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 (jon@jsbsim.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 "FGFDMExec.h"
  44 #include "FGAtmosphere.h"
  45 #include "FGFCS.h"
  46 #include "FGAerodynamics.h"
  47 #include "FGGroundReactions.h"
  48 #include "FGExternalReactions.h"
  49 #include "FGBuoyantForces.h"
  50 #include "FGAircraft.h"
  51 #include "FGMassBalance.h"
  52 #include "FGPropagate.h"
  53 #include "FGAuxiliary.h"
  54 #include "FGInertial.h"
  55 #include "FGPropulsion.h"
  56 #include "models/propulsion/FGEngine.h"
  57 #include "models/propulsion/FGTank.h"
  58 #include "models/propulsion/FGPiston.h"
  59 #include <sstream>
  60 #include <iomanip>
  61 #include <cstring>
  62 #include <cstdlib>
  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 using namespace std;
  74
  75 namespace JSBSim {
  76
  77 static const char *IdSrc = "$Id: FGOutput.cpp,v 1.50 2010/11/18 12:38:06 jberndt Exp $";
  78 static const char *IdHdr = ID_OUTPUT;
  79
  80 // (stolen from FGFS native_fdm.cxx)
  81 // The function htond is defined this way due to the way some
  82 // processors and OSes treat floating point values.  Some will raise
  83 // an exception whenever a "bad" floating point value is loaded into a
  84 // floating point register.  Solaris is notorious for this, but then
  85 // so is LynxOS on the PowerPC.  By translating the data in place,
  86 // there is no need to load a FP register with the "corruped" floating
  87 // point value.  By doing the BIG_ENDIAN test, I can optimize the
  88 // routine for big-endian processors so it can be as efficient as
  89 // possible
  90 static void htond (double &x)
  91 {
  92     if ( isLittleEndian ) {
  93         int    *Double_Overlay;
  94         int     Holding_Buffer;
  95
  96         Double_Overlay = (int *) &x;
  97         Holding_Buffer = Double_Overlay [0];
  98
  99         Double_Overlay [0] = htonl (Double_Overlay [1]);
 100         Double_Overlay [1] = htonl (Holding_Buffer);
 101     } else {
 102         return;
 103     }
 104 }
 105
 106 // Float version
 107 static void htonf (float &x)
 108 {
 109     if ( isLittleEndian ) {
 110         int    *Float_Overlay;
 111         int     Holding_Buffer;
 112
 113         Float_Overlay = (int *) &x;
 114         Holding_Buffer = Float_Overlay [0];
 115
 116         Float_Overlay [0] = htonl (Holding_Buffer);
 117     } else {
 118         return;
 119     }
 120 }
 121
 122
 123 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 124 CLASS IMPLEMENTATION
 125 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 126
 127 FGOutput::FGOutput(FGFDMExec* fdmex) : FGModel(fdmex)
 128 {
 129   Name = "FGOutput";
 130   sFirstPass = dFirstPass = true;
 131   socket = 0;
 132   runID_postfix = 0;
 133   Type = otNone;
 134   SubSystems = 0;
 135   enabled = true;
 136   StartNewFile = false;
 137   delimeter = ", ";
 138   BaseFilename = Filename = "";
 139   DirectivesFile = "";
 140   output_file_name = "";
 141
 142   memset(&fgSockBuf, 0x00, sizeof(fgSockBuf));
 143
 144   Debug(0);
 145 }
 146
 147 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 148
 149 FGOutput::~FGOutput()
 150 {
 151   delete socket;
 152   OutputProperties.clear();
 153   Debug(1);
 154 }
 155
 156 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 157
 158 bool FGOutput::InitModel(void)
 159 {
 160   if (!FGModel::InitModel()) return false;
 161
 162   if (Filename.size() > 0 && StartNewFile) {
 163     ostringstream buf;
 164     string::size_type dot = BaseFilename.find_last_of('.');
 165     if (dot != string::npos) {
 166       buf << BaseFilename.substr(0, dot) << '_' << runID_postfix++ << BaseFilename.substr(dot);
 167     } else {
 168       buf << BaseFilename << '_' << runID_postfix++;
 169     }
 170     Filename = buf.str();
 171     datafile.close();
 172     StartNewFile = false;
 173     dFirstPass = true;
 174   }
 175
 176   return true;
 177 }
 178
 179 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 180
 181 bool FGOutput::Run(void)
 182 {
 183   if (FGModel::Run()) return true;
 184
 185   if (enabled && !FDMExec->IntegrationSuspended()&& !FDMExec->Holding()) {
 186     RunPreFunctions();
 187     if (Type == otSocket) {
 188       SocketOutput();
 189     } else if (Type == otFlightGear) {
 190       FlightGearSocketOutput();
 191     } else if (Type == otCSV || Type == otTab) {
 192       DelimitedOutput(Filename);
 193     } else if (Type == otTerminal) {
 194       // Not done yet
 195     } else if (Type == otNone) {
 196       // Do nothing
 197     } else {
 198       // Not a valid type of output
 199     }
 200     RunPostFunctions();
 201   }
 202   return false;
 203 }
 204
 205 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 206
 207 void FGOutput::SetType(const string& type)
 208 {
 209   if (type == "CSV") {
 210     Type = otCSV;
 211     delimeter = ", ";
 212   } else if (type == "TABULAR") {
 213     Type = otTab;
 214     delimeter = "\t";
 215   } else if (type == "SOCKET") {
 216     Type = otSocket;
 217   } else if (type == "FLIGHTGEAR") {
 218     Type = otFlightGear;
 219   } else if (type == "TERMINAL") {
 220     Type = otTerminal;
 221   } else if (type != string("NONE")) {
 222     Type = otUnknown;
 223     cerr << "Unknown type of output specified in config file" << endl;
 224   }
 225 }
 226
 227 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 228
 229 void FGOutput::SetProtocol(const string& protocol)
 230 {
 231   if (protocol == "UDP") Protocol = FGfdmSocket::ptUDP;
 232   else if (protocol == "TCP") Protocol = FGfdmSocket::ptTCP;
 233   else Protocol = FGfdmSocket::ptTCP; // Default to TCP
 234 }
 235
 236 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 237
 238 void FGOutput::DelimitedOutput(const string& fname)
 239 {
 240   const FGAerodynamics* Aerodynamics = FDMExec->GetAerodynamics();
 241   const FGAuxiliary* Auxiliary = FDMExec->GetAuxiliary();
 242   const FGAircraft* Aircraft = FDMExec->GetAircraft();
 243   const FGAtmosphere* Atmosphere = FDMExec->GetAtmosphere();
 244   const FGPropulsion* Propulsion = FDMExec->GetPropulsion();
 245   const FGMassBalance* MassBalance = FDMExec->GetMassBalance();
 246   const FGPropagate* Propagate = FDMExec->GetPropagate();
 247   const FGFCS* FCS = FDMExec->GetFCS();
 248   const FGInertial* Inertial = FDMExec->GetInertial();
 249   const FGGroundReactions* GroundReactions = FDMExec->GetGroundReactions();
 250   const FGExternalReactions* ExternalReactions = FDMExec->GetExternalReactions();
 251   const FGBuoyantForces* BuoyantForces = FDMExec->GetBuoyantForces();
 252
 253   streambuf* buffer;
 254   string scratch = "";
 255
 256   if (fname == "COUT" || fname == "cout") {
 257     buffer = cout.rdbuf();
 258   } else {
 259     if (!datafile.is_open()) datafile.open(fname.c_str());
 260     buffer = datafile.rdbuf();
 261   }
 262
 263   ostream outstream(buffer);
 264
 265   outstream.precision(10);
 266
 267   if (dFirstPass) {
 268     outstream << "Time";
 269     if (SubSystems & ssSimulation) {
 270       // Nothing here, yet
 271     }
 272     if (SubSystems & ssAerosurfaces) {
 273       outstream << delimeter;
 274       outstream << "Aileron Command (norm)" + delimeter;
 275       outstream << "Elevator Command (norm)" + delimeter;
 276       outstream << "Rudder Command (norm)" + delimeter;
 277       outstream << "Flap Command (norm)" + delimeter;
 278       outstream << "Left Aileron Position (deg)" + delimeter;
 279       outstream << "Right Aileron Position (deg)" + delimeter;
 280       outstream << "Elevator Position (deg)" + delimeter;
 281       outstream << "Rudder Position (deg)" + delimeter;
 282       outstream << "Flap Position (deg)";
 283     }
 284     if (SubSystems & ssRates) {
 285       outstream << delimeter;
 286       outstream << "P (deg/s)" + delimeter + "Q (deg/s)" + delimeter + "R (deg/s)" + delimeter;
 287       outstream << "P dot (deg/s^2)" + delimeter + "Q dot (deg/s^2)" + delimeter + "R dot (deg/s^2)" + delimeter;
 288       outstream << "P_{inertial} (deg/s)" + delimeter + "Q_{inertial} (deg/s)" + delimeter + "R_{inertial} (deg/s)";
 289     }
 290     if (SubSystems & ssVelocities) {
 291       outstream << delimeter;
 292       outstream << "q bar (psf)" + delimeter;
 293       outstream << "Reynolds Number" + delimeter;
 294       outstream << "V_{Total} (ft/s)" + delimeter;
 295       outstream << "V_{Inertial} (ft/s)" + delimeter;
 296       outstream << "UBody" + delimeter + "VBody" + delimeter + "WBody" + delimeter;
 297       outstream << "Aero V_{X Body} (ft/s)" + delimeter + "Aero V_{Y Body} (ft/s)" + delimeter + "Aero V_{Z Body} (ft/s)" + delimeter;
 298       outstream << "V_{X_{inertial}} (ft/s)" + delimeter + "V_{Y_{inertial}} (ft/s)" + delimeter + "V_{Z_{inertial}} (ft/s)" + delimeter;
 299       outstream << "V_{North} (ft/s)" + delimeter + "V_{East} (ft/s)" + delimeter + "V_{Down} (ft/s)";
 300     }
 301     if (SubSystems & ssForces) {
 302       outstream << delimeter;
 303       outstream << "F_{Drag} (lbs)" + delimeter + "F_{Side} (lbs)" + delimeter + "F_{Lift} (lbs)" + delimeter;
 304       outstream << "L/D" + delimeter;
 305       outstream << "F_{Aero x} (lbs)" + delimeter + "F_{Aero y} (lbs)" + delimeter + "F_{Aero z} (lbs)" + delimeter;
 306       outstream << "F_{Prop x} (lbs)" + delimeter + "F_{Prop y} (lbs)" + delimeter + "F_{Prop z} (lbs)" + delimeter;
 307       outstream << "F_{Gear x} (lbs)" + delimeter + "F_{Gear y} (lbs)" + delimeter + "F_{Gear z} (lbs)" + delimeter;
 308       outstream << "F_{Ext x} (lbs)" + delimeter + "F_{Ext y} (lbs)" + delimeter + "F_{Ext z} (lbs)" + delimeter;
 309       outstream << "F_{Buoyant x} (lbs)" + delimeter + "F_{Buoyant y} (lbs)" + delimeter + "F_{Buoyant z} (lbs)" + delimeter;
 310       outstream << "F_{Total x} (lbs)" + delimeter + "F_{Total y} (lbs)" + delimeter + "F_{Total z} (lbs)";
 311     }
 312     if (SubSystems & ssMoments) {
 313       outstream << delimeter;
 314       outstream << "L_{Aero} (ft-lbs)" + delimeter + "M_{Aero} ( ft-lbs)" + delimeter + "N_{Aero} (ft-lbs)" + delimeter;
 315       outstream << "L_{Prop} (ft-lbs)" + delimeter + "M_{Prop} (ft-lbs)" + delimeter + "N_{Prop} (ft-lbs)" + delimeter;
 316       outstream << "L_{Gear} (ft-lbs)" + delimeter + "M_{Gear} (ft-lbs)" + delimeter + "N_{Gear} (ft-lbs)" + delimeter;
 317       outstream << "L_{ext} (ft-lbs)" + delimeter + "M_{ext} (ft-lbs)" + delimeter + "N_{ext} (ft-lbs)" + delimeter;
 318       outstream << "L_{Buoyant} (ft-lbs)" + delimeter + "M_{Buoyant} (ft-lbs)" + delimeter + "N_{Buoyant} (ft-lbs)" + delimeter;
 319       outstream << "L_{Total} (ft-lbs)" + delimeter + "M_{Total} (ft-lbs)" + delimeter + "N_{Total} (ft-lbs)";
 320     }
 321     if (SubSystems & ssAtmosphere) {
 322       outstream << delimeter;
 323       outstream << "Rho (slugs/ft^3)" + delimeter;
 324       outstream << "Absolute Viscosity" + delimeter;
 325       outstream << "Kinematic Viscosity" + delimeter;
 326       outstream << "Temperature (R)" + delimeter;
 327       outstream << "P_{SL} (psf)" + delimeter;
 328       outstream << "P_{Ambient} (psf)" + delimeter;
 329       outstream << "Turbulence Magnitude (ft/sec)" + delimeter;
 330       outstream << "Turbulence X Direction (rad)" + delimeter + "Turbulence Y Direction (rad)" + delimeter + "Turbulence Z Direction (rad)" + delimeter;
 331       outstream << "Wind V_{North} (ft/s)" + delimeter + "Wind V_{East} (ft/s)" + delimeter + "Wind V_{Down} (ft/s)";
 332     }
 333     if (SubSystems & ssMassProps) {
 334       outstream << delimeter;
 335       outstream << "I_{xx}" + delimeter;
 336       outstream << "I_{xy}" + delimeter;
 337       outstream << "I_{xz}" + delimeter;
 338       outstream << "I_{yx}" + delimeter;
 339       outstream << "I_{yy}" + delimeter;
 340       outstream << "I_{yz}" + delimeter;
 341       outstream << "I_{zx}" + delimeter;
 342       outstream << "I_{zy}" + delimeter;
 343       outstream << "I_{zz}" + delimeter;
 344       outstream << "Mass" + delimeter;
 345       outstream << "X_{cg}" + delimeter + "Y_{cg}" + delimeter + "Z_{cg}";
 346     }
 347     if (SubSystems & ssPropagate) {
 348       outstream << delimeter;
 349       outstream << "Altitude ASL (ft)" + delimeter;
 350       outstream << "Altitude AGL (ft)" + delimeter;
 351       outstream << "Phi (deg)" + delimeter + "Theta (deg)" + delimeter + "Psi (deg)" + delimeter;
 352       outstream << "Alpha (deg)" + delimeter;
 353       outstream << "Beta (deg)" + delimeter;
 354       outstream << "Latitude (deg)" + delimeter;
 355       outstream << "Longitude (deg)" + delimeter;
 356       outstream << "X_{ECI} (ft)" + delimeter + "Y_{ECI} (ft)" + delimeter + "Z_{ECI} (ft)" + delimeter;
 357       outstream << "X_{ECEF} (ft)" + delimeter + "Y_{ECEF} (ft)" + delimeter + "Z_{ECEF} (ft)" + delimeter;
 358       outstream << "Earth Position Angle (deg)" + delimeter;
 359       outstream << "Distance AGL (ft)" + delimeter;
 360       outstream << "Terrain Elevation (ft)";
 361     }
 362     if (SubSystems & ssCoefficients) {
 363       scratch = Aerodynamics->GetCoefficientStrings(delimeter);
 364       if (scratch.length() != 0) outstream << delimeter << scratch;
 365     }
 366     if (SubSystems & ssFCS) {
 367       scratch = FCS->GetComponentStrings(delimeter);
 368       if (scratch.length() != 0) outstream << delimeter << scratch;
 369     }
 370     if (SubSystems & ssGroundReactions) {
 371       outstream << delimeter;
 372       outstream << GroundReactions->GetGroundReactionStrings(delimeter);
 373     }
 374     if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
 375       outstream << delimeter;
 376       outstream << Propulsion->GetPropulsionStrings(delimeter);
 377     }
 378     if (OutputProperties.size() > 0) {
 379       for (unsigned int i=0;i<OutputProperties.size();i++) {
 380         outstream << delimeter << OutputProperties[i]->GetPrintableName();
 381       }
 382     }
 383
 384     outstream << endl;
 385     dFirstPass = false;
 386   }
 387
 388   outstream << FDMExec->GetSimTime();
 389   if (SubSystems & ssSimulation) {
 390   }
 391   if (SubSystems & ssAerosurfaces) {
 392     outstream << delimeter;
 393     outstream << FCS->GetDaCmd() << delimeter;
 394     outstream << FCS->GetDeCmd() << delimeter;
 395     outstream << FCS->GetDrCmd() << delimeter;
 396     outstream << FCS->GetDfCmd() << delimeter;
 397     outstream << FCS->GetDaLPos(ofDeg) << delimeter;
 398     outstream << FCS->GetDaRPos(ofDeg) << delimeter;
 399     outstream << FCS->GetDePos(ofDeg) << delimeter;
 400     outstream << FCS->GetDrPos(ofDeg) << delimeter;
 401     outstream << FCS->GetDfPos(ofDeg);
 402   }
 403   if (SubSystems & ssRates) {
 404     outstream << delimeter;
 405     outstream << (radtodeg*Propagate->GetPQR()).Dump(delimeter) << delimeter;
 406     outstream << (radtodeg*Propagate->GetPQRdot()).Dump(delimeter) << delimeter;
 407     outstream << (radtodeg*Propagate->GetPQRi()).Dump(delimeter);
 408   }
 409   if (SubSystems & ssVelocities) {
 410     outstream << delimeter;
 411     outstream << Auxiliary->Getqbar() << delimeter;
 412     outstream << Auxiliary->GetReynoldsNumber() << delimeter;
 413     outstream << setprecision(12) << Auxiliary->GetVt() << delimeter;
 414     outstream << Propagate->GetInertialVelocityMagnitude() << delimeter;
 415     outstream << setprecision(12) << Propagate->GetUVW().Dump(delimeter) << delimeter;
 416     outstream << Auxiliary->GetAeroUVW().Dump(delimeter) << delimeter;
 417     outstream << Propagate->GetInertialVelocity().Dump(delimeter) << delimeter;
 418     outstream << Propagate->GetVel().Dump(delimeter);
 419     outstream.precision(10);
 420   }
 421   if (SubSystems & ssForces) {
 422     outstream << delimeter;
 423     outstream << Aerodynamics->GetvFw().Dump(delimeter) << delimeter;
 424     outstream << Aerodynamics->GetLoD() << delimeter;
 425     outstream << Aerodynamics->GetForces().Dump(delimeter) << delimeter;
 426     outstream << Propulsion->GetForces().Dump(delimeter) << delimeter;
 427     outstream << GroundReactions->GetForces().Dump(delimeter) << delimeter;
 428     outstream << ExternalReactions->GetForces().Dump(delimeter) << delimeter;
 429     outstream << BuoyantForces->GetForces().Dump(delimeter) << delimeter;
 430     outstream << Aircraft->GetForces().Dump(delimeter);
 431   }
 432   if (SubSystems & ssMoments) {
 433     outstream << delimeter;
 434     outstream << Aerodynamics->GetMoments().Dump(delimeter) << delimeter;
 435     outstream << Propulsion->GetMoments().Dump(delimeter) << delimeter;
 436     outstream << GroundReactions->GetMoments().Dump(delimeter) << delimeter;
 437     outstream << ExternalReactions->GetMoments().Dump(delimeter) << delimeter;
 438     outstream << BuoyantForces->GetMoments().Dump(delimeter) << delimeter;
 439     outstream << Aircraft->GetMoments().Dump(delimeter);
 440   }
 441   if (SubSystems & ssAtmosphere) {
 442     outstream << delimeter;
 443     outstream << Atmosphere->GetDensity() << delimeter;
 444     outstream << Atmosphere->GetAbsoluteViscosity() << delimeter;
 445     outstream << Atmosphere->GetKinematicViscosity() << delimeter;
 446     outstream << Atmosphere->GetTemperature() << delimeter;
 447     outstream << Atmosphere->GetPressureSL() << delimeter;
 448     outstream << Atmosphere->GetPressure() << delimeter;
 449     outstream << Atmosphere->GetTurbMagnitude() << delimeter;
 450     outstream << Atmosphere->GetTurbDirection().Dump(delimeter) << delimeter;
 451     outstream << Atmosphere->GetTotalWindNED().Dump(delimeter);
 452   }
 453   if (SubSystems & ssMassProps) {
 454     outstream << delimeter;
 455     outstream << MassBalance->GetJ().Dump(delimeter) << delimeter;
 456     outstream << MassBalance->GetMass() << delimeter;
 457     outstream << MassBalance->GetXYZcg().Dump(delimeter);
 458   }
 459   if (SubSystems & ssPropagate) {
 460     outstream.precision(14);
 461     outstream << delimeter;
 462     outstream << Propagate->GetAltitudeASL() << delimeter;
 463     outstream << Propagate->GetDistanceAGL() << delimeter;
 464     outstream << (radtodeg*Propagate->GetEuler()).Dump(delimeter) << delimeter;
 465     outstream << Auxiliary->Getalpha(inDegrees) << delimeter;
 466     outstream << Auxiliary->Getbeta(inDegrees) << delimeter;
 467     outstream << Propagate->GetLocation().GetLatitudeDeg() << delimeter;
 468     outstream << Propagate->GetLocation().GetLongitudeDeg() << delimeter;
 469     outstream.precision(18);
 470     outstream << ((FGColumnVector3)Propagate->GetInertialPosition()).Dump(delimeter) << delimeter;
 471     outstream << ((FGColumnVector3)Propagate->GetLocation()).Dump(delimeter) << delimeter;
 472     outstream.precision(14);
 473     outstream << Inertial->GetEarthPositionAngleDeg() << delimeter;
 474     outstream << Propagate->GetDistanceAGL() << delimeter;
 475     outstream << Propagate->GetTerrainElevation();
 476     outstream.precision(10);
 477   }
 478   if (SubSystems & ssCoefficients) {
 479     scratch = Aerodynamics->GetCoefficientValues(delimeter);
 480     if (scratch.length() != 0) outstream << delimeter << scratch;
 481   }
 482   if (SubSystems & ssFCS) {
 483     scratch = FCS->GetComponentValues(delimeter);
 484     if (scratch.length() != 0) outstream << delimeter << scratch;
 485   }
 486   if (SubSystems & ssGroundReactions) {
 487     outstream << delimeter;
 488     outstream << GroundReactions->GetGroundReactionValues(delimeter);
 489   }
 490   if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
 491     outstream << delimeter;
 492     outstream << Propulsion->GetPropulsionValues(delimeter);
 493   }
 494
 495   outstream.precision(18);
 496   for (unsigned int i=0;i<OutputProperties.size();i++) {
 497     outstream << delimeter << OutputProperties[i]->getDoubleValue();
 498   }
 499   outstream.precision(10);
 500
 501   outstream << endl;
 502   outstream.flush();
 503 }
 504
 505 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 506
 507 void FGOutput::SocketDataFill(FGNetFDM* net)
 508 {
 509   const FGAerodynamics* Aerodynamics = FDMExec->GetAerodynamics();
 510   const FGAuxiliary* Auxiliary = FDMExec->GetAuxiliary();
 511   const FGPropulsion* Propulsion = FDMExec->GetPropulsion();
 512   const FGMassBalance* MassBalance = FDMExec->GetMassBalance();
 513   const FGPropagate* Propagate = FDMExec->GetPropagate();
 514   const FGFCS* FCS = FDMExec->GetFCS();
 515   const FGGroundReactions* GroundReactions = FDMExec->GetGroundReactions();
 516     unsigned int i;
 517
 518     // Version
 519     net->version = FG_NET_FDM_VERSION;
 520
 521     // Positions
 522     net->longitude = Propagate->GetLocation().GetLongitude(); // geodetic (radians)
 523     net->latitude  = Propagate->GetLocation().GetLatitude(); // geodetic (radians)
 524     net->altitude  = Propagate->GetAltitudeASL()*0.3048; // altitude, above sea level (meters)
 525     net->agl       = (float)(Propagate->GetDistanceAGL()*0.3048); // altitude, above ground level (meters)
 526
 527     net->phi       = (float)(Propagate->GetEuler(ePhi)); // roll (radians)
 528     net->theta     = (float)(Propagate->GetEuler(eTht)); // pitch (radians)
 529     net->psi       = (float)(Propagate->GetEuler(ePsi)); // yaw or true heading (radians)
 530
 531     net->alpha     = (float)(Auxiliary->Getalpha()); // angle of attack (radians)
 532     net->beta      = (float)(Auxiliary->Getbeta()); // side slip angle (radians)
 533
 534     // Velocities
 535     net->phidot     = (float)(Auxiliary->GetEulerRates(ePhi)); // roll rate (radians/sec)
 536     net->thetadot   = (float)(Auxiliary->GetEulerRates(eTht)); // pitch rate (radians/sec)
 537     net->psidot     = (float)(Auxiliary->GetEulerRates(ePsi)); // yaw rate (radians/sec)
 538     net->vcas       = (float)(Auxiliary->GetVcalibratedFPS()); // VCAS, ft/sec
 539     net->climb_rate = (float)(Propagate->Gethdot());           // altitude rate, ft/sec
 540     net->v_north    = (float)(Propagate->GetVel(eNorth));      // north vel in NED frame, fps
 541     net->v_east     = (float)(Propagate->GetVel(eEast));       // east vel in NED frame, fps
 542     net->v_down     = (float)(Propagate->GetVel(eDown));       // down vel in NED frame, fps
 543 //---ADD METHOD TO CALCULATE THESE TERMS---
 544     net->v_wind_body_north = (float)(Propagate->GetVel(eNorth)); // north vel in NED relative to airmass, fps
 545     net->v_wind_body_east = (float)(Propagate->GetVel(eEast)); // east vel in NED relative to airmass, fps
 546     net->v_wind_body_down = (float)(Propagate->GetVel(eDown)); // down vel in NED relative to airmass, fps
 547
 548     // Accelerations
 549     net->A_X_pilot   = (float)(Auxiliary->GetPilotAccel(1));    // X body accel, ft/s/s
 550     net->A_Y_pilot   = (float)(Auxiliary->GetPilotAccel(2));    // Y body accel, ft/s/s
 551     net->A_Z_pilot   = (float)(Auxiliary->GetPilotAccel(3));    // Z body accel, ft/s/s
 552
 553     // Stall
 554     net->stall_warning = 0.0;  // 0.0 - 1.0 indicating the amount of stall
 555     net->slip_deg    = (float)(Auxiliary->Getbeta(inDegrees));  // slip ball deflection, deg
 556
 557     // Engine status
 558     net->num_engines = Propulsion->GetNumEngines(); // Number of valid engines
 559
 560     for (i=0; i<net->num_engines; i++) {
 561        if (Propulsion->GetEngine(i)->GetRunning())
 562           net->eng_state[i] = 2;       // Engine state running
 563        else if (Propulsion->GetEngine(i)->GetCranking())
 564           net->eng_state[i] = 1;       // Engine state cranking
 565        else
 566           net->eng_state[i] = 0;       // Engine state off
 567
 568        switch (Propulsion->GetEngine(i)->GetType()) {
 569        case (FGEngine::etRocket):
 570        break;
 571        case (FGEngine::etPiston):
 572           net->rpm[i]       = (float)(((FGPiston *)Propulsion->GetEngine(i))->getRPM());
 573           net->fuel_flow[i] = (float)(((FGPiston *)Propulsion->GetEngine(i))->getFuelFlow_gph());
 574           net->fuel_px[i]   = 0; // Fuel pressure, psi  (N/A in current model)
 575           net->egt[i]       = (float)(((FGPiston *)Propulsion->GetEngine(i))->GetEGT());
 576           net->cht[i]       = (float)(((FGPiston *)Propulsion->GetEngine(i))->getCylinderHeadTemp_degF());
 577           net->mp_osi[i]    = (float)(((FGPiston *)Propulsion->GetEngine(i))->getManifoldPressure_inHg());
 578           net->oil_temp[i]  = (float)(((FGPiston *)Propulsion->GetEngine(i))->getOilTemp_degF());
 579           net->oil_px[i]    = (float)(((FGPiston *)Propulsion->GetEngine(i))->getOilPressure_psi());
 580           net->tit[i]       = 0; // Turbine Inlet Temperature  (N/A for piston)
 581        break;
 582        case (FGEngine::etTurbine):
 583        break;
 584        case (FGEngine::etTurboprop):
 585        break;
 586        case (FGEngine::etElectric):
 587        break;
 588        case (FGEngine::etUnknown):
 589        break;
 590        }
 591     }
 592
 593     // Consumables
 594     net->num_tanks = Propulsion->GetNumTanks();   // Max number of fuel tanks
 595
 596     for (i=0; i<net->num_tanks; i++) {
 597        net->fuel_quantity[i] = (float)(((FGTank *)Propulsion->GetTank(i))->GetContents());
 598     }
 599
 600     // Gear status
 601     net->num_wheels  = GroundReactions->GetNumGearUnits();
 602
 603     for (i=0; i<net->num_wheels; i++) {
 604        net->wow[i]              = GroundReactions->GetGearUnit(i)->GetWOW();
 605        if (GroundReactions->GetGearUnit(i)->GetGearUnitDown())
 606           net->gear_pos[i]      = 1;  //gear down, using FCS convention
 607        else
 608           net->gear_pos[i]      = 0;  //gear up, using FCS convention
 609        net->gear_steer[i]       = (float)(GroundReactions->GetGearUnit(i)->GetSteerNorm());
 610        net->gear_compression[i] = (float)(GroundReactions->GetGearUnit(i)->GetCompLen());
 611     }
 612
 613     // Environment
 614     net->cur_time    = (long int)1234567890;    // Friday, Feb 13, 2009, 23:31:30 UTC (not processed by FGFS anyway)
 615     net->warp        = 0;                       // offset in seconds to unix time
 616     net->visibility  = 25000.0;                 // visibility in meters (for env. effects)
 617
 618     // Control surface positions (normalized values)
 619     net->elevator          = (float)(FCS->GetDePos(ofNorm));    // Norm Elevator Pos, --
 620     net->elevator_trim_tab = (float)(FCS->GetPitchTrimCmd());   // Norm Elev Trim Tab Pos, --
 621     net->left_flap         = (float)(FCS->GetDfPos(ofNorm));    // Norm Flap Pos, --
 622     net->right_flap        = (float)(FCS->GetDfPos(ofNorm));    // Norm Flap Pos, --
 623     net->left_aileron      = (float)(FCS->GetDaLPos(ofNorm));   // Norm L Aileron Pos, --
 624     net->right_aileron     = (float)(FCS->GetDaRPos(ofNorm));   // Norm R Aileron Pos, --
 625     net->rudder            = (float)(FCS->GetDrPos(ofNorm));    // Norm Rudder Pos, --
 626     net->nose_wheel        = (float)(FCS->GetDrPos(ofNorm));    // *** FIX ***  Using Rudder Pos for NWS, --
 627     net->speedbrake        = (float)(FCS->GetDsbPos(ofNorm));   // Norm Speedbrake Pos, --
 628     net->spoilers          = (float)(FCS->GetDspPos(ofNorm));   // Norm Spoiler Pos, --
 629
 630     // Convert the net buffer to network format
 631     if ( isLittleEndian ) {
 632         net->version = htonl(net->version);
 633
 634         htond(net->longitude);
 635         htond(net->latitude);
 636         htond(net->altitude);
 637         htonf(net->agl);
 638         htonf(net->phi);
 639         htonf(net->theta);
 640         htonf(net->psi);
 641         htonf(net->alpha);
 642         htonf(net->beta);
 643
 644         htonf(net->phidot);
 645         htonf(net->thetadot);
 646         htonf(net->psidot);
 647         htonf(net->vcas);
 648         htonf(net->climb_rate);
 649         htonf(net->v_north);
 650         htonf(net->v_east);
 651         htonf(net->v_down);
 652         htonf(net->v_wind_body_north);
 653         htonf(net->v_wind_body_east);
 654         htonf(net->v_wind_body_down);
 655
 656         htonf(net->A_X_pilot);
 657         htonf(net->A_Y_pilot);
 658         htonf(net->A_Z_pilot);
 659
 660         htonf(net->stall_warning);
 661         htonf(net->slip_deg);
 662
 663         for (i=0; i<net->num_engines; ++i ) {
 664             net->eng_state[i] = htonl(net->eng_state[i]);
 665             htonf(net->rpm[i]);
 666             htonf(net->fuel_flow[i]);
 667             htonf(net->fuel_px[i]);
 668             htonf(net->egt[i]);
 669             htonf(net->cht[i]);
 670             htonf(net->mp_osi[i]);
 671             htonf(net->tit[i]);
 672             htonf(net->oil_temp[i]);
 673             htonf(net->oil_px[i]);
 674         }
 675         net->num_engines = htonl(net->num_engines);
 676
 677         for (i=0; i<net->num_tanks; ++i ) {
 678             htonf(net->fuel_quantity[i]);
 679         }
 680         net->num_tanks = htonl(net->num_tanks);
 681
 682         for (i=0; i<net->num_wheels; ++i ) {
 683             net->wow[i] = htonl(net->wow[i]);
 684             htonf(net->gear_pos[i]);
 685             htonf(net->gear_steer[i]);
 686             htonf(net->gear_compression[i]);
 687         }
 688         net->num_wheels = htonl(net->num_wheels);
 689
 690         net->cur_time = htonl( net->cur_time );
 691         net->warp = htonl( net->warp );
 692         htonf(net->visibility);
 693
 694         htonf(net->elevator);
 695         htonf(net->elevator_trim_tab);
 696         htonf(net->left_flap);
 697         htonf(net->right_flap);
 698         htonf(net->left_aileron);
 699         htonf(net->right_aileron);
 700         htonf(net->rudder);
 701         htonf(net->nose_wheel);
 702         htonf(net->speedbrake);
 703         htonf(net->spoilers);
 704     }
 705 }
 706
 707 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 708
 709 void FGOutput::FlightGearSocketOutput(void)
 710 {
 711   int length = sizeof(fgSockBuf);
 712
 713   if (socket == NULL) return;
 714   if (!socket->GetConnectStatus()) return;
 715
 716   SocketDataFill(&fgSockBuf);
 717   socket->Send((char *)&fgSockBuf, length);
 718 }
 719
 720 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 721
 722 void FGOutput::SocketOutput(void)
 723 {
 724   const FGAerodynamics* Aerodynamics = FDMExec->GetAerodynamics();
 725   const FGAuxiliary* Auxiliary = FDMExec->GetAuxiliary();
 726   const FGPropulsion* Propulsion = FDMExec->GetPropulsion();
 727   const FGMassBalance* MassBalance = FDMExec->GetMassBalance();
 728   const FGPropagate* Propagate = FDMExec->GetPropagate();
 729   const FGFCS* FCS = FDMExec->GetFCS();
 730   const FGAtmosphere* Atmosphere = FDMExec->GetAtmosphere();
 731   const FGAircraft* Aircraft = FDMExec->GetAircraft();
 732   const FGGroundReactions* GroundReactions = FDMExec->GetGroundReactions();
 733
 734   string asciiData, scratch;
 735
 736   if (socket == NULL) return;
 737   if (!socket->GetConnectStatus()) return;
 738
 739   socket->Clear();
 740   if (sFirstPass) {
 741     socket->Clear("<LABELS>");
 742     socket->Append("Time");
 743
 744     if (SubSystems & ssAerosurfaces) {
 745       socket->Append("Aileron Command");
 746       socket->Append("Elevator Command");
 747       socket->Append("Rudder Command");
 748       socket->Append("Flap Command");
 749       socket->Append("Left Aileron Position");
 750       socket->Append("Right Aileron Position");
 751       socket->Append("Elevator Position");
 752       socket->Append("Rudder Position");
 753       socket->Append("Flap Position");
 754     }
 755
 756     if (SubSystems & ssRates) {
 757       socket->Append("P");
 758       socket->Append("Q");
 759       socket->Append("R");
 760       socket->Append("PDot");
 761       socket->Append("QDot");
 762       socket->Append("RDot");
 763     }
 764
 765     if (SubSystems & ssVelocities) {
 766       socket->Append("QBar");
 767       socket->Append("Vtotal");
 768       socket->Append("UBody");
 769       socket->Append("VBody");
 770       socket->Append("WBody");
 771       socket->Append("UAero");
 772       socket->Append("VAero");
 773       socket->Append("WAero");
 774       socket->Append("Vn");
 775       socket->Append("Ve");
 776       socket->Append("Vd");
 777     }
 778     if (SubSystems & ssForces) {
 779       socket->Append("F_Drag");
 780       socket->Append("F_Side");
 781       socket->Append("F_Lift");
 782       socket->Append("LoD");
 783       socket->Append("Fx");
 784       socket->Append("Fy");
 785       socket->Append("Fz");
 786     }
 787     if (SubSystems & ssMoments) {
 788       socket->Append("L");
 789       socket->Append("M");
 790       socket->Append("N");
 791     }
 792     if (SubSystems & ssAtmosphere) {
 793       socket->Append("Rho");
 794       socket->Append("SL pressure");
 795       socket->Append("Ambient pressure");
 796       socket->Append("Turbulence Magnitude");
 797       socket->Append("Turbulence Direction X");
 798       socket->Append("Turbulence Direction Y");
 799       socket->Append("Turbulence Direction Z");
 800       socket->Append("NWind");
 801       socket->Append("EWind");
 802       socket->Append("DWind");
 803     }
 804     if (SubSystems & ssMassProps) {
 805       socket->Append("Ixx");
 806       socket->Append("Ixy");
 807       socket->Append("Ixz");
 808       socket->Append("Iyx");
 809       socket->Append("Iyy");
 810       socket->Append("Iyz");
 811       socket->Append("Izx");
 812       socket->Append("Izy");
 813       socket->Append("Izz");
 814       socket->Append("Mass");
 815       socket->Append("Xcg");
 816       socket->Append("Ycg");
 817       socket->Append("Zcg");
 818     }
 819     if (SubSystems & ssPropagate) {
 820         socket->Append("Altitude");
 821         socket->Append("Phi (deg)");
 822         socket->Append("Tht (deg)");
 823         socket->Append("Psi (deg)");
 824         socket->Append("Alpha (deg)");
 825         socket->Append("Beta (deg)");
 826         socket->Append("Latitude (deg)");
 827         socket->Append("Longitude (deg)");
 828     }
 829     if (SubSystems & ssCoefficients) {
 830       scratch = Aerodynamics->GetCoefficientStrings(",");
 831       if (scratch.length() != 0) socket->Append(scratch);
 832     }
 833     if (SubSystems & ssFCS) {
 834       scratch = FCS->GetComponentStrings(",");
 835       if (scratch.length() != 0) socket->Append(scratch);
 836     }
 837     if (SubSystems & ssGroundReactions) {
 838       socket->Append(GroundReactions->GetGroundReactionStrings(","));
 839     }
 840     if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
 841       socket->Append(Propulsion->GetPropulsionStrings(","));
 842     }
 843     if (OutputProperties.size() > 0) {
 844       for (unsigned int i=0;i<OutputProperties.size();i++) {
 845         socket->Append(OutputProperties[i]->GetPrintableName());
 846       }
 847     }
 848
 849     sFirstPass = false;
 850     socket->Send();
 851   }
 852
 853   socket->Clear();
 854   socket->Append(FDMExec->GetSimTime());
 855
 856   if (SubSystems & ssAerosurfaces) {
 857     socket->Append(FCS->GetDaCmd());
 858     socket->Append(FCS->GetDeCmd());
 859     socket->Append(FCS->GetDrCmd());
 860     socket->Append(FCS->GetDfCmd());
 861     socket->Append(FCS->GetDaLPos());
 862     socket->Append(FCS->GetDaRPos());
 863     socket->Append(FCS->GetDePos());
 864     socket->Append(FCS->GetDrPos());
 865     socket->Append(FCS->GetDfPos());
 866   }
 867   if (SubSystems & ssRates) {
 868     socket->Append(radtodeg*Propagate->GetPQR(eP));
 869     socket->Append(radtodeg*Propagate->GetPQR(eQ));
 870     socket->Append(radtodeg*Propagate->GetPQR(eR));
 871     socket->Append(radtodeg*Propagate->GetPQRdot(eP));
 872     socket->Append(radtodeg*Propagate->GetPQRdot(eQ));
 873     socket->Append(radtodeg*Propagate->GetPQRdot(eR));
 874   }
 875   if (SubSystems & ssVelocities) {
 876     socket->Append(Auxiliary->Getqbar());
 877     socket->Append(Auxiliary->GetVt());
 878     socket->Append(Propagate->GetUVW(eU));
 879     socket->Append(Propagate->GetUVW(eV));
 880     socket->Append(Propagate->GetUVW(eW));
 881     socket->Append(Auxiliary->GetAeroUVW(eU));
 882     socket->Append(Auxiliary->GetAeroUVW(eV));
 883     socket->Append(Auxiliary->GetAeroUVW(eW));
 884     socket->Append(Propagate->GetVel(eNorth));
 885     socket->Append(Propagate->GetVel(eEast));
 886     socket->Append(Propagate->GetVel(eDown));
 887   }
 888   if (SubSystems & ssForces) {
 889     socket->Append(Aerodynamics->GetvFw()(eDrag));
 890     socket->Append(Aerodynamics->GetvFw()(eSide));
 891     socket->Append(Aerodynamics->GetvFw()(eLift));
 892     socket->Append(Aerodynamics->GetLoD());
 893     socket->Append(Aircraft->GetForces(eX));
 894     socket->Append(Aircraft->GetForces(eY));
 895     socket->Append(Aircraft->GetForces(eZ));
 896   }
 897   if (SubSystems & ssMoments) {
 898     socket->Append(Aircraft->GetMoments(eL));
 899     socket->Append(Aircraft->GetMoments(eM));
 900     socket->Append(Aircraft->GetMoments(eN));
 901   }
 902   if (SubSystems & ssAtmosphere) {
 903     socket->Append(Atmosphere->GetDensity());
 904     socket->Append(Atmosphere->GetPressureSL());
 905     socket->Append(Atmosphere->GetPressure());
 906     socket->Append(Atmosphere->GetTurbMagnitude());
 907     socket->Append(Atmosphere->GetTurbDirection().Dump(","));
 908     socket->Append(Atmosphere->GetTotalWindNED().Dump(","));
 909   }
 910   if (SubSystems & ssMassProps) {
 911     socket->Append(MassBalance->GetJ()(1,1));
 912     socket->Append(MassBalance->GetJ()(1,2));
 913     socket->Append(MassBalance->GetJ()(1,3));
 914     socket->Append(MassBalance->GetJ()(2,1));
 915     socket->Append(MassBalance->GetJ()(2,2));
 916     socket->Append(MassBalance->GetJ()(2,3));
 917     socket->Append(MassBalance->GetJ()(3,1));
 918     socket->Append(MassBalance->GetJ()(3,2));
 919     socket->Append(MassBalance->GetJ()(3,3));
 920     socket->Append(MassBalance->GetMass());
 921     socket->Append(MassBalance->GetXYZcg()(eX));
 922     socket->Append(MassBalance->GetXYZcg()(eY));
 923     socket->Append(MassBalance->GetXYZcg()(eZ));
 924   }
 925   if (SubSystems & ssPropagate) {
 926     socket->Append(Propagate->GetAltitudeASL());
 927     socket->Append(radtodeg*Propagate->GetEuler(ePhi));
 928     socket->Append(radtodeg*Propagate->GetEuler(eTht));
 929     socket->Append(radtodeg*Propagate->GetEuler(ePsi));
 930     socket->Append(Auxiliary->Getalpha(inDegrees));
 931     socket->Append(Auxiliary->Getbeta(inDegrees));
 932     socket->Append(Propagate->GetLocation().GetLatitudeDeg());
 933     socket->Append(Propagate->GetLocation().GetLongitudeDeg());
 934   }
 935   if (SubSystems & ssCoefficients) {
 936     scratch = Aerodynamics->GetCoefficientValues(",");
 937     if (scratch.length() != 0) socket->Append(scratch);
 938   }
 939   if (SubSystems & ssFCS) {
 940     scratch = FCS->GetComponentValues(",");
 941     if (scratch.length() != 0) socket->Append(scratch);
 942   }
 943   if (SubSystems & ssGroundReactions) {
 944     socket->Append(GroundReactions->GetGroundReactionValues(","));
 945   }
 946   if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
 947     socket->Append(Propulsion->GetPropulsionValues(","));
 948   }
 949
 950   for (unsigned int i=0;i<OutputProperties.size();i++) {
 951     socket->Append(OutputProperties[i]->getDoubleValue());
 952   }
 953
 954   socket->Send();
 955 }
 956
 957 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 958
 959 void FGOutput::SocketStatusOutput(const string& out_str)
 960 {
 961   string asciiData;
 962
 963   if (socket == NULL) return;
 964
 965   socket->Clear();
 966   asciiData = string("<STATUS>") + out_str;
 967   socket->Append(asciiData.c_str());
 968   socket->Send();
 969 }
 970
 971 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 972
 973 bool FGOutput::Load(Element* element)
 974 {
 975   string parameter="";
 976   string name="";
 977   int OutRate = 0;
 978   unsigned int port;
 979   Element *property_element;
 980
 981   string separator = "/";
 982
 983   if (!DirectivesFile.empty()) { // A directives filename from the command line overrides
 984     output_file_name = DirectivesFile;      // one found in the config file.
 985     document = LoadXMLDocument(output_file_name);
 986   } else if (!element->GetAttributeValue("file").empty()) {
 987     output_file_name = FDMExec->GetRootDir() + element->GetAttributeValue("file");
 988     document = LoadXMLDocument(output_file_name);
 989   } else {
 990     document = element;
 991   }
 992
 993   if (!document) return false;
 994
 995   name = FDMExec->GetRootDir() + document->GetAttributeValue("name");
 996   SetType(document->GetAttributeValue("type"));
 997   Port = document->GetAttributeValue("port");
 998   if (!Port.empty() && (Type == otSocket || Type == otFlightGear)) {
 999     port = atoi(Port.c_str());
1000     SetProtocol(document->GetAttributeValue("protocol"));
1001     socket = new FGfdmSocket(name, port, Protocol);
1002   } else {
1003     BaseFilename = Filename = name;
1004   }
1005   if (!document->GetAttributeValue("rate").empty()) {
1006     OutRate = (int)document->GetAttributeValueAsNumber("rate");
1007   } else {
1008     OutRate = 1;
1009   }
1010
1011   if (document->FindElementValue("simulation") == string("ON"))
1012     SubSystems += ssSimulation;
1013   if (document->FindElementValue("aerosurfaces") == string("ON"))
1014     SubSystems += ssAerosurfaces;
1015   if (document->FindElementValue("rates") == string("ON"))
1016     SubSystems += ssRates;
1017   if (document->FindElementValue("velocities") == string("ON"))
1018     SubSystems += ssVelocities;
1019   if (document->FindElementValue("forces") == string("ON"))
1020     SubSystems += ssForces;
1021   if (document->FindElementValue("moments") == string("ON"))
1022     SubSystems += ssMoments;
1023   if (document->FindElementValue("atmosphere") == string("ON"))
1024     SubSystems += ssAtmosphere;
1025   if (document->FindElementValue("massprops") == string("ON"))
1026     SubSystems += ssMassProps;
1027   if (document->FindElementValue("position") == string("ON"))
1028     SubSystems += ssPropagate;
1029   if (document->FindElementValue("coefficients") == string("ON"))
1030     SubSystems += ssCoefficients;
1031   if (document->FindElementValue("ground_reactions") == string("ON"))
1032     SubSystems += ssGroundReactions;
1033   if (document->FindElementValue("fcs") == string("ON"))
1034     SubSystems += ssFCS;
1035   if (document->FindElementValue("propulsion") == string("ON"))
1036     SubSystems += ssPropulsion;
1037   property_element = document->FindElement("property");
1038   while (property_element) {
1039     string property_str = property_element->GetDataLine();
1040     FGPropertyManager* node = PropertyManager->GetNode(property_str);
1041     if (!node) {
1042       cerr << fgred << highint << endl << "  No property by the name "
1043            << property_str << " has been defined. This property will " << endl
1044            << "  not be logged. You should check your configuration file."
1045            << reset << endl;
1046     } else {
1047       OutputProperties.push_back(node);
1048     }
1049     property_element = document->FindNextElement("property");
1050   }
1051
1052   SetRate(OutRate);
1053
1054   Debug(2);
1055
1056   return true;
1057 }
1058
1059 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
1060
1061 void FGOutput::SetRate(int rtHz)
1062 {
1063   rtHz = rtHz>1000?1000:(rtHz<0?0:rtHz);
1064   if (rtHz > 0) {
1065     rate = (int)(0.5 + 1.0/(FDMExec->GetDeltaT()*rtHz));
1066     Enable();
1067   } else {
1068     rate = 1;
1069     Disable();
1070   }
1071 }
1072
1073 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
1074 //    The bitmasked value choices are as follows:
1075 //    unset: In this case (the default) JSBSim would only print
1076 //       out the normally expected messages, essentially echoing
1077 //       the config files as they are read. If the environment
1078 //       variable is not set, debug_lvl is set to 1 internally
1079 //    0: This requests JSBSim not to output any messages
1080 //       whatsoever.
1081 //    1: This value explicity requests the normal JSBSim
1082 //       startup messages
1083 //    2: This value asks for a message to be printed out when
1084 //       a class is instantiated
1085 //    4: When this value is set, a message is displayed when a
1086 //       FGModel object executes its Run() method
1087 //    8: When this value is set, various runtime state variables
1088 //       are printed out periodically
1089 //    16: When set various parameters are sanity checked and
1090 //       a message is printed out when they go out of bounds
1091
1092 void FGOutput::Debug(int from)
1093 {
1094   string scratch="";
1095
1096   if (debug_lvl <= 0) return;
1097
1098   if (debug_lvl & 1) { // Standard console startup message output
1099     if (from == 0) { // Constructor
1100
1101     }
1102     if (from == 2) {
1103       if (output_file_name.empty())
1104         cout << "  " << "Output parameters read inline" << endl;
1105       else
1106         cout << "    Output parameters read from file: " << output_file_name << endl;
1107
1108       if (Filename == "cout" || Filename == "COUT") {
1109         scratch = "    Log output goes to screen console";
1110       } else if (!Filename.empty()) {
1111         scratch = "    Log output goes to file: " + Filename;
1112       }
1113       switch (Type) {
1114       case otCSV:
1115         cout << scratch << " in CSV format output at rate " << 1/(FDMExec->GetDeltaT()*rate) << " Hz" << endl;
1116         break;
1117       case otNone:
1118       default:
1119         cout << "  No log output" << endl;
1120         break;
1121       }
1122
1123       if (SubSystems & ssSimulation)      cout << "    Simulation parameters logged" << endl;
1124       if (SubSystems & ssAerosurfaces)    cout << "    Aerosurface parameters logged" << endl;
1125       if (SubSystems & ssRates)           cout << "    Rate parameters logged" << endl;
1126       if (SubSystems & ssVelocities)      cout << "    Velocity parameters logged" << endl;
1127       if (SubSystems & ssForces)          cout << "    Force parameters logged" << endl;
1128       if (SubSystems & ssMoments)         cout << "    Moments parameters logged" << endl;
1129       if (SubSystems & ssAtmosphere)      cout << "    Atmosphere parameters logged" << endl;
1130       if (SubSystems & ssMassProps)       cout << "    Mass parameters logged" << endl;
1131       if (SubSystems & ssCoefficients)    cout << "    Coefficient parameters logged" << endl;
1132       if (SubSystems & ssPropagate)       cout << "    Propagate parameters logged" << endl;
1133       if (SubSystems & ssGroundReactions) cout << "    Ground parameters logged" << endl;
1134       if (SubSystems & ssFCS)             cout << "    FCS parameters logged" << endl;
1135       if (SubSystems & ssPropulsion)      cout << "    Propulsion parameters logged" << endl;
1136       if (OutputProperties.size() > 0)    cout << "    Properties logged:" << endl;
1137       for (unsigned int i=0;i<OutputProperties.size();i++) {
1138         cout << "      - " << OutputProperties[i]->GetName() << endl;
1139       }
1140     }
1141   }
1142   if (debug_lvl & 2 ) { // Instantiation/Destruction notification
1143     if (from == 0) cout << "Instantiated: FGOutput" << endl;
1144     if (from == 1) cout << "Destroyed:    FGOutput" << endl;
1145   }
1146   if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
1147   }
1148   if (debug_lvl & 8 ) { // Runtime state variables
1149   }
1150   if (debug_lvl & 16) { // Sanity checking
1151   }
1152   if (debug_lvl & 64) {
1153     if (from == 0) { // Constructor
1154       cout << IdSrc << endl;
1155       cout << IdHdr << endl;
1156     }
1157   }
1158 }
1159 }