot, Qdot, Rdot";
 163     }
 164     if (SubSystems & ssVelocities) {
 165       outstream << ", ";
 166       outstream << "QBar, ";
 167       outstream << "Vtotal, ";
 168       outstream << "UBody, VBody, WBody, ";
 169       outstream << "UAero, VAero, WAero, ";
 170       outstream << "Vn, Ve, Vd";
 171     }
 172     if (SubSystems & ssForces) {
 173       outstream << ", ";
 174       outstream << "Drag, Side, Lift, ";
 175       outstream << "L/D, ";
 176       outstream << "Xforce, Yforce, Zforce, ";
 177       outstream << "xGravity, yGravity, zGravity, ";
 178       outstream << "xCoriolis, yCoriolis, zCoriolis, ";
 179       outstream << "xCentrifugal, yCentrifugal, zCentrifugal";
 180     }
 181     if (SubSystems & ssMoments) {
 182       outstream << ", ";
 183       outstream << "L, M, N";
 184     }
 185     if (SubSystems & ssAtmosphere) {
 186       outstream << ", ";
 187       outstream << "Rho, ";
 188       outstream << "NWind, EWind, DWind";
 189     }
 190     if (SubSystems & ssMassProps) {
 191       outstream << ", ";
 192       outstream << "Ixx, ";
 193       outstream << "Iyy, ";
 194       outstream << "Izz, ";
 195       outstream << "Ixz, ";
 196       outstream << "Mass, ";
 197       outstream << "Xcg, Ycg, Zcg";
 198     }
 199     if (SubSystems & ssPosition) {
 200       outstream << ", ";
 201       outstream << "Altitude, ";
 202       outstream << "Phi, Tht, Psi, ";
 203       outstream << "Alpha, ";
 204       outstream << "Beta, ";
 205       outstream << "Latitude, ";
 206       outstream << "Longitude, ";
 207       outstream << "Distance AGL, ";
 208       outstream << "Runway Radius";
 209     }
 210     if (SubSystems & ssCoefficients) {
 211       outstream << ", ";
 212       outstream << Aerodynamics->GetCoefficientStrings();
 213     }
 214     if (SubSystems & ssGroundReactions) {
 215       outstream << ", ";
 216       outstream << GroundReactions->GetGroundReactionStrings();
 217     }
 218     if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
 219       outstream << ", ";
 220       outstream << Propulsion->GetPropulsionStrings();
 221     }
 222
 223     outstream << endl;
 224     dFirstPass = false;
 225   }
 226
 227   outstream << State->Getsim_time();
 228   if (SubSystems & ssSimulation) {
 229   }
 230   if (SubSystems & ssAerosurfaces) {
 231     outstream << ", ";
 232     outstream << FCS->GetDaCmd() << ", ";
 233     outstream << FCS->GetDeCmd() << ", ";
 234     outstream << FCS->GetDrCmd() << ", ";
 235     outstream << FCS->GetDfCmd() << ", ";
 236     outstream << FCS->GetDaLPos() << ", ";
 237     outstream << FCS->GetDaRPos() << ", ";
 238     outstream << FCS->GetDePos() << ", ";
 239     outstream << FCS->GetDrPos() << ", ";
 240     outstream << FCS->GetDfPos();
 241   }
 242   if (SubSystems & ssRates) {
 243     outstream << ", ";
 244     outstream << Rotation->GetPQR() << ", ";
 245     outstream << Rotation->GetPQRdot();
 246   }
 247   if (SubSystems & ssVelocities) {
 248     outstream << ", ";
 249     outstream << Translation->Getqbar() << ", ";
 250     outstream << Translation->GetVt() << ", ";
 251     outstream << Translation->GetUVW() << ", ";
 252     outstream << Translation->GetAeroUVW() << ", ";
 253     outstream << Position->GetVel();
 254   }
 255   if (SubSystems & ssForces) {
 256     outstream << ", ";
 257     outstream << Aerodynamics->GetvFs() << ", ";
 258     outstream << Aerodynamics->GetLoD() << ", ";
 259     outstream << Aircraft->GetForces() << ", ";
 260     outstream << Inertial->GetGravity() << ", ";
 261     outstream << Inertial->GetCoriolis() << ", ";
 262     outstream << Inertial->GetCentrifugal();
 263   }
 264   if (SubSystems & ssMoments) {
 265     outstream << ", ";
 266     outstream << Aircraft->GetMoments();
 267   }
 268   if (SubSystems & ssAtmosphere) {
 269     outstream << ", ";
 270     outstream << Atmosphere->GetDensity() << ", ";
 271     outstream << Atmosphere->GetWindNED();
 272   }
 273   if (SubSystems & ssMassProps) {
 274     outstream << ", ";
 275     outstream << MassBalance->GetIxx() << ", ";
 276     outstream << MassBalance->GetIyy() << ", ";
 277     outstream << MassBalance->GetIzz() << ", ";
 278     outstream << MassBalance->GetIxz() << ", ";
 279     outstream << MassBalance->GetMass() << ", ";
 280     outstream << MassBalance->GetXYZcg();
 281   }
 282   if (SubSystems & ssPosition) {
 283     outstream << ", ";
 284     outstream << Position->Geth() << ", ";
 285     outstream << Rotation->GetEuler() << ", ";
 286     outstream << Translation->Getalpha() << ", ";
 287     outstream << Translation->Getbeta() << ", ";
 288     outstream << Position->GetLatitude() << ", ";
 289     outstream << Position->GetLongitude() << ", ";
 290     outstream << Position->GetDistanceAGL() << ", ";
 291     outstream << Position->GetRunwayRadius();
 292   }
 293   if (SubSystems & ssCoefficients) {
 294     outstream << ", ";
 295     outstream << Aerodynamics->GetCoefficientValues();
 296   }
 297   if (SubSystems & ssGroundReactions) {
 298     outstream << ", ";
 299     outstream << GroundReactions->GetGroundReactionValues();
 300   }
 301   if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
 302     outstream << ", ";
 303     outstream << Propulsion->GetPropulsionValues();
 304   }
 305
 306   outstream << endl;
 307   outstream.flush();
 308 }
 309
 310 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 311
 312 void FGOutput::SocketOutput(void)
 313 {
 314   string asciiData;
 315
 316   if (socket == NULL) return;
 317   if (!socket->GetConnectStatus()) return;
 318
 319   socket->Clear();
 320   if (sFirstPass) {
 321     socket->Append("<LABELS>");
 322     socket->Append("Time");
 323     socket->Append("Altitude");
 324     socket->Append("Phi");
 325     socket->Append("Tht");
 326     socket->Append("Psi");
 327     socket->Append("Rho");
 328     socket->Append("Vtotal");
 329     socket->Append("UBody");
 330     socket->Append("VBody");
 331     socket->Append("WBody");
 332     socket->Append("UAero");
 333     socket->Append("VAero");
 334     socket->Append("WAero");
 335     socket->Append("Vn");
 336     socket->Append("Ve");
 337     socket->Append("Vd");
 338     socket->Append("Udot");
 339     socket->Append("Vdot");
 340     socket->Append("Wdot");
 341     socket->Append("P");
 342     socket->Append("Q");
 343     socket->Append("R");
 344     socket->Append("PDot");
 345     socket->Append("QDot");
 346     socket->Append("RDot");
 347     socket->Append("Fx");
 348     socket->Append("Fy");
 349     socket->Append("Fz");
 350     socket->Append("Latitude");
 351     socket->Append("Longitude");
 352     socket->Append("QBar");
 353     socket->Append("Alpha");
 354     socket->Append("L");
 355     socket->Append("M");
 356     socket->Append("N");
 357     socket->Append("Throttle Position");
 358     socket->Append("Left Aileron Position");
 359     socket->Append("Right Aileron Position");
 360     socket->Append("Elevator Position");
 361     socket->Append("Rudder Position");
 362     sFirstPass = false;
 363     socket->Send();
 364   }
 365
 366   socket->Clear();
 367   socket->Append(State->Getsim_time());
 368   socket->Append(Position->Geth());
 369   socket->Append(Rotation->Getphi());
 370   socket->Append(Rotation->Gettht());
 371   socket->Append(Rotation->Getpsi());
 372   socket->Append(Atmosphere->GetDensity());
 373   socket->Append(Translation->GetVt());
 374   socket->Append(Translation->GetUVW(eU));
 375   socket->Append(Translation->GetUVW(eV));
 376   socket->Append(Translation->GetUVW(eW));
 377   socket->Append(Translation->GetAeroUVW(eU));
 378   socket->Append(Translation->GetAeroUVW(eV));
 379   socket->Append(Translation->GetAeroUVW(eW));
 380   socket->Append(Position->GetVn());
 381   socket->Append(Position->GetVe());
 382   socket->Append(Position->GetVd());
 383   socket->Append(Translation->GetUVWdot(eU));
 384   socket->Append(Translation->GetUVWdot(eV));
 385   socket->Append(Translation->GetUVWdot(eW));
 386   socket->Append(Rotation->GetPQR(eP));
 387   socket->Append(Rotation->GetPQR(eQ));
 388   socket->Append(Rotation->GetPQR(eR));
 389   socket->Append(Rotation->GetPQRdot(eP));
 390   socket->Append(Rotation->GetPQRdot(eQ));
 391   socket->Append(Rotation->GetPQRdot(eR));
 392   socket->Append(Aircraft->GetForces(eX));
 393   socket->Append(Aircraft->GetForces(eY));
 394   socket->Append(Aircraft->GetForces(eZ));
 395   socket->Append(Position->GetLatitude());
 396   socket->Append(Position->GetLongitude());
 397   socket->Append(Translation->Getqbar());
 398   socket->Append(Translation->Getalpha());
 399   socket->Append(Aircraft->GetMoments(eL));
 400   socket->Append(Aircraft->GetMoments(eM));
 401   socket->Append(Aircraft->GetMoments(eN));
 402   socket->Append(FCS->GetThrottlePos(0));
 403   socket->Append(FCS->GetDaLPos());
 404   socket->Append(FCS->GetDaRPos());
 405   socket->Append(FCS->GetDePos());
 406   socket->Append(FCS->GetDrPos());
 407   socket->Send();
 408 }
 409
 410 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 411
 412 void FGOutput::SocketStatusOutput(string out_str)
 413 {
 414   string asciiData;
 415
 416   if (socket == NULL) return;
 417
 418   socket->Clear();
 419   asciiData = string("<STATUS>") + out_str;
 420   socket->Append(asciiData.c_str());
 421   socket->Send();
 422 }
 423
 424 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 425
 426 bool FGOutput::Load(FGConfigFile* AC_cfg)
 427 {
 428   string token, parameter;
 429   int OutRate = 0;
 430
 431   token = AC_cfg->GetValue("NAME");
 432   Output->SetFilename(token);
 433   token = AC_cfg->GetValue("TYPE");
 434   Output->SetType(token);
 435
 436 #if defined( FG_WITH_JSBSIM_SOCKET ) || !defined( FGFS )
 437   if (token == "SOCKET") {
 438     socket = new FGfdmSocket("localhost",1138);
 439   }
 440 #endif
 441
 442   AC_cfg->GetNextConfigLine();
 443
 444   while ((token = AC_cfg->GetValue()) != string("/OUTPUT")) {
 445     *AC_cfg >> parameter;
 446     if (parameter == "RATE_IN_HZ") *AC_cfg >> OutRate;
 447     if (parameter == "SIMULATION") {
 448       *AC_cfg >> parameter;
 449       if (parameter == "ON") SubSystems += ssSimulation;
 450     }
 451     if (parameter == "AEROSURFACES") {
 452       *AC_cfg >> parameter;
 453       if (parameter == "ON") SubSystems += ssAerosurfaces;
 454     }
 455     if (parameter == "RATES") {
 456       *AC_cfg >> parameter;
 457       if (parameter == "ON") SubSystems += ssRates;
 458     }
 459     if (parameter == "VELOCITIES") {
 460       *AC_cfg >> parameter;
 461       if (parameter == "ON") SubSystems += ssVelocities;
 462     }
 463     if (parameter == "FORCES") {
 464       *AC_cfg >> parameter;
 465       if (parameter == "ON") SubSystems += ssForces;
 466     }
 467     if (parameter == "MOMENTS") {
 468       *AC_cfg >> parameter;
 469       if (parameter == "ON") SubSystems += ssMoments;
 470     }
 471     if (parameter == "ATMOSPHERE") {
 472       *AC_cfg >> parameter;
 473       if (parameter == "ON") SubSystems += ssAtmosphere;
 474     }
 475     if (parameter == "MASSPROPS") {
 476       *AC_cfg >> parameter;
 477       if (parameter == "ON") SubSystems += ssMassProps;
 478     }
 479     if (parameter == "POSITION") {
 480       *AC_cfg >> parameter;
 481       if (parameter == "ON") SubSystems += ssPosition;
 482     }
 483     if (parameter == "COEFFICIENTS") {
 484       *AC_cfg >> parameter;
 485       if (parameter == "ON") SubSystems += ssCoefficients;
 486     }
 487     if (parameter == "GROUND_REACTIONS") {
 488       *AC_cfg >> parameter;
 489       if (parameter == "ON") SubSystems += ssGroundReactions;
 490     }
 491     if (parameter == "FCS") {
 492       *AC_cfg >> parameter;
 493       if (parameter == "ON") SubSystems += ssFCS;
 494     }
 495     if (parameter == "PROPULSION") {
 496       *AC_cfg >> parameter;
 497       if (parameter == "ON") SubSystems += ssPropulsion;
 498     }
 499   }
 500
 501   OutRate = OutRate>120?120:(OutRate<0?0:OutRate);
 502   rate = (int)(0.5 + 1.0/(State->Getdt()*OutRate));
 503
 504   return true;
 505 }
 506
 507 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 508 //    The bitmasked value choices are as follows:
 509 //    unset: In this case (the default) JSBSim would only print
 510 //       out the normally expected messages, essentially echoing
 511 //       the config files as they are read. If the environment
 512 //       variable is not set, debug_lvl is set to 1 internally
 513 //    0: This requests JSBSim not to output any messages
 514 //       whatsoever.
 515 //    1: This value explicity requests the normal JSBSim
 516 //       startup messages
 517 //    2: This value asks for a message to be printed out when
 518 //       a class is instantiated
 519 //    4: When this value is set, a message is displayed when a
 520 //       FGModel object executes its Run() method
 521 //    8: When this value is set, various runtime state variables
 522 //       are printed out periodically
 523 //    16: When set various parameters are sanity checked and
 524 //       a message is printed out when they go out of bounds
 525
 526 void FGOutput::Debug(int from)
 527 {
 528   if (debug_lvl <= 0) return;
 529
 530   if (debug_lvl & 1) { // Standard console startup message output
 531     if (from == 0) { // Constructor
 532
 533     }
 534   }
 535   if (debug_lvl & 2 ) { // Instantiation/Destruction notification
 536     if (from == 0) cout << "Instantiated: FGOutput" << endl;
 537     if (from == 1) cout << "Destroyed:    FGOutput" << endl;
 538   }
 539   if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
 540   }
 541   if (debug_lvl & 8 ) { // Runtime state variables
 542   }
 543   if (debug_lvl & 16) { // Sanity checking
 544   }
 545   if (debug_lvl & 64) {
 546     if (from == 0) { // Constructor
 547       cout << IdSrc << endl;
 548       cout << IdHdr << endl;
 549     }
 550   }
 551 }
 552