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 namespace JSBSim {
  56
  57 static const char *IdSrc = "$Id$";
  58 static const char *IdHdr = ID_OUTPUT;
  59
  60 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  61 CLASS IMPLEMENTATION
  62 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  63
  64 FGOutput::FGOutput(FGFDMExec* fdmex) : FGModel(fdmex)
  65 {
  66   Name = "FGOutput";
  67   sFirstPass = dFirstPass = true;
  68   socket = 0;
  69   Type = otNone;
  70   Filename = "JSBSim.out";
  71   SubSystems = 0;
  72   enabled = true;
  73
  74   Debug(0);
  75 }
  76
  77 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  78
  79 FGOutput::~FGOutput()
  80 {
  81   if (socket) delete socket;
  82   Debug(1);
  83 }
  84
  85 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  86
  87 bool FGOutput::Run(void)
  88 {
  89   if (enabled) {
  90     if (!FGModel::Run()) {
  91
  92       if (Type == otSocket) {
  93         SocketOutput();
  94       } else if (Type == otCSV) {
  95         DelimitedOutput(Filename);
  96       } else if (Type == otTerminal) {
  97         // Not done yet
  98       } else if (Type == otNone) {
  99         // Do nothing
 100       } else {
 101         // Not a valid type of output
 102       }
 103           return false;
 104     } else {
 105           return true;
 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 << "Flap Cmd, ";
 155       outstream << "Left Aileron Pos, ";
 156       outstream << "Right Aileron Pos, ";
 157       outstream << "Elevator Pos, ";
 158       outstream << "Rudder Pos, ";
 159       outstream << "Flap Pos";
 160     }
 161     if (SubSystems & ssRates) {
 162       outstream << ", ";
 163       outstream << "P, Q, R, ";
 164       outstream << "Pdot, Qdot, Rdot";
 165     }
 166     if (SubSystems & ssVelocities) {
 167       outstream << ", ";
 168       outstream << "QBar, ";
 169       outstream << "Vtotal, ";
 170       outstream << "UBody, VBody, WBody, ";
 171       outstream << "UAero, VAero, WAero, ";
 172       outstream << "Vn, Ve, Vd";
 173     }
 174     if (SubSystems & ssForces) {
 175       outstream << ", ";
 176       outstream << "Drag, Side, Lift, ";
 177       outstream << "L/D, ";
 178       outstream << "Xforce, Yforce, Zforce, ";
 179       outstream << "xGravity, yGravity, zGravity, ";
 180       outstream << "xCoriolis, yCoriolis, zCoriolis, ";
 181       outstream << "xCentrifugal, yCentrifugal, zCentrifugal";
 182     }
 183     if (SubSystems & ssMoments) {
 184       outstream << ", ";
 185       outstream << "L, M, N";
 186     }
 187     if (SubSystems & ssAtmosphere) {
 188       outstream << ", ";
 189       outstream << "Rho, ";
 190       outstream << "NWind, EWind, DWind";
 191     }
 192     if (SubSystems & ssMassProps) {
 193       outstream << ", ";
 194       outstream << "Ixx, ";
 195       outstream << "Iyy, ";
 196       outstream << "Izz, ";
 197       outstream << "Ixz, ";
 198       outstream << "Mass, ";
 199       outstream << "Xcg, Ycg, Zcg";
 200     }
 201     if (SubSystems & ssPosition) {
 202       outstream << ", ";
 203       outstream << "Altitude, ";
 204       outstream << "Phi, Tht, Psi, ";
 205       outstream << "Alpha, ";
 206       outstream << "Beta, ";
 207       outstream << "Latitude, ";
 208       outstream << "Longitude, ";
 209       outstream << "Distance AGL, ";
 210       outstream << "Runway Radius";
 211     }
 212     if (SubSystems & ssCoefficients) {
 213       outstream << ", ";
 214       outstream << Aerodynamics->GetCoefficientStrings();
 215     }
 216     if (SubSystems & ssFCS) {
 217       outstream << ", ";
 218       outstream << FCS->GetComponentStrings();
 219     }
 220     if (SubSystems & ssGroundReactions) {
 221       outstream << ", ";
 222       outstream << GroundReactions->GetGroundReactionStrings();
 223     }
 224     if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
 225       outstream << ", ";
 226       outstream << Propulsion->GetPropulsionStrings();
 227     }
 228
 229     outstream << endl;
 230     dFirstPass = false;
 231   }
 232
 233   outstream << State->Getsim_time();
 234   if (SubSystems & ssSimulation) {
 235   }
 236   if (SubSystems & ssAerosurfaces) {
 237     outstream << ", ";
 238     outstream << FCS->GetDaCmd() << ", ";
 239     outstream << FCS->GetDeCmd() << ", ";
 240     outstream << FCS->GetDrCmd() << ", ";
 241     outstream << FCS->GetDfCmd() << ", ";
 242     outstream << FCS->GetDaLPos() << ", ";
 243     outstream << FCS->GetDaRPos() << ", ";
 244     outstream << FCS->GetDePos() << ", ";
 245     outstream << FCS->GetDrPos() << ", ";
 246     outstream << FCS->GetDfPos();
 247   }
 248   if (SubSystems & ssRates) {
 249     outstream << ", ";
 250     outstream << Rotation->GetPQR() << ", ";
 251     outstream << Rotation->GetPQRdot();
 252   }
 253   if (SubSystems & ssVelocities) {
 254     outstream << ", ";
 255     outstream << Translation->Getqbar() << ", ";
 256     outstream << Translation->GetVt() << ", ";
 257     outstream << Translation->GetUVW() << ", ";
 258     outstream << Translation->GetAeroUVW() << ", ";
 259     outstream << Position->GetVel();
 260   }
 261   if (SubSystems & ssForces) {
 262     outstream << ", ";
 263     outstream << Aerodynamics->GetvFs() << ", ";
 264     outstream << Aerodynamics->GetLoD() << ", ";
 265     outstream << Aircraft->GetForces() << ", ";
 266     outstream << Inertial->GetGravity() << ", ";
 267     outstream << Inertial->GetCoriolis() << ", ";
 268     outstream << Inertial->GetCentrifugal();
 269   }
 270   if (SubSystems & ssMoments) {
 271     outstream << ", ";
 272     outstream << Aircraft->GetMoments();
 273   }
 274   if (SubSystems & ssAtmosphere) {
 275     outstream << ", ";
 276     outstream << Atmosphere->GetDensity() << ", ";
 277     outstream << Atmosphere->GetWindNED();
 278   }
 279   if (SubSystems & ssMassProps) {
 280     outstream << ", ";
 281     outstream << MassBalance->GetIxx() << ", ";
 282     outstream << MassBalance->GetIyy() << ", ";
 283     outstream << MassBalance->GetIzz() << ", ";
 284     outstream << MassBalance->GetIxz() << ", ";
 285     outstream << MassBalance->GetMass() << ", ";
 286     outstream << MassBalance->GetXYZcg();
 287   }
 288   if (SubSystems & ssPosition) {
 289     outstream << ", ";
 290     outstream << Position->Geth() << ", ";
 291     outstream << Rotation->GetEuler() << ", ";
 292     outstream << Translation->Getalpha() << ", ";
 293     outstream << Translation->Getbeta() << ", ";
 294     outstream << Position->GetLatitude() << ", ";
 295     outstream << Position->GetLongitude() << ", ";
 296     outstream << Position->GetDistanceAGL() << ", ";
 297     outstream << Position->GetRunwayRadius();
 298   }
 299   if (SubSystems & ssCoefficients) {
 300     outstream << ", ";
 301     outstream << Aerodynamics->GetCoefficientValues();
 302   }
 303   if (SubSystems & ssFCS) {
 304     outstream << ", ";
 305     outstream << FCS->GetComponentValues();
 306   }
 307   if (SubSystems & ssGroundReactions) {
 308     outstream << ", ";
 309     outstream << GroundReactions->GetGroundReactionValues();
 310   }
 311   if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
 312     outstream << ", ";
 313     outstream << Propulsion->GetPropulsionValues();
 314   }
 315
 316   outstream << endl;
 317   outstream.flush();
 318 }
 319
 320 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 321
 322 void FGOutput::SocketOutput(void)
 323 {
 324   string asciiData;
 325
 326   if (socket == NULL) return;
 327   if (!socket->GetConnectStatus()) return;
 328
 329   socket->Clear();
 330   if (sFirstPass) {
 331     socket->Append("<LABELS>");
 332     socket->Append("Time");
 333     socket->Append("Altitude");
 334     socket->Append("Phi");
 335     socket->Append("Tht");
 336     socket->Append("Psi");
 337     socket->Append("Rho");
 338     socket->Append("Vtotal");
 339     socket->Append("UBody");
 340     socket->Append("VBody");
 341     socket->Append("WBody");
 342     socket->Append("UAero");
 343     socket->Append("VAero");
 344     socket->Append("WAero");
 345     socket->Append("Vn");
 346     socket->Append("Ve");
 347     socket->Append("Vd");
 348     socket->Append("Udot");
 349     socket->Append("Vdot");
 350     socket->Append("Wdot");
 351     socket->Append("P");
 352     socket->Append("Q");
 353     socket->Append("R");
 354     socket->Append("PDot");
 355     socket->Append("QDot");
 356     socket->Append("RDot");
 357     socket->Append("Fx");
 358     socket->Append("Fy");
 359     socket->Append("Fz");
 360     socket->Append("Latitude");
 361     socket->Append("Longitude");
 362     socket->Append("QBar");
 363     socket->Append("Alpha");
 364     socket->Append("L");
 365     socket->Append("M");
 366     socket->Append("N");
 367     socket->Append("Throttle Position");
 368     socket->Append("Left Aileron Position");
 369     socket->Append("Right Aileron Position");
 370     socket->Append("Elevator Position");
 371     socket->Append("Rudder Position");
 372     sFirstPass = false;
 373     socket->Send();
 374   }
 375
 376   socket->Clear();
 377   socket->Append(State->Getsim_time());
 378   socket->Append(Position->Geth());
 379   socket->Append(Rotation->Getphi());
 380   socket->Append(Rotation->Gettht());
 381   socket->Append(Rotation->Getpsi());
 382   socket->Append(Atmosphere->GetDensity());
 383   socket->Append(Translation->GetVt());
 384   socket->Append(Translation->GetUVW(eU));
 385   socket->Append(Translation->GetUVW(eV));
 386   socket->Append(Translation->GetUVW(eW));
 387   socket->Append(Translation->GetAeroUVW(eU));
 388   socket->Append(Translation->GetAeroUVW(eV));
 389   socket->Append(Translation->GetAeroUVW(eW));
 390   socket->Append(Position->GetVn());
 391   socket->Append(Position->GetVe());
 392   socket->Append(Position->GetVd());
 393   socket->Append(Translation->GetUVWdot(eU));
 394   socket->Append(Translation->GetUVWdot(eV));
 395   socket->Append(Translation->GetUVWdot(eW));
 396   socket->Append(Rotation->GetPQR(eP));
 397   socket->Append(Rotation->GetPQR(eQ));
 398   socket->Append(Rotation->GetPQR(eR));
 399   socket->Append(Rotation->GetPQRdot(eP));
 400   socket->Append(Rotation->GetPQRdot(eQ));
 401   socket->Append(Rotation->GetPQRdot(eR));
 402   socket->Append(Aircraft->GetForces(eX));
 403   socket->Append(Aircraft->GetForces(eY));
 404   socket->Append(Aircraft->GetForces(eZ));
 405   socket->Append(Position->GetLatitude());
 406   socket->Append(Position->GetLongitude());
 407   socket->Append(Translation->Getqbar());
 408   socket->Append(Translation->Getalpha());
 409   socket->Append(Aircraft->GetMoments(eL));
 410   socket->Append(Aircraft->GetMoments(eM));
 411   socket->Append(Aircraft->GetMoments(eN));
 412   socket->Append(FCS->GetThrottlePos(0));
 413   socket->Append(FCS->GetDaLPos());
 414   socket->Append(FCS->GetDaRPos());
 415   socket->Append(FCS->GetDePos());
 416   socket->Append(FCS->GetDrPos());
 417   socket->Send();
 418 }
 419
 420 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 421
 422 void FGOutput::SocketStatusOutput(string out_str)
 423 {
 424   string asciiData;
 425
 426   if (socket == NULL) return;
 427
 428   socket->Clear();
 429   asciiData = string("<STATUS>") + out_str;
 430   socket->Append(asciiData.c_str());
 431   socket->Send();
 432 }
 433
 434 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 435
 436 bool FGOutput::Load(FGConfigFile* AC_cfg)
 437 {
 438   string token, parameter;
 439   int OutRate = 0;
 440
 441   token = AC_cfg->GetValue("NAME");
 442   Output->SetFilename(token);
 443   token = AC_cfg->GetValue("TYPE");
 444   Output->SetType(token);
 445
 446 #if defined( FG_WITH_JSBSIM_SOCKET ) || !defined( FGFS )
 447   if (token == "SOCKET") {
 448     socket = new FGfdmSocket("localhost",1138);
 449   }
 450 #endif
 451
 452   AC_cfg->GetNextConfigLine();
 453
 454   while ((token = AC_cfg->GetValue()) != string("/OUTPUT")) {
 455     *AC_cfg >> parameter;
 456     if (parameter == "RATE_IN_HZ") *AC_cfg >> OutRate;
 457     if (parameter == "SIMULATION") {
 458       *AC_cfg >> parameter;
 459       if (parameter == "ON") SubSystems += ssSimulation;
 460     }
 461     if (parameter == "AEROSURFACES") {
 462       *AC_cfg >> parameter;
 463       if (parameter == "ON") SubSystems += ssAerosurfaces;
 464     }
 465     if (parameter == "RATES") {
 466       *AC_cfg >> parameter;
 467       if (parameter == "ON") SubSystems += ssRates;
 468     }
 469     if (parameter == "VELOCITIES") {
 470       *AC_cfg >> parameter;
 471       if (parameter == "ON") SubSystems += ssVelocities;
 472     }
 473     if (parameter == "FORCES") {
 474       *AC_cfg >> parameter;
 475       if (parameter == "ON") SubSystems += ssForces;
 476     }
 477     if (parameter == "MOMENTS") {
 478       *AC_cfg >> parameter;
 479       if (parameter == "ON") SubSystems += ssMoments;
 480     }
 481     if (parameter == "ATMOSPHERE") {
 482       *AC_cfg >> parameter;
 483       if (parameter == "ON") SubSystems += ssAtmosphere;
 484     }
 485     if (parameter == "MASSPROPS") {
 486       *AC_cfg >> parameter;
 487       if (parameter == "ON") SubSystems += ssMassProps;
 488     }
 489     if (parameter == "POSITION") {
 490       *AC_cfg >> parameter;
 491       if (parameter == "ON") SubSystems += ssPosition;
 492     }
 493     if (parameter == "COEFFICIENTS") {
 494       *AC_cfg >> parameter;
 495       if (parameter == "ON") SubSystems += ssCoefficients;
 496     }
 497     if (parameter == "GROUND_REACTIONS") {
 498       *AC_cfg >> parameter;
 499       if (parameter == "ON") SubSystems += ssGroundReactions;
 500     }
 501     if (parameter == "FCS") {
 502       *AC_cfg >> parameter;
 503       if (parameter == "ON") SubSystems += ssFCS;
 504     }
 505     if (parameter == "PROPULSION") {
 506       *AC_cfg >> parameter;
 507       if (parameter == "ON") SubSystems += ssPropulsion;
 508     }
 509   }
 510
 511   OutRate = OutRate>120?120:(OutRate<0?0:OutRate);
 512   rate = (int)(0.5 + 1.0/(State->Getdt()*OutRate));
 513
 514   return true;
 515 }
 516
 517 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 518 //    The bitmasked value choices are as follows:
 519 //    unset: In this case (the default) JSBSim would only print
 520 //       out the normally expected messages, essentially echoing
 521 //       the config files as they are read. If the environment
 522 //       variable is not set, debug_lvl is set to 1 internally
 523 //    0: This requests JSBSim not to output any messages
 524 //       whatsoever.
 525 //    1: This value explicity requests the normal JSBSim
 526 //       startup messages
 527 //    2: This value asks for a message to be printed out when
 528 //       a class is instantiated
 529 //    4: When this value is set, a message is displayed when a
 530 //       FGModel object executes its Run() method
 531 //    8: When this value is set, various runtime state variables
 532 //       are printed out periodically
 533 //    16: When set various parameters are sanity checked and
 534 //       a message is printed out when they go out of bounds
 535
 536 void FGOutput::Debug(int from)
 537 {
 538   if (debug_lvl <= 0) return;
 539
 540   if (debug_lvl & 1) { // Standard console startup message output
 541     if (from == 0) { // Constructor
 542
 543     }
 544   }
 545   if (debug_lvl & 2 ) { // Instantiation/Destruction notification
 546     if (from == 0) cout << "Instantiated: FGOutput" << endl;
 547     if (from == 1) cout << "Destroyed:    FGOutput" << endl;
 548   }
 549   if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
 550   }
 551   if (debug_lvl & 8 ) { // Runtime state variables
 552   }
 553   if (debug_lvl & 16) { // Sanity checking
 554   }
 555   if (debug_lvl & 64) {
 556     if (from == 0) { // Constructor
 557       cout << IdSrc << endl;
 558       cout << IdHdr << endl;
 559     }
 560   }
 561 }
 562 }