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 "FGAircraft.h"
47 #include "FGTranslation.h"
48 #include "FGRotation.h"
49 #include "FGPosition.h"
50 #include "FGAuxiliary.h"
52 static const char *IdSrc = "$Id$";
53 static const char *IdHdr = ID_OUTPUT;
55 extern short debug_lvl;
57 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
59 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
61 FGOutput::FGOutput(FGFDMExec* fdmex) : FGModel(fdmex)
64 sFirstPass = dFirstPass = true;
67 Filename = "JSBSim.out";
71 #ifdef FG_WITH_JSBSIM_SOCKET
72 socket = new FGfdmSocket("localhost",1138);
74 if (debug_lvl & 2) cout << "Instantiated: " << Name << endl;
77 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
81 if (socket) delete socket;
82 if (debug_lvl & 2) cout << "Destroyed: FGOutput" << endl;
85 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
87 bool FGOutput::Run(void)
90 if (!FGModel::Run()) {
92 if (Type == otSocket) {
94 } else if (Type == otCSV) {
95 if (Filename != "COUT" && Filename != "cout" && Filename.size() > 0) {
96 DelimitedOutput(Filename);
100 } else if (Type == otTerminal) {
102 } else if (Type == otNone) {
105 // Not a valid type of output
114 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
116 void FGOutput::SetType(string type)
120 } else if (type == "TABULAR") {
122 } else if (type == "SOCKET") {
124 } else if (type == "TERMINAL") {
126 } else if (type != "NONE"){
128 cerr << "Unknown type of output specified in config file" << endl;
132 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
134 void FGOutput::DelimitedOutput(void)
138 if (SubSystems & FGAircraft::ssSimulation) {
141 if (SubSystems & FGAircraft::ssAerosurfaces) {
143 cout << "Throttle, ";
144 cout << "Aileron Cmd, ";
145 cout << "Elevator Cmd, ";
146 cout << "Rudder Cmd, ";
147 cout << "Aileron Pos, ";
148 cout << "Elevator Pos, ";
149 cout << "Rudder Pos";
151 if (SubSystems & FGAircraft::ssRates) {
155 if (SubSystems & FGAircraft::ssVelocities) {
160 cout << "Vn, Ve, Vd";
162 if (SubSystems & FGAircraft::ssForces) {
164 cout << "XsForce, YsForce, ZsForce, ";
165 cout << "Xforce, Yforce, Zforce";
167 if (SubSystems & FGAircraft::ssMoments) {
171 if (SubSystems & FGAircraft::ssAtmosphere) {
175 if (SubSystems & FGAircraft::ssMassProps) {
182 cout << "Xcg, Ycg, Zcg";
184 if (SubSystems & FGAircraft::ssPosition) {
186 cout << "Altitude, ";
187 cout << "Phi, Tht, Psi, ";
189 cout << "Latitude, ";
190 cout << "Longitude, ";
191 cout << "Distance AGL, ";
192 cout << "Runway Radius";
194 if (SubSystems & FGAircraft::ssCoefficients) {
196 cout << Aircraft->GetCoefficientStrings();
198 if (SubSystems & FGAircraft::ssGroundReactions) {
200 cout << Aircraft->GetGroundReactionStrings();
207 cout << State->Getsim_time();
208 if (SubSystems & FGAircraft::ssSimulation) {
210 if (SubSystems & FGAircraft::ssAerosurfaces) {
212 cout << FCS->GetThrottlePos(0) << ", ";
213 cout << FCS->GetDaCmd() << ", ";
214 cout << FCS->GetDeCmd() << ", ";
215 cout << FCS->GetDrCmd() << ", ";
216 cout << FCS->GetDaPos() << ", ";
217 cout << FCS->GetDePos() << ", ";
218 cout << FCS->GetDrPos();
220 if (SubSystems & FGAircraft::ssRates) {
222 cout << Rotation->GetPQR();
224 if (SubSystems & FGAircraft::ssVelocities) {
226 cout << Translation->Getqbar() << ", ";
227 cout << Translation->GetVt() << ", ";
228 cout << Translation->GetUVW() << ", ";
229 cout << Position->GetVel();
231 if (SubSystems & FGAircraft::ssForces) {
233 cout << Aircraft->GetvFs() << ", ";
234 cout << Aircraft->GetForces();
236 if (SubSystems & FGAircraft::ssMoments) {
238 cout << Aircraft->GetMoments();
240 if (SubSystems & FGAircraft::ssAtmosphere) {
242 cout << Atmosphere->GetDensity();
244 if (SubSystems & FGAircraft::ssMassProps) {
246 cout << Aircraft->GetIxx() << ", ";
247 cout << Aircraft->GetIyy() << ", ";
248 cout << Aircraft->GetIzz() << ", ";
249 cout << Aircraft->GetIxz() << ", ";
250 cout << Aircraft->GetMass() << ", ";
251 cout << Aircraft->GetXYZcg();
253 if (SubSystems & FGAircraft::ssPosition) {
255 cout << Position->Geth() << ", ";
256 cout << Rotation->GetEuler() << ", ";
257 cout << Translation->Getalpha() << ", ";
258 cout << Position->GetLatitude() << ", ";
259 cout << Position->GetLongitude() << ", ";
260 cout << Position->GetDistanceAGL() << ", ";
261 cout << Position->GetRunwayRadius();
263 if (SubSystems & FGAircraft::ssCoefficients) {
265 cout << Aircraft->GetCoefficientValues();
267 if (SubSystems & FGAircraft::ssGroundReactions) {
269 cout << Aircraft->GetGroundReactionValues();
274 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
276 void FGOutput::DelimitedOutput(string fname)
279 datafile.open(fname.c_str());
281 if (SubSystems & FGAircraft::ssSimulation) {
284 if (SubSystems & FGAircraft::ssAerosurfaces) {
286 datafile << "Throttle, ";
287 datafile << "Aileron Cmd, ";
288 datafile << "Elevator Cmd, ";
289 datafile << "Rudder Cmd, ";
290 datafile << "Aileron Pos, ";
291 datafile << "Elevator Pos, ";
292 datafile << "Rudder Pos";
294 if (SubSystems & FGAircraft::ssRates) {
296 datafile << "P, Q, R";
298 if (SubSystems & FGAircraft::ssVelocities) {
300 datafile << "QBar, ";
301 datafile << "Vtotal, ";
302 datafile << "U, V, W, ";
303 datafile << "Vn, Ve, Vd";
305 if (SubSystems & FGAircraft::ssForces) {
307 datafile << "XsForce, YsForce, ZsForce, ";
308 datafile << "Xforce, Yforce, Zforce";
310 if (SubSystems & FGAircraft::ssMoments) {
312 datafile << "L, M, N";
314 if (SubSystems & FGAircraft::ssAtmosphere) {
318 if (SubSystems & FGAircraft::ssMassProps) {
324 datafile << "Mass, ";
325 datafile << "Xcg, Ycg, Zcg";
327 if (SubSystems & FGAircraft::ssPosition) {
329 datafile << "Altitude, ";
330 datafile << "Phi, Tht, Psi, ";
331 datafile << "Alpha, ";
332 datafile << "Latitude, ";
333 datafile << "Longitude, ";
334 datafile << "Distance AGL, ";
335 datafile << "Runway Radius";
337 if (SubSystems & FGAircraft::ssCoefficients) {
339 datafile << Aircraft->GetCoefficientStrings();
341 if (SubSystems & FGAircraft::ssGroundReactions) {
343 datafile << Aircraft->GetGroundReactionStrings();
345 if (SubSystems & FGAircraft::ssFCS) {
347 datafile << FCS->GetComponentStrings();
353 datafile << State->Getsim_time();
354 if (SubSystems & FGAircraft::ssSimulation) {
356 if (SubSystems & FGAircraft::ssAerosurfaces) {
358 datafile << FCS->GetThrottlePos(0) << ", ";
359 datafile << FCS->GetDaCmd() << ", ";
360 datafile << FCS->GetDeCmd() << ", ";
361 datafile << FCS->GetDrCmd() << ", ";
362 datafile << FCS->GetDaPos() << ", ";
363 datafile << FCS->GetDePos() << ", ";
364 datafile << FCS->GetDrPos();
366 if (SubSystems & FGAircraft::ssRates) {
368 datafile << Rotation->GetPQR();
370 if (SubSystems & FGAircraft::ssVelocities) {
372 datafile << Translation->Getqbar() << ", ";
373 datafile << Translation->GetVt() << ", ";
374 datafile << Translation->GetUVW() << ", ";
375 datafile << Position->GetVel();
377 if (SubSystems & FGAircraft::ssForces) {
379 datafile << Aircraft->GetvFs() << ", ";
380 datafile << Aircraft->GetForces();
382 if (SubSystems & FGAircraft::ssMoments) {
384 datafile << Aircraft->GetMoments();
386 if (SubSystems & FGAircraft::ssAtmosphere) {
388 datafile << Atmosphere->GetDensity();
390 if (SubSystems & FGAircraft::ssMassProps) {
392 datafile << Aircraft->GetIxx() << ", ";
393 datafile << Aircraft->GetIyy() << ", ";
394 datafile << Aircraft->GetIzz() << ", ";
395 datafile << Aircraft->GetIxz() << ", ";
396 datafile << Aircraft->GetMass() << ", ";
397 datafile << Aircraft->GetXYZcg();
399 if (SubSystems & FGAircraft::ssPosition) {
401 datafile << Position->Geth() << ", ";
402 datafile << Rotation->GetEuler() << ", ";
403 datafile << Translation->Getalpha() << ", ";
404 datafile << Position->GetLatitude() << ", ";
405 datafile << Position->GetLongitude() << ", ";
406 datafile << Position->GetDistanceAGL() << ", ";
407 datafile << Position->GetRunwayRadius();
409 if (SubSystems & FGAircraft::ssCoefficients) {
411 datafile << Aircraft->GetCoefficientValues();
413 if (SubSystems & FGAircraft::ssGroundReactions) {
415 datafile << Aircraft->GetGroundReactionValues();
417 if (SubSystems & FGAircraft::ssFCS) {
419 datafile << FCS->GetComponentValues();
425 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
427 void FGOutput::SocketOutput(void)
431 if (socket == NULL) return;
435 socket->Append("<LABELS>");
436 socket->Append("Time");
437 socket->Append("Altitude");
438 socket->Append("Phi");
439 socket->Append("Tht");
440 socket->Append("Psi");
441 socket->Append("Rho");
442 socket->Append("Vtotal");
446 socket->Append("Vn");
447 socket->Append("Ve");
448 socket->Append("Vd");
449 socket->Append("Udot");
450 socket->Append("Vdot");
451 socket->Append("Wdot");
455 socket->Append("PDot");
456 socket->Append("QDot");
457 socket->Append("RDot");
458 socket->Append("Fx");
459 socket->Append("Fy");
460 socket->Append("Fz");
461 socket->Append("Latitude");
462 socket->Append("Longitude");
463 socket->Append("QBar");
464 socket->Append("Alpha");
468 socket->Append("Throttle");
469 socket->Append("Aileron");
470 socket->Append("Elevator");
471 socket->Append("Rudder");
477 socket->Append(State->Getsim_time());
478 socket->Append(Position->Geth());
479 socket->Append(Rotation->Getphi());
480 socket->Append(Rotation->Gettht());
481 socket->Append(Rotation->Getpsi());
482 socket->Append(Atmosphere->GetDensity());
483 socket->Append(Translation->GetVt());
484 socket->Append(Translation->GetU());
485 socket->Append(Translation->GetV());
486 socket->Append(Translation->GetW());
487 socket->Append(Position->GetVn());
488 socket->Append(Position->GetVe());
489 socket->Append(Position->GetVd());
490 socket->Append(Translation->GetUdot());
491 socket->Append(Translation->GetVdot());
492 socket->Append(Translation->GetWdot());
493 socket->Append(Rotation->GetP());
494 socket->Append(Rotation->GetQ());
495 socket->Append(Rotation->GetR());
496 socket->Append(Rotation->GetPdot());
497 socket->Append(Rotation->GetQdot());
498 socket->Append(Rotation->GetRdot());
499 socket->Append(Aircraft->GetFx());
500 socket->Append(Aircraft->GetFy());
501 socket->Append(Aircraft->GetFz());
502 socket->Append(Position->GetLatitude());
503 socket->Append(Position->GetLongitude());
504 socket->Append(Translation->Getqbar());
505 socket->Append(Translation->Getalpha());
506 socket->Append(Aircraft->GetL());
507 socket->Append(Aircraft->GetM());
508 socket->Append(Aircraft->GetN());
509 socket->Append(FCS->GetThrottle(0));
510 socket->Append(FCS->GetDa());
511 socket->Append(FCS->GetDe());
512 socket->Append(FCS->GetDr());
516 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
518 void FGOutput::SocketStatusOutput(string out_str)
522 if (socket == NULL) return;
525 asciiData = string("<STATUS>") + out_str;
526 socket->Append(asciiData.c_str());
530 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
532 void FGOutput::Debug(void)
534 //TODO: Add your source code here