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   if (debug_lvl & 2) cout << "Instantiated: " << Name << endl;
  76 }
  77
  78 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  79
  80 FGOutput::~FGOutput()
  81 {
  82   if (socket) delete socket;
  83   if (debug_lvl & 2) cout << "Destroyed:    FGOutput" << endl;
  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 << "Throttle, ";
 152       outstream << "Mixture, ";
 153       outstream << "Aileron Cmd, ";
 154       outstream << "Elevator Cmd, ";
 155       outstream << "Rudder Cmd, ";
 156       outstream << "Aileron Pos, ";
 157       outstream << "Elevator Pos, ";
 158       outstream << "Rudder Pos";
 159     }
 160     if (SubSystems & ssRates) {
 161       outstream << ", ";
 162       outstream << "P, Q, R";
 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     }
 178     if (SubSystems & ssMoments) {
 179       outstream << ", ";
 180       outstream << "L, M, N";
 181     }
 182     if (SubSystems & ssAtmosphere) {
 183       outstream << ", ";
 184       outstream << "Rho";
 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 << "Latitude, ";
 201       outstream << "Longitude, ";
 202       outstream << "Distance AGL, ";
 203       outstream << "Runway Radius";
 204     }
 205     if (SubSystems & ssCoefficients) {
 206       outstream << ", ";
 207       outstream << Aerodynamics->GetCoefficientStrings();
 208     }
 209     if (SubSystems & ssGroundReactions) {
 210       outstream << ", ";
 211       outstream << GroundReactions->GetGroundReactionStrings();
 212     }
 213     if (SubSystems & ssPropulsion) {
 214       outstream << ", ";
 215       outstream << Propulsion->GetPropulsionStrings();
 216     }
 217
 218     outstream << endl;
 219     dFirstPass = false;
 220   }
 221
 222   outstream << State->Getsim_time();
 223   if (SubSystems & ssSimulation) {
 224   }
 225   if (SubSystems & ssAerosurfaces) {
 226     outstream << ", ";
 227     outstream << FCS->GetThrottlePos(0) << ", ";
 228     outstream << FCS->GetMixturePos(0) << ", ";
 229     outstream << FCS->GetDaCmd() << ", ";
 230     outstream << FCS->GetDeCmd() << ", ";
 231     outstream << FCS->GetDrCmd() << ", ";
 232     outstream << FCS->GetDaPos() << ", ";
 233     outstream << FCS->GetDePos() << ", ";
 234     outstream << FCS->GetDrPos();
 235   }
 236   if (SubSystems & ssRates) {
 237     outstream << ", ";
 238     outstream << Rotation->GetPQR();
 239   }
 240   if (SubSystems & ssVelocities) {
 241     outstream << ", ";
 242     outstream << Translation->Getqbar() << ", ";
 243     outstream << Translation->GetVt() << ", ";
 244     outstream << Translation->GetUVW() << ", ";
 245     outstream << Translation->GetvAero() << ", ";
 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   }
 262   if (SubSystems & ssMassProps) {
 263     outstream << ", ";
 264     outstream << MassBalance->GetIxx() << ", ";
 265     outstream << MassBalance->GetIyy() << ", ";
 266     outstream << MassBalance->GetIzz() << ", ";
 267     outstream << MassBalance->GetIxz() << ", ";
 268     outstream << MassBalance->GetMass() << ", ";
 269     outstream << MassBalance->GetXYZcg();
 270   }
 271   if (SubSystems & ssPosition) {
 272     outstream << ", ";
 273     outstream << Position->Geth() << ", ";
 274     outstream << Rotation->GetEuler() << ", ";
 275     outstream << Translation->Getalpha() << ", ";
 276     outstream << Position->GetLatitude() << ", ";
 277     outstream << Position->GetLongitude() << ", ";
 278     outstream << Position->GetDistanceAGL() << ", ";
 279     outstream << Position->GetRunwayRadius();
 280   }
 281   if (SubSystems & ssCoefficients) {
 282     outstream << ", ";
 283     outstream << Aerodynamics->GetCoefficientValues();
 284   }
 285   if (SubSystems & ssGroundReactions) {
 286     outstream << ", ";
 287     outstream << GroundReactions->GetGroundReactionValues();
 288   }
 289   if (SubSystems & ssPropulsion) {
 290     outstream << ", ";
 291     outstream << Propulsion->GetPropulsionValues();
 292   }
 293
 294   outstream << endl;
 295   outstream.flush();
 296 }
 297
 298 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 299
 300 void FGOutput::SocketOutput(void)
 301 {
 302   string asciiData;
 303   /*
 304   if (socket == NULL) return;
 305
 306   socket->Clear();
 307   if (sFirstPass) {
 308     socket->Append("<LABELS>");
 309     socket->Append("Time");
 310     socket->Append("Altitude");
 311     socket->Append("Phi");
 312     socket->Append("Tht");
 313     socket->Append("Psi");
 314     socket->Append("Rho");
 315     socket->Append("Vtotal");
 316     socket->Append("UBody");
 317     socket->Append("VBody");
 318     socket->Append("WBody");
 319     socket->Append("UAero");
 320     socket->Append("VAero");
 321     socket->Append("WAero");
 322     socket->Append("Vn");
 323     socket->Append("Ve");
 324     socket->Append("Vd");
 325     socket->Append("Udot");
 326     socket->Append("Vdot");
 327     socket->Append("Wdot");
 328     socket->Append("P");
 329     socket->Append("Q");
 330     socket->Append("R");
 331     socket->Append("PDot");
 332     socket->Append("QDot");
 333     socket->Append("RDot");
 334     socket->Append("Fx");
 335     socket->Append("Fy");
 336     socket->Append("Fz");
 337     socket->Append("Latitude");
 338     socket->Append("Longitude");
 339     socket->Append("QBar");
 340     socket->Append("Alpha");
 341     socket->Append("L");
 342     socket->Append("M");
 343     socket->Append("N");
 344     socket->Append("Throttle");
 345     socket->Append("Aileron");
 346     socket->Append("Elevator");
 347     socket->Append("Rudder");
 348     sFirstPass = false;
 349     socket->Send();
 350   }
 351
 352   socket->Clear();
 353   socket->Append(State->Getsim_time());
 354   socket->Append(Position->Geth());
 355   socket->Append(Rotation->Getphi());
 356   socket->Append(Rotation->Gettht());
 357   socket->Append(Rotation->Getpsi());
 358   socket->Append(Atmosphere->GetDensity());
 359   socket->Append(Translation->GetVt());
 360   socket->Append(Translation->GetUVW(eU));
 361   socket->Append(Translation->GetUVW(eV));
 362   socket->Append(Translation->GetUVW(eW));
 363   socket->Append(Translation->GetvAero(eU));
 364   socket->Append(Translation->GetvAero(eV));
 365   socket->Append(Translation->GetvAero(eW));
 366   socket->Append(Position->GetVn());
 367   socket->Append(Position->GetVe());
 368   socket->Append(Position->GetVd());
 369   socket->Append(Translation->GetUdot());
 370   socket->Append(Translation->GetVdot());
 371   socket->Append(Translation->GetWdot());
 372   socket->Append(Rotation->GetP());
 373   socket->Append(Rotation->GetQ());
 374   socket->Append(Rotation->GetR());
 375   socket->Append(Rotation->GetPdot());
 376   socket->Append(Rotation->GetQdot());
 377   socket->Append(Rotation->GetRdot());
 378   socket->Append(Aircraft->GetFx());
 379   socket->Append(Aircraft->GetFy());
 380   socket->Append(Aircraft->GetFz());
 381   socket->Append(Position->GetLatitude());
 382   socket->Append(Position->GetLongitude());
 383   socket->Append(Translation->Getqbar());
 384   socket->Append(Translation->Getalpha());
 385   socket->Append(Aircraft->GetL());
 386   socket->Append(Aircraft->GetM());
 387   socket->Append(Aircraft->GetN());
 388   socket->Append(FCS->GetThrottle(0));
 389   socket->Append(FCS->GetDa());
 390   socket->Append(FCS->GetDe());
 391   socket->Append(FCS->GetDr());
 392   socket->Send(); */
 393 }
 394
 395 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 396
 397 void FGOutput::SocketStatusOutput(string out_str)
 398 {
 399   string asciiData;
 400
 401   if (socket == NULL) return;
 402
 403   socket->Clear();
 404   asciiData = string("<STATUS>") + out_str;
 405   socket->Append(asciiData.c_str());
 406   socket->Send();
 407 }
 408
 409 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 410
 411 bool FGOutput::Load(FGConfigFile* AC_cfg)
 412 {
 413   string token, parameter;
 414   int OutRate = 0;
 415
 416   token = AC_cfg->GetValue("NAME");
 417   Output->SetFilename(token);
 418   token = AC_cfg->GetValue("TYPE");
 419   Output->SetType(token);
 420   AC_cfg->GetNextConfigLine();
 421
 422   while ((token = AC_cfg->GetValue()) != string("/OUTPUT")) {
 423     *AC_cfg >> parameter;
 424     if (parameter == "RATE_IN_HZ") *AC_cfg >> OutRate;
 425     if (parameter == "SIMULATION") {
 426       *AC_cfg >> parameter;
 427       if (parameter == "ON") SubSystems += ssSimulation;
 428     }
 429     if (parameter == "AEROSURFACES") {
 430       *AC_cfg >> parameter;
 431       if (parameter == "ON") SubSystems += ssAerosurfaces;
 432     }
 433     if (parameter == "RATES") {
 434       *AC_cfg >> parameter;
 435       if (parameter == "ON") SubSystems += ssRates;
 436     }
 437     if (parameter == "VELOCITIES") {
 438       *AC_cfg >> parameter;
 439       if (parameter == "ON") SubSystems += ssVelocities;
 440     }
 441     if (parameter == "FORCES") {
 442       *AC_cfg >> parameter;
 443       if (parameter == "ON") SubSystems += ssForces;
 444     }
 445     if (parameter == "MOMENTS") {
 446       *AC_cfg >> parameter;
 447       if (parameter == "ON") SubSystems += ssMoments;
 448     }
 449     if (parameter == "ATMOSPHERE") {
 450       *AC_cfg >> parameter;
 451       if (parameter == "ON") SubSystems += ssAtmosphere;
 452     }
 453     if (parameter == "MASSPROPS") {
 454       *AC_cfg >> parameter;
 455       if (parameter == "ON") SubSystems += ssMassProps;
 456     }
 457     if (parameter == "POSITION") {
 458       *AC_cfg >> parameter;
 459       if (parameter == "ON") SubSystems += ssPosition;
 460     }
 461     if (parameter == "COEFFICIENTS") {
 462       *AC_cfg >> parameter;
 463       if (parameter == "ON") SubSystems += ssCoefficients;
 464     }
 465     if (parameter == "GROUND_REACTIONS") {
 466       *AC_cfg >> parameter;
 467       if (parameter == "ON") SubSystems += ssGroundReactions;
 468     }
 469     if (parameter == "FCS") {
 470       *AC_cfg >> parameter;
 471       if (parameter == "ON") SubSystems += ssFCS;
 472     }
 473     if (parameter == "PROPULSION") {
 474       *AC_cfg >> parameter;
 475       if (parameter == "ON") SubSystems += ssPropulsion;
 476     }
 477   }
 478
 479   OutRate = OutRate>120?120:(OutRate<0?0:OutRate);
 480   rate = (int)(0.5 + 1.0/(State->Getdt()*OutRate));
 481
 482   return true;
 483 }
 484
 485 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 486
 487 void FGOutput::Debug(void)
 488 {
 489     //TODO: Add your source code here
 490 }
 491