src/FDM/JSBSim/input_output/FGOutputSocket.cpp

   1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
   2
   3  Module:       FGOutputSocket.cpp
   4  Author:       Bertrand Coconnier
   5  Date started: 09/10/11
   6  Purpose:      Manage output of sim parameters to a socket
   7  Called by:    FGOutput
   8
   9  ------------- Copyright (C) 2011 Bertrand Coconnier -------------
  10
  11  This program is free software; you can redistribute it and/or modify it under
  12  the terms of the GNU Lesser 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 Lesser General Public License for more
  19  details.
  20
  21  You should have received a copy of the GNU Lesser 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 Lesser 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 09/10/11   BC    Created
  36
  37 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  38 INCLUDES
  39 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  40
  41 #include <cstring>
  42 #include <cstdlib>
  43
  44 #include "FGOutputSocket.h"
  45 #include "FGFDMExec.h"
  46 #include "models/FGAerodynamics.h"
  47 #include "models/FGAccelerations.h"
  48 #include "models/FGAircraft.h"
  49 #include "models/FGAtmosphere.h"
  50 #include "models/FGAuxiliary.h"
  51 #include "models/FGPropulsion.h"
  52 #include "models/FGMassBalance.h"
  53 #include "models/FGPropagate.h"
  54 #include "models/FGGroundReactions.h"
  55 #include "models/FGFCS.h"
  56 #include "models/atmosphere/FGWinds.h"
  57 #include "input_output/FGXMLElement.h"
  58
  59 using namespace std;
  60
  61 namespace JSBSim {
  62
  63 IDENT(IdSrc,"$Id: FGOutputSocket.cpp,v 1.8 2014/01/13 10:46:00 ehofman Exp $");
  64 IDENT(IdHdr,ID_OUTPUTSOCKET);
  65
  66 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  67 CLASS IMPLEMENTATION
  68 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  69
  70 FGOutputSocket::FGOutputSocket(FGFDMExec* fdmex) :
  71   FGOutputType(fdmex),
  72   socket(0)
  73 {
  74 }
  75
  76 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  77
  78 FGOutputSocket::~FGOutputSocket()
  79 {
  80   delete socket;
  81 }
  82
  83 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  84
  85 void FGOutputSocket::SetOutputName(const string& fname)
  86 {
  87   // tokenize the output name
  88   size_t dot_pos = fname.find(':', 0);
  89   size_t slash_pos = fname.find('/', 0);
  90
  91   string name = fname.substr(0, dot_pos);
  92
  93   string proto = "TCP";
  94   if(dot_pos + 1 < slash_pos)
  95     proto = fname.substr(dot_pos + 1, slash_pos - dot_pos - 1);
  96
  97   string port = "1138";
  98   if(slash_pos < string::npos)
  99     port = fname.substr(slash_pos + 1, string::npos);
 100
 101   // set the model name
 102   Name = name + ":" + port + "/" + proto;
 103
 104   // set the socket params
 105   SockName = name;
 106
 107   SockPort = atoi(port.c_str());
 108
 109   if (proto == "UDP")
 110     SockProtocol = FGfdmSocket::ptUDP;
 111   else // Default to TCP
 112     SockProtocol = FGfdmSocket::ptTCP;
 113 }
 114
 115 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 116
 117 bool FGOutputSocket::Load(Element* el)
 118 {
 119   if (!FGOutputType::Load(el))
 120     return false;
 121
 122   SetOutputName(el->GetAttributeValue("name") + ":" +
 123                 el->GetAttributeValue("protocol") + "/" +
 124                 el->GetAttributeValue("port"));
 125
 126   return true;
 127 }
 128
 129 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 130
 131 bool FGOutputSocket::InitModel(void)
 132 {
 133   if (FGOutputType::InitModel()) {
 134     delete socket;
 135     socket = new FGfdmSocket(SockName, SockPort, SockProtocol);
 136
 137     if (socket == 0) return false;
 138     if (!socket->GetConnectStatus()) return false;
 139
 140     PrintHeaders();
 141
 142     return true;
 143   }
 144
 145   return false;
 146 }
 147
 148 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 149
 150 void FGOutputSocket::PrintHeaders(void)
 151 {
 152   string scratch;
 153
 154   socket->Clear();
 155   socket->Clear("<LABELS>");
 156   socket->Append("Time");
 157
 158   if (SubSystems & ssAerosurfaces) {
 159     socket->Append("Aileron Command");
 160     socket->Append("Elevator Command");
 161     socket->Append("Rudder Command");
 162     socket->Append("Flap Command");
 163     socket->Append("Left Aileron Position");
 164     socket->Append("Right Aileron Position");
 165     socket->Append("Elevator Position");
 166     socket->Append("Rudder Position");
 167     socket->Append("Flap Position");
 168   }
 169
 170   if (SubSystems & ssRates) {
 171     socket->Append("P");
 172     socket->Append("Q");
 173     socket->Append("R");
 174     socket->Append("PDot");
 175     socket->Append("QDot");
 176     socket->Append("RDot");
 177   }
 178
 179   if (SubSystems & ssVelocities) {
 180     socket->Append("QBar");
 181     socket->Append("Vtotal");
 182     socket->Append("UBody");
 183     socket->Append("VBody");
 184     socket->Append("WBody");
 185     socket->Append("UAero");
 186     socket->Append("VAero");
 187     socket->Append("WAero");
 188     socket->Append("Vn");
 189     socket->Append("Ve");
 190     socket->Append("Vd");
 191   }
 192
 193   if (SubSystems & ssForces) {
 194     socket->Append("F_Drag");
 195     socket->Append("F_Side");
 196     socket->Append("F_Lift");
 197     socket->Append("LoD");
 198     socket->Append("Fx");
 199     socket->Append("Fy");
 200     socket->Append("Fz");
 201   }
 202
 203   if (SubSystems & ssMoments) {
 204     socket->Append("L");
 205     socket->Append("M");
 206     socket->Append("N");
 207   }
 208
 209   if (SubSystems & ssAtmosphere) {
 210     socket->Append("Rho");
 211     socket->Append("SL pressure");
 212     socket->Append("Ambient pressure");
 213     socket->Append("Turbulence Magnitude");
 214     socket->Append("Turbulence Direction X");
 215     socket->Append("Turbulence Direction Y");
 216     socket->Append("Turbulence Direction Z");
 217     socket->Append("NWind");
 218     socket->Append("EWind");
 219     socket->Append("DWind");
 220   }
 221
 222   if (SubSystems & ssMassProps) {
 223     socket->Append("Ixx");
 224     socket->Append("Ixy");
 225     socket->Append("Ixz");
 226     socket->Append("Iyx");
 227     socket->Append("Iyy");
 228     socket->Append("Iyz");
 229     socket->Append("Izx");
 230     socket->Append("Izy");
 231     socket->Append("Izz");
 232     socket->Append("Mass");
 233     socket->Append("Xcg");
 234     socket->Append("Ycg");
 235     socket->Append("Zcg");
 236   }
 237
 238   if (SubSystems & ssPropagate) {
 239     socket->Append("Altitude");
 240     socket->Append("Phi (deg)");
 241     socket->Append("Tht (deg)");
 242     socket->Append("Psi (deg)");
 243     socket->Append("Alpha (deg)");
 244     socket->Append("Beta (deg)");
 245     socket->Append("Latitude (deg)");
 246     socket->Append("Longitude (deg)");
 247   }
 248
 249   if (SubSystems & ssAeroFunctions) {
 250     scratch = Aerodynamics->GetAeroFunctionStrings(",");
 251     if (scratch.length() != 0) socket->Append(scratch);
 252   }
 253
 254   if (SubSystems & ssFCS) {
 255     scratch = FCS->GetComponentStrings(",");
 256     if (scratch.length() != 0) socket->Append(scratch);
 257   }
 258
 259   if (SubSystems & ssGroundReactions)
 260     socket->Append(GroundReactions->GetGroundReactionStrings(","));
 261
 262   if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0)
 263     socket->Append(Propulsion->GetPropulsionStrings(","));
 264
 265   if (OutputProperties.size() > 0) {
 266     for (unsigned int i=0;i<OutputProperties.size();i++)
 267       if (OutputCaptions[i].size() > 0) {
 268         socket->Append(OutputCaptions[i]);
 269       } else {
 270         socket->Append(OutputProperties[i]->GetPrintableName());
 271       }
 272   }
 273
 274   socket->Send();
 275 }
 276
 277 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 278
 279 void FGOutputSocket::Print(void)
 280 {
 281   string asciiData, scratch;
 282
 283   if (socket == 0) return;
 284   if (!socket->GetConnectStatus()) return;
 285
 286   socket->Clear();
 287   socket->Append(FDMExec->GetSimTime());
 288
 289   if (SubSystems & ssAerosurfaces) {
 290     socket->Append(FCS->GetDaCmd());
 291     socket->Append(FCS->GetDeCmd());
 292     socket->Append(FCS->GetDrCmd());
 293     socket->Append(FCS->GetDfCmd());
 294     socket->Append(FCS->GetDaLPos());
 295     socket->Append(FCS->GetDaRPos());
 296     socket->Append(FCS->GetDePos());
 297     socket->Append(FCS->GetDrPos());
 298     socket->Append(FCS->GetDfPos());
 299   }
 300   if (SubSystems & ssRates) {
 301     socket->Append(radtodeg*Propagate->GetPQR(eP));
 302     socket->Append(radtodeg*Propagate->GetPQR(eQ));
 303     socket->Append(radtodeg*Propagate->GetPQR(eR));
 304     socket->Append(radtodeg*Accelerations->GetPQRdot(eP));
 305     socket->Append(radtodeg*Accelerations->GetPQRdot(eQ));
 306     socket->Append(radtodeg*Accelerations->GetPQRdot(eR));
 307   }
 308   if (SubSystems & ssVelocities) {
 309     socket->Append(Auxiliary->Getqbar());
 310     socket->Append(Auxiliary->GetVt());
 311     socket->Append(Propagate->GetUVW(eU));
 312     socket->Append(Propagate->GetUVW(eV));
 313     socket->Append(Propagate->GetUVW(eW));
 314     socket->Append(Auxiliary->GetAeroUVW(eU));
 315     socket->Append(Auxiliary->GetAeroUVW(eV));
 316     socket->Append(Auxiliary->GetAeroUVW(eW));
 317     socket->Append(Propagate->GetVel(eNorth));
 318     socket->Append(Propagate->GetVel(eEast));
 319     socket->Append(Propagate->GetVel(eDown));
 320   }
 321   if (SubSystems & ssForces) {
 322     socket->Append(Aerodynamics->GetvFw()(eDrag));
 323     socket->Append(Aerodynamics->GetvFw()(eSide));
 324     socket->Append(Aerodynamics->GetvFw()(eLift));
 325     socket->Append(Aerodynamics->GetLoD());
 326     socket->Append(Aircraft->GetForces(eX));
 327     socket->Append(Aircraft->GetForces(eY));
 328     socket->Append(Aircraft->GetForces(eZ));
 329   }
 330   if (SubSystems & ssMoments) {
 331     socket->Append(Aircraft->GetMoments(eL));
 332     socket->Append(Aircraft->GetMoments(eM));
 333     socket->Append(Aircraft->GetMoments(eN));
 334   }
 335   if (SubSystems & ssAtmosphere) {
 336     socket->Append(Atmosphere->GetDensity());
 337     socket->Append(Atmosphere->GetPressureSL());
 338     socket->Append(Atmosphere->GetPressure());
 339     socket->Append(Winds->GetTurbMagnitude());
 340     socket->Append(Winds->GetTurbDirection().Dump(","));
 341     socket->Append(Winds->GetTotalWindNED().Dump(","));
 342   }
 343   if (SubSystems & ssMassProps) {
 344     socket->Append(MassBalance->GetJ()(1,1));
 345     socket->Append(MassBalance->GetJ()(1,2));
 346     socket->Append(MassBalance->GetJ()(1,3));
 347     socket->Append(MassBalance->GetJ()(2,1));
 348     socket->Append(MassBalance->GetJ()(2,2));
 349     socket->Append(MassBalance->GetJ()(2,3));
 350     socket->Append(MassBalance->GetJ()(3,1));
 351     socket->Append(MassBalance->GetJ()(3,2));
 352     socket->Append(MassBalance->GetJ()(3,3));
 353     socket->Append(MassBalance->GetMass());
 354     socket->Append(MassBalance->GetXYZcg()(eX));
 355     socket->Append(MassBalance->GetXYZcg()(eY));
 356     socket->Append(MassBalance->GetXYZcg()(eZ));
 357   }
 358   if (SubSystems & ssPropagate) {
 359     socket->Append(Propagate->GetAltitudeASL());
 360     socket->Append(radtodeg*Propagate->GetEuler(ePhi));
 361     socket->Append(radtodeg*Propagate->GetEuler(eTht));
 362     socket->Append(radtodeg*Propagate->GetEuler(ePsi));
 363     socket->Append(Auxiliary->Getalpha(inDegrees));
 364     socket->Append(Auxiliary->Getbeta(inDegrees));
 365     socket->Append(Propagate->GetLocation().GetLatitudeDeg());
 366     socket->Append(Propagate->GetLocation().GetLongitudeDeg());
 367   }
 368   if (SubSystems & ssAeroFunctions) {
 369     scratch = Aerodynamics->GetAeroFunctionValues(",");
 370     if (scratch.length() != 0) socket->Append(scratch);
 371   }
 372   if (SubSystems & ssFCS) {
 373     scratch = FCS->GetComponentValues(",");
 374     if (scratch.length() != 0) socket->Append(scratch);
 375   }
 376   if (SubSystems & ssGroundReactions) {
 377     socket->Append(GroundReactions->GetGroundReactionValues(","));
 378   }
 379   if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
 380     socket->Append(Propulsion->GetPropulsionValues(","));
 381   }
 382
 383   for (unsigned int i=0;i<OutputProperties.size();i++) {
 384     socket->Append(OutputProperties[i]->getDoubleValue());
 385   }
 386
 387   socket->Send();
 388 }
 389
 390 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 391
 392 void FGOutputSocket::SocketStatusOutput(const string& out_str)
 393 {
 394   string asciiData;
 395
 396   if (socket == 0) return;
 397
 398   socket->Clear();
 399   asciiData = string("<STATUS>") + out_str;
 400   socket->Append(asciiData.c_str());
 401   socket->Send();
 402 }
 403 }