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 = "$Header$";
53 static const char *IdHdr = ID_OUTPUT;
55 /*******************************************************************************
56 ************************************ CODE **************************************
57 *******************************************************************************/
59 FGOutput::FGOutput(FGFDMExec* fdmex) : FGModel(fdmex)
62 sFirstPass = dFirstPass = true;
65 Filename = "JSBSim.out";
69 #ifdef FG_WITH_JSBSIM_SOCKET
70 socket = new FGfdmSocket("localhost",1138);
74 /******************************************************************************/
76 FGOutput::~FGOutput(void)
78 if (socket) delete socket;
81 /******************************************************************************/
83 bool FGOutput::Run(void)
86 if (!FGModel::Run()) {
88 if (Type == otSocket) {
90 } else if (Type == otCSV) {
91 if (Filename != "COUT" && Filename != "cout" && Filename.size() > 0) {
92 DelimitedOutput(Filename);
96 } else if (Type == otTerminal) {
98 } else if (Type == otNone) {
101 // Not a valid type of output
110 /******************************************************************************/
112 void FGOutput::SetType(string type)
116 } else if (type == "TABULAR") {
118 } else if (type == "SOCKET") {
120 } else if (type == "TERMINAL") {
122 } else if (type != "NONE"){
124 cerr << "Unknown type of output specified in config file" << endl;
128 /******************************************************************************/
130 void FGOutput::DelimitedOutput(void)
134 if (SubSystems & FGAircraft::ssSimulation) {
137 if (SubSystems & FGAircraft::ssAerosurfaces) {
139 cout << "Throttle, ";
140 cout << "Aileron Cmd, ";
141 cout << "Elevator Cmd, ";
142 cout << "Rudder Cmd, ";
143 cout << "Aileron Pos, ";
144 cout << "Elevator Pos, ";
145 cout << "Rudder Pos";
147 if (SubSystems & FGAircraft::ssRates) {
151 if (SubSystems & FGAircraft::ssVelocities) {
156 cout << "Vn, Ve, Vd";
158 if (SubSystems & FGAircraft::ssForces) {
160 cout << "XsForce, YsForce, ZsForce, ";
161 cout << "Xforce, Yforce, Zforce";
163 if (SubSystems & FGAircraft::ssMoments) {
167 if (SubSystems & FGAircraft::ssAtmosphere) {
171 if (SubSystems & FGAircraft::ssMassProps) {
178 cout << "Xcg, Ycg, Zcg";
180 if (SubSystems & FGAircraft::ssPosition) {
182 cout << "Altitude, ";
183 cout << "Phi, Tht, Psi, ";
185 cout << "Latitude, ";
186 cout << "Longitude, ";
187 cout << "Distance AGL, ";
188 cout << "Runway Radius";
190 if (SubSystems & FGAircraft::ssCoefficients) {
192 cout << Aircraft->GetCoefficientStrings();
194 if (SubSystems & FGAircraft::ssGroundReactions) {
196 cout << Aircraft->GetGroundReactionStrings();
203 cout << State->Getsim_time();
204 if (SubSystems & FGAircraft::ssSimulation) {
206 if (SubSystems & FGAircraft::ssAerosurfaces) {
208 cout << FCS->GetThrottlePos(0) << ", ";
209 cout << FCS->GetDaCmd() << ", ";
210 cout << FCS->GetDeCmd() << ", ";
211 cout << FCS->GetDrCmd() << ", ";
212 cout << FCS->GetDaPos() << ", ";
213 cout << FCS->GetDePos() << ", ";
214 cout << FCS->GetDrPos();
216 if (SubSystems & FGAircraft::ssRates) {
218 cout << Rotation->GetPQR();
220 if (SubSystems & FGAircraft::ssVelocities) {
222 cout << Translation->Getqbar() << ", ";
223 cout << Translation->GetVt() << ", ";
224 cout << Translation->GetUVW() << ", ";
225 cout << Position->GetVel();
227 if (SubSystems & FGAircraft::ssForces) {
229 cout << Aircraft->GetvFs() << ", ";
230 cout << Aircraft->GetForces();
232 if (SubSystems & FGAircraft::ssMoments) {
234 cout << Aircraft->GetMoments();
236 if (SubSystems & FGAircraft::ssAtmosphere) {
238 cout << Atmosphere->GetDensity();
240 if (SubSystems & FGAircraft::ssMassProps) {
242 cout << Aircraft->GetIxx() << ", ";
243 cout << Aircraft->GetIyy() << ", ";
244 cout << Aircraft->GetIzz() << ", ";
245 cout << Aircraft->GetIxz() << ", ";
246 cout << Aircraft->GetMass() << ", ";
247 cout << Aircraft->GetXYZcg();
249 if (SubSystems & FGAircraft::ssPosition) {
251 cout << Position->Geth() << ", ";
252 cout << Rotation->GetEuler() << ", ";
253 cout << Translation->Getalpha() << ", ";
254 cout << Position->GetLatitude() << ", ";
255 cout << Position->GetLongitude() << ", ";
256 cout << Position->GetDistanceAGL() << ", ";
257 cout << Position->GetRunwayRadius();
259 if (SubSystems & FGAircraft::ssCoefficients) {
261 cout << Aircraft->GetCoefficientValues();
263 if (SubSystems & FGAircraft::ssGroundReactions) {
265 cout << Aircraft->GetGroundReactionValues();
270 /******************************************************************************/
272 void FGOutput::DelimitedOutput(string fname)
275 datafile.open(fname.c_str());
277 if (SubSystems & FGAircraft::ssSimulation) {
280 if (SubSystems & FGAircraft::ssAerosurfaces) {
282 datafile << "Throttle, ";
283 datafile << "Aileron Cmd, ";
284 datafile << "Elevator Cmd, ";
285 datafile << "Rudder Cmd, ";
286 datafile << "Aileron Pos, ";
287 datafile << "Elevator Pos, ";
288 datafile << "Rudder Pos";
290 if (SubSystems & FGAircraft::ssRates) {
292 datafile << "P, Q, R";
294 if (SubSystems & FGAircraft::ssVelocities) {
296 datafile << "QBar, ";
297 datafile << "Vtotal, ";
298 datafile << "U, V, W, ";
299 datafile << "Vn, Ve, Vd";
301 if (SubSystems & FGAircraft::ssForces) {
303 datafile << "XsForce, YsForce, ZsForce, ";
304 datafile << "Xforce, Yforce, Zforce";
306 if (SubSystems & FGAircraft::ssMoments) {
308 datafile << "L, M, N";
310 if (SubSystems & FGAircraft::ssAtmosphere) {
314 if (SubSystems & FGAircraft::ssMassProps) {
320 datafile << "Mass, ";
321 datafile << "Xcg, Ycg, Zcg";
323 if (SubSystems & FGAircraft::ssPosition) {
325 datafile << "Altitude, ";
326 datafile << "Phi, Tht, Psi, ";
327 datafile << "Alpha, ";
328 datafile << "Latitude, ";
329 datafile << "Longitude, ";
330 datafile << "Distance AGL, ";
331 datafile << "Runway Radius";
333 if (SubSystems & FGAircraft::ssCoefficients) {
335 datafile << Aircraft->GetCoefficientStrings();
337 if (SubSystems & FGAircraft::ssGroundReactions) {
339 datafile << Aircraft->GetGroundReactionStrings();
345 datafile << State->Getsim_time();
346 if (SubSystems & FGAircraft::ssSimulation) {
348 if (SubSystems & FGAircraft::ssAerosurfaces) {
350 datafile << FCS->GetThrottlePos(0) << ", ";
351 datafile << FCS->GetDaCmd() << ", ";
352 datafile << FCS->GetDeCmd() << ", ";
353 datafile << FCS->GetDrCmd() << ", ";
354 datafile << FCS->GetDaPos() << ", ";
355 datafile << FCS->GetDePos() << ", ";
356 datafile << FCS->GetDrPos();
358 if (SubSystems & FGAircraft::ssRates) {
360 datafile << Rotation->GetPQR();
362 if (SubSystems & FGAircraft::ssVelocities) {
364 datafile << Translation->Getqbar() << ", ";
365 datafile << Translation->GetVt() << ", ";
366 datafile << Translation->GetUVW() << ", ";
367 datafile << Position->GetVel();
369 if (SubSystems & FGAircraft::ssForces) {
371 datafile << Aircraft->GetvFs() << ", ";
372 datafile << Aircraft->GetForces();
374 if (SubSystems & FGAircraft::ssMoments) {
376 datafile << Aircraft->GetMoments();
378 if (SubSystems & FGAircraft::ssAtmosphere) {
380 datafile << Atmosphere->GetDensity();
382 if (SubSystems & FGAircraft::ssMassProps) {
384 datafile << Aircraft->GetIxx() << ", ";
385 datafile << Aircraft->GetIyy() << ", ";
386 datafile << Aircraft->GetIzz() << ", ";
387 datafile << Aircraft->GetIxz() << ", ";
388 datafile << Aircraft->GetMass() << ", ";
389 datafile << Aircraft->GetXYZcg();
391 if (SubSystems & FGAircraft::ssPosition) {
393 datafile << Position->Geth() << ", ";
394 datafile << Rotation->GetEuler() << ", ";
395 datafile << Translation->Getalpha() << ", ";
396 datafile << Position->GetLatitude() << ", ";
397 datafile << Position->GetLongitude() << ", ";
398 datafile << Position->GetDistanceAGL() << ", ";
399 datafile << Position->GetRunwayRadius();
401 if (SubSystems & FGAircraft::ssCoefficients) {
403 datafile << Aircraft->GetCoefficientValues();
405 if (SubSystems & FGAircraft::ssGroundReactions) {
407 datafile << Aircraft->GetGroundReactionValues();
413 /******************************************************************************/
415 void FGOutput::SocketOutput(void)
419 if (socket == NULL) return;
423 socket->Append("<LABELS>");
424 socket->Append("Time");
425 socket->Append("Altitude");
426 socket->Append("Phi");
427 socket->Append("Tht");
428 socket->Append("Psi");
429 socket->Append("Rho");
430 socket->Append("Vtotal");
434 socket->Append("Vn");
435 socket->Append("Ve");
436 socket->Append("Vd");
437 socket->Append("Udot");
438 socket->Append("Vdot");
439 socket->Append("Wdot");
443 socket->Append("PDot");
444 socket->Append("QDot");
445 socket->Append("RDot");
446 socket->Append("Fx");
447 socket->Append("Fy");
448 socket->Append("Fz");
449 socket->Append("Latitude");
450 socket->Append("Longitude");
451 socket->Append("QBar");
452 socket->Append("Alpha");
456 socket->Append("Throttle");
457 socket->Append("Aileron");
458 socket->Append("Elevator");
459 socket->Append("Rudder");
465 socket->Append(State->Getsim_time());
466 socket->Append(Position->Geth());
467 socket->Append(Rotation->Getphi());
468 socket->Append(Rotation->Gettht());
469 socket->Append(Rotation->Getpsi());
470 socket->Append(Atmosphere->GetDensity());
471 socket->Append(Translation->GetVt());
472 socket->Append(Translation->GetU());
473 socket->Append(Translation->GetV());
474 socket->Append(Translation->GetW());
475 socket->Append(Position->GetVn());
476 socket->Append(Position->GetVe());
477 socket->Append(Position->GetVd());
478 socket->Append(Translation->GetUdot());
479 socket->Append(Translation->GetVdot());
480 socket->Append(Translation->GetWdot());
481 socket->Append(Rotation->GetP());
482 socket->Append(Rotation->GetQ());
483 socket->Append(Rotation->GetR());
484 socket->Append(Rotation->GetPdot());
485 socket->Append(Rotation->GetQdot());
486 socket->Append(Rotation->GetRdot());
487 socket->Append(Aircraft->GetFx());
488 socket->Append(Aircraft->GetFy());
489 socket->Append(Aircraft->GetFz());
490 socket->Append(Position->GetLatitude());
491 socket->Append(Position->GetLongitude());
492 socket->Append(Translation->Getqbar());
493 socket->Append(Translation->Getalpha());
494 socket->Append(Aircraft->GetL());
495 socket->Append(Aircraft->GetM());
496 socket->Append(Aircraft->GetN());
497 socket->Append(FCS->GetThrottle(0));
498 socket->Append(FCS->GetDa());
499 socket->Append(FCS->GetDe());
500 socket->Append(FCS->GetDr());
504 /******************************************************************************/
506 void FGOutput::SocketStatusOutput(string out_str)
510 if (socket == NULL) return;
513 asciiData = string("<STATUS>") + out_str;
514 socket->Append(asciiData.c_str());
518 /******************************************************************************/