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
  58 using namespace std;
  59
  60 namespace JSBSim {
  61
  62 static const char *IdSrc = "$Id: FGOutputSocket.cpp,v 1.5 2013/01/12 21:14:46 bcoconni Exp $";
  63 static const char *IdHdr = ID_OUTPUTSOCKET;
  64
  65 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  66 CLASS IMPLEMENTATION
  67 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  68
  69 FGOutputSocket::FGOutputSocket(FGFDMExec* fdmex) :
  70   FGOutputType(fdmex),
  71   socket(0)
  72 {
  73 }
  74
  75 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  76
  77 FGOutputSocket::~FGOutputSocket()
  78 {
  79   delete socket;
  80 }
  81
  82 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  83
  84 void FGOutputSocket::SetOutputName(const string& fname)
  85 {
  86   // tokenize the output name
  87   size_t dot_pos = fname.find(':', 0);
  88   size_t slash_pos = fname.find('/', 0);
  89
  90   string name = fname.substr(0, dot_pos);
  91
  92   string proto = "TCP";
  93   if(dot_pos + 1 < slash_pos)
  94     proto = fname.substr(dot_pos + 1, slash_pos - dot_pos - 1);
  95
  96   string port = "1138";
  97   if(slash_pos < string::npos)
  98     port = fname.substr(slash_pos + 1, string::npos);
  99
 100   // set the model name
 101   Name = name + ":" + port + "/" + proto;
 102
 103   // set the socket params
 104   SockName = name;
 105
 106   SockPort = atoi(port.c_str());
 107
 108   if (proto == "UDP")
 109     SockProtocol = FGfdmSocket::ptUDP;
 110   else // Default to TCP
 111     SockProtocol = FGfdmSocket::ptTCP;
 112 }
 113
 114 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 115
 116 bool FGOutputSocket::Load(Element* el)
 117 {
 118   if (!FGOutputType::Load(el))
 119     return false;
 120
 121   SetOutputName(el->GetAttributeValue("name") + ":" +
 122                 el->GetAttributeValue("protocol") + "/" +
 123                 el->GetAttributeValue("port"));
 124
 125   return true;
 126 }
 127
 128 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 129
 130 bool FGOutputSocket::InitModel(void)
 131 {
 132   if (FGOutputType::InitModel()) {
 133     delete socket;
 134     socket = new FGfdmSocket(SockName, SockPort, SockProtocol);
 135
 136     if (socket == 0) return false;
 137     if (!socket->GetConnectStatus()) return false;
 138
 139     PrintHeaders();
 140
 141     return true;
 142   }
 143
 144   return false;
 145 }
 146
 147 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 148
 149 void FGOutputSocket::PrintHeaders(void)
 150 {
 151   string scratch;
 152
 153   socket->Clear();
 154   socket->Clear("<LABELS>");
 155   socket->Append("Time");
 156
 157   if (SubSystems & ssAerosurfaces) {
 158     socket->Append("Aileron Command");
 159     socket->Append("Elevator Command");
 160     socket->Append("Rudder Command");
 161     socket->Append("Flap Command");
 162     socket->Append("Left Aileron Position");
 163     socket->Append("Right Aileron Position");
 164     socket->Append("Elevator Position");
 165     socket->Append("Rudder Position");
 166     socket->Append("Flap Position");
 167   }
 168
 169   if (SubSystems & ssRates) {
 170     socket->Append("P");
 171     socket->Append("Q");
 172     socket->Append("R");
 173     socket->Append("PDot");
 174     socket->Append("QDot");
 175     socket->Append("RDot");
 176   }
 177
 178   if (SubSystems & ssVelocities) {
 179     socket->Append("QBar");
 180     socket->Append("Vtotal");
 181     socket->Append("UBody");
 182     socket->Append("VBody");
 183     socket->Append("WBody");
 184     socket->Append("UAero");
 185     socket->Append("VAero");
 186     socket->Append("WAero");
 187     socket->Append("Vn");
 188     socket->Append("Ve");
 189     socket->Append("Vd");
 190   }
 191
 192   if (SubSystems & ssForces) {
 193     socket->Append("F_Drag");
 194     socket->Append("F_Side");
 195     socket->Append("F_Lift");
 196     socket->Append("LoD");
 197     socket->Append("Fx");
 198     socket->Append("Fy");
 199     socket->Append("Fz");
 200   }
 201
 202   if (SubSystems & ssMoments) {
 203     socket->Append("L");
 204     socket->Append("M");
 205     socket->Append("N");
 206   }
 207
 208   if (SubSystems & ssAtmosphere) {
 209     socket->Append("Rho");
 210     socket->Append("SL pressure");
 211     socket->Append("Ambient pressure");
 212     socket->Append("Turbulence Magnitude");
 213     socket->Append("Turbulence Direction X");
 214     socket->Append("Turbulence Direction Y");
 215     socket->Append("Turbulence Direction Z");
 216     socket->Append("NWind");
 217     socket->Append("EWind");
 218     socket->Append("DWind");
 219   }
 220
 221   if (SubSystems & ssMassProps) {
 222     socket->Append("Ixx");
 223     socket->Append("Ixy");
 224     socket->Append("Ixz");
 225     socket->Append("Iyx");
 226     socket->Append("Iyy");
 227     socket->Append("Iyz");
 228     socket->Append("Izx");
 229     socket->Append("Izy");
 230     socket->Append("Izz");
 231     socket->Append("Mass");
 232     socket->Append("Xcg");
 233     socket->Append("Ycg");
 234     socket->Append("Zcg");
 235   }
 236
 237   if (SubSystems & ssPropagate) {
 238     socket->Append("Altitude");
 239     socket->Append("Phi (deg)");
 240     socket->Append("Tht (deg)");
 241     socket->Append("Psi (deg)");
 242     socket->Append("Alpha (deg)");
 243     socket->Append("Beta (deg)");
 244     socket->Append("Latitude (deg)");
 245     socket->Append("Longitude (deg)");
 246   }
 247
 248   if (SubSystems & ssAeroFunctions) {
 249     scratch = Aerodynamics->GetAeroFunctionStrings(",");
 250     if (scratch.length() != 0) socket->Append(scratch);
 251   }
 252
 253   if (SubSystems & ssFCS) {
 254     scratch = FCS->GetComponentStrings(",");
 255     if (scratch.length() != 0) socket->Append(scratch);
 256   }
 257
 258   if (SubSystems & ssGroundReactions)
 259     socket->Append(GroundReactions->GetGroundReactionStrings(","));
 260
 261   if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0)
 262     socket->Append(Propulsion->GetPropulsionStrings(","));
 263
 264   if (OutputProperties.size() > 0) {
 265     for (unsigned int i=0;i<OutputProperties.size();i++)
 266       if (OutputCaptions[i].size() > 0) {
 267         socket->Append(OutputCaptions[i]);
 268       } else {
 269         socket->Append(OutputProperties[i]->GetPrintableName());
 270       }
 271   }
 272
 273   socket->Send();
 274 }
 275
 276 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 277
 278 void FGOutputSocket::Print(void)
 279 {
 280   string asciiData, scratch;
 281
 282   if (socket == 0) return;
 283   if (!socket->GetConnectStatus()) return;
 284
 285   socket->Clear();
 286   socket->Append(FDMExec->GetSimTime());
 287
 288   if (SubSystems & ssAerosurfaces) {
 289     socket->Append(FCS->GetDaCmd());
 290     socket->Append(FCS->GetDeCmd());
 291     socket->Append(FCS->GetDrCmd());
 292     socket->Append(FCS->GetDfCmd());
 293     socket->Append(FCS->GetDaLPos());
 294     socket->Append(FCS->GetDaRPos());
 295     socket->Append(FCS->GetDePos());
 296     socket->Append(FCS->GetDrPos());
 297     socket->Append(FCS->GetDfPos());
 298   }
 299   if (SubSystems & ssRates) {
 300     socket->Append(radtodeg*Propagate->GetPQR(eP));
 301     socket->Append(radtodeg*Propagate->GetPQR(eQ));
 302     socket->Append(radtodeg*Propagate->GetPQR(eR));
 303     socket->Append(radtodeg*Accelerations->GetPQRdot(eP));
 304     socket->Append(radtodeg*Accelerations->GetPQRdot(eQ));
 305     socket->Append(radtodeg*Accelerations->GetPQRdot(eR));
 306   }
 307   if (SubSystems & ssVelocities) {
 308     socket->Append(Auxiliary->Getqbar());
 309     socket->Append(Auxiliary->GetVt());
 310     socket->Append(Propagate->GetUVW(eU));
 311     socket->Append(Propagate->GetUVW(eV));
 312     socket->Append(Propagate->GetUVW(eW));
 313     socket->Append(Auxiliary->GetAeroUVW(eU));
 314     socket->Append(Auxiliary->GetAeroUVW(eV));
 315     socket->Append(Auxiliary->GetAeroUVW(eW));
 316     socket->Append(Propagate->GetVel(eNorth));
 317     socket->Append(Propagate->GetVel(eEast));
 318     socket->Append(Propagate->GetVel(eDown));
 319   }
 320   if (SubSystems & ssForces) {
 321     socket->Append(Aerodynamics->GetvFw()(eDrag));
 322     socket->Append(Aerodynamics->GetvFw()(eSide));
 323     socket->Append(Aerodynamics->GetvFw()(eLift));
 324     socket->Append(Aerodynamics->GetLoD());
 325     socket->Append(Aircraft->GetForces(eX));
 326     socket->Append(Aircraft->GetForces(eY));
 327     socket->Append(Aircraft->GetForces(eZ));
 328   }
 329   if (SubSystems & ssMoments) {
 330     socket->Append(Aircraft->GetMoments(eL));
 331     socket->Append(Aircraft->GetMoments(eM));
 332     socket->Append(Aircraft->GetMoments(eN));
 333   }
 334   if (SubSystems & ssAtmosphere) {
 335     socket->Append(Atmosphere->GetDensity());
 336     socket->Append(Atmosphere->GetPressureSL());
 337     socket->Append(Atmosphere->GetPressure());
 338     socket->Append(Winds->GetTurbMagnitude());
 339     socket->Append(Winds->GetTurbDirection().Dump(","));
 340     socket->Append(Winds->GetTotalWindNED().Dump(","));
 341   }
 342   if (SubSystems & ssMassProps) {
 343     socket->Append(MassBalance->GetJ()(1,1));
 344     socket->Append(MassBalance->GetJ()(1,2));
 345     socket->Append(MassBalance->GetJ()(1,3));
 346     socket->Append(MassBalance->GetJ()(2,1));
 347     socket->Append(MassBalance->GetJ()(2,2));
 348     socket->Append(MassBalance->GetJ()(2,3));
 349     socket->Append(MassBalance->GetJ()(3,1));
 350     socket->Append(MassBalance->GetJ()(3,2));
 351     socket->Append(MassBalance->GetJ()(3,3));
 352     socket->Append(MassBalance->GetMass());
 353     socket->Append(MassBalance->GetXYZcg()(eX));
 354     socket->Append(MassBalance->GetXYZcg()(eY));
 355     socket->Append(MassBalance->GetXYZcg()(eZ));
 356   }
 357   if (SubSystems & ssPropagate) {
 358     socket->Append(Propagate->GetAltitudeASL());
 359     socket->Append(radtodeg*Propagate->GetEuler(ePhi));
 360     socket->Append(radtodeg*Propagate->GetEuler(eTht));
 361     socket->Append(radtodeg*Propagate->GetEuler(ePsi));
 362     socket->Append(Auxiliary->Getalpha(inDegrees));
 363     socket->Append(Auxiliary->Getbeta(inDegrees));
 364     socket->Append(Propagate->GetLocation().GetLatitudeDeg());
 365     socket->Append(Propagate->GetLocation().GetLongitudeDeg());
 366   }
 367   if (SubSystems & ssAeroFunctions) {
 368     scratch = Aerodynamics->GetAeroFunctionValues(",");
 369     if (scratch.length() != 0) socket->Append(scratch);
 370   }
 371   if (SubSystems & ssFCS) {
 372     scratch = FCS->GetComponentValues(",");
 373     if (scratch.length() != 0) socket->Append(scratch);
 374   }
 375   if (SubSystems & ssGroundReactions) {
 376     socket->Append(GroundReactions->GetGroundReactionValues(","));
 377   }
 378   if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
 379     socket->Append(Propulsion->GetPropulsionValues(","));
 380   }
 381
 382   for (unsigned int i=0;i<OutputProperties.size();i++) {
 383     socket->Append(OutputProperties[i]->getDoubleValue());
 384   }
 385
 386   socket->Send();
 387 }
 388
 389 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 390
 391 void FGOutputSocket::SocketStatusOutput(const string& out_str)
 392 {
 393   string asciiData;
 394
 395   if (socket == 0) return;
 396
 397   socket->Clear();
 398   asciiData = string("<STATUS>") + out_str;
 399   socket->Append(asciiData.c_str());
 400   socket->Send();
 401 }
 402 }