src/FDM/JSBSim/models/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 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 12/02/98   JSB   Created
  36 11/09/07   HDW   Added FlightGear Socket Interface
  37
  38 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  39 INCLUDES
  40 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  41
  42 #include "FGOutput.h"
  43 #include "FGState.h"
  44 #include "FGFDMExec.h"
  45 #include "FGAtmosphere.h"
  46 #include "FGFCS.h"
  47 #include "FGAerodynamics.h"
  48 #include "FGGroundReactions.h"
  49 #include "FGExternalReactions.h"
  50 #include "FGBuoyantForces.h"
  51 #include "FGAircraft.h"
  52 #include "FGMassBalance.h"
  53 #include "FGPropagate.h"
  54 #include "FGAuxiliary.h"
  55 #include "FGInertial.h"
  56 #include "FGPropulsion.h"   //access to FGEngine, FGTank
  57 #include "models/propulsion/FGPiston.h"
  58 #include <fstream>
  59 #include <iomanip>
  60 #include <cstring>
  61
  62 #include "input_output/net_fdm.hxx"
  63
  64 #if defined(WIN32) && !defined(__CYGWIN__)
  65 #  include <windows.h>
  66 #else
  67 #  include <netinet/in.h>       // htonl() ntohl()
  68 #endif
  69
  70 static const int endianTest = 1;
  71 #define isLittleEndian (*((char *) &endianTest ) != 0)
  72
  73 namespace JSBSim {
  74
  75 static const char *IdSrc = "$Id$";
  76 static const char *IdHdr = ID_OUTPUT;
  77
  78 // (stolen from FGFS native_fdm.cxx)
  79 // The function htond is defined this way due to the way some
  80 // processors and OSes treat floating point values.  Some will raise
  81 // an exception whenever a "bad" floating point value is loaded into a
  82 // floating point register.  Solaris is notorious for this, but then
  83 // so is LynxOS on the PowerPC.  By translating the data in place,
  84 // there is no need to load a FP register with the "corruped" floating
  85 // point value.  By doing the BIG_ENDIAN test, I can optimize the
  86 // routine for big-endian processors so it can be as efficient as
  87 // possible
  88 static void htond (double &x)
  89 {
  90     if ( isLittleEndian ) {
  91         int    *Double_Overlay;
  92         int     Holding_Buffer;
  93
  94         Double_Overlay = (int *) &x;
  95         Holding_Buffer = Double_Overlay [0];
  96
  97         Double_Overlay [0] = htonl (Double_Overlay [1]);
  98         Double_Overlay [1] = htonl (Holding_Buffer);
  99     } else {
 100         return;
 101     }
 102 }
 103
 104 // Float version
 105 static void htonf (float &x)
 106 {
 107     if ( isLittleEndian ) {
 108         int    *Float_Overlay;
 109         int     Holding_Buffer;
 110
 111         Float_Overlay = (int *) &x;
 112         Holding_Buffer = Float_Overlay [0];
 113
 114         Float_Overlay [0] = htonl (Holding_Buffer);
 115     } else {
 116         return;
 117     }
 118 }
 119
 120
 121 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 122 CLASS IMPLEMENTATION
 123 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 124
 125 FGOutput::FGOutput(FGFDMExec* fdmex) : FGModel(fdmex)
 126 {
 127   Name = "FGOutput";
 128   sFirstPass = dFirstPass = true;
 129   socket = 0;
 130   flightGearSocket = 0;
 131   Type = otNone;
 132   SubSystems = 0;
 133   enabled = true;
 134   delimeter = ", ";
 135   Filename = "";
 136   DirectivesFile = "";
 137   output_file_name = "";
 138
 139   memset(&fgSockBuf, 0x00, sizeof(fgSockBuf));
 140
 141   Debug(0);
 142 }
 143
 144 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 145
 146 FGOutput::~FGOutput()
 147 {
 148   delete socket;
 149   delete flightGearSocket;
 150   OutputProperties.clear();
 151   Debug(1);
 152 }
 153
 154 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 155
 156 bool FGOutput::InitModel(void)
 157 {
 158   if (!FGModel::InitModel()) return false;
 159
 160   return true;
 161 }
 162
 163 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 164
 165 bool FGOutput::Run(void)
 166 {
 167   if (FGModel::Run()) return true;
 168
 169   if (enabled && !State->IntegrationSuspended()&& !FDMExec->Holding()) {
 170     if (Type == otSocket) {
 171       SocketOutput();
 172     } else if (Type == otFlightGear) {
 173       FlightGearSocketOutput();
 174     } else if (Type == otCSV || Type == otTab) {
 175       DelimitedOutput(Filename);
 176     } else if (Type == otTerminal) {
 177       // Not done yet
 178     } else if (Type == otNone) {
 179       // Do nothing
 180     } else {
 181       // Not a valid type of output
 182     }
 183   }
 184   return false;
 185 }
 186
 187 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 188
 189 void FGOutput::SetType(string type)
 190 {
 191   if (type == "CSV") {
 192     Type = otCSV;
 193     delimeter = ", ";
 194   } else if (type == "TABULAR") {
 195     Type = otTab;
 196     delimeter = "\t";
 197   } else if (type == "SOCKET") {
 198     Type = otSocket;
 199   } else if (type == "FLIGHTGEAR") {
 200     Type = otFlightGear;
 201   } else if (type == "TERMINAL") {
 202     Type = otTerminal;
 203   } else if (type != string("NONE")) {
 204     Type = otUnknown;
 205     cerr << "Unknown type of output specified in config file" << endl;
 206   }
 207 }
 208
 209 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 210
 211 void FGOutput::DelimitedOutput(string fname)
 212 {
 213   streambuf* buffer;
 214   string scratch = "";
 215
 216   if (fname == "COUT" || fname == "cout") {
 217     buffer = cout.rdbuf();
 218   } else {
 219     datafile.open(fname.c_str());
 220     buffer = datafile.rdbuf();
 221   }
 222
 223   ostream outstream(buffer);
 224
 225   outstream.precision(10);
 226
 227   if (dFirstPass) {
 228     outstream << "Time";
 229     if (SubSystems & ssSimulation) {
 230       // Nothing here, yet
 231     }
 232     if (SubSystems & ssAerosurfaces) {
 233       outstream << delimeter;
 234       outstream << "Aileron Command (norm)" + delimeter;
 235       outstream << "Elevator Command (norm)" + delimeter;
 236       outstream << "Rudder Command (norm)" + delimeter;
 237       outstream << "Flap Command (norm)" + delimeter;
 238       outstream << "Left Aileron Position (deg)" + delimeter;
 239       outstream << "Right Aileron Position (deg)" + delimeter;
 240       outstream << "Elevator Position (deg)" + delimeter;
 241       outstream << "Rudder Position (deg)" + delimeter;
 242       outstream << "Flap Position (deg)";
 243     }
 244     if (SubSystems & ssRates) {
 245       outstream << delimeter;
 246       outstream << "P (deg/s)" + delimeter + "Q (deg/s)" + delimeter + "R (deg/s)" + delimeter;
 247       outstream << "P dot (deg/s^2)" + delimeter + "Q dot (deg/s^2)" + delimeter + "R dot (deg/s^2)";
 248     }
 249     if (SubSystems & ssVelocities) {
 250       outstream << delimeter;
 251       outstream << "q bar (psf)" + delimeter;
 252       outstream << "Reynolds Number" + delimeter;
 253       outstream << "V_{Total} (ft/s)" + delimeter;
 254       outstream << "V_{Inertial} (ft/s)" + delimeter;
 255       outstream << "UBody" + delimeter + "VBody" + delimeter + "WBody" + delimeter;
 256       outstream << "Aero V_{X Body} (ft/s)" + delimeter + "Aero V_{Y Body} (ft/s)" + delimeter + "Aero V_{Z Body} (ft/s)" + delimeter;
 257       outstream << "V_{North} (ft/s)" + delimeter + "V_{East} (ft/s)" + delimeter + "V_{Down} (ft/s)";
 258     }
 259     if (SubSystems & ssForces) {
 260       outstream << delimeter;
 261       outstream << "F_{Drag} (lbs)" + delimeter + "F_{Side} (lbs)" + delimeter + "F_{Lift} (lbs)" + delimeter;
 262       outstream << "L/D" + delimeter;
 263       outstream << "F_{Aero x} (lbs)" + delimeter + "F_{Aero y} (lbs)" + delimeter + "F_{Aero z} (lbs)" + delimeter;
 264       outstream << "F_{Prop x} (lbs)" + delimeter + "F_{Prop y} (lbs)" + delimeter + "F_{Prop z} (lbs)" + delimeter;
 265       outstream << "F_{Gear x} (lbs)" + delimeter + "F_{Gear y} (lbs)" + delimeter + "F_{Gear z} (lbs)" + delimeter;
 266       outstream << "F_{Ext x} (lbs)" + delimeter + "F_{Ext y} (lbs)" + delimeter + "F_{Ext z} (lbs)" + delimeter;
 267       outstream << "F_{Buoyant x} (lbs)" + delimeter + "F_{Buoyant y} (lbs)" + delimeter + "F_{Buoyant z} (lbs)" + delimeter;
 268       outstream << "F_{Total x} (lbs)" + delimeter + "F_{Total y} (lbs)" + delimeter + "F_{Total z} (lbs)";
 269     }
 270     if (SubSystems & ssMoments) {
 271       outstream << delimeter;
 272       outstream << "L_{Aero} (ft-lbs)" + delimeter + "M_{Aero} ( ft-lbs)" + delimeter + "N_{Aero} (ft-lbs)" + delimeter;
 273       outstream << "L_{Prop} (ft-lbs)" + delimeter + "M_{Prop} (ft-lbs)" + delimeter + "N_{Prop} (ft-lbs)" + delimeter;
 274       outstream << "L_{Gear} (ft-lbs)" + delimeter + "M_{Gear} (ft-lbs)" + delimeter + "N_{Gear} (ft-lbs)" + delimeter;
 275       outstream << "L_{ext} (ft-lbs)" + delimeter + "M_{ext} (ft-lbs)" + delimeter + "N_{ext} (ft-lbs)" + delimeter;
 276       outstream << "L_{Buoyant} (ft-lbs)" + delimeter + "M_{Buoyant} (ft-lbs)" + delimeter + "N_{Buoyant} (ft-lbs)" + delimeter;
 277       outstream << "L_{Total} (ft-lbs)" + delimeter + "M_{Total} (ft-lbs)" + delimeter + "N_{Total} (ft-lbs)";
 278     }
 279     if (SubSystems & ssAtmosphere) {
 280       outstream << delimeter;
 281       outstream << "Rho (slugs/ft^3)" + delimeter;
 282       outstream << "Absolute Viscosity" + delimeter;
 283       outstream << "Kinematic Viscosity" + delimeter;
 284       outstream << "Temperature (R)" + delimeter;
 285       outstream << "P_{SL} (psf)" + delimeter;
 286       outstream << "P_{Ambient} (psf)" + delimeter;
 287       outstream << "Turbulence Magnitude (ft/sec)" + delimeter;
 288       outstream << "Turbulence X Direction (rad)" + delimeter + "Turbulence Y Direction (rad)" + delimeter + "Turbulence Z Direction (rad)" + delimeter;
 289       outstream << "Wind V_{North} (ft/s)" + delimeter + "Wind V_{East} (ft/s)" + delimeter + "Wind V_{Down} (ft/s)";
 290     }
 291     if (SubSystems & ssMassProps) {
 292       outstream << delimeter;
 293       outstream << "I_{xx}" + delimeter;
 294       outstream << "I_{xy}" + delimeter;
 295       outstream << "I_{xz}" + delimeter;
 296       outstream << "I_{yx}" + delimeter;
 297       outstream << "I_{yy}" + delimeter;
 298       outstream << "I_{yz}" + delimeter;
 299       outstream << "I_{zx}" + delimeter;
 300       outstream << "I_{zy}" + delimeter;
 301       outstream << "I_{zz}" + delimeter;
 302       outstream << "Mass" + delimeter;
 303       outstream << "X_{cg}" + delimeter + "Y_{cg}" + delimeter + "Z_{cg}";
 304     }
 305     if (SubSystems & ssPropagate) {
 306       outstream << delimeter;
 307       outstream << "Altitude (ft)" + delimeter;
 308       outstream << "Phi (deg)" + delimeter + "Theta (deg)" + delimeter + "Psi (deg)" + delimeter;
 309       outstream << "Alpha (deg)" + delimeter;
 310       outstream << "Beta (deg)" + delimeter;
 311       outstream << "Latitude (deg)" + delimeter;
 312       outstream << "Longitude (deg)" + delimeter;
 313       outstream << "ECEF X (ft)" + delimeter + "ECEF Y (ft)" + delimeter + "ECEF Z (ft)" + delimeter;
 314       outstream << "EPA (deg)" + delimeter;
 315       outstream << "Distance AGL (ft)" + delimeter;
 316       outstream << "Runway Radius (ft)";
 317     }
 318     if (SubSystems & ssCoefficients) {
 319       scratch = Aerodynamics->GetCoefficientStrings(delimeter);
 320       if (scratch.length() != 0) outstream << delimeter << scratch;
 321     }
 322     if (SubSystems & ssFCS) {
 323       scratch = FCS->GetComponentStrings(delimeter);
 324       if (scratch.length() != 0) outstream << delimeter << scratch;
 325     }
 326     if (SubSystems & ssGroundReactions) {
 327       outstream << delimeter;
 328       outstream << GroundReactions->GetGroundReactionStrings(delimeter);
 329     }
 330     if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
 331       outstream << delimeter;
 332       outstream << Propulsion->GetPropulsionStrings(delimeter);
 333     }
 334     if (OutputProperties.size() > 0) {
 335       for (unsigned int i=0;i<OutputProperties.size();i++) {
 336         outstream << delimeter << OutputProperties[i]->GetPrintableName();
 337       }
 338     }
 339
 340     outstream << endl;
 341     dFirstPass = false;
 342   }
 343
 344   outstream << State->Getsim_time();
 345   if (SubSystems & ssSimulation) {
 346   }
 347   if (SubSystems & ssAerosurfaces) {
 348     outstream << delimeter;
 349     outstream << FCS->GetDaCmd() << delimeter;
 350     outstream << FCS->GetDeCmd() << delimeter;
 351     outstream << FCS->GetDrCmd() << delimeter;
 352     outstream << FCS->GetDfCmd() << delimeter;
 353     outstream << FCS->GetDaLPos(ofDeg) << delimeter;
 354     outstream << FCS->GetDaRPos(ofDeg) << delimeter;
 355     outstream << FCS->GetDePos(ofDeg) << delimeter;
 356     outstream << FCS->GetDrPos(ofDeg) << delimeter;
 357     outstream << FCS->GetDfPos(ofDeg);
 358   }
 359   if (SubSystems & ssRates) {
 360     outstream << delimeter;
 361     outstream << (radtodeg*Propagate->GetPQR()).Dump(delimeter) << delimeter;
 362     outstream << (radtodeg*Propagate->GetPQRdot()).Dump(delimeter);
 363   }
 364   if (SubSystems & ssVelocities) {
 365     outstream << delimeter;
 366     outstream << Auxiliary->Getqbar() << delimeter;
 367     outstream << Auxiliary->GetReynoldsNumber() << delimeter;
 368     outstream << setprecision(12) << Auxiliary->GetVt() << delimeter;
 369     outstream << Propagate->GetInertialVelocityMagnitude() << delimeter;
 370     outstream << setprecision(12) << Propagate->GetUVW().Dump(delimeter) << delimeter;
 371     outstream << Auxiliary->GetAeroUVW().Dump(delimeter) << delimeter;
 372     outstream << Propagate->GetVel().Dump(delimeter);
 373     outstream.precision(10);
 374   }
 375   if (SubSystems & ssForces) {
 376     outstream << delimeter;
 377     outstream << Aerodynamics->GetvFw() << delimeter;
 378     outstream << Aerodynamics->GetLoD() << delimeter;
 379     outstream << Aerodynamics->GetForces() << delimeter;
 380     outstream << Propulsion->GetForces() << delimeter;
 381     outstream << GroundReactions->GetForces() << delimeter;
 382     outstream << ExternalReactions->GetForces() << delimeter;
 383     outstream << BuoyantForces->GetForces() << delimeter;
 384     outstream << Aircraft->GetForces().Dump(delimeter);
 385   }
 386   if (SubSystems & ssMoments) {
 387     outstream << delimeter;
 388     outstream << Aerodynamics->GetMoments() << delimeter;
 389     outstream << Propulsion->GetMoments() << delimeter;
 390     outstream << GroundReactions->GetMoments() << delimeter;
 391     outstream << ExternalReactions->GetMoments() << delimeter;
 392     outstream << BuoyantForces->GetMoments() << delimeter;
 393     outstream << Aircraft->GetMoments().Dump(delimeter);
 394   }
 395   if (SubSystems & ssAtmosphere) {
 396     outstream << delimeter;
 397     outstream << Atmosphere->GetDensity() << delimeter;
 398     outstream << Atmosphere->GetAbsoluteViscosity() << delimeter;
 399     outstream << Atmosphere->GetKinematicViscosity() << delimeter;
 400     outstream << Atmosphere->GetTemperature() << delimeter;
 401     outstream << Atmosphere->GetPressureSL() << delimeter;
 402     outstream << Atmosphere->GetPressure() << delimeter;
 403     outstream << Atmosphere->GetTurbMagnitude() << delimeter;
 404     outstream << Atmosphere->GetTurbDirection().Dump(delimeter) << delimeter;
 405     outstream << Atmosphere->GetTotalWindNED().Dump(delimeter);
 406   }
 407   if (SubSystems & ssMassProps) {
 408     outstream << delimeter;
 409     outstream << MassBalance->GetJ() << delimeter;
 410     outstream << MassBalance->GetMass() << delimeter;
 411     outstream << MassBalance->GetXYZcg();
 412   }
 413   if (SubSystems & ssPropagate) {
 414     outstream.precision(14);
 415     outstream << delimeter;
 416     outstream << Propagate->Geth() << delimeter;
 417     outstream << (radtodeg*Propagate->GetEuler()).Dump(delimeter) << delimeter;
 418     outstream << Auxiliary->Getalpha(inDegrees) << delimeter;
 419     outstream << Auxiliary->Getbeta(inDegrees) << delimeter;
 420     outstream << Propagate->GetLocation().GetLatitudeDeg() << delimeter;
 421     outstream << Propagate->GetLocation().GetLongitudeDeg() << delimeter;
 422     outstream.precision(18);
 423     outstream << ((FGColumnVector3)Propagate->GetLocation()).Dump(delimeter) << delimeter;
 424     outstream.precision(14);
 425     outstream << Inertial->GetEarthPositionAngleDeg() << delimeter;
 426     outstream << Propagate->GetDistanceAGL() << delimeter;
 427     outstream << Propagate->GetRunwayRadius();
 428     outstream.precision(10);
 429   }
 430   if (SubSystems & ssCoefficients) {
 431     scratch = Aerodynamics->GetCoefficientValues(delimeter);
 432     if (scratch.length() != 0) outstream << delimeter << scratch;
 433   }
 434   if (SubSystems & ssFCS) {
 435     scratch = FCS->GetComponentValues(delimeter);
 436     if (scratch.length() != 0) outstream << delimeter << scratch;
 437   }
 438   if (SubSystems & ssGroundReactions) {
 439     outstream << delimeter;
 440     outstream << GroundReactions->GetGroundReactionValues(delimeter);
 441   }
 442   if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
 443     outstream << delimeter;
 444     outstream << Propulsion->GetPropulsionValues(delimeter);
 445   }
 446
 447   for (unsigned int i=0;i<OutputProperties.size();i++) {
 448     outstream << delimeter << OutputProperties[i]->getDoubleValue();
 449   }
 450
 451   outstream << endl;
 452   outstream.flush();
 453 }
 454
 455 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 456
 457 void FGOutput::SocketDataFill(FGNetFDM* net)
 458 {
 459     unsigned int i;
 460
 461     // Version
 462     net->version = FG_NET_FDM_VERSION;
 463
 464     // Positions
 465     net->longitude = Propagate->GetLocation().GetLongitude(); // geodetic (radians)
 466     net->latitude  = Propagate->GetLocation().GetLatitude(); // geodetic (radians)
 467     net->altitude  = Propagate->Geth()*0.3048; // altitude, above sea level (meters)
 468     net->agl       = (float)(Propagate->GetDistanceAGL()*0.3048); // altitude, above ground level (meters)
 469
 470     net->phi       = (float)(Propagate->GetEuler(ePhi)); // roll (radians)
 471     net->theta     = (float)(Propagate->GetEuler(eTht)); // pitch (radians)
 472     net->psi       = (float)(Propagate->GetEuler(ePsi)); // yaw or true heading (radians)
 473
 474     net->alpha     = (float)(Auxiliary->Getalpha()); // angle of attack (radians)
 475     net->beta      = (float)(Auxiliary->Getbeta()); // side slip angle (radians)
 476
 477     // Velocities
 478     net->phidot     = (float)(Auxiliary->GetEulerRates(ePhi)); // roll rate (radians/sec)
 479     net->thetadot   = (float)(Auxiliary->GetEulerRates(eTht)); // pitch rate (radians/sec)
 480     net->psidot     = (float)(Auxiliary->GetEulerRates(ePsi)); // yaw rate (radians/sec)
 481     net->vcas       = (float)(Auxiliary->GetVcalibratedFPS()); // VCAS, ft/sec
 482     net->climb_rate = (float)(Propagate->Gethdot());           // altitude rate, ft/sec
 483     net->v_north    = (float)(Propagate->GetVel(eNorth));      // north vel in NED frame, fps
 484     net->v_east     = (float)(Propagate->GetVel(eEast));       // east vel in NED frame, fps
 485     net->v_down     = (float)(Propagate->GetVel(eDown));       // down vel in NED frame, fps
 486 //---ADD METHOD TO CALCULATE THESE TERMS---
 487     net->v_wind_body_north = (float)(Propagate->GetVel(eNorth)); // north vel in NED relative to airmass, fps
 488     net->v_wind_body_east = (float)(Propagate->GetVel(eEast)); // east vel in NED relative to airmass, fps
 489     net->v_wind_body_down = (float)(Propagate->GetVel(eDown)); // down vel in NED relative to airmass, fps
 490
 491     // Accelerations
 492     net->A_X_pilot   = (float)(Auxiliary->GetPilotAccel(1));    // X body accel, ft/s/s
 493     net->A_Y_pilot   = (float)(Auxiliary->GetPilotAccel(2));    // Y body accel, ft/s/s
 494     net->A_Z_pilot   = (float)(Auxiliary->GetPilotAccel(3));    // Z body accel, ft/s/s
 495
 496     // Stall
 497     net->stall_warning = 0.0;  // 0.0 - 1.0 indicating the amount of stall
 498     net->slip_deg    = (float)(Auxiliary->Getbeta(inDegrees));  // slip ball deflection, deg
 499
 500     // Engine status
 501     net->num_engines = Propulsion->GetNumEngines(); // Number of valid engines
 502
 503     for (i=0; i<net->num_engines; i++) {
 504        if (Propulsion->GetEngine(i)->GetRunning())
 505           net->eng_state[i] = 2;       // Engine state running
 506        else if (Propulsion->GetEngine(i)->GetCranking())
 507           net->eng_state[i] = 1;       // Engine state cranking
 508        else
 509           net->eng_state[i] = 0;       // Engine state off
 510
 511        switch (Propulsion->GetEngine(i)->GetType()) {
 512        case (FGEngine::etRocket):
 513        break;
 514        case (FGEngine::etPiston):
 515           net->rpm[i]       = (float)(((FGPiston *)Propulsion->GetEngine(i))->getRPM());
 516           net->fuel_flow[i] = (float)(((FGPiston *)Propulsion->GetEngine(i))->getFuelFlow_gph());
 517           net->fuel_px[i]   = 0; // Fuel pressure, psi  (N/A in current model)
 518           net->egt[i]       = (float)(((FGPiston *)Propulsion->GetEngine(i))->GetEGT());
 519           net->cht[i]       = (float)(((FGPiston *)Propulsion->GetEngine(i))->getCylinderHeadTemp_degF());
 520           net->mp_osi[i]    = (float)(((FGPiston *)Propulsion->GetEngine(i))->getManifoldPressure_inHg());
 521           net->oil_temp[i]  = (float)(((FGPiston *)Propulsion->GetEngine(i))->getOilTemp_degF());
 522           net->oil_px[i]    = (float)(((FGPiston *)Propulsion->GetEngine(i))->getOilPressure_psi());
 523           net->tit[i]       = 0; // Turbine Inlet Temperature  (N/A for piston)
 524        break;
 525        case (FGEngine::etTurbine):
 526        break;
 527        case (FGEngine::etTurboprop):
 528        break;
 529        case (FGEngine::etElectric):
 530        break;
 531        case (FGEngine::etUnknown):
 532        break;
 533        }
 534     }
 535
 536
 537     // Consumables
 538     net->num_tanks = Propulsion->GetNumTanks();   // Max number of fuel tanks
 539
 540     for (i=0; i<net->num_tanks; i++) {
 541        net->fuel_quantity[i] = (float)(((FGTank *)Propulsion->GetTank(i))->GetContents());
 542     }
 543
 544
 545     // Gear status
 546     net->num_wheels  = GroundReactions->GetNumGearUnits();
 547
 548     for (i=0; i<net->num_wheels; i++) {
 549        net->wow[i]              = GroundReactions->GetGearUnit(i)->GetWOW();
 550        if (GroundReactions->GetGearUnit(i)->GetGearUnitDown())
 551           net->gear_pos[i]      = 1;  //gear down, using FCS convention
 552        else
 553           net->gear_pos[i]      = 0;  //gear up, using FCS convention
 554        net->gear_steer[i]       = (float)(GroundReactions->GetGearUnit(i)->GetSteerNorm());
 555        net->gear_compression[i] = (float)(GroundReactions->GetGearUnit(i)->GetCompLen());
 556     }
 557
 558
 559     // Environment
 560     net->cur_time    = (long int)1234567890;    // Friday, Feb 13, 2009, 23:31:30 UTC (not processed by FGFS anyway)
 561     net->warp        = 0;                       // offset in seconds to unix time
 562     net->visibility  = 25000.0;                 // visibility in meters (for env. effects)
 563
 564
 565     // Control surface positions (normalized values)
 566     net->elevator          = (float)(FCS->GetDePos(ofNorm));    // Norm Elevator Pos, --
 567     net->elevator_trim_tab = (float)(FCS->GetPitchTrimCmd());   // Norm Elev Trim Tab Pos, --
 568     net->left_flap         = (float)(FCS->GetDfPos(ofNorm));    // Norm Flap Pos, --
 569     net->right_flap        = (float)(FCS->GetDfPos(ofNorm));    // Norm Flap Pos, --
 570     net->left_aileron      = (float)(FCS->GetDaLPos(ofNorm));   // Norm L Aileron Pos, --
 571     net->right_aileron     = (float)(FCS->GetDaRPos(ofNorm));   // Norm R Aileron Pos, --
 572     net->rudder            = (float)(FCS->GetDrPos(ofNorm));    // Norm Rudder Pos, --
 573     net->nose_wheel        = (float)(FCS->GetDrPos(ofNorm));    // *** FIX ***  Using Rudder Pos for NWS, --
 574     net->speedbrake        = (float)(FCS->GetDsbPos(ofNorm));   // Norm Speedbrake Pos, --
 575     net->spoilers          = (float)(FCS->GetDspPos(ofNorm));   // Norm Spoiler Pos, --
 576
 577
 578     // Convert the net buffer to network format
 579     if ( isLittleEndian ) {
 580         net->version = htonl(net->version);
 581
 582         htond(net->longitude);
 583         htond(net->latitude);
 584         htond(net->altitude);
 585         htonf(net->agl);
 586         htonf(net->phi);
 587         htonf(net->theta);
 588         htonf(net->psi);
 589         htonf(net->alpha);
 590         htonf(net->beta);
 591
 592         htonf(net->phidot);
 593         htonf(net->thetadot);
 594         htonf(net->psidot);
 595         htonf(net->vcas);
 596         htonf(net->climb_rate);
 597         htonf(net->v_north);
 598         htonf(net->v_east);
 599         htonf(net->v_down);
 600         htonf(net->v_wind_body_north);
 601         htonf(net->v_wind_body_east);
 602         htonf(net->v_wind_body_down);
 603
 604         htonf(net->A_X_pilot);
 605         htonf(net->A_Y_pilot);
 606         htonf(net->A_Z_pilot);
 607
 608         htonf(net->stall_warning);
 609         htonf(net->slip_deg);
 610
 611         for (i=0; i<net->num_engines; ++i ) {
 612             net->eng_state[i] = htonl(net->eng_state[i]);
 613             htonf(net->rpm[i]);
 614             htonf(net->fuel_flow[i]);
 615             htonf(net->fuel_px[i]);
 616             htonf(net->egt[i]);
 617             htonf(net->cht[i]);
 618             htonf(net->mp_osi[i]);
 619             htonf(net->tit[i]);
 620             htonf(net->oil_temp[i]);
 621             htonf(net->oil_px[i]);
 622         }
 623         net->num_engines = htonl(net->num_engines);
 624
 625         for (i=0; i<net->num_tanks; ++i ) {
 626             htonf(net->fuel_quantity[i]);
 627         }
 628         net->num_tanks = htonl(net->num_tanks);
 629
 630         for (i=0; i<net->num_wheels; ++i ) {
 631             net->wow[i] = htonl(net->wow[i]);
 632             htonf(net->gear_pos[i]);
 633             htonf(net->gear_steer[i]);
 634             htonf(net->gear_compression[i]);
 635         }
 636         net->num_wheels = htonl(net->num_wheels);
 637
 638         net->cur_time = htonl( net->cur_time );
 639         net->warp = htonl( net->warp );
 640         htonf(net->visibility);
 641
 642         htonf(net->elevator);
 643         htonf(net->elevator_trim_tab);
 644         htonf(net->left_flap);
 645         htonf(net->right_flap);
 646         htonf(net->left_aileron);
 647         htonf(net->right_aileron);
 648         htonf(net->rudder);
 649         htonf(net->nose_wheel);
 650         htonf(net->speedbrake);
 651         htonf(net->spoilers);
 652     }
 653 }
 654
 655 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 656
 657 void FGOutput::FlightGearSocketOutput(void)
 658 {
 659   int length = sizeof(fgSockBuf);
 660
 661
 662   if (flightGearSocket == NULL) return;
 663   if (!flightGearSocket->GetConnectStatus()) return;
 664
 665   SocketDataFill(&fgSockBuf);
 666   flightGearSocket->Send((char *)&fgSockBuf, length);
 667 }
 668
 669 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 670
 671 void FGOutput::SocketOutput(void)
 672 {
 673   string asciiData, scratch;
 674
 675   if (socket == NULL) return;
 676   if (!socket->GetConnectStatus()) return;
 677
 678   socket->Clear();
 679   if (sFirstPass) {
 680     socket->Clear("<LABELS>");
 681     socket->Append("Time");
 682
 683     if (SubSystems & ssAerosurfaces) {
 684       socket->Append("Aileron Command");
 685       socket->Append("Elevator Command");
 686       socket->Append("Rudder Command");
 687       socket->Append("Flap Command");
 688       socket->Append("Left Aileron Position");
 689       socket->Append("Right Aileron Position");
 690       socket->Append("Elevator Position");
 691       socket->Append("Rudder Position");
 692       socket->Append("Flap Position");
 693     }
 694
 695     if (SubSystems & ssRates) {
 696       socket->Append("P");
 697       socket->Append("Q");
 698       socket->Append("R");
 699       socket->Append("PDot");
 700       socket->Append("QDot");
 701       socket->Append("RDot");
 702     }
 703
 704     if (SubSystems & ssVelocities) {
 705       socket->Append("QBar");
 706       socket->Append("Vtotal");
 707       socket->Append("UBody");
 708       socket->Append("VBody");
 709       socket->Append("WBody");
 710       socket->Append("UAero");
 711       socket->Append("VAero");
 712       socket->Append("WAero");
 713       socket->Append("Vn");
 714       socket->Append("Ve");
 715       socket->Append("Vd");
 716     }
 717     if (SubSystems & ssForces) {
 718       socket->Append("F_Drag");
 719       socket->Append("F_Side");
 720       socket->Append("F_Lift");
 721       socket->Append("LoD");
 722       socket->Append("Fx");
 723       socket->Append("Fy");
 724       socket->Append("Fz");
 725     }
 726     if (SubSystems & ssMoments) {
 727       socket->Append("L");
 728       socket->Append("M");
 729       socket->Append("N");
 730     }
 731     if (SubSystems & ssAtmosphere) {
 732       socket->Append("Rho");
 733       socket->Append("SL pressure");
 734       socket->Append("Ambient pressure");
 735       socket->Append("Turbulence Magnitude");
 736       socket->Append("Turbulence Direction X");
 737       socket->Append("Turbulence Direction Y");
 738       socket->Append("Turbulence Direction Z");
 739       socket->Append("NWind");
 740       socket->Append("EWind");
 741       socket->Append("DWind");
 742     }
 743     if (SubSystems & ssMassProps) {
 744       socket->Append("Ixx");
 745       socket->Append("Ixy");
 746       socket->Append("Ixz");
 747       socket->Append("Iyx");
 748       socket->Append("Iyy");
 749       socket->Append("Iyz");
 750       socket->Append("Izx");
 751       socket->Append("Izy");
 752       socket->Append("Izz");
 753       socket->Append("Mass");
 754       socket->Append("Xcg");
 755       socket->Append("Ycg");
 756       socket->Append("Zcg");
 757     }
 758     if (SubSystems & ssPropagate) {
 759         socket->Append("Altitude");
 760         socket->Append("Phi (deg)");
 761         socket->Append("Tht (deg)");
 762         socket->Append("Psi (deg)");
 763         socket->Append("Alpha (deg)");
 764         socket->Append("Beta (deg)");
 765         socket->Append("Latitude (deg)");
 766         socket->Append("Longitude (deg)");
 767     }
 768     if (SubSystems & ssCoefficients) {
 769       scratch = Aerodynamics->GetCoefficientStrings(",");
 770       if (scratch.length() != 0) socket->Append(scratch);
 771     }
 772     if (SubSystems & ssFCS) {
 773       scratch = FCS->GetComponentStrings(",");
 774       if (scratch.length() != 0) socket->Append(scratch);
 775     }
 776     if (SubSystems & ssGroundReactions) {
 777       socket->Append(GroundReactions->GetGroundReactionStrings(","));
 778     }
 779     if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
 780       socket->Append(Propulsion->GetPropulsionStrings(","));
 781     }
 782     if (OutputProperties.size() > 0) {
 783       for (unsigned int i=0;i<OutputProperties.size();i++) {
 784         socket->Append(OutputProperties[i]->GetPrintableName());
 785       }
 786     }
 787
 788     sFirstPass = false;
 789     socket->Send();
 790   }
 791
 792   socket->Clear();
 793   socket->Append(State->Getsim_time());
 794
 795   if (SubSystems & ssAerosurfaces) {
 796     socket->Append(FCS->GetDaCmd());
 797     socket->Append(FCS->GetDeCmd());
 798     socket->Append(FCS->GetDrCmd());
 799     socket->Append(FCS->GetDfCmd());
 800     socket->Append(FCS->GetDaLPos());
 801     socket->Append(FCS->GetDaRPos());
 802     socket->Append(FCS->GetDePos());
 803     socket->Append(FCS->GetDrPos());
 804     socket->Append(FCS->GetDfPos());
 805   }
 806   if (SubSystems & ssRates) {
 807     socket->Append(radtodeg*Propagate->GetPQR(eP));
 808     socket->Append(radtodeg*Propagate->GetPQR(eQ));
 809     socket->Append(radtodeg*Propagate->GetPQR(eR));
 810     socket->Append(radtodeg*Propagate->GetPQRdot(eP));
 811     socket->Append(radtodeg*Propagate->GetPQRdot(eQ));
 812     socket->Append(radtodeg*Propagate->GetPQRdot(eR));
 813   }
 814   if (SubSystems & ssVelocities) {
 815     socket->Append(Auxiliary->Getqbar());
 816     socket->Append(Auxiliary->GetVt());
 817     socket->Append(Propagate->GetUVW(eU));
 818     socket->Append(Propagate->GetUVW(eV));
 819     socket->Append(Propagate->GetUVW(eW));
 820     socket->Append(Auxiliary->GetAeroUVW(eU));
 821     socket->Append(Auxiliary->GetAeroUVW(eV));
 822     socket->Append(Auxiliary->GetAeroUVW(eW));
 823     socket->Append(Propagate->GetVel(eNorth));
 824     socket->Append(Propagate->GetVel(eEast));
 825     socket->Append(Propagate->GetVel(eDown));
 826   }
 827   if (SubSystems & ssForces) {
 828     socket->Append(Aerodynamics->GetvFw()(eDrag));
 829     socket->Append(Aerodynamics->GetvFw()(eSide));
 830     socket->Append(Aerodynamics->GetvFw()(eLift));
 831     socket->Append(Aerodynamics->GetLoD());
 832     socket->Append(Aircraft->GetForces(eX));
 833     socket->Append(Aircraft->GetForces(eY));
 834     socket->Append(Aircraft->GetForces(eZ));
 835   }
 836   if (SubSystems & ssMoments) {
 837     socket->Append(Aircraft->GetMoments(eL));
 838     socket->Append(Aircraft->GetMoments(eM));
 839     socket->Append(Aircraft->GetMoments(eN));
 840   }
 841   if (SubSystems & ssAtmosphere) {
 842     socket->Append(Atmosphere->GetDensity());
 843     socket->Append(Atmosphere->GetPressureSL());
 844     socket->Append(Atmosphere->GetPressure());
 845     socket->Append(Atmosphere->GetTurbMagnitude());
 846     socket->Append(Atmosphere->GetTurbDirection().Dump(","));
 847     socket->Append(Atmosphere->GetTotalWindNED().Dump(","));
 848   }
 849   if (SubSystems & ssMassProps) {
 850     socket->Append(MassBalance->GetJ()(1,1));
 851     socket->Append(MassBalance->GetJ()(1,2));
 852     socket->Append(MassBalance->GetJ()(1,3));
 853     socket->Append(MassBalance->GetJ()(2,1));
 854     socket->Append(MassBalance->GetJ()(2,2));
 855     socket->Append(MassBalance->GetJ()(2,3));
 856     socket->Append(MassBalance->GetJ()(3,1));
 857     socket->Append(MassBalance->GetJ()(3,2));
 858     socket->Append(MassBalance->GetJ()(3,3));
 859     socket->Append(MassBalance->GetMass());
 860     socket->Append(MassBalance->GetXYZcg()(eX));
 861     socket->Append(MassBalance->GetXYZcg()(eY));
 862     socket->Append(MassBalance->GetXYZcg()(eZ));
 863   }
 864   if (SubSystems & ssPropagate) {
 865     socket->Append(Propagate->Geth());
 866     socket->Append(radtodeg*Propagate->GetEuler(ePhi));
 867     socket->Append(radtodeg*Propagate->GetEuler(eTht));
 868     socket->Append(radtodeg*Propagate->GetEuler(ePsi));
 869     socket->Append(Auxiliary->Getalpha(inDegrees));
 870     socket->Append(Auxiliary->Getbeta(inDegrees));
 871     socket->Append(Propagate->GetLocation().GetLatitudeDeg());
 872     socket->Append(Propagate->GetLocation().GetLongitudeDeg());
 873   }
 874   if (SubSystems & ssCoefficients) {
 875     scratch = Aerodynamics->GetCoefficientValues(",");
 876     if (scratch.length() != 0) socket->Append(scratch);
 877   }
 878   if (SubSystems & ssFCS) {
 879     scratch = FCS->GetComponentValues(",");
 880     if (scratch.length() != 0) socket->Append(scratch);
 881   }
 882   if (SubSystems & ssGroundReactions) {
 883     socket->Append(GroundReactions->GetGroundReactionValues(","));
 884   }
 885   if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
 886     socket->Append(Propulsion->GetPropulsionValues(","));
 887   }
 888
 889   for (unsigned int i=0;i<OutputProperties.size();i++) {
 890     socket->Append(OutputProperties[i]->getDoubleValue());
 891   }
 892
 893   socket->Send();
 894 }
 895
 896 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 897
 898 void FGOutput::SocketStatusOutput(string out_str)
 899 {
 900   string asciiData;
 901
 902   if (socket == NULL) return;
 903
 904   socket->Clear();
 905   asciiData = string("<STATUS>") + out_str;
 906   socket->Append(asciiData.c_str());
 907   socket->Send();
 908 }
 909
 910 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 911
 912 bool FGOutput::Load(Element* element)
 913 {
 914   string type="", parameter="";
 915   string name="";
 916   string protocol="tcp";
 917   int OutRate = 0;
 918   string property;
 919   unsigned int port;
 920   Element *property_element;
 921
 922   string separator = "/";
 923
 924   if (!DirectivesFile.empty()) { // A directives filename from the command line overrides
 925     output_file_name = DirectivesFile;      // one found in the config file.
 926     document = LoadXMLDocument(output_file_name);
 927   } else if (!element->GetAttributeValue("file").empty()) {
 928     output_file_name = element->GetAttributeValue("file");
 929     document = LoadXMLDocument(output_file_name);
 930   } else {
 931     document = element;
 932   }
 933
 934   name = document->GetAttributeValue("name");
 935   type = document->GetAttributeValue("type");
 936   SetType(type);
 937   if (!document->GetAttributeValue("port").empty() && type == string("SOCKET")) {
 938     port = atoi(document->GetAttributeValue("port").c_str());
 939     socket = new FGfdmSocket(name, port);
 940   } else if (!document->GetAttributeValue("port").empty() && type == string("FLIGHTGEAR")) {
 941     port = atoi(document->GetAttributeValue("port").c_str());
 942     if (!document->GetAttributeValue("protocol").empty())
 943        protocol = document->GetAttributeValue("protocol");
 944     if (protocol == "udp")
 945        flightGearSocket = new FGfdmSocket(name, port, FGfdmSocket::ptUDP);  // create udp socket
 946     else
 947        flightGearSocket = new FGfdmSocket(name, port, FGfdmSocket::ptTCP);  // create tcp socket (default)
 948   } else {
 949     Filename = name;
 950   }
 951   if (!document->GetAttributeValue("rate").empty()) {
 952     OutRate = (int)document->GetAttributeValueAsNumber("rate");
 953   } else {
 954     OutRate = 1;
 955   }
 956
 957   if (document->FindElementValue("simulation") == string("ON"))
 958     SubSystems += ssSimulation;
 959   if (document->FindElementValue("aerosurfaces") == string("ON"))
 960     SubSystems += ssAerosurfaces;
 961   if (document->FindElementValue("rates") == string("ON"))
 962     SubSystems += ssRates;
 963   if (document->FindElementValue("velocities") == string("ON"))
 964     SubSystems += ssVelocities;
 965   if (document->FindElementValue("forces") == string("ON"))
 966     SubSystems += ssForces;
 967   if (document->FindElementValue("moments") == string("ON"))
 968     SubSystems += ssMoments;
 969   if (document->FindElementValue("atmosphere") == string("ON"))
 970     SubSystems += ssAtmosphere;
 971   if (document->FindElementValue("massprops") == string("ON"))
 972     SubSystems += ssMassProps;
 973   if (document->FindElementValue("position") == string("ON"))
 974     SubSystems += ssPropagate;
 975   if (document->FindElementValue("coefficients") == string("ON"))
 976     SubSystems += ssCoefficients;
 977   if (document->FindElementValue("ground_reactions") == string("ON"))
 978     SubSystems += ssGroundReactions;
 979   if (document->FindElementValue("fcs") == string("ON"))
 980     SubSystems += ssFCS;
 981   if (document->FindElementValue("propulsion") == string("ON"))
 982     SubSystems += ssPropulsion;
 983   property_element = document->FindElement("property");
 984   while (property_element) {
 985     string property_str = property_element->GetDataLine();
 986     FGPropertyManager* node = PropertyManager->GetNode(property_str);
 987     if (!node) {
 988       cerr << fgred << highint << endl << "  No property by the name "
 989            << property_str << " has been defined. This property will " << endl
 990            << "  not be logged. You should check your configuration file."
 991            << reset << endl;
 992     } else {
 993       OutputProperties.push_back(node);
 994     }
 995     property_element = document->FindNextElement("property");
 996   }
 997
 998   OutRate = OutRate>1000?1000:(OutRate<0?0:OutRate);
 999   rate = (int)(0.5 + 1.0/(State->Getdt()*OutRate));
1000
1001   Debug(2);
1002
1003   return true;
1004 }
1005
1006 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
1007 //    The bitmasked value choices are as follows:
1008 //    unset: In this case (the default) JSBSim would only print
1009 //       out the normally expected messages, essentially echoing
1010 //       the config files as they are read. If the environment
1011 //       variable is not set, debug_lvl is set to 1 internally
1012 //    0: This requests JSBSim not to output any messages
1013 //       whatsoever.
1014 //    1: This value explicity requests the normal JSBSim
1015 //       startup messages
1016 //    2: This value asks for a message to be printed out when
1017 //       a class is instantiated
1018 //    4: When this value is set, a message is displayed when a
1019 //       FGModel object executes its Run() method
1020 //    8: When this value is set, various runtime state variables
1021 //       are printed out periodically
1022 //    16: When set various parameters are sanity checked and
1023 //       a message is printed out when they go out of bounds
1024
1025 void FGOutput::Debug(int from)
1026 {
1027   string scratch="";
1028
1029   if (debug_lvl <= 0) return;
1030
1031   if (debug_lvl & 1) { // Standard console startup message output
1032     if (from == 0) { // Constructor
1033
1034     }
1035     if (from == 2) {
1036       if (output_file_name.empty())
1037         cout << "  " << "Output parameters read inline" << endl;
1038       else
1039         cout << "    Output parameters read from file: " << output_file_name << endl;
1040
1041       if (Filename == "cout" || Filename == "COUT") {
1042         scratch = "    Log output goes to screen console";
1043       } else if (!Filename.empty()) {
1044         scratch = "    Log output goes to file: " + Filename;
1045       }
1046       switch (Type) {
1047       case otCSV:
1048         cout << scratch << " in CSV format output at rate " << 1/(State->Getdt()*rate) << " Hz" << endl;
1049         break;
1050       case otNone:
1051         cout << "  No log output" << endl;
1052         break;
1053       }
1054
1055       if (SubSystems & ssSimulation)      cout << "    Simulation parameters logged" << endl;
1056       if (SubSystems & ssAerosurfaces)    cout << "    Aerosurface parameters logged" << endl;
1057       if (SubSystems & ssRates)           cout << "    Rate parameters logged" << endl;
1058       if (SubSystems & ssVelocities)      cout << "    Velocity parameters logged" << endl;
1059       if (SubSystems & ssForces)          cout << "    Force parameters logged" << endl;
1060       if (SubSystems & ssMoments)         cout << "    Moments parameters logged" << endl;
1061       if (SubSystems & ssAtmosphere)      cout << "    Atmosphere parameters logged" << endl;
1062       if (SubSystems & ssMassProps)       cout << "    Mass parameters logged" << endl;
1063       if (SubSystems & ssCoefficients)    cout << "    Coefficient parameters logged" << endl;
1064       if (SubSystems & ssPropagate)       cout << "    Propagate parameters logged" << endl;
1065       if (SubSystems & ssGroundReactions) cout << "    Ground parameters logged" << endl;
1066       if (SubSystems & ssFCS)             cout << "    FCS parameters logged" << endl;
1067       if (SubSystems & ssPropulsion)      cout << "    Propulsion parameters logged" << endl;
1068       if (OutputProperties.size() > 0)    cout << "    Properties logged:" << endl;
1069       for (unsigned int i=0;i<OutputProperties.size();i++) {
1070         cout << "      - " << OutputProperties[i]->GetName() << endl;
1071       }
1072     }
1073   }
1074   if (debug_lvl & 2 ) { // Instantiation/Destruction notification
1075     if (from == 0) cout << "Instantiated: FGOutput" << endl;
1076     if (from == 1) cout << "Destroyed:    FGOutput" << endl;
1077   }
1078   if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
1079   }
1080   if (debug_lvl & 8 ) { // Runtime state variables
1081   }
1082   if (debug_lvl & 16) { // Sanity checking
1083   }
1084   if (debug_lvl & 64) {
1085     if (from == 0) { // Constructor
1086       cout << IdSrc << endl;
1087       cout << IdHdr << endl;
1088     }
1089   }
1090 }
1091 }