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 #include "input_output/net_fdm.hxx"
  65 #include "input_output/FGfdmSocket.h"
  66
  67 #if defined(WIN32) && !defined(__CYGWIN__)
  68 #  include <windows.h>
  69 #else
  70 #  include <netinet/in.h>       // htonl() ntohl()
  71 #endif
  72
  73 static const int endianTest = 1;
  74 #define isLittleEndian (*((char *) &endianTest ) != 0)
  75
  76 using namespace std;
  77
  78 namespace JSBSim {
  79
  80 static const char *IdSrc = "$Id: FGOutput.cpp,v 1.48 2010/04/12 12:25:19 jberndt Exp $";
  81 static const char *IdHdr = ID_OUTPUT;
  82
  83 // (stolen from FGFS native_fdm.cxx)
  84 // The function htond is defined this way due to the way some
  85 // processors and OSes treat floating point values.  Some will raise
  86 // an exception whenever a "bad" floating point value is loaded into a
  87 // floating point register.  Solaris is notorious for this, but then
  88 // so is LynxOS on the PowerPC.  By translating the data in place,
  89 // there is no need to load a FP register with the "corruped" floating
  90 // point value.  By doing the BIG_ENDIAN test, I can optimize the
  91 // routine for big-endian processors so it can be as efficient as
  92 // possible
  93 static void htond (double &x)
  94 {
  95     if ( isLittleEndian ) {
  96         int    *Double_Overlay;
  97         int     Holding_Buffer;
  98
  99         Double_Overlay = (int *) &x;
 100         Holding_Buffer = Double_Overlay [0];
 101
 102         Double_Overlay [0] = htonl (Double_Overlay [1]);
 103         Double_Overlay [1] = htonl (Holding_Buffer);
 104     } else {
 105         return;
 106     }
 107 }
 108
 109 // Float version
 110 static void htonf (float &x)
 111 {
 112     if ( isLittleEndian ) {
 113         int    *Float_Overlay;
 114         int     Holding_Buffer;
 115
 116         Float_Overlay = (int *) &x;
 117         Holding_Buffer = Float_Overlay [0];
 118
 119         Float_Overlay [0] = htonl (Holding_Buffer);
 120     } else {
 121         return;
 122     }
 123 }
 124
 125
 126 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 127 CLASS IMPLEMENTATION
 128 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 129
 130 FGOutput::FGOutput(FGFDMExec* fdmex) : FGModel(fdmex)
 131 {
 132   Name = "FGOutput";
 133   sFirstPass = dFirstPass = true;
 134   socket = 0;
 135   flightGearSocket = 0;
 136   runID_postfix = 0;
 137   Type = otNone;
 138   SubSystems = 0;
 139   enabled = true;
 140   StartNewFile = false;
 141   delimeter = ", ";
 142   BaseFilename = Filename = "";
 143   DirectivesFile = "";
 144   output_file_name = "";
 145
 146   memset(&fgSockBuf, 0x00, sizeof(fgSockBuf));
 147
 148   Debug(0);
 149 }
 150
 151 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 152
 153 FGOutput::~FGOutput()
 154 {
 155   delete socket;
 156   delete flightGearSocket;
 157   OutputProperties.clear();
 158   Debug(1);
 159 }
 160
 161 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 162
 163 bool FGOutput::InitModel(void)
 164 {
 165   if (!FGModel::InitModel()) return false;
 166
 167   if (Filename.size() > 0 && StartNewFile) {
 168     ostringstream buf;
 169     string::size_type dot = BaseFilename.find_last_of('.');
 170     if (dot != string::npos) {
 171       buf << BaseFilename.substr(0, dot) << '_' << runID_postfix++ << BaseFilename.substr(dot);
 172     } else {
 173       buf << BaseFilename << '_' << runID_postfix++;
 174     }
 175     Filename = buf.str();
 176     datafile.close();
 177     StartNewFile = false;
 178     dFirstPass = true;
 179   }
 180
 181   return true;
 182 }
 183
 184 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 185
 186 bool FGOutput::Run(void)
 187 {
 188   if (FGModel::Run()) return true;
 189
 190   if (enabled && !FDMExec->IntegrationSuspended()&& !FDMExec->Holding()) {
 191     RunPreFunctions();
 192     if (Type == otSocket) {
 193       SocketOutput();
 194     } else if (Type == otFlightGear) {
 195       FlightGearSocketOutput();
 196     } else if (Type == otCSV || Type == otTab) {
 197       DelimitedOutput(Filename);
 198     } else if (Type == otTerminal) {
 199       // Not done yet
 200     } else if (Type == otNone) {
 201       // Do nothing
 202     } else {
 203       // Not a valid type of output
 204     }
 205     RunPostFunctions();
 206   }
 207   return false;
 208 }
 209
 210 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 211
 212 void FGOutput::SetType(const string& type)
 213 {
 214   if (type == "CSV") {
 215     Type = otCSV;
 216     delimeter = ", ";
 217   } else if (type == "TABULAR") {
 218     Type = otTab;
 219     delimeter = "\t";
 220   } else if (type == "SOCKET") {
 221     Type = otSocket;
 222   } else if (type == "FLIGHTGEAR") {
 223     Type = otFlightGear;
 224   } else if (type == "TERMINAL") {
 225     Type = otTerminal;
 226   } else if (type != string("NONE")) {
 227     Type = otUnknown;
 228     cerr << "Unknown type of output specified in config file" << endl;
 229   }
 230 }
 231
 232 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 233
 234 void FGOutput::DelimitedOutput(const string& fname)
 235 {
 236   streambuf* buffer;
 237   string scratch = "";
 238
 239   if (fname == "COUT" || fname == "cout") {
 240     buffer = cout.rdbuf();
 241   } else {
 242     if (!datafile.is_open()) datafile.open(fname.c_str());
 243     buffer = datafile.rdbuf();
 244   }
 245
 246   ostream outstream(buffer);
 247
 248   outstream.precision(10);
 249
 250   if (dFirstPass) {
 251     outstream << "Time";
 252     if (SubSystems & ssSimulation) {
 253       // Nothing here, yet
 254     }
 255     if (SubSystems & ssAerosurfaces) {
 256       outstream << delimeter;
 257       outstream << "Aileron Command (norm)" + delimeter;
 258       outstream << "Elevator Command (norm)" + delimeter;
 259       outstream << "Rudder Command (norm)" + delimeter;
 260       outstream << "Flap Command (norm)" + delimeter;
 261       outstream << "Left Aileron Position (deg)" + delimeter;
 262       outstream << "Right Aileron Position (deg)" + delimeter;
 263       outstream << "Elevator Position (deg)" + delimeter;
 264       outstream << "Rudder Position (deg)" + delimeter;
 265       outstream << "Flap Position (deg)";
 266     }
 267     if (SubSystems & ssRates) {
 268       outstream << delimeter;
 269       outstream << "P (deg/s)" + delimeter + "Q (deg/s)" + delimeter + "R (deg/s)" + delimeter;
 270       outstream << "P dot (deg/s^2)" + delimeter + "Q dot (deg/s^2)" + delimeter + "R dot (deg/s^2)" + delimeter;
 271       outstream << "P_{inertial} (deg/s)" + delimeter + "Q_{inertial} (deg/s)" + delimeter + "R_{inertial} (deg/s)";
 272     }
 273     if (SubSystems & ssVelocities) {
 274       outstream << delimeter;
 275       outstream << "q bar (psf)" + delimeter;
 276       outstream << "Reynolds Number" + delimeter;
 277       outstream << "V_{Total} (ft/s)" + delimeter;
 278       outstream << "V_{Inertial} (ft/s)" + delimeter;
 279       outstream << "UBody" + delimeter + "VBody" + delimeter + "WBody" + delimeter;
 280       outstream << "Aero V_{X Body} (ft/s)" + delimeter + "Aero V_{Y Body} (ft/s)" + delimeter + "Aero V_{Z Body} (ft/s)" + delimeter;
 281       outstream << "V_{X_{inertial}} (ft/s)" + delimeter + "V_{Y_{inertial}} (ft/s)" + delimeter + "V_{Z_{inertial}} (ft/s)" + delimeter;
 282       outstream << "V_{North} (ft/s)" + delimeter + "V_{East} (ft/s)" + delimeter + "V_{Down} (ft/s)";
 283     }
 284     if (SubSystems & ssForces) {
 285       outstream << delimeter;
 286       outstream << "F_{Drag} (lbs)" + delimeter + "F_{Side} (lbs)" + delimeter + "F_{Lift} (lbs)" + delimeter;
 287       outstream << "L/D" + delimeter;
 288       outstream << "F_{Aero x} (lbs)" + delimeter + "F_{Aero y} (lbs)" + delimeter + "F_{Aero z} (lbs)" + delimeter;
 289       outstream << "F_{Prop x} (lbs)" + delimeter + "F_{Prop y} (lbs)" + delimeter + "F_{Prop z} (lbs)" + delimeter;
 290       outstream << "F_{Gear x} (lbs)" + delimeter + "F_{Gear y} (lbs)" + delimeter + "F_{Gear z} (lbs)" + delimeter;
 291       outstream << "F_{Ext x} (lbs)" + delimeter + "F_{Ext y} (lbs)" + delimeter + "F_{Ext z} (lbs)" + delimeter;
 292       outstream << "F_{Buoyant x} (lbs)" + delimeter + "F_{Buoyant y} (lbs)" + delimeter + "F_{Buoyant z} (lbs)" + delimeter;
 293       outstream << "F_{Total x} (lbs)" + delimeter + "F_{Total y} (lbs)" + delimeter + "F_{Total z} (lbs)";
 294     }
 295     if (SubSystems & ssMoments) {
 296       outstream << delimeter;
 297       outstream << "L_{Aero} (ft-lbs)" + delimeter + "M_{Aero} ( ft-lbs)" + delimeter + "N_{Aero} (ft-lbs)" + delimeter;
 298       outstream << "L_{Prop} (ft-lbs)" + delimeter + "M_{Prop} (ft-lbs)" + delimeter + "N_{Prop} (ft-lbs)" + delimeter;
 299       outstream << "L_{Gear} (ft-lbs)" + delimeter + "M_{Gear} (ft-lbs)" + delimeter + "N_{Gear} (ft-lbs)" + delimeter;
 300       outstream << "L_{ext} (ft-lbs)" + delimeter + "M_{ext} (ft-lbs)" + delimeter + "N_{ext} (ft-lbs)" + delimeter;
 301       outstream << "L_{Buoyant} (ft-lbs)" + delimeter + "M_{Buoyant} (ft-lbs)" + delimeter + "N_{Buoyant} (ft-lbs)" + delimeter;
 302       outstream << "L_{Total} (ft-lbs)" + delimeter + "M_{Total} (ft-lbs)" + delimeter + "N_{Total} (ft-lbs)";
 303     }
 304     if (SubSystems & ssAtmosphere) {
 305       outstream << delimeter;
 306       outstream << "Rho (slugs/ft^3)" + delimeter;
 307       outstream << "Absolute Viscosity" + delimeter;
 308       outstream << "Kinematic Viscosity" + delimeter;
 309       outstream << "Temperature (R)" + delimeter;
 310       outstream << "P_{SL} (psf)" + delimeter;
 311       outstream << "P_{Ambient} (psf)" + delimeter;
 312       outstream << "Turbulence Magnitude (ft/sec)" + delimeter;
 313       outstream << "Turbulence X Direction (rad)" + delimeter + "Turbulence Y Direction (rad)" + delimeter + "Turbulence Z Direction (rad)" + delimeter;
 314       outstream << "Wind V_{North} (ft/s)" + delimeter + "Wind V_{East} (ft/s)" + delimeter + "Wind V_{Down} (ft/s)";
 315     }
 316     if (SubSystems & ssMassProps) {
 317       outstream << delimeter;
 318       outstream << "I_{xx}" + delimeter;
 319       outstream << "I_{xy}" + delimeter;
 320       outstream << "I_{xz}" + delimeter;
 321       outstream << "I_{yx}" + delimeter;
 322       outstream << "I_{yy}" + delimeter;
 323       outstream << "I_{yz}" + delimeter;
 324       outstream << "I_{zx}" + delimeter;
 325       outstream << "I_{zy}" + delimeter;
 326       outstream << "I_{zz}" + delimeter;
 327       outstream << "Mass" + delimeter;
 328       outstream << "X_{cg}" + delimeter + "Y_{cg}" + delimeter + "Z_{cg}";
 329     }
 330     if (SubSystems & ssPropagate) {
 331       outstream << delimeter;
 332       outstream << "Altitude ASL (ft)" + delimeter;
 333       outstream << "Altitude AGL (ft)" + delimeter;
 334       outstream << "Phi (deg)" + delimeter + "Theta (deg)" + delimeter + "Psi (deg)" + delimeter;
 335       outstream << "Alpha (deg)" + delimeter;
 336       outstream << "Beta (deg)" + delimeter;
 337       outstream << "Latitude (deg)" + delimeter;
 338       outstream << "Longitude (deg)" + delimeter;
 339       outstream << "X_{ECI} (ft)" + delimeter + "Y_{ECI} (ft)" + delimeter + "Z_{ECI} (ft)" + delimeter;
 340       outstream << "X_{ECEF} (ft)" + delimeter + "Y_{ECEF} (ft)" + delimeter + "Z_{ECEF} (ft)" + delimeter;
 341       outstream << "Earth Position Angle (deg)" + delimeter;
 342       outstream << "Distance AGL (ft)" + delimeter;
 343       outstream << "Terrain Elevation (ft)";
 344     }
 345     if (SubSystems & ssCoefficients) {
 346       scratch = Aerodynamics->GetCoefficientStrings(delimeter);
 347       if (scratch.length() != 0) outstream << delimeter << scratch;
 348     }
 349     if (SubSystems & ssFCS) {
 350       scratch = FCS->GetComponentStrings(delimeter);
 351       if (scratch.length() != 0) outstream << delimeter << scratch;
 352     }
 353     if (SubSystems & ssGroundReactions) {
 354       outstream << delimeter;
 355       outstream << GroundReactions->GetGroundReactionStrings(delimeter);
 356     }
 357     if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
 358       outstream << delimeter;
 359       outstream << Propulsion->GetPropulsionStrings(delimeter);
 360     }
 361     if (OutputProperties.size() > 0) {
 362       for (unsigned int i=0;i<OutputProperties.size();i++) {
 363         outstream << delimeter << OutputProperties[i]->GetPrintableName();
 364       }
 365     }
 366
 367     outstream << endl;
 368     dFirstPass = false;
 369   }
 370
 371   outstream << FDMExec->GetSimTime();
 372   if (SubSystems & ssSimulation) {
 373   }
 374   if (SubSystems & ssAerosurfaces) {
 375     outstream << delimeter;
 376     outstream << FCS->GetDaCmd() << delimeter;
 377     outstream << FCS->GetDeCmd() << delimeter;
 378     outstream << FCS->GetDrCmd() << delimeter;
 379     outstream << FCS->GetDfCmd() << delimeter;
 380     outstream << FCS->GetDaLPos(ofDeg) << delimeter;
 381     outstream << FCS->GetDaRPos(ofDeg) << delimeter;
 382     outstream << FCS->GetDePos(ofDeg) << delimeter;
 383     outstream << FCS->GetDrPos(ofDeg) << delimeter;
 384     outstream << FCS->GetDfPos(ofDeg);
 385   }
 386   if (SubSystems & ssRates) {
 387     outstream << delimeter;
 388     outstream << (radtodeg*Propagate->GetPQR()).Dump(delimeter) << delimeter;
 389     outstream << (radtodeg*Propagate->GetPQRdot()).Dump(delimeter) << delimeter;
 390     outstream << (radtodeg*Propagate->GetPQRi()).Dump(delimeter);
 391   }
 392   if (SubSystems & ssVelocities) {
 393     outstream << delimeter;
 394     outstream << Auxiliary->Getqbar() << delimeter;
 395     outstream << Auxiliary->GetReynoldsNumber() << delimeter;
 396     outstream << setprecision(12) << Auxiliary->GetVt() << delimeter;
 397     outstream << Propagate->GetInertialVelocityMagnitude() << delimeter;
 398     outstream << setprecision(12) << Propagate->GetUVW().Dump(delimeter) << delimeter;
 399     outstream << Auxiliary->GetAeroUVW().Dump(delimeter) << delimeter;
 400     outstream << Propagate->GetInertialVelocity().Dump(delimeter) << delimeter;
 401     outstream << Propagate->GetVel().Dump(delimeter);
 402     outstream.precision(10);
 403   }
 404   if (SubSystems & ssForces) {
 405     outstream << delimeter;
 406     outstream << Aerodynamics->GetvFw().Dump(delimeter) << delimeter;
 407     outstream << Aerodynamics->GetLoD() << delimeter;
 408     outstream << Aerodynamics->GetForces().Dump(delimeter) << delimeter;
 409     outstream << Propulsion->GetForces().Dump(delimeter) << delimeter;
 410     outstream << GroundReactions->GetForces().Dump(delimeter) << delimeter;
 411     outstream << ExternalReactions->GetForces().Dump(delimeter) << delimeter;
 412     outstream << BuoyantForces->GetForces().Dump(delimeter) << delimeter;
 413     outstream << Aircraft->GetForces().Dump(delimeter);
 414   }
 415   if (SubSystems & ssMoments) {
 416     outstream << delimeter;
 417     outstream << Aerodynamics->GetMoments().Dump(delimeter) << delimeter;
 418     outstream << Propulsion->GetMoments().Dump(delimeter) << delimeter;
 419     outstream << GroundReactions->GetMoments().Dump(delimeter) << delimeter;
 420     outstream << ExternalReactions->GetMoments().Dump(delimeter) << delimeter;
 421     outstream << BuoyantForces->GetMoments().Dump(delimeter) << delimeter;
 422     outstream << Aircraft->GetMoments().Dump(delimeter);
 423   }
 424   if (SubSystems & ssAtmosphere) {
 425     outstream << delimeter;
 426     outstream << Atmosphere->GetDensity() << delimeter;
 427     outstream << Atmosphere->GetAbsoluteViscosity() << delimeter;
 428     outstream << Atmosphere->GetKinematicViscosity() << delimeter;
 429     outstream << Atmosphere->GetTemperature() << delimeter;
 430     outstream << Atmosphere->GetPressureSL() << delimeter;
 431     outstream << Atmosphere->GetPressure() << delimeter;
 432     outstream << Atmosphere->GetTurbMagnitude() << delimeter;
 433     outstream << Atmosphere->GetTurbDirection().Dump(delimeter) << delimeter;
 434     outstream << Atmosphere->GetTotalWindNED().Dump(delimeter);
 435   }
 436   if (SubSystems & ssMassProps) {
 437     outstream << delimeter;
 438     outstream << MassBalance->GetJ().Dump(delimeter) << delimeter;
 439     outstream << MassBalance->GetMass() << delimeter;
 440     outstream << MassBalance->GetXYZcg().Dump(delimeter);
 441   }
 442   if (SubSystems & ssPropagate) {
 443     outstream.precision(14);
 444     outstream << delimeter;
 445     outstream << Propagate->GetAltitudeASL() << delimeter;
 446     outstream << Propagate->GetDistanceAGL() << delimeter;
 447     outstream << (radtodeg*Propagate->GetEuler()).Dump(delimeter) << delimeter;
 448     outstream << Auxiliary->Getalpha(inDegrees) << delimeter;
 449     outstream << Auxiliary->Getbeta(inDegrees) << delimeter;
 450     outstream << Propagate->GetLocation().GetLatitudeDeg() << delimeter;
 451     outstream << Propagate->GetLocation().GetLongitudeDeg() << delimeter;
 452     outstream.precision(18);
 453     outstream << ((FGColumnVector3)Propagate->GetInertialPosition()).Dump(delimeter) << delimeter;
 454     outstream << ((FGColumnVector3)Propagate->GetLocation()).Dump(delimeter) << delimeter;
 455     outstream.precision(14);
 456     outstream << Inertial->GetEarthPositionAngleDeg() << delimeter;
 457     outstream << Propagate->GetDistanceAGL() << delimeter;
 458     outstream << Propagate->GetTerrainElevation();
 459     outstream.precision(10);
 460   }
 461   if (SubSystems & ssCoefficients) {
 462     scratch = Aerodynamics->GetCoefficientValues(delimeter);
 463     if (scratch.length() != 0) outstream << delimeter << scratch;
 464   }
 465   if (SubSystems & ssFCS) {
 466     scratch = FCS->GetComponentValues(delimeter);
 467     if (scratch.length() != 0) outstream << delimeter << scratch;
 468   }
 469   if (SubSystems & ssGroundReactions) {
 470     outstream << delimeter;
 471     outstream << GroundReactions->GetGroundReactionValues(delimeter);
 472   }
 473   if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
 474     outstream << delimeter;
 475     outstream << Propulsion->GetPropulsionValues(delimeter);
 476   }
 477
 478   outstream.precision(18);
 479   for (unsigned int i=0;i<OutputProperties.size();i++) {
 480     outstream << delimeter << OutputProperties[i]->getDoubleValue();
 481   }
 482   outstream.precision(10);
 483
 484   outstream << endl;
 485   outstream.flush();
 486 }
 487
 488 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 489
 490 void FGOutput::SocketDataFill(FGNetFDM* net)
 491 {
 492     unsigned int i;
 493
 494     // Version
 495     net->version = FG_NET_FDM_VERSION;
 496
 497     // Positions
 498     net->longitude = Propagate->GetLocation().GetLongitude(); // geodetic (radians)
 499     net->latitude  = Propagate->GetLocation().GetLatitude(); // geodetic (radians)
 500     net->altitude  = Propagate->GetAltitudeASL()*0.3048; // altitude, above sea level (meters)
 501     net->agl       = (float)(Propagate->GetDistanceAGL()*0.3048); // altitude, above ground level (meters)
 502
 503     net->phi       = (float)(Propagate->GetEuler(ePhi)); // roll (radians)
 504     net->theta     = (float)(Propagate->GetEuler(eTht)); // pitch (radians)
 505     net->psi       = (float)(Propagate->GetEuler(ePsi)); // yaw or true heading (radians)
 506
 507     net->alpha     = (float)(Auxiliary->Getalpha()); // angle of attack (radians)
 508     net->beta      = (float)(Auxiliary->Getbeta()); // side slip angle (radians)
 509
 510     // Velocities
 511     net->phidot     = (float)(Auxiliary->GetEulerRates(ePhi)); // roll rate (radians/sec)
 512     net->thetadot   = (float)(Auxiliary->GetEulerRates(eTht)); // pitch rate (radians/sec)
 513     net->psidot     = (float)(Auxiliary->GetEulerRates(ePsi)); // yaw rate (radians/sec)
 514     net->vcas       = (float)(Auxiliary->GetVcalibratedFPS()); // VCAS, ft/sec
 515     net->climb_rate = (float)(Propagate->Gethdot());           // altitude rate, ft/sec
 516     net->v_north    = (float)(Propagate->GetVel(eNorth));      // north vel in NED frame, fps
 517     net->v_east     = (float)(Propagate->GetVel(eEast));       // east vel in NED frame, fps
 518     net->v_down     = (float)(Propagate->GetVel(eDown));       // down vel in NED frame, fps
 519 //---ADD METHOD TO CALCULATE THESE TERMS---
 520     net->v_wind_body_north = (float)(Propagate->GetVel(eNorth)); // north vel in NED relative to airmass, fps
 521     net->v_wind_body_east = (float)(Propagate->GetVel(eEast)); // east vel in NED relative to airmass, fps
 522     net->v_wind_body_down = (float)(Propagate->GetVel(eDown)); // down vel in NED relative to airmass, fps
 523
 524     // Accelerations
 525     net->A_X_pilot   = (float)(Auxiliary->GetPilotAccel(1));    // X body accel, ft/s/s
 526     net->A_Y_pilot   = (float)(Auxiliary->GetPilotAccel(2));    // Y body accel, ft/s/s
 527     net->A_Z_pilot   = (float)(Auxiliary->GetPilotAccel(3));    // Z body accel, ft/s/s
 528
 529     // Stall
 530     net->stall_warning = 0.0;  // 0.0 - 1.0 indicating the amount of stall
 531     net->slip_deg    = (float)(Auxiliary->Getbeta(inDegrees));  // slip ball deflection, deg
 532
 533     // Engine status
 534     net->num_engines = Propulsion->GetNumEngines(); // Number of valid engines
 535
 536     for (i=0; i<net->num_engines; i++) {
 537        if (Propulsion->GetEngine(i)->GetRunning())
 538           net->eng_state[i] = 2;       // Engine state running
 539        else if (Propulsion->GetEngine(i)->GetCranking())
 540           net->eng_state[i] = 1;       // Engine state cranking
 541        else
 542           net->eng_state[i] = 0;       // Engine state off
 543
 544        switch (Propulsion->GetEngine(i)->GetType()) {
 545        case (FGEngine::etRocket):
 546        break;
 547        case (FGEngine::etPiston):
 548           net->rpm[i]       = (float)(((FGPiston *)Propulsion->GetEngine(i))->getRPM());
 549           net->fuel_flow[i] = (float)(((FGPiston *)Propulsion->GetEngine(i))->getFuelFlow_gph());
 550           net->fuel_px[i]   = 0; // Fuel pressure, psi  (N/A in current model)
 551           net->egt[i]       = (float)(((FGPiston *)Propulsion->GetEngine(i))->GetEGT());
 552           net->cht[i]       = (float)(((FGPiston *)Propulsion->GetEngine(i))->getCylinderHeadTemp_degF());
 553           net->mp_osi[i]    = (float)(((FGPiston *)Propulsion->GetEngine(i))->getManifoldPressure_inHg());
 554           net->oil_temp[i]  = (float)(((FGPiston *)Propulsion->GetEngine(i))->getOilTemp_degF());
 555           net->oil_px[i]    = (float)(((FGPiston *)Propulsion->GetEngine(i))->getOilPressure_psi());
 556           net->tit[i]       = 0; // Turbine Inlet Temperature  (N/A for piston)
 557        break;
 558        case (FGEngine::etTurbine):
 559        break;
 560        case (FGEngine::etTurboprop):
 561        break;
 562        case (FGEngine::etElectric):
 563        break;
 564        case (FGEngine::etUnknown):
 565        break;
 566        }
 567     }
 568
 569
 570     // Consumables
 571     net->num_tanks = Propulsion->GetNumTanks();   // Max number of fuel tanks
 572
 573     for (i=0; i<net->num_tanks; i++) {
 574        net->fuel_quantity[i] = (float)(((FGTank *)Propulsion->GetTank(i))->GetContents());
 575     }
 576
 577
 578     // Gear status
 579     net->num_wheels  = GroundReactions->GetNumGearUnits();
 580
 581     for (i=0; i<net->num_wheels; i++) {
 582        net->wow[i]              = GroundReactions->GetGearUnit(i)->GetWOW();
 583        if (GroundReactions->GetGearUnit(i)->GetGearUnitDown())
 584           net->gear_pos[i]      = 1;  //gear down, using FCS convention
 585        else
 586           net->gear_pos[i]      = 0;  //gear up, using FCS convention
 587        net->gear_steer[i]       = (float)(GroundReactions->GetGearUnit(i)->GetSteerNorm());
 588        net->gear_compression[i] = (float)(GroundReactions->GetGearUnit(i)->GetCompLen());
 589     }
 590
 591
 592     // Environment
 593     net->cur_time    = (long int)1234567890;    // Friday, Feb 13, 2009, 23:31:30 UTC (not processed by FGFS anyway)
 594     net->warp        = 0;                       // offset in seconds to unix time
 595     net->visibility  = 25000.0;                 // visibility in meters (for env. effects)
 596
 597
 598     // Control surface positions (normalized values)
 599     net->elevator          = (float)(FCS->GetDePos(ofNorm));    // Norm Elevator Pos, --
 600     net->elevator_trim_tab = (float)(FCS->GetPitchTrimCmd());   // Norm Elev Trim Tab Pos, --
 601     net->left_flap         = (float)(FCS->GetDfPos(ofNorm));    // Norm Flap Pos, --
 602     net->right_flap        = (float)(FCS->GetDfPos(ofNorm));    // Norm Flap Pos, --
 603     net->left_aileron      = (float)(FCS->GetDaLPos(ofNorm));   // Norm L Aileron Pos, --
 604     net->right_aileron     = (float)(FCS->GetDaRPos(ofNorm));   // Norm R Aileron Pos, --
 605     net->rudder            = (float)(FCS->GetDrPos(ofNorm));    // Norm Rudder Pos, --
 606     net->nose_wheel        = (float)(FCS->GetDrPos(ofNorm));    // *** FIX ***  Using Rudder Pos for NWS, --
 607     net->speedbrake        = (float)(FCS->GetDsbPos(ofNorm));   // Norm Speedbrake Pos, --
 608     net->spoilers          = (float)(FCS->GetDspPos(ofNorm));   // Norm Spoiler Pos, --
 609
 610
 611     // Convert the net buffer to network format
 612     if ( isLittleEndian ) {
 613         net->version = htonl(net->version);
 614
 615         htond(net->longitude);
 616         htond(net->latitude);
 617         htond(net->altitude);
 618         htonf(net->agl);
 619         htonf(net->phi);
 620         htonf(net->theta);
 621         htonf(net->psi);
 622         htonf(net->alpha);
 623         htonf(net->beta);
 624
 625         htonf(net->phidot);
 626         htonf(net->thetadot);
 627         htonf(net->psidot);
 628         htonf(net->vcas);
 629         htonf(net->climb_rate);
 630         htonf(net->v_north);
 631         htonf(net->v_east);
 632         htonf(net->v_down);
 633         htonf(net->v_wind_body_north);
 634         htonf(net->v_wind_body_east);
 635         htonf(net->v_wind_body_down);
 636
 637         htonf(net->A_X_pilot);
 638         htonf(net->A_Y_pilot);
 639         htonf(net->A_Z_pilot);
 640
 641         htonf(net->stall_warning);
 642         htonf(net->slip_deg);
 643
 644         for (i=0; i<net->num_engines; ++i ) {
 645             net->eng_state[i] = htonl(net->eng_state[i]);
 646             htonf(net->rpm[i]);
 647             htonf(net->fuel_flow[i]);
 648             htonf(net->fuel_px[i]);
 649             htonf(net->egt[i]);
 650             htonf(net->cht[i]);
 651             htonf(net->mp_osi[i]);
 652             htonf(net->tit[i]);
 653             htonf(net->oil_temp[i]);
 654             htonf(net->oil_px[i]);
 655         }
 656         net->num_engines = htonl(net->num_engines);
 657
 658         for (i=0; i<net->num_tanks; ++i ) {
 659             htonf(net->fuel_quantity[i]);
 660         }
 661         net->num_tanks = htonl(net->num_tanks);
 662
 663         for (i=0; i<net->num_wheels; ++i ) {
 664             net->wow[i] = htonl(net->wow[i]);
 665             htonf(net->gear_pos[i]);
 666             htonf(net->gear_steer[i]);
 667             htonf(net->gear_compression[i]);
 668         }
 669         net->num_wheels = htonl(net->num_wheels);
 670
 671         net->cur_time = htonl( net->cur_time );
 672         net->warp = htonl( net->warp );
 673         htonf(net->visibility);
 674
 675         htonf(net->elevator);
 676         htonf(net->elevator_trim_tab);
 677         htonf(net->left_flap);
 678         htonf(net->right_flap);
 679         htonf(net->left_aileron);
 680         htonf(net->right_aileron);
 681         htonf(net->rudder);
 682         htonf(net->nose_wheel);
 683         htonf(net->speedbrake);
 684         htonf(net->spoilers);
 685     }
 686 }
 687
 688 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 689
 690 void FGOutput::FlightGearSocketOutput(void)
 691 {
 692   int length = sizeof(fgSockBuf);
 693
 694
 695   if (flightGearSocket == NULL) return;
 696   if (!flightGearSocket->GetConnectStatus()) return;
 697
 698   SocketDataFill(&fgSockBuf);
 699   flightGearSocket->Send((char *)&fgSockBuf, length);
 700 }
 701
 702 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 703
 704 void FGOutput::SocketOutput(void)
 705 {
 706   string asciiData, scratch;
 707
 708   if (socket == NULL) return;
 709   if (!socket->GetConnectStatus()) return;
 710
 711   socket->Clear();
 712   if (sFirstPass) {
 713     socket->Clear("<LABELS>");
 714     socket->Append("Time");
 715
 716     if (SubSystems & ssAerosurfaces) {
 717       socket->Append("Aileron Command");
 718       socket->Append("Elevator Command");
 719       socket->Append("Rudder Command");
 720       socket->Append("Flap Command");
 721       socket->Append("Left Aileron Position");
 722       socket->Append("Right Aileron Position");
 723       socket->Append("Elevator Position");
 724       socket->Append("Rudder Position");
 725       socket->Append("Flap Position");
 726     }
 727
 728     if (SubSystems & ssRates) {
 729       socket->Append("P");
 730       socket->Append("Q");
 731       socket->Append("R");
 732       socket->Append("PDot");
 733       socket->Append("QDot");
 734       socket->Append("RDot");
 735     }
 736
 737     if (SubSystems & ssVelocities) {
 738       socket->Append("QBar");
 739       socket->Append("Vtotal");
 740       socket->Append("UBody");
 741       socket->Append("VBody");
 742       socket->Append("WBody");
 743       socket->Append("UAero");
 744       socket->Append("VAero");
 745       socket->Append("WAero");
 746       socket->Append("Vn");
 747       socket->Append("Ve");
 748       socket->Append("Vd");
 749     }
 750     if (SubSystems & ssForces) {
 751       socket->Append("F_Drag");
 752       socket->Append("F_Side");
 753       socket->Append("F_Lift");
 754       socket->Append("LoD");
 755       socket->Append("Fx");
 756       socket->Append("Fy");
 757       socket->Append("Fz");
 758     }
 759     if (SubSystems & ssMoments) {
 760       socket->Append("L");
 761       socket->Append("M");
 762       socket->Append("N");
 763     }
 764     if (SubSystems & ssAtmosphere) {
 765       socket->Append("Rho");
 766       socket->Append("SL pressure");
 767       socket->Append("Ambient pressure");
 768       socket->Append("Turbulence Magnitude");
 769       socket->Append("Turbulence Direction X");
 770       socket->Append("Turbulence Direction Y");
 771       socket->Append("Turbulence Direction Z");
 772       socket->Append("NWind");
 773       socket->Append("EWind");
 774       socket->Append("DWind");
 775     }
 776     if (SubSystems & ssMassProps) {
 777       socket->Append("Ixx");
 778       socket->Append("Ixy");
 779       socket->Append("Ixz");
 780       socket->Append("Iyx");
 781       socket->Append("Iyy");
 782       socket->Append("Iyz");
 783       socket->Append("Izx");
 784       socket->Append("Izy");
 785       socket->Append("Izz");
 786       socket->Append("Mass");
 787       socket->Append("Xcg");
 788       socket->Append("Ycg");
 789       socket->Append("Zcg");
 790     }
 791     if (SubSystems & ssPropagate) {
 792         socket->Append("Altitude");
 793         socket->Append("Phi (deg)");
 794         socket->Append("Tht (deg)");
 795         socket->Append("Psi (deg)");
 796         socket->Append("Alpha (deg)");
 797         socket->Append("Beta (deg)");
 798         socket->Append("Latitude (deg)");
 799         socket->Append("Longitude (deg)");
 800     }
 801     if (SubSystems & ssCoefficients) {
 802       scratch = Aerodynamics->GetCoefficientStrings(",");
 803       if (scratch.length() != 0) socket->Append(scratch);
 804     }
 805     if (SubSystems & ssFCS) {
 806       scratch = FCS->GetComponentStrings(",");
 807       if (scratch.length() != 0) socket->Append(scratch);
 808     }
 809     if (SubSystems & ssGroundReactions) {
 810       socket->Append(GroundReactions->GetGroundReactionStrings(","));
 811     }
 812     if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
 813       socket->Append(Propulsion->GetPropulsionStrings(","));
 814     }
 815     if (OutputProperties.size() > 0) {
 816       for (unsigned int i=0;i<OutputProperties.size();i++) {
 817         socket->Append(OutputProperties[i]->GetPrintableName());
 818       }
 819     }
 820
 821     sFirstPass = false;
 822     socket->Send();
 823   }
 824
 825   socket->Clear();
 826   socket->Append(FDMExec->GetSimTime());
 827
 828   if (SubSystems & ssAerosurfaces) {
 829     socket->Append(FCS->GetDaCmd());
 830     socket->Append(FCS->GetDeCmd());
 831     socket->Append(FCS->GetDrCmd());
 832     socket->Append(FCS->GetDfCmd());
 833     socket->Append(FCS->GetDaLPos());
 834     socket->Append(FCS->GetDaRPos());
 835     socket->Append(FCS->GetDePos());
 836     socket->Append(FCS->GetDrPos());
 837     socket->Append(FCS->GetDfPos());
 838   }
 839   if (SubSystems & ssRates) {
 840     socket->Append(radtodeg*Propagate->GetPQR(eP));
 841     socket->Append(radtodeg*Propagate->GetPQR(eQ));
 842     socket->Append(radtodeg*Propagate->GetPQR(eR));
 843     socket->Append(radtodeg*Propagate->GetPQRdot(eP));
 844     socket->Append(radtodeg*Propagate->GetPQRdot(eQ));
 845     socket->Append(radtodeg*Propagate->GetPQRdot(eR));
 846   }
 847   if (SubSystems & ssVelocities) {
 848     socket->Append(Auxiliary->Getqbar());
 849     socket->Append(Auxiliary->GetVt());
 850     socket->Append(Propagate->GetUVW(eU));
 851     socket->Append(Propagate->GetUVW(eV));
 852     socket->Append(Propagate->GetUVW(eW));
 853     socket->Append(Auxiliary->GetAeroUVW(eU));
 854     socket->Append(Auxiliary->GetAeroUVW(eV));
 855     socket->Append(Auxiliary->GetAeroUVW(eW));
 856     socket->Append(Propagate->GetVel(eNorth));
 857     socket->Append(Propagate->GetVel(eEast));
 858     socket->Append(Propagate->GetVel(eDown));
 859   }
 860   if (SubSystems & ssForces) {
 861     socket->Append(Aerodynamics->GetvFw()(eDrag));
 862     socket->Append(Aerodynamics->GetvFw()(eSide));
 863     socket->Append(Aerodynamics->GetvFw()(eLift));
 864     socket->Append(Aerodynamics->GetLoD());
 865     socket->Append(Aircraft->GetForces(eX));
 866     socket->Append(Aircraft->GetForces(eY));
 867     socket->Append(Aircraft->GetForces(eZ));
 868   }
 869   if (SubSystems & ssMoments) {
 870     socket->Append(Aircraft->GetMoments(eL));
 871     socket->Append(Aircraft->GetMoments(eM));
 872     socket->Append(Aircraft->GetMoments(eN));
 873   }
 874   if (SubSystems & ssAtmosphere) {
 875     socket->Append(Atmosphere->GetDensity());
 876     socket->Append(Atmosphere->GetPressureSL());
 877     socket->Append(Atmosphere->GetPressure());
 878     socket->Append(Atmosphere->GetTurbMagnitude());
 879     socket->Append(Atmosphere->GetTurbDirection().Dump(","));
 880     socket->Append(Atmosphere->GetTotalWindNED().Dump(","));
 881   }
 882   if (SubSystems & ssMassProps) {
 883     socket->Append(MassBalance->GetJ()(1,1));
 884     socket->Append(MassBalance->GetJ()(1,2));
 885     socket->Append(MassBalance->GetJ()(1,3));
 886     socket->Append(MassBalance->GetJ()(2,1));
 887     socket->Append(MassBalance->GetJ()(2,2));
 888     socket->Append(MassBalance->GetJ()(2,3));
 889     socket->Append(MassBalance->GetJ()(3,1));
 890     socket->Append(MassBalance->GetJ()(3,2));
 891     socket->Append(MassBalance->GetJ()(3,3));
 892     socket->Append(MassBalance->GetMass());
 893     socket->Append(MassBalance->GetXYZcg()(eX));
 894     socket->Append(MassBalance->GetXYZcg()(eY));
 895     socket->Append(MassBalance->GetXYZcg()(eZ));
 896   }
 897   if (SubSystems & ssPropagate) {
 898     socket->Append(Propagate->GetAltitudeASL());
 899     socket->Append(radtodeg*Propagate->GetEuler(ePhi));
 900     socket->Append(radtodeg*Propagate->GetEuler(eTht));
 901     socket->Append(radtodeg*Propagate->GetEuler(ePsi));
 902     socket->Append(Auxiliary->Getalpha(inDegrees));
 903     socket->Append(Auxiliary->Getbeta(inDegrees));
 904     socket->Append(Propagate->GetLocation().GetLatitudeDeg());
 905     socket->Append(Propagate->GetLocation().GetLongitudeDeg());
 906   }
 907   if (SubSystems & ssCoefficients) {
 908     scratch = Aerodynamics->GetCoefficientValues(",");
 909     if (scratch.length() != 0) socket->Append(scratch);
 910   }
 911   if (SubSystems & ssFCS) {
 912     scratch = FCS->GetComponentValues(",");
 913     if (scratch.length() != 0) socket->Append(scratch);
 914   }
 915   if (SubSystems & ssGroundReactions) {
 916     socket->Append(GroundReactions->GetGroundReactionValues(","));
 917   }
 918   if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
 919     socket->Append(Propulsion->GetPropulsionValues(","));
 920   }
 921
 922   for (unsigned int i=0;i<OutputProperties.size();i++) {
 923     socket->Append(OutputProperties[i]->getDoubleValue());
 924   }
 925
 926   socket->Send();
 927 }
 928
 929 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 930
 931 void FGOutput::SocketStatusOutput(const string& out_str)
 932 {
 933   string asciiData;
 934
 935   if (socket == NULL) return;
 936
 937   socket->Clear();
 938   asciiData = string("<STATUS>") + out_str;
 939   socket->Append(asciiData.c_str());
 940   socket->Send();
 941 }
 942
 943 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 944
 945 bool FGOutput::Load(Element* element)
 946 {
 947   string type="", parameter="";
 948   string name="";
 949   string protocol="tcp";
 950   int OutRate = 0;
 951   string property;
 952   unsigned int port;
 953   Element *property_element;
 954
 955   string separator = "/";
 956
 957   if (!DirectivesFile.empty()) { // A directives filename from the command line overrides
 958     output_file_name = DirectivesFile;      // one found in the config file.
 959     document = LoadXMLDocument(output_file_name);
 960   } else if (!element->GetAttributeValue("file").empty()) {
 961     output_file_name = FDMExec->GetRootDir() + element->GetAttributeValue("file");
 962     document = LoadXMLDocument(output_file_name);
 963   } else {
 964     document = element;
 965   }
 966
 967   if (!document) return false;
 968
 969   name = FDMExec->GetRootDir() + document->GetAttributeValue("name");
 970   type = document->GetAttributeValue("type");
 971   SetType(type);
 972   if (!document->GetAttributeValue("port").empty() && type == string("SOCKET")) {
 973     port = atoi(document->GetAttributeValue("port").c_str());
 974     socket = new FGfdmSocket(name, port);
 975   } else if (!document->GetAttributeValue("port").empty() && type == string("FLIGHTGEAR")) {
 976     port = atoi(document->GetAttributeValue("port").c_str());
 977     if (!document->GetAttributeValue("protocol").empty())
 978        protocol = document->GetAttributeValue("protocol");
 979     if (protocol == "udp")
 980        flightGearSocket = new FGfdmSocket(name, port, FGfdmSocket::ptUDP);  // create udp socket
 981     else
 982        flightGearSocket = new FGfdmSocket(name, port, FGfdmSocket::ptTCP);  // create tcp socket (default)
 983   } else {
 984     BaseFilename = Filename = name;
 985   }
 986   if (!document->GetAttributeValue("rate").empty()) {
 987     OutRate = (int)document->GetAttributeValueAsNumber("rate");
 988   } else {
 989     OutRate = 1;
 990   }
 991
 992   if (document->FindElementValue("simulation") == string("ON"))
 993     SubSystems += ssSimulation;
 994   if (document->FindElementValue("aerosurfaces") == string("ON"))
 995     SubSystems += ssAerosurfaces;
 996   if (document->FindElementValue("rates") == string("ON"))
 997     SubSystems += ssRates;
 998   if (document->FindElementValue("velocities") == string("ON"))
 999     SubSystems += ssVelocities;
1000   if (document->FindElementValue("forces") == string("ON"))
1001     SubSystems += ssForces;
1002   if (document->FindElementValue("moments") == string("ON"))
1003     SubSystems += ssMoments;
1004   if (document->FindElementValue("atmosphere") == string("ON"))
1005     SubSystems += ssAtmosphere;
1006   if (document->FindElementValue("massprops") == string("ON"))
1007     SubSystems += ssMassProps;
1008   if (document->FindElementValue("position") == string("ON"))
1009     SubSystems += ssPropagate;
1010   if (document->FindElementValue("coefficients") == string("ON"))
1011     SubSystems += ssCoefficients;
1012   if (document->FindElementValue("ground_reactions") == string("ON"))
1013     SubSystems += ssGroundReactions;
1014   if (document->FindElementValue("fcs") == string("ON"))
1015     SubSystems += ssFCS;
1016   if (document->FindElementValue("propulsion") == string("ON"))
1017     SubSystems += ssPropulsion;
1018   property_element = document->FindElement("property");
1019   while (property_element) {
1020     string property_str = property_element->GetDataLine();
1021     FGPropertyManager* node = PropertyManager->GetNode(property_str);
1022     if (!node) {
1023       cerr << fgred << highint << endl << "  No property by the name "
1024            << property_str << " has been defined. This property will " << endl
1025            << "  not be logged. You should check your configuration file."
1026            << reset << endl;
1027     } else {
1028       OutputProperties.push_back(node);
1029     }
1030     property_element = document->FindNextElement("property");
1031   }
1032
1033   SetRate(OutRate);
1034
1035   Debug(2);
1036
1037   return true;
1038 }
1039
1040 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
1041
1042 void FGOutput::SetRate(int rtHz)
1043 {
1044   rtHz = rtHz>1000?1000:(rtHz<0?0:rtHz);
1045   if (rtHz > 0) {
1046     rate = (int)(0.5 + 1.0/(FDMExec->GetDeltaT()*rtHz));
1047     Enable();
1048   } else {
1049     rate = 1;
1050     Disable();
1051   }
1052 }
1053
1054 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
1055 //    The bitmasked value choices are as follows:
1056 //    unset: In this case (the default) JSBSim would only print
1057 //       out the normally expected messages, essentially echoing
1058 //       the config files as they are read. If the environment
1059 //       variable is not set, debug_lvl is set to 1 internally
1060 //    0: This requests JSBSim not to output any messages
1061 //       whatsoever.
1062 //    1: This value explicity requests the normal JSBSim
1063 //       startup messages
1064 //    2: This value asks for a message to be printed out when
1065 //       a class is instantiated
1066 //    4: When this value is set, a message is displayed when a
1067 //       FGModel object executes its Run() method
1068 //    8: When this value is set, various runtime state variables
1069 //       are printed out periodically
1070 //    16: When set various parameters are sanity checked and
1071 //       a message is printed out when they go out of bounds
1072
1073 void FGOutput::Debug(int from)
1074 {
1075   string scratch="";
1076
1077   if (debug_lvl <= 0) return;
1078
1079   if (debug_lvl & 1) { // Standard console startup message output
1080     if (from == 0) { // Constructor
1081
1082     }
1083     if (from == 2) {
1084       if (output_file_name.empty())
1085         cout << "  " << "Output parameters read inline" << endl;
1086       else
1087         cout << "    Output parameters read from file: " << output_file_name << endl;
1088
1089       if (Filename == "cout" || Filename == "COUT") {
1090         scratch = "    Log output goes to screen console";
1091       } else if (!Filename.empty()) {
1092         scratch = "    Log output goes to file: " + Filename;
1093       }
1094       switch (Type) {
1095       case otCSV:
1096         cout << scratch << " in CSV format output at rate " << 1/(FDMExec->GetDeltaT()*rate) << " Hz" << endl;
1097         break;
1098       case otNone:
1099       default:
1100         cout << "  No log output" << endl;
1101         break;
1102       }
1103
1104       if (SubSystems & ssSimulation)      cout << "    Simulation parameters logged" << endl;
1105       if (SubSystems & ssAerosurfaces)    cout << "    Aerosurface parameters logged" << endl;
1106       if (SubSystems & ssRates)           cout << "    Rate parameters logged" << endl;
1107       if (SubSystems & ssVelocities)      cout << "    Velocity parameters logged" << endl;
1108       if (SubSystems & ssForces)          cout << "    Force parameters logged" << endl;
1109       if (SubSystems & ssMoments)         cout << "    Moments parameters logged" << endl;
1110       if (SubSystems & ssAtmosphere)      cout << "    Atmosphere parameters logged" << endl;
1111       if (SubSystems & ssMassProps)       cout << "    Mass parameters logged" << endl;
1112       if (SubSystems & ssCoefficients)    cout << "    Coefficient parameters logged" << endl;
1113       if (SubSystems & ssPropagate)       cout << "    Propagate parameters logged" << endl;
1114       if (SubSystems & ssGroundReactions) cout << "    Ground parameters logged" << endl;
1115       if (SubSystems & ssFCS)             cout << "    FCS parameters logged" << endl;
1116       if (SubSystems & ssPropulsion)      cout << "    Propulsion parameters logged" << endl;
1117       if (OutputProperties.size() > 0)    cout << "    Properties logged:" << endl;
1118       for (unsigned int i=0;i<OutputProperties.size();i++) {
1119         cout << "      - " << OutputProperties[i]->GetName() << endl;
1120       }
1121     }
1122   }
1123   if (debug_lvl & 2 ) { // Instantiation/Destruction notification
1124     if (from == 0) cout << "Instantiated: FGOutput" << endl;
1125     if (from == 1) cout << "Destroyed:    FGOutput" << endl;
1126   }
1127   if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
1128   }
1129   if (debug_lvl & 8 ) { // Runtime state variables
1130   }
1131   if (debug_lvl & 16) { // Sanity checking
1132   }
1133   if (debug_lvl & 64) {
1134     if (from == 0) { // Constructor
1135       cout << IdSrc << endl;
1136       cout << IdHdr << endl;
1137     }
1138   }
1139 }
1140 }