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 << "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     }
 162     if (SubSystems & ssVelocities) {
 163       outstream << ", ";
 164       outstream << "QBar, ";
 165       outstream << "Vtotal, ";
 166       outstream << "UBody, VBody, WBody, ";
 167       outstream << "UAero, VAero, WAero, ";
 168       outstream << "Vn, Ve, Vd";
 169     }
 170     if (SubSystems & ssForces) {
 171       outstream << ", ";
 172       outstream << "Drag, Side, Lift, ";
 173       outstream << "L/D, ";
 174       outstream << "Xforce, Yforce, Zforce";
 175     }
 176     if (SubSystems & ssMoments) {
 177       outstream << ", ";
 178       outstream << "L, M, N";
 179     }
 180     if (SubSystems & ssAtmosphere) {
 181       outstream << ", ";
 182       outstream << "Rho";
 183     }
 184     if (SubSystems & ssMassProps) {
 185       outstream << ", ";
 186       outstream << "Ixx, ";
 187       outstream << "Iyy, ";
 188       outstream << "Izz, ";
 189       outstream << "Ixz, ";
 190       outstream << "Mass, ";
 191       outstream << "Xcg, Ycg, Zcg";
 192     }
 193     if (SubSystems & ssPosition) {
 194       outstream << ", ";
 195       outstream << "Altitude, ";
 196       outstream << "Phi, Tht, Psi, ";
 197       outstream << "Alpha, ";
 198       outstream << "Latitude, ";
 199       outstream << "Longitude, ";
 200       outstream << "Distance AGL, ";
 201       outstream << "Runway Radius";
 202     }
 203     if (SubSystems & ssCoefficients) {
 204       outstream << ", ";
 205       outstream << Aerodynamics->GetCoefficientStrings();
 206     }
 207     if (SubSystems & ssGroundReactions) {
 208       outstream << ", ";
 209       outstream << GroundReactions->GetGroundReactionStrings();
 210     }
 211     if (SubSystems & ssPropulsion) {
 212       outstream << ", ";
 213       outstream << Propulsion->GetPropulsionStrings();
 214     }
 215
 216     outstream << endl;
 217     dFirstPass = false;
 218   }
 219
 220   outstream << State->Getsim_time();
 221   if (SubSystems & ssSimulation) {
 222   }
 223   if (SubSystems & ssAerosurfaces) {
 224     outstream << ", ";
 225     outstream << FCS->GetDaCmd() << ", ";
 226     outstream << FCS->GetDeCmd() << ", ";
 227     outstream << FCS->GetDrCmd() << ", ";
 228     outstream << FCS->GetDaPos() << ", ";
 229     outstream << FCS->GetDePos() << ", ";
 230     outstream << FCS->GetDrPos();
 231   }
 232   if (SubSystems & ssRates) {
 233     outstream << ", ";
 234     outstream << Rotation->GetPQR();
 235   }
 236   if (SubSystems & ssVelocities) {
 237     outstream << ", ";
 238     outstream << Translation->Getqbar() << ", ";
 239     outstream << Translation->GetVt() << ", ";
 240     outstream << Translation->GetUVW() << ", ";
 241     outstream << Translation->GetvAeroUVW() << ", ";
 242     outstream << Position->GetVel();
 243   }
 244   if (SubSystems & ssForces) {
 245     outstream << ", ";
 246     outstream << Aerodynamics->GetvFs() << ", ";
 247     outstream << Aerodynamics->GetLoD() << ", ";
 248     outstream << Aircraft->GetForces();
 249   }
 250   if (SubSystems & ssMoments) {
 251     outstream << ", ";
 252     outstream << Aircraft->GetMoments();
 253   }
 254   if (SubSystems & ssAtmosphere) {
 255     outstream << ", ";
 256     outstream << Atmosphere->GetDensity();
 257   }
 258   if (SubSystems & ssMassProps) {
 259     outstream << ", ";
 260     outstream << MassBalance->GetIxx() << ", ";
 261     outstream << MassBalance->GetIyy() << ", ";
 262     outstream << MassBalance->GetIzz() << ", ";
 263     outstream << MassBalance->GetIxz() << ", ";
 264     outstream << MassBalance->GetMass() << ", ";
 265     outstream << MassBalance->GetXYZcg();
 266   }
 267   if (SubSystems & ssPosition) {
 268     outstream << ", ";
 269     outstream << Position->Geth() << ", ";
 270     outstream << Rotation->GetEuler() << ", ";
 271     outstream << Translation->Getalpha() << ", ";
 272     outstream << Position->GetLatitude() << ", ";
 273     outstream << Position->GetLongitude() << ", ";
 274     outstream << Position->GetDistanceAGL() << ", ";
 275     outstream << Position->GetRunwayRadius();
 276   }
 277   if (SubSystems & ssCoefficients) {
 278     outstream << ", ";
 279     outstream << Aerodynamics->GetCoefficientValues();
 280   }
 281   if (SubSystems & ssGroundReactions) {
 282     outstream << ", ";
 283     outstream << GroundReactions->GetGroundReactionValues();
 284   }
 285   if (SubSystems & ssPropulsion) {
 286     outstream << ", ";
 287     outstream << Propulsion->GetPropulsionValues();
 288   }
 289
 290   outstream << endl;
 291   outstream.flush();
 292 }
 293
 294 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 295
 296 void FGOutput::SocketOutput(void)
 297 {
 298   string asciiData;
 299   /*
 300   if (socket == NULL) return;
 301
 302   socket->Clear();
 303   if (sFirstPass) {
 304     socket->Append("<LABELS>");
 305     socket->Append("Time");
 306     socket->Append("Altitude");
 307     socket->Append("Phi");
 308     socket->Append("Tht");
 309     socket->Append("Psi");
 310     socket->Append("Rho");
 311     socket->Append("Vtotal");
 312     socket->Append("UBody");
 313     socket->Append("VBody");
 314     socket->Append("WBody");
 315     socket->Append("UAero");
 316     socket->Append("VAero");
 317     socket->Append("WAero");
 318     socket->Append("Vn");
 319     socket->Append("Ve");
 320     socket->Append("Vd");
 321     socket->Append("Udot");
 322     socket->Append("Vdot");
 323     socket->Append("Wdot");
 324     socket->Append("P");
 325     socket->Append("Q");
 326     socket->Append("R");
 327     socket->Append("PDot");
 328     socket->Append("QDot");
 329     socket->Append("RDot");
 330     socket->Append("Fx");
 331     socket->Append("Fy");
 332     socket->Append("Fz");
 333     socket->Append("Latitude");
 334     socket->Append("Longitude");
 335     socket->Append("QBar");
 336     socket->Append("Alpha");
 337     socket->Append("L");
 338     socket->Append("M");
 339     socket->Append("N");
 340     socket->Append("Throttle");
 341     socket->Append("Aileron");
 342     socket->Append("Elevator");
 343     socket->Append("Rudder");
 344     sFirstPass = false;
 345     socket->Send();
 346   }
 347
 348   socket->Clear();
 349   socket->Append(State->Getsim_time());
 350   socket->Append(Position->Geth());
 351   socket->Append(Rotation->Getphi());
 352   socket->Append(Rotation->Gettht());
 353   socket->Append(Rotation->Getpsi());
 354   socket->Append(Atmosphere->GetDensity());
 355   socket->Append(Translation->GetVt());
 356   socket->Append(Translation->GetUVW(eU));
 357   socket->Append(Translation->GetUVW(eV));
 358   socket->Append(Translation->GetUVW(eW));
 359   socket->Append(Translation->GetvAeroUVW(eU));
 360   socket->Append(Translation->GetvAeroUVW(eV));
 361   socket->Append(Translation->GetvAeroUVW(eW));
 362   socket->Append(Position->GetVn());
 363   socket->Append(Position->GetVe());
 364   socket->Append(Position->GetVd());
 365   socket->Append(Translation->GetUdot());
 366   socket->Append(Translation->GetVdot());
 367   socket->Append(Translation->GetWdot());
 368   socket->Append(Rotation->GetP());
 369   socket->Append(Rotation->GetQ());
 370   socket->Append(Rotation->GetR());
 371   socket->Append(Rotation->GetPdot());
 372   socket->Append(Rotation->GetQdot());
 373   socket->Append(Rotation->GetRdot());
 374   socket->Append(Aircraft->GetFx());
 375   socket->Append(Aircraft->GetFy());
 376   socket->Append(Aircraft->GetFz());
 377   socket->Append(Position->GetLatitude());
 378   socket->Append(Position->GetLongitude());
 379   socket->Append(Translation->Getqbar());
 380   socket->Append(Translation->Getalpha());
 381   socket->Append(Aircraft->GetL());
 382   socket->Append(Aircraft->GetM());
 383   socket->Append(Aircraft->GetN());
 384   socket->Append(FCS->GetThrottle(0));
 385   socket->Append(FCS->GetDa());
 386   socket->Append(FCS->GetDe());
 387   socket->Append(FCS->GetDr());
 388   socket->Send(); */
 389 }
 390
 391 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 392
 393 void FGOutput::SocketStatusOutput(string out_str)
 394 {
 395   string asciiData;
 396
 397   if (socket == NULL) return;
 398
 399   socket->Clear();
 400   asciiData = string("<STATUS>") + out_str;
 401   socket->Append(asciiData.c_str());
 402   socket->Send();
 403 }
 404
 405 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 406
 407 bool FGOutput::Load(FGConfigFile* AC_cfg)
 408 {
 409   string token, parameter;
 410   int OutRate = 0;
 411
 412   token = AC_cfg->GetValue("NAME");
 413   Output->SetFilename(token);
 414   token = AC_cfg->GetValue("TYPE");
 415   Output->SetType(token);
 416   AC_cfg->GetNextConfigLine();
 417
 418   while ((token = AC_cfg->GetValue()) != string("/OUTPUT")) {
 419     *AC_cfg >> parameter;
 420     if (parameter == "RATE_IN_HZ") *AC_cfg >> OutRate;
 421     if (parameter == "SIMULATION") {
 422       *AC_cfg >> parameter;
 423       if (parameter == "ON") SubSystems += ssSimulation;
 424     }
 425     if (parameter == "AEROSURFACES") {
 426       *AC_cfg >> parameter;
 427       if (parameter == "ON") SubSystems += ssAerosurfaces;
 428     }
 429     if (parameter == "RATES") {
 430       *AC_cfg >> parameter;
 431       if (parameter == "ON") SubSystems += ssRates;
 432     }
 433     if (parameter == "VELOCITIES") {
 434       *AC_cfg >> parameter;
 435       if (parameter == "ON") SubSystems += ssVelocities;
 436     }
 437     if (parameter == "FORCES") {
 438       *AC_cfg >> parameter;
 439       if (parameter == "ON") SubSystems += ssForces;
 440     }
 441     if (parameter == "MOMENTS") {
 442       *AC_cfg >> parameter;
 443       if (parameter == "ON") SubSystems += ssMoments;
 444     }
 445     if (parameter == "ATMOSPHERE") {
 446       *AC_cfg >> parameter;
 447       if (parameter == "ON") SubSystems += ssAtmosphere;
 448     }
 449     if (parameter == "MASSPROPS") {
 450       *AC_cfg >> parameter;
 451       if (parameter == "ON") SubSystems += ssMassProps;
 452     }
 453     if (parameter == "POSITION") {
 454       *AC_cfg >> parameter;
 455       if (parameter == "ON") SubSystems += ssPosition;
 456     }
 457     if (parameter == "COEFFICIENTS") {
 458       *AC_cfg >> parameter;
 459       if (parameter == "ON") SubSystems += ssCoefficients;
 460     }
 461     if (parameter == "GROUND_REACTIONS") {
 462       *AC_cfg >> parameter;
 463       if (parameter == "ON") SubSystems += ssGroundReactions;
 464     }
 465     if (parameter == "FCS") {
 466       *AC_cfg >> parameter;
 467       if (parameter == "ON") SubSystems += ssFCS;
 468     }
 469     if (parameter == "PROPULSION") {
 470       *AC_cfg >> parameter;
 471       if (parameter == "ON") SubSystems += ssPropulsion;
 472     }
 473   }
 474
 475   OutRate = OutRate>120?120:(OutRate<0?0:OutRate);
 476   rate = (int)(0.5 + 1.0/(State->Getdt()*OutRate));
 477
 478   return true;
 479 }
 480
 481 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 482
 483 void FGOutput::Debug(void)
 484 {
 485     //TODO: Add your source code here
 486 }
 487