1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
6 Purpose: Manage output of sim parameters to file or stdout
9 ------------- Copyright (C) 1999 Jon S. Berndt (jsb@hal-pc.org) -------------
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
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
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.
25 Further information about the GNU General Public License can also be found on
26 the world wide web at http://www.gnu.org.
28 FUNCTIONAL DESCRIPTION
29 --------------------------------------------------------------------------------
30 This is the place where you create output routines to dump data for perusal
34 --------------------------------------------------------------------------------
37 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
39 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
43 #include "FGFDMExec.h"
44 #include "FGAtmosphere.h"
46 #include "FGAerodynamics.h"
47 #include "FGAircraft.h"
48 #include "FGMassBalance.h"
49 #include "FGTranslation.h"
50 #include "FGRotation.h"
51 #include "FGPosition.h"
52 #include "FGAuxiliary.h"
54 static const char *IdSrc = "$Id$";
55 static const char *IdHdr = ID_OUTPUT;
57 extern short debug_lvl;
59 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
61 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
63 FGOutput::FGOutput(FGFDMExec* fdmex) : FGModel(fdmex)
66 sFirstPass = dFirstPass = true;
69 Filename = "JSBSim.out";
73 #ifdef FG_WITH_JSBSIM_SOCKET
74 socket = new FGfdmSocket("localhost",1138);
76 if (debug_lvl & 2) cout << "Instantiated: " << Name << endl;
79 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
83 if (socket) delete socket;
84 if (debug_lvl & 2) cout << "Destroyed: FGOutput" << endl;
87 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
89 bool FGOutput::Run(void)
92 if (!FGModel::Run()) {
94 if (Type == otSocket) {
96 } else if (Type == otCSV) {
97 if (Filename != "COUT" && Filename != "cout" && Filename.size() > 0) {
98 DelimitedOutput(Filename);
102 } else if (Type == otTerminal) {
104 } else if (Type == otNone) {
107 // Not a valid type of output
116 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
118 void FGOutput::SetType(string type)
122 } else if (type == "TABULAR") {
124 } else if (type == "SOCKET") {
126 } else if (type == "TERMINAL") {
128 } else if (type != "NONE"){
130 cerr << "Unknown type of output specified in config file" << endl;
134 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
136 void FGOutput::DelimitedOutput(void)
140 if (SubSystems & FGAircraft::ssSimulation) {
143 if (SubSystems & FGAircraft::ssAerosurfaces) {
145 cout << "Throttle, ";
146 cout << "Aileron Cmd, ";
147 cout << "Elevator Cmd, ";
148 cout << "Rudder Cmd, ";
149 cout << "Aileron Pos, ";
150 cout << "Elevator Pos, ";
151 cout << "Rudder Pos";
153 if (SubSystems & FGAircraft::ssRates) {
157 if (SubSystems & FGAircraft::ssVelocities) {
162 cout << "Vn, Ve, Vd";
164 if (SubSystems & FGAircraft::ssForces) {
166 cout << "Drag, Side, Lift, ";
168 cout << "Xforce, Yforce, Zforce";
170 if (SubSystems & FGAircraft::ssMoments) {
174 if (SubSystems & FGAircraft::ssAtmosphere) {
178 if (SubSystems & FGAircraft::ssMassProps) {
185 cout << "Xcg, Ycg, Zcg";
187 if (SubSystems & FGAircraft::ssPosition) {
189 cout << "Altitude, ";
190 cout << "Phi, Tht, Psi, ";
192 cout << "Latitude, ";
193 cout << "Longitude, ";
194 cout << "Distance AGL, ";
195 cout << "Runway Radius";
197 if (SubSystems & FGAircraft::ssCoefficients) {
199 cout << Aerodynamics->GetCoefficientStrings();
201 if (SubSystems & FGAircraft::ssGroundReactions) {
203 cout << Aircraft->GetGroundReactionStrings();
205 if (SubSystems & FGAircraft::ssPropulsion) {
207 cout << Propulsion->GetPropulsionStrings();
214 cout << State->Getsim_time();
215 if (SubSystems & FGAircraft::ssSimulation) {
217 if (SubSystems & FGAircraft::ssAerosurfaces) {
219 cout << FCS->GetThrottlePos(0) << ", ";
220 cout << FCS->GetDaCmd() << ", ";
221 cout << FCS->GetDeCmd() << ", ";
222 cout << FCS->GetDrCmd() << ", ";
223 cout << FCS->GetDaPos() << ", ";
224 cout << FCS->GetDePos() << ", ";
225 cout << FCS->GetDrPos();
227 if (SubSystems & FGAircraft::ssRates) {
229 cout << Rotation->GetPQR();
231 if (SubSystems & FGAircraft::ssVelocities) {
233 cout << Translation->Getqbar() << ", ";
234 cout << Translation->GetVt() << ", ";
235 cout << Translation->GetUVW() << ", ";
236 cout << Position->GetVel();
238 if (SubSystems & FGAircraft::ssForces) {
240 cout << Aerodynamics->GetvFs() << ", ";
241 cout << Aerodynamics->GetLoD() << ", ";
242 cout << Aircraft->GetForces();
244 if (SubSystems & FGAircraft::ssMoments) {
246 cout << Aircraft->GetMoments();
248 if (SubSystems & FGAircraft::ssAtmosphere) {
250 cout << Atmosphere->GetDensity();
252 if (SubSystems & FGAircraft::ssMassProps) {
254 cout << MassBalance->GetIxx() << ", ";
255 cout << MassBalance->GetIyy() << ", ";
256 cout << MassBalance->GetIzz() << ", ";
257 cout << MassBalance->GetIxz() << ", ";
258 cout << MassBalance->GetMass() << ", ";
259 cout << MassBalance->GetXYZcg();
261 if (SubSystems & FGAircraft::ssPosition) {
263 cout << Position->Geth() << ", ";
264 cout << Rotation->GetEuler() << ", ";
265 cout << Translation->Getalpha() << ", ";
266 cout << Position->GetLatitude() << ", ";
267 cout << Position->GetLongitude() << ", ";
268 cout << Position->GetDistanceAGL() << ", ";
269 cout << Position->GetRunwayRadius();
271 if (SubSystems & FGAircraft::ssCoefficients) {
273 cout << Aerodynamics->GetCoefficientValues();
275 if (SubSystems & FGAircraft::ssGroundReactions) {
277 cout << Aircraft->GetGroundReactionValues();
279 if (SubSystems & FGAircraft::ssPropulsion) {
281 cout << Propulsion->GetPropulsionValues();
287 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
289 void FGOutput::DelimitedOutput(string fname)
292 datafile.open(fname.c_str());
294 if (SubSystems & FGAircraft::ssSimulation) {
297 if (SubSystems & FGAircraft::ssAerosurfaces) {
299 datafile << "Throttle, ";
300 datafile << "Aileron Cmd, ";
301 datafile << "Elevator Cmd, ";
302 datafile << "Rudder Cmd, ";
303 datafile << "Aileron Pos, ";
304 datafile << "Elevator Pos, ";
305 datafile << "Rudder Pos";
307 if (SubSystems & FGAircraft::ssRates) {
309 datafile << "P, Q, R";
311 if (SubSystems & FGAircraft::ssVelocities) {
313 datafile << "QBar, ";
314 datafile << "Vtotal, ";
315 datafile << "U, V, W, ";
316 datafile << "Vn, Ve, Vd";
318 if (SubSystems & FGAircraft::ssForces) {
320 datafile << "Drag, Side, Lift, ";
322 datafile << "Xforce, Yforce, Zforce";
324 if (SubSystems & FGAircraft::ssMoments) {
326 datafile << "L, M, N";
328 if (SubSystems & FGAircraft::ssAtmosphere) {
332 if (SubSystems & FGAircraft::ssMassProps) {
338 datafile << "Mass, ";
339 datafile << "Xcg, Ycg, Zcg";
341 if (SubSystems & FGAircraft::ssPosition) {
343 datafile << "Altitude, ";
344 datafile << "Phi, Tht, Psi, ";
345 datafile << "Alpha, ";
346 datafile << "Latitude, ";
347 datafile << "Longitude, ";
348 datafile << "Distance AGL, ";
349 datafile << "Runway Radius";
351 if (SubSystems & FGAircraft::ssCoefficients) {
353 datafile << Aerodynamics->GetCoefficientStrings();
355 if (SubSystems & FGAircraft::ssGroundReactions) {
357 datafile << Aircraft->GetGroundReactionStrings();
359 if (SubSystems & FGAircraft::ssFCS) {
361 datafile << FCS->GetComponentStrings();
363 if (SubSystems & FGAircraft::ssPropulsion) {
365 datafile << Propulsion->GetPropulsionStrings();
371 datafile << State->Getsim_time();
372 if (SubSystems & FGAircraft::ssSimulation) {
374 if (SubSystems & FGAircraft::ssAerosurfaces) {
376 datafile << FCS->GetThrottlePos(0) << ", ";
377 datafile << FCS->GetDaCmd() << ", ";
378 datafile << FCS->GetDeCmd() << ", ";
379 datafile << FCS->GetDrCmd() << ", ";
380 datafile << FCS->GetDaPos() << ", ";
381 datafile << FCS->GetDePos() << ", ";
382 datafile << FCS->GetDrPos();
384 if (SubSystems & FGAircraft::ssRates) {
386 datafile << Rotation->GetPQR();
388 if (SubSystems & FGAircraft::ssVelocities) {
390 datafile << Translation->Getqbar() << ", ";
391 datafile << Translation->GetVt() << ", ";
392 datafile << Translation->GetUVW() << ", ";
393 datafile << Position->GetVel();
395 if (SubSystems & FGAircraft::ssForces) {
397 datafile << Aerodynamics->GetvFs() << ", ";
398 datafile << Aerodynamics->GetLoD() << ", ";
399 datafile << Aircraft->GetForces();
401 if (SubSystems & FGAircraft::ssMoments) {
403 datafile << Aircraft->GetMoments();
405 if (SubSystems & FGAircraft::ssAtmosphere) {
407 datafile << Atmosphere->GetDensity();
409 if (SubSystems & FGAircraft::ssMassProps) {
411 datafile << MassBalance->GetIxx() << ", ";
412 datafile << MassBalance->GetIyy() << ", ";
413 datafile << MassBalance->GetIzz() << ", ";
414 datafile << MassBalance->GetIxz() << ", ";
415 datafile << MassBalance->GetMass() << ", ";
416 datafile << MassBalance->GetXYZcg();
418 if (SubSystems & FGAircraft::ssPosition) {
420 datafile << Position->Geth() << ", ";
421 datafile << Rotation->GetEuler() << ", ";
422 datafile << Translation->Getalpha() << ", ";
423 datafile << Position->GetLatitude() << ", ";
424 datafile << Position->GetLongitude() << ", ";
425 datafile << Position->GetDistanceAGL() << ", ";
426 datafile << Position->GetRunwayRadius();
428 if (SubSystems & FGAircraft::ssCoefficients) {
430 datafile << Aerodynamics->GetCoefficientValues();
432 if (SubSystems & FGAircraft::ssGroundReactions) {
434 datafile << Aircraft->GetGroundReactionValues();
436 if (SubSystems & FGAircraft::ssFCS) {
438 datafile << FCS->GetComponentValues();
440 if (SubSystems & FGAircraft::ssPropulsion) {
442 datafile << Propulsion->GetPropulsionValues();
448 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
450 void FGOutput::SocketOutput(void)
454 if (socket == NULL) return;
458 socket->Append("<LABELS>");
459 socket->Append("Time");
460 socket->Append("Altitude");
461 socket->Append("Phi");
462 socket->Append("Tht");
463 socket->Append("Psi");
464 socket->Append("Rho");
465 socket->Append("Vtotal");
469 socket->Append("Vn");
470 socket->Append("Ve");
471 socket->Append("Vd");
472 socket->Append("Udot");
473 socket->Append("Vdot");
474 socket->Append("Wdot");
478 socket->Append("PDot");
479 socket->Append("QDot");
480 socket->Append("RDot");
481 socket->Append("Fx");
482 socket->Append("Fy");
483 socket->Append("Fz");
484 socket->Append("Latitude");
485 socket->Append("Longitude");
486 socket->Append("QBar");
487 socket->Append("Alpha");
491 socket->Append("Throttle");
492 socket->Append("Aileron");
493 socket->Append("Elevator");
494 socket->Append("Rudder");
500 socket->Append(State->Getsim_time());
501 socket->Append(Position->Geth());
502 socket->Append(Rotation->Getphi());
503 socket->Append(Rotation->Gettht());
504 socket->Append(Rotation->Getpsi());
505 socket->Append(Atmosphere->GetDensity());
506 socket->Append(Translation->GetVt());
507 socket->Append(Translation->GetU());
508 socket->Append(Translation->GetV());
509 socket->Append(Translation->GetW());
510 socket->Append(Position->GetVn());
511 socket->Append(Position->GetVe());
512 socket->Append(Position->GetVd());
513 socket->Append(Translation->GetUdot());
514 socket->Append(Translation->GetVdot());
515 socket->Append(Translation->GetWdot());
516 socket->Append(Rotation->GetP());
517 socket->Append(Rotation->GetQ());
518 socket->Append(Rotation->GetR());
519 socket->Append(Rotation->GetPdot());
520 socket->Append(Rotation->GetQdot());
521 socket->Append(Rotation->GetRdot());
522 socket->Append(Aircraft->GetFx());
523 socket->Append(Aircraft->GetFy());
524 socket->Append(Aircraft->GetFz());
525 socket->Append(Position->GetLatitude());
526 socket->Append(Position->GetLongitude());
527 socket->Append(Translation->Getqbar());
528 socket->Append(Translation->Getalpha());
529 socket->Append(Aircraft->GetL());
530 socket->Append(Aircraft->GetM());
531 socket->Append(Aircraft->GetN());
532 socket->Append(FCS->GetThrottle(0));
533 socket->Append(FCS->GetDa());
534 socket->Append(FCS->GetDe());
535 socket->Append(FCS->GetDr());
539 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
541 void FGOutput::SocketStatusOutput(string out_str)
545 if (socket == NULL) return;
548 asciiData = string("<STATUS>") + out_str;
549 socket->Append(asciiData.c_str());
553 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
555 void FGOutput::Debug(void)
557 //TODO: Add your source code here