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 #ifdef FG_WITH_JSBSIM_SOCKET
  73   socket = new FGfdmSocket("localhost",1138);
  74 #endif
  75   Debug(0);
  76 }
  77
  78 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  79
  80 FGOutput::~FGOutput()
  81 {
  82   if (socket) delete socket;
  83   Debug(1);
  84 }
  85
  86 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  87
  88 bool FGOutput::Run(void)
  89 {
  90   if (enabled) {
  91     if (!FGModel::Run()) {
  92
  93       if (Type == otSocket) {
  94         SocketOutput();
  95       } else if (Type == otCSV) {
  96         DelimitedOutput(Filename);
  97       } else if (Type == otTerminal) {
  98         // Not done yet
  99       } else if (Type == otNone) {
 100         // Do nothing
 101       } else {
 102         // Not a valid type of output
 103       }
 104
 105     } else {
 106     }
 107   }
 108   return false;
 109 }
 110
 111 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 112
 113 void FGOutput::SetType(string type)
 114 {
 115   if (type == "CSV") {
 116     Type = otCSV;
 117   } else if (type == "TABULAR") {
 118     Type = otTab;
 119   } else if (type == "SOCKET") {
 120     Type = otSocket;
 121   } else if (type == "TERMINAL") {
 122     Type = otTerminal;
 123   } else if (type != string("NONE")){
 124     Type = otUnknown;
 125     cerr << "Unknown type of output specified in config file" << endl;
 126   }
 127 }
 128
 129 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 130
 131 void FGOutput::DelimitedOutput(string fname)
 132 {
 133   streambuf* buffer;
 134
 135   if (fname == "COUT" || fname == "cout") {
 136     buffer = cout.rdbuf();
 137   } else {
 138     datafile.open(fname.c_str());
 139     buffer = datafile.rdbuf();
 140   }
 141
 142   ostream outstream(buffer);
 143
 144   if (dFirstPass) {
 145     outstream << "Time";
 146     if (SubSystems & ssSimulation) {
 147       // Nothing here, yet
 148     }
 149     if (SubSystems & ssAerosurfaces) {
 150       outstream << ", ";
 151       outstream << "Aileron Cmd, ";
 152       outstream << "Elevator Cmd, ";
 153       outstream << "Rudder Cmd, ";
 154       outstream << "Aileron Pos, ";
 155       outstream << "Elevator Pos, ";
 156       outstream << "Rudder Pos";
 157     }
 158     if (SubSystems & ssRates) {
 159       outstream << ", ";
 160       outstream << "P, Q, R, ";
 161       outstream << "Pdot, Qdot, Rdot";
 162     }
 163     if (SubSystems & ssVelocities) {
 164       outstream << ", ";
 165       outstream << "QBar, ";
 166       outstream << "Vtotal, ";
 167       outstream << "UBody, VBody, WBody, ";
 168       outstream << "UAero, VAero, WAero, ";
 169       outstream << "Vn, Ve, Vd";
 170     }
 171     if (SubSystems & ssForces) {
 172       outstream << ", ";
 173       outstream << "Drag, Side, Lift, ";
 174       outstream << "L/D, ";
 175       outstream << "Xforce, Yforce, Zforce";
 176     }
 177     if (SubSystems & ssMoments) {
 178       outstream << ", ";
 179       outstream << "L, M, N";
 180     }
 181     if (SubSystems & ssAtmosphere) {
 182       outstream << ", ";
 183       outstream << "Rho, ";
 184       outstream << "NWind, EWind, DWind";
 185     }
 186     if (SubSystems & ssMassProps) {
 187       outstream << ", ";
 188       outstream << "Ixx, ";
 189       outstream << "Iyy, ";
 190       outstream << "Izz, ";
 191       outstream << "Ixz, ";
 192       outstream << "Mass, ";
 193       outstream << "Xcg, Ycg, Zcg";
 194     }
 195     if (SubSystems & ssPosition) {
 196       outstream << ", ";
 197       outstream << "Altitude, ";
 198       outstream << "Phi, Tht, Psi, ";
 199       outstream << "Alpha, ";
 200       outstream << "Beta, ";
 201       outstream << "Latitude, ";
 202       outstream << "Longitude, ";
 203       outstream << "Distance AGL, ";
 204       outstream << "Runway Radius";
 205     }
 206     if (SubSystems & ssCoefficients) {
 207       outstream << ", ";
 208       outstream << Aerodynamics->GetCoefficientStrings();
 209     }
 210     if (SubSystems & ssGroundReactions) {
 211       outstream << ", ";
 212       outstream << GroundReactions->GetGroundReactionStrings();
 213     }
 214     if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
 215       outstream << ", ";
 216       outstream << Propulsion->GetPropulsionStrings();
 217     }
 218
 219     outstream << endl;
 220     dFirstPass = false;
 221   }
 222
 223   outstream << State->Getsim_time();
 224   if (SubSystems & ssSimulation) {
 225   }
 226   if (SubSystems & ssAerosurfaces) {
 227     outstream << ", ";
 228     outstream << FCS->GetDaCmd() << ", ";
 229     outstream << FCS->GetDeCmd() << ", ";
 230     outstream << FCS->GetDrCmd() << ", ";
 231     outstream << FCS->GetDaPos() << ", ";
 232     outstream << FCS->GetDePos() << ", ";
 233     outstream << FCS->GetDrPos();
 234   }
 235   if (SubSystems & ssRates) {
 236     outstream << ", ";
 237     outstream << Rotation->GetPQR() << ", ";
 238     outstream << Rotation->GetPQRdot();
 239   }
 240   if (SubSystems & ssVelocities) {
 241     outstream << ", ";
 242     outstream << Translation->Getqbar() << ", ";
 243     outstream << Translation->GetVt() << ", ";
 244     outstream << Translation->GetUVW() << ", ";
 245     outstream << Translation->GetvAeroUVW() << ", ";
 246     outstream << Position->GetVel();
 247   }
 248   if (SubSystems & ssForces) {
 249     outstream << ", ";
 250     outstream << Aerodynamics->GetvFs() << ", ";
 251     outstream << Aerodynamics->GetLoD() << ", ";
 252     outstream << Aircraft->GetForces();
 253   }
 254   if (SubSystems & ssMoments) {
 255     outstream << ", ";
 256     outstream << Aircraft->GetMoments();
 257   }
 258   if (SubSystems & ssAtmosphere) {
 259     outstream << ", ";
 260     outstream << Atmosphere->GetDensity() << ", ";
 261     outstream << Atmosphere->GetWindNED();
 262   }
 263   if (SubSystems & ssMassProps) {
 264     outstream << ", ";
 265     outstream << MassBalance->GetIxx() << ", ";
 266     outstream << MassBalance->GetIyy() << ", ";
 267     outstream << MassBalance->GetIzz() << ", ";
 268     outstream << MassBalance->GetIxz() << ", ";
 269     outstream << MassBalance->GetMass() << ", ";
 270     outstream << MassBalance->GetXYZcg();
 271   }
 272   if (SubSystems & ssPosition) {
 273     outstream << ", ";
 274     outstream << Position->Geth() << ", ";
 275     outstream << Rotation->GetEuler() << ", ";
 276     outstream << Translation->Getalpha() << ", ";
 277     outstream << Translation->Getbeta() << ", ";
 278     outstream << Position->GetLatitude() << ", ";
 279     outstream << Position->GetLongitude() << ", ";
 280     outstream << Position->GetDistanceAGL() << ", ";
 281     outstream << Position->GetRunwayRadius();
 282   }
 283   if (SubSystems & ssCoefficients) {
 284     outstream << ", ";
 285     outstream << Aerodynamics->GetCoefficientValues();
 286   }
 287   if (SubSystems & ssGroundReactions) {
 288     outstream << ", ";
 289     outstream << GroundReactions->GetGroundReactionValues();
 290   }
 291   if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
 292     outstream << ", ";
 293     outstream << Propulsion->GetPropulsionValues();
 294   }
 295
 296   outstream << endl;
 297   outstream.flush();
 298 }
 299
 300 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 301
 302 void FGOutput::SocketOutput(void)
 303 {
 304   string asciiData;
 305   /*
 306   if (socket == NULL) return;
 307
 308   socket->Clear();
 309   if (sFirstPass) {
 310     socket->Append("<LABELS>");
 311     socket->Append("Time");
 312     socket->Append("Altitude");
 313     socket->Append("Phi");
 314     socket->Append("Tht");
 315     socket->Append("Psi");
 316     socket->Append("Rho");
 317     socket->Append("Vtotal");
 318     socket->Append("UBody");
 319     socket->Append("VBody");
 320     socket->Append("WBody");
 321     socket->Append("UAero");
 322     socket->Append("VAero");
 323     socket->Append("WAero");
 324     socket->Append("Vn");
 325     socket->Append("Ve");
 326     socket->Append("Vd");
 327     socket->Append("Udot");
 328     socket->Append("Vdot");
 329     socket->Append("Wdot");
 330     socket->Append("P");
 331     socket->Append("Q");
 332     socket->Append("R");
 333     socket->Append("PDot");
 334     socket->Append("QDot");
 335     socket->Append("RDot");
 336     socket->Append("Fx");
 337     socket->Append("Fy");
 338     socket->Append("Fz");
 339     socket->Append("Latitude");
 340     socket->Append("Longitude");
 341     socket->Append("QBar");
 342     socket->Append("Alpha");
 343     socket->Append("L");
 344     socket->Append("M");
 345     socket->Append("N");
 346     socket->Append("Throttle");
 347     socket->Append("Aileron");
 348     socket->Append("Elevator");
 349     socket->Append("Rudder");
 350     sFirstPass = false;
 351     socket->Send();
 352   }
 353
 354   socket->Clear();
 355   socket->Append(State->Getsim_time());
 356   socket->Append(Position->Geth());
 357   socket->Append(Rotation->Getphi());
 358   socket->Append(Rotation->Gettht());
 359   socket->Append(Rotation->Getpsi());
 360   socket->Append(Atmosphere->GetDensity());
 361   socket->Append(Translation->GetVt());
 362   socket->Append(Translation->GetUVW(eU));
 363   socket->Append(Translation->GetUVW(eV));
 364   socket->Append(Translation->GetUVW(eW));
 365   socket->Append(Translation->GetvAeroUVW(eU));
 366   socket->Append(Translation->GetvAeroUVW(eV));
 367   socket->Append(Translation->GetvAeroUVW(eW));
 368   socket->Append(Position->GetVn());
 369   socket->Append(Position->GetVe());
 370   socket->Append(Position->GetVd());
 371   socket->Append(Translation->GetUdot());
 372   socket->Append(Translation->GetVdot());
 373   socket->Append(Translation->GetWdot());
 374   socket->Append(Rotation->GetP());
 375   socket->Append(Rotation->GetQ());
 376   socket->Append(Rotation->GetR());
 377   socket->Append(Rotation->GetPdot());
 378   socket->Append(Rotation->GetQdot());
 379   socket->Append(Rotation->GetRdot());
 380   socket->Append(Aircraft->GetFx());
 381   socket->Append(Aircraft->GetFy());
 382   socket->Append(Aircraft->GetFz());
 383   socket->Append(Position->GetLatitude());
 384   socket->Append(Position->GetLongitude());
 385   socket->Append(Translation->Getqbar());
 386   socket->Append(Translation->Getalpha());
 387   socket->Append(Aircraft->GetL());
 388   socket->Append(Aircraft->GetM());
 389   socket->Append(Aircraft->GetN());
 390   socket->Append(FCS->GetThrottle(0));
 391   socket->Append(FCS->GetDa());
 392   socket->Append(FCS->GetDe());
 393   socket->Append(FCS->GetDr());
 394   socket->Send(); */
 395 }
 396
 397 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 398
 399 void FGOutput::SocketStatusOutput(string out_str)
 400 {
 401   string asciiData;
 402
 403   if (socket == NULL) return;
 404
 405   socket->Clear();
 406   asciiData = string("<STATUS>") + out_str;
 407   socket->Append(asciiData.c_str());
 408   socket->Send();
 409 }
 410
 411 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 412
 413 bool FGOutput::Load(FGConfigFile* AC_cfg)
 414 {
 415   string token, parameter;
 416   int OutRate = 0;
 417
 418   token = AC_cfg->GetValue("NAME");
 419   Output->SetFilename(token);
 420   token = AC_cfg->GetValue("TYPE");
 421   Output->SetType(token);
 422   AC_cfg->GetNextConfigLine();
 423
 424   while ((token = AC_cfg->GetValue()) != string("/OUTPUT")) {
 425     *AC_cfg >> parameter;
 426     if (parameter == "RATE_IN_HZ") *AC_cfg >> OutRate;
 427     if (parameter == "SIMULATION") {
 428       *AC_cfg >> parameter;
 429       if (parameter == "ON") SubSystems += ssSimulation;
 430     }
 431     if (parameter == "AEROSURFACES") {
 432       *AC_cfg >> parameter;
 433       if (parameter == "ON") SubSystems += ssAerosurfaces;
 434     }
 435     if (parameter == "RATES") {
 436       *AC_cfg >> parameter;
 437       if (parameter == "ON") SubSystems += ssRates;
 438     }
 439     if (parameter == "VELOCITIES") {
 440       *AC_cfg >> parameter;
 441       if (parameter == "ON") SubSystems += ssVelocities;
 442     }
 443     if (parameter == "FORCES") {
 444       *AC_cfg >> parameter;
 445       if (parameter == "ON") SubSystems += ssForces;
 446     }
 447     if (parameter == "MOMENTS") {
 448       *AC_cfg >> parameter;
 449       if (parameter == "ON") SubSystems += ssMoments;
 450     }
 451     if (parameter == "ATMOSPHERE") {
 452       *AC_cfg >> parameter;
 453       if (parameter == "ON") SubSystems += ssAtmosphere;
 454     }
 455     if (parameter == "MASSPROPS") {
 456       *AC_cfg >> parameter;
 457       if (parameter == "ON") SubSystems += ssMassProps;
 458     }
 459     if (parameter == "POSITION") {
 460       *AC_cfg >> parameter;
 461       if (parameter == "ON") SubSystems += ssPosition;
 462     }
 463     if (parameter == "COEFFICIENTS") {
 464       *AC_cfg >> parameter;
 465       if (parameter == "ON") SubSystems += ssCoefficients;
 466     }
 467     if (parameter == "GROUND_REACTIONS") {
 468       *AC_cfg >> parameter;
 469       if (parameter == "ON") SubSystems += ssGroundReactions;
 470     }
 471     if (parameter == "FCS") {
 472       *AC_cfg >> parameter;
 473       if (parameter == "ON") SubSystems += ssFCS;
 474     }
 475     if (parameter == "PROPULSION") {
 476       *AC_cfg >> parameter;
 477       if (parameter == "ON") SubSystems += ssPropulsion;
 478     }
 479   }
 480
 481   OutRate = OutRate>120?120:(OutRate<0?0:OutRate);
 482   rate = (int)(0.5 + 1.0/(State->Getdt()*OutRate));
 483
 484   return true;
 485 }
 486
 487 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 488 //    The bitmasked value choices are as follows:
 489 //    unset: In this case (the default) JSBSim would only print
 490 //       out the normally expected messages, essentially echoing
 491 //       the config files as they are read. If the environment
 492 //       variable is not set, debug_lvl is set to 1 internally
 493 //    0: This requests JSBSim not to output any messages
 494 //       whatsoever.
 495 //    1: This value explicity requests the normal JSBSim
 496 //       startup messages
 497 //    2: This value asks for a message to be printed out when
 498 //       a class is instantiated
 499 //    4: When this value is set, a message is displayed when a
 500 //       FGModel object executes its Run() method
 501 //    8: When this value is set, various runtime state variables
 502 //       are printed out periodically
 503 //    16: When set various parameters are sanity checked and
 504 //       a message is printed out when they go out of bounds
 505
 506 void FGOutput::Debug(int from)
 507 {
 508   if (debug_lvl <= 0) return;
 509
 510   if (debug_lvl & 1) { // Standard console startup message output
 511     if (from == 0) { // Constructor
 512
 513     }
 514   }
 515   if (debug_lvl & 2 ) { // Instantiation/Destruction notification
 516     if (from == 0) cout << "Instantiated: FGOutput" << endl;
 517     if (from == 1) cout << "Destroyed:    FGOutput" << endl;
 518   }
 519   if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
 520   }
 521   if (debug_lvl & 8 ) { // Runtime state variables
 522   }
 523   if (debug_lvl & 16) { // Sanity checking
 524   }
 525   if (debug_lvl & 64) {
 526     if (from == 0) { // Constructor
 527       cout << IdSrc << endl;
 528       cout << IdHdr << endl;
 529     }
 530   }
 531 }
 532