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   Debug(0);
  73 }
  74
  75 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  76
  77 FGOutput::~FGOutput()
  78 {
  79   if (socket) delete socket;
  80   Debug(1);
  81 }
  82
  83 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  84
  85 bool FGOutput::Run(void)
  86 {
  87   if (enabled) {
  88     if (!FGModel::Run()) {
  89
  90       if (Type == otSocket) {
  91         SocketOutput();
  92       } else if (Type == otCSV) {
  93         DelimitedOutput(Filename);
  94       } else if (Type == otTerminal) {
  95         // Not done yet
  96       } else if (Type == otNone) {
  97         // Do nothing
  98       } else {
  99         // Not a valid type of output
 100       }
 101
 102     } else {
 103     }
 104   }
 105   return false;
 106 }
 107
 108 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 109
 110 void FGOutput::SetType(string type)
 111 {
 112   if (type == "CSV") {
 113     Type = otCSV;
 114   } else if (type == "TABULAR") {
 115     Type = otTab;
 116   } else if (type == "SOCKET") {
 117     Type = otSocket;
 118   } else if (type == "TERMINAL") {
 119     Type = otTerminal;
 120   } else if (type != string("NONE")) {
 121     Type = otUnknown;
 122     cerr << "Unknown type of output specified in config file" << endl;
 123   }
 124 }
 125
 126 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 127
 128 void FGOutput::DelimitedOutput(string fname)
 129 {
 130   streambuf* buffer;
 131
 132   if (fname == "COUT" || fname == "cout") {
 133     buffer = cout.rdbuf();
 134   } else {
 135     datafile.open(fname.c_str());
 136     buffer = datafile.rdbuf();
 137   }
 138
 139   ostream outstream(buffer);
 140
 141   if (dFirstPass) {
 142     outstream << "Time";
 143     if (SubSystems & ssSimulation) {
 144       // Nothing here, yet
 145     }
 146     if (SubSystems & ssAerosurfaces) {
 147       outstream << ", ";
 148       outstream << "Aileron Cmd, ";
 149       outstream << "Elevator Cmd, ";
 150       outstream << "Rudder Cmd, ";
 151       outstream << "Flap Cmd, ";
 152       outstream << "Left Aileron Pos, ";
 153       outstream << "Right Aileron Pos, ";
 154       outstream << "Elevator Pos, ";
 155       outstream << "Rudder Pos, ";
 156       outstream << "Flap Pos";
 157     }
 158     if (SubSystems & ssRates) {
 159       outstream << ", ";
 160       outstream << "P, Q, R, ";
 161       outstream << "Pdot, Qdot, Rdot";
 162     }
 163     if (SubSystems & ssVelocities) {
 164       outstream << ", ";
 165       outstream << "QBar, ";
 166       outstream << "Vtotal, ";
 167       outstream << "UBody, VBody, WBody, ";
 168       outstream << "UAero, VAero, WAero, ";
 169       outstream << "Vn, Ve, Vd";
 170     }
 171     if (SubSystems & ssForces) {
 172       outstream << ", ";
 173       outstream << "Drag, Side, Lift, ";
 174       outstream << "L/D, ";
 175       outstream << "Xforce, Yforce, Zforce";
 176     }
 177     if (SubSystems & ssMoments) {
 178       outstream << ", ";
 179       outstream << "L, M, N";
 180     }
 181     if (SubSystems & ssAtmosphere) {
 182       outstream << ", ";
 183       outstream << "Rho, ";
 184       outstream << "NWind, EWind, DWind";
 185     }
 186     if (SubSystems & ssMassProps) {
 187       outstream << ", ";
 188       outstream << "Ixx, ";
 189       outstream << "Iyy, ";
 190       outstream << "Izz, ";
 191       outstream << "Ixz, ";
 192       outstream << "Mass, ";
 193       outstream << "Xcg, Ycg, Zcg";
 194     }
 195     if (SubSystems & ssPosition) {
 196       outstream << ", ";
 197       outstream << "Altitude, ";
 198       outstream << "Phi, Tht, Psi, ";
 199       outstream << "Alpha, ";
 200       outstream << "Beta, ";
 201       outstream << "Latitude, ";
 202       outstream << "Longitude, ";
 203       outstream << "Distance AGL, ";
 204       outstream << "Runway Radius";
 205     }
 206     if (SubSystems & ssCoefficients) {
 207       outstream << ", ";
 208       outstream << Aerodynamics->GetCoefficientStrings();
 209     }
 210     if (SubSystems & ssGroundReactions) {
 211       outstream << ", ";
 212       outstream << GroundReactions->GetGroundReactionStrings();
 213     }
 214     if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
 215       outstream << ", ";
 216       outstream << Propulsion->GetPropulsionStrings();
 217     }
 218
 219     outstream << endl;
 220     dFirstPass = false;
 221   }
 222
 223   outstream << State->Getsim_time();
 224   if (SubSystems & ssSimulation) {
 225   }
 226   if (SubSystems & ssAerosurfaces) {
 227     outstream << ", ";
 228     outstream << FCS->GetDaCmd() << ", ";
 229     outstream << FCS->GetDeCmd() << ", ";
 230     outstream << FCS->GetDrCmd() << ", ";
 231     outstream << FCS->GetDfCmd() << ", ";
 232     outstream << FCS->GetDaLPos() << ", ";
 233     outstream << FCS->GetDaRPos() << ", ";
 234     outstream << FCS->GetDePos() << ", ";
 235     outstream << FCS->GetDrPos() << ", ";
 236     outstream << FCS->GetDfPos();
 237   }
 238   if (SubSystems & ssRates) {
 239     outstream << ", ";
 240     outstream << Rotation->GetPQR() << ", ";
 241     outstream << Rotation->GetPQRdot();
 242   }
 243   if (SubSystems & ssVelocities) {
 244     outstream << ", ";
 245     outstream << Translation->Getqbar() << ", ";
 246     outstream << Translation->GetVt() << ", ";
 247     outstream << Translation->GetUVW() << ", ";
 248     outstream << Translation->GetAeroUVW() << ", ";
 249     outstream << Position->GetVel();
 250   }
 251   if (SubSystems & ssForces) {
 252     outstream << ", ";
 253     outstream << Aerodynamics->GetvFs() << ", ";
 254     outstream << Aerodynamics->GetLoD() << ", ";
 255     outstream << Aircraft->GetForces();
 256   }
 257   if (SubSystems & ssMoments) {
 258     outstream << ", ";
 259     outstream << Aircraft->GetMoments();
 260   }
 261   if (SubSystems & ssAtmosphere) {
 262     outstream << ", ";
 263     outstream << Atmosphere->GetDensity() << ", ";
 264     outstream << Atmosphere->GetWindNED();
 265   }
 266   if (SubSystems & ssMassProps) {
 267     outstream << ", ";
 268     outstream << MassBalance->GetIxx() << ", ";
 269     outstream << MassBalance->GetIyy() << ", ";
 270     outstream << MassBalance->GetIzz() << ", ";
 271     outstream << MassBalance->GetIxz() << ", ";
 272     outstream << MassBalance->GetMass() << ", ";
 273     outstream << MassBalance->GetXYZcg();
 274   }
 275   if (SubSystems & ssPosition) {
 276     outstream << ", ";
 277     outstream << Position->Geth() << ", ";
 278     outstream << Rotation->GetEuler() << ", ";
 279     outstream << Translation->Getalpha() << ", ";
 280     outstream << Translation->Getbeta() << ", ";
 281     outstream << Position->GetLatitude() << ", ";
 282     outstream << Position->GetLongitude() << ", ";
 283     outstream << Position->GetDistanceAGL() << ", ";
 284     outstream << Position->GetRunwayRadius();
 285   }
 286   if (SubSystems & ssCoefficients) {
 287     outstream << ", ";
 288     outstream << Aerodynamics->GetCoefficientValues();
 289   }
 290   if (SubSystems & ssGroundReactions) {
 291     outstream << ", ";
 292     outstream << GroundReactions->GetGroundReactionValues();
 293   }
 294   if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
 295     outstream << ", ";
 296     outstream << Propulsion->GetPropulsionValues();
 297   }
 298
 299   outstream << endl;
 300   outstream.flush();
 301 }
 302
 303 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 304
 305 void FGOutput::SocketOutput(void)
 306 {
 307   string asciiData;
 308
 309   if (socket == NULL) return;
 310   if (!socket->GetConnectStatus()) return;
 311
 312   socket->Clear();
 313   if (sFirstPass) {
 314     socket->Append("<LABELS>");
 315     socket->Append("Time");
 316     socket->Append("Altitude");
 317     socket->Append("Phi");
 318     socket->Append("Tht");
 319     socket->Append("Psi");
 320     socket->Append("Rho");
 321     socket->Append("Vtotal");
 322     socket->Append("UBody");
 323     socket->Append("VBody");
 324     socket->Append("WBody");
 325     socket->Append("UAero");
 326     socket->Append("VAero");
 327     socket->Append("WAero");
 328     socket->Append("Vn");
 329     socket->Append("Ve");
 330     socket->Append("Vd");
 331     socket->Append("Udot");
 332     socket->Append("Vdot");
 333     socket->Append("Wdot");
 334     socket->Append("P");
 335     socket->Append("Q");
 336     socket->Append("R");
 337     socket->Append("PDot");
 338     socket->Append("QDot");
 339     socket->Append("RDot");
 340     socket->Append("Fx");
 341     socket->Append("Fy");
 342     socket->Append("Fz");
 343     socket->Append("Latitude");
 344     socket->Append("Longitude");
 345     socket->Append("QBar");
 346     socket->Append("Alpha");
 347     socket->Append("L");
 348     socket->Append("M");
 349     socket->Append("N");
 350     socket->Append("Throttle Position");
 351     socket->Append("Left Aileron Position");
 352     socket->Append("Right Aileron Position");
 353     socket->Append("Elevator Position");
 354     socket->Append("Rudder Position");
 355     sFirstPass = false;
 356     socket->Send();
 357   }
 358
 359   socket->Clear();
 360   socket->Append(State->Getsim_time());
 361   socket->Append(Position->Geth());
 362   socket->Append(Rotation->Getphi());
 363   socket->Append(Rotation->Gettht());
 364   socket->Append(Rotation->Getpsi());
 365   socket->Append(Atmosphere->GetDensity());
 366   socket->Append(Translation->GetVt());
 367   socket->Append(Translation->GetUVW(eU));
 368   socket->Append(Translation->GetUVW(eV));
 369   socket->Append(Translation->GetUVW(eW));
 370   socket->Append(Translation->GetAeroUVW(eU));
 371   socket->Append(Translation->GetAeroUVW(eV));
 372   socket->Append(Translation->GetAeroUVW(eW));
 373   socket->Append(Position->GetVn());
 374   socket->Append(Position->GetVe());
 375   socket->Append(Position->GetVd());
 376   socket->Append(Translation->GetUVWdot(eU));
 377   socket->Append(Translation->GetUVWdot(eV));
 378   socket->Append(Translation->GetUVWdot(eW));
 379   socket->Append(Rotation->GetPQR(eP));
 380   socket->Append(Rotation->GetPQR(eQ));
 381   socket->Append(Rotation->GetPQR(eR));
 382   socket->Append(Rotation->GetPQRdot(eP));
 383   socket->Append(Rotation->GetPQRdot(eQ));
 384   socket->Append(Rotation->GetPQRdot(eR));
 385   socket->Append(Aircraft->GetForces(eX));
 386   socket->Append(Aircraft->GetForces(eY));
 387   socket->Append(Aircraft->GetForces(eZ));
 388   socket->Append(Position->GetLatitude());
 389   socket->Append(Position->GetLongitude());
 390   socket->Append(Translation->Getqbar());
 391   socket->Append(Translation->Getalpha());
 392   socket->Append(Aircraft->GetMoments(eL));
 393   socket->Append(Aircraft->GetMoments(eM));
 394   socket->Append(Aircraft->GetMoments(eN));
 395   socket->Append(FCS->GetThrottlePos(0));
 396   socket->Append(FCS->GetDaLPos());
 397   socket->Append(FCS->GetDaRPos());
 398   socket->Append(FCS->GetDePos());
 399   socket->Append(FCS->GetDrPos());
 400   socket->Send();
 401 }
 402
 403 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 404
 405 void FGOutput::SocketStatusOutput(string out_str)
 406 {
 407   string asciiData;
 408
 409   if (socket == NULL) return;
 410
 411   socket->Clear();
 412   asciiData = string("<STATUS>") + out_str;
 413   socket->Append(asciiData.c_str());
 414   socket->Send();
 415 }
 416
 417 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 418
 419 bool FGOutput::Load(FGConfigFile* AC_cfg)
 420 {
 421   string token, parameter;
 422   int OutRate = 0;
 423
 424   token = AC_cfg->GetValue("NAME");
 425   Output->SetFilename(token);
 426   token = AC_cfg->GetValue("TYPE");
 427   Output->SetType(token);
 428
 429 #if defined( FG_WITH_JSBSIM_SOCKET ) || !defined( FGFS )
 430   if (token == "SOCKET") {
 431     socket = new FGfdmSocket("localhost",1138);
 432   }
 433 #endif
 434
 435   AC_cfg->GetNextConfigLine();
 436
 437   while ((token = AC_cfg->GetValue()) != string("/OUTPUT")) {
 438     *AC_cfg >> parameter;
 439     if (parameter == "RATE_IN_HZ") *AC_cfg >> OutRate;
 440     if (parameter == "SIMULATION") {
 441       *AC_cfg >> parameter;
 442       if (parameter == "ON") SubSystems += ssSimulation;
 443     }
 444     if (parameter == "AEROSURFACES") {
 445       *AC_cfg >> parameter;
 446       if (parameter == "ON") SubSystems += ssAerosurfaces;
 447     }
 448     if (parameter == "RATES") {
 449       *AC_cfg >> parameter;
 450       if (parameter == "ON") SubSystems += ssRates;
 451     }
 452     if (parameter == "VELOCITIES") {
 453       *AC_cfg >> parameter;
 454       if (parameter == "ON") SubSystems += ssVelocities;
 455     }
 456     if (parameter == "FORCES") {
 457       *AC_cfg >> parameter;
 458       if (parameter == "ON") SubSystems += ssForces;
 459     }
 460     if (parameter == "MOMENTS") {
 461       *AC_cfg >> parameter;
 462       if (parameter == "ON") SubSystems += ssMoments;
 463     }
 464     if (parameter == "ATMOSPHERE") {
 465       *AC_cfg >> parameter;
 466       if (parameter == "ON") SubSystems += ssAtmosphere;
 467     }
 468     if (parameter == "MASSPROPS") {
 469       *AC_cfg >> parameter;
 470       if (parameter == "ON") SubSystems += ssMassProps;
 471     }
 472     if (parameter == "POSITION") {
 473       *AC_cfg >> parameter;
 474       if (parameter == "ON") SubSystems += ssPosition;
 475     }
 476     if (parameter == "COEFFICIENTS") {
 477       *AC_cfg >> parameter;
 478       if (parameter == "ON") SubSystems += ssCoefficients;
 479     }
 480     if (parameter == "GROUND_REACTIONS") {
 481       *AC_cfg >> parameter;
 482       if (parameter == "ON") SubSystems += ssGroundReactions;
 483     }
 484     if (parameter == "FCS") {
 485       *AC_cfg >> parameter;
 486       if (parameter == "ON") SubSystems += ssFCS;
 487     }
 488     if (parameter == "PROPULSION") {
 489       *AC_cfg >> parameter;
 490       if (parameter == "ON") SubSystems += ssPropulsion;
 491     }
 492   }
 493
 494   OutRate = OutRate>120?120:(OutRate<0?0:OutRate);
 495   rate = (int)(0.5 + 1.0/(State->Getdt()*OutRate));
 496
 497   return true;
 498 }
 499
 500 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 501 //    The bitmasked value choices are as follows:
 502 //    unset: In this case (the default) JSBSim would only print
 503 //       out the normally expected messages, essentially echoing
 504 //       the config files as they are read. If the environment
 505 //       variable is not set, debug_lvl is set to 1 internally
 506 //    0: This requests JSBSim not to output any messages
 507 //       whatsoever.
 508 //    1: This value explicity requests the normal JSBSim
 509 //       startup messages
 510 //    2: This value asks for a message to be printed out when
 511 //       a class is instantiated
 512 //    4: When this value is set, a message is displayed when a
 513 //       FGModel object executes its Run() method
 514 //    8: When this value is set, various runtime state variables
 515 //       are printed out periodically
 516 //    16: When set various parameters are sanity checked and
 517 //       a message is printed out when they go out of bounds
 518
 519 void FGOutput::Debug(int from)
 520 {
 521   if (debug_lvl <= 0) return;
 522
 523   if (debug_lvl & 1) { // Standard console startup message output
 524     if (from == 0) { // Constructor
 525
 526     }
 527   }
 528   if (debug_lvl & 2 ) { // Instantiation/Destruction notification
 529     if (from == 0) cout << "Instantiated: FGOutput" << endl;
 530     if (from == 1) cout << "Destroyed:    FGOutput" << endl;
 531   }
 532   if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
 533   }
 534   if (debug_lvl & 8 ) { // Runtime state variables
 535   }
 536   if (debug_lvl & 16) { // Sanity checking
 537   }
 538   if (debug_lvl & 64) {
 539     if (from == 0) { // Constructor
 540       cout << IdSrc << endl;
 541       cout << IdHdr << endl;
 542     }
 543   }
 544 }
 545