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 1.54 2011/03/11 13:02:26 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     Print();
 188     RunPostFunctions();
 189   }
 190   return false;
 191 }
 192
 193 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 194
 195 void FGOutput::Print(void)
 196 {
 197   if (Type == otSocket) {
 198     SocketOutput();
 199   } else if (Type == otFlightGear) {
 200     FlightGearSocketOutput();
 201   } else if (Type == otCSV || Type == otTab) {
 202     DelimitedOutput(Filename);
 203   } else if (Type == otTerminal) {
 204     // Not done yet
 205   } else if (Type == otNone) {
 206     // Do nothing
 207   } else {
 208     // Not a valid type of output
 209   }
 210 }
 211
 212 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 213
 214 void FGOutput::SetType(const string& type)
 215 {
 216   if (type == "CSV") {
 217     Type = otCSV;
 218     delimeter = ", ";
 219   } else if (type == "TABULAR") {
 220     Type = otTab;
 221     delimeter = "\t";
 222   } else if (type == "SOCKET") {
 223     Type = otSocket;
 224   } else if (type == "FLIGHTGEAR") {
 225     Type = otFlightGear;
 226   } else if (type == "TERMINAL") {
 227     Type = otTerminal;
 228   } else if (type != string("NONE")) {
 229     Type = otUnknown;
 230     cerr << "Unknown type of output specified in config file" << endl;
 231   }
 232 }
 233
 234 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 235
 236 void FGOutput::SetProtocol(const string& protocol)
 237 {
 238   if (protocol == "UDP") Protocol = FGfdmSocket::ptUDP;
 239   else if (protocol == "TCP") Protocol = FGfdmSocket::ptTCP;
 240   else Protocol = FGfdmSocket::ptTCP; // Default to TCP
 241 }
 242
 243 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 244
 245 void FGOutput::DelimitedOutput(const string& fname)
 246 {
 247   const FGAerodynamics* Aerodynamics = FDMExec->GetAerodynamics();
 248   const FGAuxiliary* Auxiliary = FDMExec->GetAuxiliary();
 249   const FGAircraft* Aircraft = FDMExec->GetAircraft();
 250   const FGAtmosphere* Atmosphere = FDMExec->GetAtmosphere();
 251   const FGPropulsion* Propulsion = FDMExec->GetPropulsion();
 252   const FGMassBalance* MassBalance = FDMExec->GetMassBalance();
 253   const FGPropagate* Propagate = FDMExec->GetPropagate();
 254   const FGFCS* FCS = FDMExec->GetFCS();
 255   const FGInertial* Inertial = FDMExec->GetInertial();
 256   const FGGroundReactions* GroundReactions = FDMExec->GetGroundReactions();
 257   const FGExternalReactions* ExternalReactions = FDMExec->GetExternalReactions();
 258   const FGBuoyantForces* BuoyantForces = FDMExec->GetBuoyantForces();
 259
 260   streambuf* buffer;
 261   string scratch = "";
 262
 263   if (fname == "COUT" || fname == "cout") {
 264     buffer = cout.rdbuf();
 265   } else {
 266     if (!datafile.is_open()) datafile.open(fname.c_str());
 267     buffer = datafile.rdbuf();
 268   }
 269
 270   ostream outstream(buffer);
 271
 272   outstream.precision(10);
 273
 274   if (dFirstPass) {
 275     outstream << "Time";
 276     if (SubSystems & ssSimulation) {
 277       // Nothing here, yet
 278     }
 279     if (SubSystems & ssAerosurfaces) {
 280       outstream << delimeter;
 281       outstream << "Aileron Command (norm)" + delimeter;
 282       outstream << "Elevator Command (norm)" + delimeter;
 283       outstream << "Rudder Command (norm)" + delimeter;
 284       outstream << "Flap Command (norm)" + delimeter;
 285       outstream << "Left Aileron Position (deg)" + delimeter;
 286       outstream << "Right Aileron Position (deg)" + delimeter;
 287       outstream << "Elevator Position (deg)" + delimeter;
 288       outstream << "Rudder Position (deg)" + delimeter;
 289       outstream << "Flap Position (deg)";
 290     }
 291     if (SubSystems & ssRates) {
 292       outstream << delimeter;
 293       outstream << "P (deg/s)" + delimeter + "Q (deg/s)" + delimeter + "R (deg/s)" + delimeter;
 294       outstream << "P dot (deg/s^2)" + delimeter + "Q dot (deg/s^2)" + delimeter + "R dot (deg/s^2)" + delimeter;
 295       outstream << "P_{inertial} (deg/s)" + delimeter + "Q_{inertial} (deg/s)" + delimeter + "R_{inertial} (deg/s)";
 296     }
 297     if (SubSystems & ssVelocities) {
 298       outstream << delimeter;
 299       outstream << "q bar (psf)" + delimeter;
 300       outstream << "Reynolds Number" + delimeter;
 301       outstream << "V_{Total} (ft/s)" + delimeter;
 302       outstream << "V_{Inertial} (ft/s)" + delimeter;
 303       outstream << "UBody" + delimeter + "VBody" + delimeter + "WBody" + delimeter;
 304       outstream << "Aero V_{X Body} (ft/s)" + delimeter + "Aero V_{Y Body} (ft/s)" + delimeter + "Aero V_{Z Body} (ft/s)" + delimeter;
 305       outstream << "V_{X_{inertial}} (ft/s)" + delimeter + "V_{Y_{inertial}} (ft/s)" + delimeter + "V_{Z_{inertial}} (ft/s)" + delimeter;
 306       outstream << "V_{X_{ecef}} (ft/s)" + delimeter + "V_{Y_{ecef}} (ft/s)" + delimeter + "V_{Z_{ecef}} (ft/s)" + delimeter;
 307       outstream << "V_{North} (ft/s)" + delimeter + "V_{East} (ft/s)" + delimeter + "V_{Down} (ft/s)";
 308     }
 309     if (SubSystems & ssForces) {
 310       outstream << delimeter;
 311       outstream << "F_{Drag} (lbs)" + delimeter + "F_{Side} (lbs)" + delimeter + "F_{Lift} (lbs)" + delimeter;
 312       outstream << "L/D" + delimeter;
 313       outstream << "F_{Aero x} (lbs)" + delimeter + "F_{Aero y} (lbs)" + delimeter + "F_{Aero z} (lbs)" + delimeter;
 314       outstream << "F_{Prop x} (lbs)" + delimeter + "F_{Prop y} (lbs)" + delimeter + "F_{Prop z} (lbs)" + delimeter;
 315       outstream << "F_{Gear x} (lbs)" + delimeter + "F_{Gear y} (lbs)" + delimeter + "F_{Gear z} (lbs)" + delimeter;
 316       outstream << "F_{Ext x} (lbs)" + delimeter + "F_{Ext y} (lbs)" + delimeter + "F_{Ext z} (lbs)" + delimeter;
 317       outstream << "F_{Buoyant x} (lbs)" + delimeter + "F_{Buoyant y} (lbs)" + delimeter + "F_{Buoyant z} (lbs)" + delimeter;
 318       outstream << "F_{Total x} (lbs)" + delimeter + "F_{Total y} (lbs)" + delimeter + "F_{Total z} (lbs)";
 319     }
 320     if (SubSystems & ssMoments) {
 321       outstream << delimeter;
 322       outstream << "L_{Aero} (ft-lbs)" + delimeter + "M_{Aero} ( ft-lbs)" + delimeter + "N_{Aero} (ft-lbs)" + delimeter;
 323       outstream << "L_{Prop} (ft-lbs)" + delimeter + "M_{Prop} (ft-lbs)" + delimeter + "N_{Prop} (ft-lbs)" + delimeter;
 324       outstream << "L_{Gear} (ft-lbs)" + delimeter + "M_{Gear} (ft-lbs)" + delimeter + "N_{Gear} (ft-lbs)" + delimeter;
 325       outstream << "L_{ext} (ft-lbs)" + delimeter + "M_{ext} (ft-lbs)" + delimeter + "N_{ext} (ft-lbs)" + delimeter;
 326       outstream << "L_{Buoyant} (ft-lbs)" + delimeter + "M_{Buoyant} (ft-lbs)" + delimeter + "N_{Buoyant} (ft-lbs)" + delimeter;
 327       outstream << "L_{Total} (ft-lbs)" + delimeter + "M_{Total} (ft-lbs)" + delimeter + "N_{Total} (ft-lbs)";
 328     }
 329     if (SubSystems & ssAtmosphere) {
 330       outstream << delimeter;
 331       outstream << "Rho (slugs/ft^3)" + delimeter;
 332       outstream << "Absolute Viscosity" + delimeter;
 333       outstream << "Kinematic Viscosity" + delimeter;
 334       outstream << "Temperature (R)" + delimeter;
 335       outstream << "P_{SL} (psf)" + delimeter;
 336       outstream << "P_{Ambient} (psf)" + delimeter;
 337       outstream << "Turbulence Magnitude (ft/sec)" + delimeter;
 338       outstream << "Turbulence X Direction (rad)" + delimeter + "Turbulence Y Direction (rad)" + delimeter + "Turbulence Z Direction (rad)" + delimeter;
 339       outstream << "Wind V_{North} (ft/s)" + delimeter + "Wind V_{East} (ft/s)" + delimeter + "Wind V_{Down} (ft/s)";
 340     }
 341     if (SubSystems & ssMassProps) {
 342       outstream << delimeter;
 343       outstream << "I_{xx}" + delimeter;
 344       outstream << "I_{xy}" + delimeter;
 345       outstream << "I_{xz}" + delimeter;
 346       outstream << "I_{yx}" + delimeter;
 347       outstream << "I_{yy}" + delimeter;
 348       outstream << "I_{yz}" + delimeter;
 349       outstream << "I_{zx}" + delimeter;
 350       outstream << "I_{zy}" + delimeter;
 351       outstream << "I_{zz}" + delimeter;
 352       outstream << "Mass" + delimeter;
 353       outstream << "X_{cg}" + delimeter + "Y_{cg}" + delimeter + "Z_{cg}";
 354     }
 355     if (SubSystems & ssPropagate) {
 356       outstream << delimeter;
 357       outstream << "Altitude ASL (ft)" + delimeter;
 358       outstream << "Altitude AGL (ft)" + delimeter;
 359       outstream << "Phi (deg)" + delimeter + "Theta (deg)" + delimeter + "Psi (deg)" + delimeter;
 360       outstream << "Alpha (deg)" + delimeter;
 361       outstream << "Beta (deg)" + delimeter;
 362       outstream << "Latitude (deg)" + delimeter;
 363       outstream << "Longitude (deg)" + delimeter;
 364       outstream << "X_{ECI} (ft)" + delimeter + "Y_{ECI} (ft)" + delimeter + "Z_{ECI} (ft)" + delimeter;
 365       outstream << "X_{ECEF} (ft)" + delimeter + "Y_{ECEF} (ft)" + delimeter + "Z_{ECEF} (ft)" + delimeter;
 366       outstream << "Earth Position Angle (deg)" + delimeter;
 367       outstream << "Distance AGL (ft)" + delimeter;
 368       outstream << "Terrain Elevation (ft)";
 369     }
 370     if (SubSystems & ssAeroFunctions) {
 371       scratch = Aerodynamics->GetAeroFunctionStrings(delimeter);
 372       if (scratch.length() != 0) outstream << delimeter << scratch;
 373     }
 374     if (SubSystems & ssFCS) {
 375       scratch = FCS->GetComponentStrings(delimeter);
 376       if (scratch.length() != 0) outstream << delimeter << scratch;
 377     }
 378     if (SubSystems & ssGroundReactions) {
 379       outstream << delimeter;
 380       outstream << GroundReactions->GetGroundReactionStrings(delimeter);
 381     }
 382     if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
 383       outstream << delimeter;
 384       outstream << Propulsion->GetPropulsionStrings(delimeter);
 385     }
 386     if (OutputProperties.size() > 0) {
 387       for (unsigned int i=0;i<OutputProperties.size();i++) {
 388         outstream << delimeter << OutputProperties[i]->GetPrintableName();
 389       }
 390     }
 391
 392     outstream << endl;
 393     dFirstPass = false;
 394   }
 395
 396   outstream << FDMExec->GetSimTime();
 397   if (SubSystems & ssSimulation) {
 398   }
 399   if (SubSystems & ssAerosurfaces) {
 400     outstream << delimeter;
 401     outstream << FCS->GetDaCmd() << delimeter;
 402     outstream << FCS->GetDeCmd() << delimeter;
 403     outstream << FCS->GetDrCmd() << delimeter;
 404     outstream << FCS->GetDfCmd() << delimeter;
 405     outstream << FCS->GetDaLPos(ofDeg) << delimeter;
 406     outstream << FCS->GetDaRPos(ofDeg) << delimeter;
 407     outstream << FCS->GetDePos(ofDeg) << delimeter;
 408     outstream << FCS->GetDrPos(ofDeg) << delimeter;
 409     outstream << FCS->GetDfPos(ofDeg);
 410   }
 411   if (SubSystems & ssRates) {
 412     outstream << delimeter;
 413     outstream << (radtodeg*Propagate->GetPQR()).Dump(delimeter) << delimeter;
 414     outstream << (radtodeg*Propagate->GetPQRdot()).Dump(delimeter) << delimeter;
 415     outstream << (radtodeg*Propagate->GetPQRi()).Dump(delimeter);
 416   }
 417   if (SubSystems & ssVelocities) {
 418     outstream << delimeter;
 419     outstream << Auxiliary->Getqbar() << delimeter;
 420     outstream << Auxiliary->GetReynoldsNumber() << delimeter;
 421     outstream << setprecision(12) << Auxiliary->GetVt() << delimeter;
 422     outstream << Propagate->GetInertialVelocityMagnitude() << delimeter;
 423     outstream << setprecision(12) << Propagate->GetUVW().Dump(delimeter) << delimeter;
 424     outstream << Auxiliary->GetAeroUVW().Dump(delimeter) << delimeter;
 425     outstream << Propagate->GetInertialVelocity().Dump(delimeter) << delimeter;
 426     outstream << Propagate->GetECEFVelocity().Dump(delimeter) << delimeter;
 427     outstream << Propagate->GetVel().Dump(delimeter);
 428     outstream.precision(10);
 429   }
 430   if (SubSystems & ssForces) {
 431     outstream << delimeter;
 432     outstream << Aerodynamics->GetvFw().Dump(delimeter) << delimeter;
 433     outstream << Aerodynamics->GetLoD() << delimeter;
 434     outstream << Aerodynamics->GetForces().Dump(delimeter) << delimeter;
 435     outstream << Propulsion->GetForces().Dump(delimeter) << delimeter;
 436     outstream << GroundReactions->GetForces().Dump(delimeter) << delimeter;
 437     outstream << ExternalReactions->GetForces().Dump(delimeter) << delimeter;
 438     outstream << BuoyantForces->GetForces().Dump(delimeter) << delimeter;
 439     outstream << Aircraft->GetForces().Dump(delimeter);
 440   }
 441   if (SubSystems & ssMoments) {
 442     outstream << delimeter;
 443     outstream << Aerodynamics->GetMoments().Dump(delimeter) << delimeter;
 444     outstream << Propulsion->GetMoments().Dump(delimeter) << delimeter;
 445     outstream << GroundReactions->GetMoments().Dump(delimeter) << delimeter;
 446     outstream << ExternalReactions->GetMoments().Dump(delimeter) << delimeter;
 447     outstream << BuoyantForces->GetMoments().Dump(delimeter) << delimeter;
 448     outstream << Aircraft->GetMoments().Dump(delimeter);
 449   }
 450   if (SubSystems & ssAtmosphere) {
 451     outstream << delimeter;
 452     outstream << Atmosphere->GetDensity() << delimeter;
 453     outstream << Atmosphere->GetAbsoluteViscosity() << delimeter;
 454     outstream << Atmosphere->GetKinematicViscosity() << delimeter;
 455     outstream << Atmosphere->GetTemperature() << delimeter;
 456     outstream << Atmosphere->GetPressureSL() << delimeter;
 457     outstream << Atmosphere->GetPressure() << delimeter;
 458     outstream << Atmosphere->GetTurbMagnitude() << delimeter;
 459     outstream << Atmosphere->GetTurbDirection().Dump(delimeter) << delimeter;
 460     outstream << Atmosphere->GetTotalWindNED().Dump(delimeter);
 461   }
 462   if (SubSystems & ssMassProps) {
 463     outstream << delimeter;
 464     outstream << MassBalance->GetJ().Dump(delimeter) << delimeter;
 465     outstream << MassBalance->GetMass() << delimeter;
 466     outstream << MassBalance->GetXYZcg().Dump(delimeter);
 467   }
 468   if (SubSystems & ssPropagate) {
 469     outstream.precision(14);
 470     outstream << delimeter;
 471     outstream << Propagate->GetAltitudeASL() << delimeter;
 472     outstream << Propagate->GetDistanceAGL() << delimeter;
 473     outstream << (radtodeg*Propagate->GetEuler()).Dump(delimeter) << delimeter;
 474     outstream << Auxiliary->Getalpha(inDegrees) << delimeter;
 475     outstream << Auxiliary->Getbeta(inDegrees) << delimeter;
 476     outstream << Propagate->GetLocation().GetLatitudeDeg() << delimeter;
 477     outstream << Propagate->GetLocation().GetLongitudeDeg() << delimeter;
 478     outstream.precision(18);
 479     outstream << ((FGColumnVector3)Propagate->GetInertialPosition()).Dump(delimeter) << delimeter;
 480     outstream << ((FGColumnVector3)Propagate->GetLocation()).Dump(delimeter) << delimeter;
 481     outstream.precision(14);
 482     outstream << Inertial->GetEarthPositionAngleDeg() << delimeter;
 483     outstream << Propagate->GetDistanceAGL() << delimeter;
 484     outstream << Propagate->GetTerrainElevation();
 485     outstream.precision(10);
 486   }
 487   if (SubSystems & ssAeroFunctions) {
 488     scratch = Aerodynamics->GetAeroFunctionValues(delimeter);
 489     if (scratch.length() != 0) outstream << delimeter << scratch;
 490   }
 491   if (SubSystems & ssFCS) {
 492     scratch = FCS->GetComponentValues(delimeter);
 493     if (scratch.length() != 0) outstream << delimeter << scratch;
 494   }
 495   if (SubSystems & ssGroundReactions) {
 496     outstream << delimeter;
 497     outstream << GroundReactions->GetGroundReactionValues(delimeter);
 498   }
 499   if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
 500     outstream << delimeter;
 501     outstream << Propulsion->GetPropulsionValues(delimeter);
 502   }
 503
 504   outstream.precision(18);
 505   for (unsigned int i=0;i<OutputProperties.size();i++) {
 506     outstream << delimeter << OutputProperties[i]->getDoubleValue();
 507   }
 508   outstream.precision(10);
 509
 510   outstream << endl;
 511   outstream.flush();
 512 }
 513
 514 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 515
 516 void FGOutput::SocketDataFill(FGNetFDM* net)
 517 {
 518   const FGAerodynamics* Aerodynamics = FDMExec->GetAerodynamics();
 519   const FGAuxiliary* Auxiliary = FDMExec->GetAuxiliary();
 520   const FGPropulsion* Propulsion = FDMExec->GetPropulsion();
 521   const FGMassBalance* MassBalance = FDMExec->GetMassBalance();
 522   const FGPropagate* Propagate = FDMExec->GetPropagate();
 523   const FGFCS* FCS = FDMExec->GetFCS();
 524   const FGGroundReactions* GroundReactions = FDMExec->GetGroundReactions();
 525     unsigned int i;
 526
 527     // Version
 528     net->version = FG_NET_FDM_VERSION;
 529
 530     // Positions
 531     net->longitude = Propagate->GetLocation().GetLongitude(); // geodetic (radians)
 532     net->latitude  = Propagate->GetLocation().GetLatitude(); // geodetic (radians)
 533     net->altitude  = Propagate->GetAltitudeASL()*0.3048; // altitude, above sea level (meters)
 534     net->agl       = (float)(Propagate->GetDistanceAGL()*0.3048); // altitude, above ground level (meters)
 535
 536     net->phi       = (float)(Propagate->GetEuler(ePhi)); // roll (radians)
 537     net->theta     = (float)(Propagate->GetEuler(eTht)); // pitch (radians)
 538     net->psi       = (float)(Propagate->GetEuler(ePsi)); // yaw or true heading (radians)
 539
 540     net->alpha     = (float)(Auxiliary->Getalpha()); // angle of attack (radians)
 541     net->beta      = (float)(Auxiliary->Getbeta()); // side slip angle (radians)
 542
 543     // Velocities
 544     net->phidot     = (float)(Auxiliary->GetEulerRates(ePhi)); // roll rate (radians/sec)
 545     net->thetadot   = (float)(Auxiliary->GetEulerRates(eTht)); // pitch rate (radians/sec)
 546     net->psidot     = (float)(Auxiliary->GetEulerRates(ePsi)); // yaw rate (radians/sec)
 547     net->vcas       = (float)(Auxiliary->GetVcalibratedFPS()); // VCAS, ft/sec
 548     net->climb_rate = (float)(Propagate->Gethdot());           // altitude rate, ft/sec
 549     net->v_north    = (float)(Propagate->GetVel(eNorth));      // north vel in NED frame, fps
 550     net->v_east     = (float)(Propagate->GetVel(eEast));       // east vel in NED frame, fps
 551     net->v_down     = (float)(Propagate->GetVel(eDown));       // down vel in NED frame, fps
 552 //---ADD METHOD TO CALCULATE THESE TERMS---
 553     net->v_wind_body_north = (float)(Propagate->GetVel(eNorth)); // north vel in NED relative to airmass, fps
 554     net->v_wind_body_east = (float)(Propagate->GetVel(eEast)); // east vel in NED relative to airmass, fps
 555     net->v_wind_body_down = (float)(Propagate->GetVel(eDown)); // down vel in NED relative to airmass, fps
 556
 557     // Accelerations
 558     net->A_X_pilot   = (float)(Auxiliary->GetPilotAccel(1));    // X body accel, ft/s/s
 559     net->A_Y_pilot   = (float)(Auxiliary->GetPilotAccel(2));    // Y body accel, ft/s/s
 560     net->A_Z_pilot   = (float)(Auxiliary->GetPilotAccel(3));    // Z body accel, ft/s/s
 561
 562     // Stall
 563     net->stall_warning = 0.0;  // 0.0 - 1.0 indicating the amount of stall
 564     net->slip_deg    = (float)(Auxiliary->Getbeta(inDegrees));  // slip ball deflection, deg
 565
 566     // Engine status
 567     net->num_engines = Propulsion->GetNumEngines(); // Number of valid engines
 568
 569     for (i=0; i<net->num_engines; i++) {
 570        if (Propulsion->GetEngine(i)->GetRunning())
 571           net->eng_state[i] = 2;       // Engine state running
 572        else if (Propulsion->GetEngine(i)->GetCranking())
 573           net->eng_state[i] = 1;       // Engine state cranking
 574        else
 575           net->eng_state[i] = 0;       // Engine state off
 576
 577        switch (Propulsion->GetEngine(i)->GetType()) {
 578        case (FGEngine::etRocket):
 579        break;
 580        case (FGEngine::etPiston):
 581           net->rpm[i]       = (float)(((FGPiston *)Propulsion->GetEngine(i))->getRPM());
 582           net->fuel_flow[i] = (float)(((FGPiston *)Propulsion->GetEngine(i))->getFuelFlow_gph());
 583           net->fuel_px[i]   = 0; // Fuel pressure, psi  (N/A in current model)
 584           net->egt[i]       = (float)(((FGPiston *)Propulsion->GetEngine(i))->GetEGT());
 585           net->cht[i]       = (float)(((FGPiston *)Propulsion->GetEngine(i))->getCylinderHeadTemp_degF());
 586           net->mp_osi[i]    = (float)(((FGPiston *)Propulsion->GetEngine(i))->getManifoldPressure_inHg());
 587           net->oil_temp[i]  = (float)(((FGPiston *)Propulsion->GetEngine(i))->getOilTemp_degF());
 588           net->oil_px[i]    = (float)(((FGPiston *)Propulsion->GetEngine(i))->getOilPressure_psi());
 589           net->tit[i]       = 0; // Turbine Inlet Temperature  (N/A for piston)
 590        break;
 591        case (FGEngine::etTurbine):
 592        break;
 593        case (FGEngine::etTurboprop):
 594        break;
 595        case (FGEngine::etElectric):
 596        break;
 597        case (FGEngine::etUnknown):
 598        break;
 599        }
 600     }
 601
 602     // Consumables
 603     net->num_tanks = Propulsion->GetNumTanks();   // Max number of fuel tanks
 604
 605     for (i=0; i<net->num_tanks; i++) {
 606        net->fuel_quantity[i] = (float)(((FGTank *)Propulsion->GetTank(i))->GetContents());
 607     }
 608
 609     // Gear status
 610     net->num_wheels  = GroundReactions->GetNumGearUnits();
 611
 612     for (i=0; i<net->num_wheels; i++) {
 613        net->wow[i]              = GroundReactions->GetGearUnit(i)->GetWOW();
 614        if (GroundReactions->GetGearUnit(i)->GetGearUnitDown())
 615           net->gear_pos[i]      = 1;  //gear down, using FCS convention
 616        else
 617           net->gear_pos[i]      = 0;  //gear up, using FCS convention
 618        net->gear_steer[i]       = (float)(GroundReactions->GetGearUnit(i)->GetSteerNorm());
 619        net->gear_compression[i] = (float)(GroundReactions->GetGearUnit(i)->GetCompLen());
 620     }
 621
 622     // Environment
 623     net->cur_time    = (long int)1234567890;    // Friday, Feb 13, 2009, 23:31:30 UTC (not processed by FGFS anyway)
 624     net->warp        = 0;                       // offset in seconds to unix time
 625     net->visibility  = 25000.0;                 // visibility in meters (for env. effects)
 626
 627     // Control surface positions (normalized values)
 628     net->elevator          = (float)(FCS->GetDePos(ofNorm));    // Norm Elevator Pos, --
 629     net->elevator_trim_tab = (float)(FCS->GetPitchTrimCmd());   // Norm Elev Trim Tab Pos, --
 630     net->left_flap         = (float)(FCS->GetDfPos(ofNorm));    // Norm Flap Pos, --
 631     net->right_flap        = (float)(FCS->GetDfPos(ofNorm));    // Norm Flap Pos, --
 632     net->left_aileron      = (float)(FCS->GetDaLPos(ofNorm));   // Norm L Aileron Pos, --
 633     net->right_aileron     = (float)(FCS->GetDaRPos(ofNorm));   // Norm R Aileron Pos, --
 634     net->rudder            = (float)(FCS->GetDrPos(ofNorm));    // Norm Rudder Pos, --
 635     net->nose_wheel        = (float)(FCS->GetDrPos(ofNorm));    // *** FIX ***  Using Rudder Pos for NWS, --
 636     net->speedbrake        = (float)(FCS->GetDsbPos(ofNorm));   // Norm Speedbrake Pos, --
 637     net->spoilers          = (float)(FCS->GetDspPos(ofNorm));   // Norm Spoiler Pos, --
 638
 639     // Convert the net buffer to network format
 640     if ( isLittleEndian ) {
 641         net->version = htonl(net->version);
 642
 643         htond(net->longitude);
 644         htond(net->latitude);
 645         htond(net->altitude);
 646         htonf(net->agl);
 647         htonf(net->phi);
 648         htonf(net->theta);
 649         htonf(net->psi);
 650         htonf(net->alpha);
 651         htonf(net->beta);
 652
 653         htonf(net->phidot);
 654         htonf(net->thetadot);
 655         htonf(net->psidot);
 656         htonf(net->vcas);
 657         htonf(net->climb_rate);
 658         htonf(net->v_north);
 659         htonf(net->v_east);
 660         htonf(net->v_down);
 661         htonf(net->v_wind_body_north);
 662         htonf(net->v_wind_body_east);
 663         htonf(net->v_wind_body_down);
 664
 665         htonf(net->A_X_pilot);
 666         htonf(net->A_Y_pilot);
 667         htonf(net->A_Z_pilot);
 668
 669         htonf(net->stall_warning);
 670         htonf(net->slip_deg);
 671
 672         for (i=0; i<net->num_engines; ++i ) {
 673             net->eng_state[i] = htonl(net->eng_state[i]);
 674             htonf(net->rpm[i]);
 675             htonf(net->fuel_flow[i]);
 676             htonf(net->fuel_px[i]);
 677             htonf(net->egt[i]);
 678             htonf(net->cht[i]);
 679             htonf(net->mp_osi[i]);
 680             htonf(net->tit[i]);
 681             htonf(net->oil_temp[i]);
 682             htonf(net->oil_px[i]);
 683         }
 684         net->num_engines = htonl(net->num_engines);
 685
 686         for (i=0; i<net->num_tanks; ++i ) {
 687             htonf(net->fuel_quantity[i]);
 688         }
 689         net->num_tanks = htonl(net->num_tanks);
 690
 691         for (i=0; i<net->num_wheels; ++i ) {
 692             net->wow[i] = htonl(net->wow[i]);
 693             htonf(net->gear_pos[i]);
 694             htonf(net->gear_steer[i]);
 695             htonf(net->gear_compression[i]);
 696         }
 697         net->num_wheels = htonl(net->num_wheels);
 698
 699         net->cur_time = htonl( net->cur_time );
 700         net->warp = htonl( net->warp );
 701         htonf(net->visibility);
 702
 703         htonf(net->elevator);
 704         htonf(net->elevator_trim_tab);
 705         htonf(net->left_flap);
 706         htonf(net->right_flap);
 707         htonf(net->left_aileron);
 708         htonf(net->right_aileron);
 709         htonf(net->rudder);
 710         htonf(net->nose_wheel);
 711         htonf(net->speedbrake);
 712         htonf(net->spoilers);
 713     }
 714 }
 715
 716 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 717
 718 void FGOutput::FlightGearSocketOutput(void)
 719 {
 720   int length = sizeof(fgSockBuf);
 721
 722   if (socket == NULL) return;
 723   if (!socket->GetConnectStatus()) return;
 724
 725   SocketDataFill(&fgSockBuf);
 726   socket->Send((char *)&fgSockBuf, length);
 727 }
 728
 729 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 730
 731 void FGOutput::SocketOutput(void)
 732 {
 733   const FGAerodynamics* Aerodynamics = FDMExec->GetAerodynamics();
 734   const FGAuxiliary* Auxiliary = FDMExec->GetAuxiliary();
 735   const FGPropulsion* Propulsion = FDMExec->GetPropulsion();
 736   const FGMassBalance* MassBalance = FDMExec->GetMassBalance();
 737   const FGPropagate* Propagate = FDMExec->GetPropagate();
 738   const FGFCS* FCS = FDMExec->GetFCS();
 739   const FGAtmosphere* Atmosphere = FDMExec->GetAtmosphere();
 740   const FGAircraft* Aircraft = FDMExec->GetAircraft();
 741   const FGGroundReactions* GroundReactions = FDMExec->GetGroundReactions();
 742
 743   string asciiData, scratch;
 744
 745   if (socket == NULL) return;
 746   if (!socket->GetConnectStatus()) return;
 747
 748   socket->Clear();
 749   if (sFirstPass) {
 750     socket->Clear("<LABELS>");
 751     socket->Append("Time");
 752
 753     if (SubSystems & ssAerosurfaces) {
 754       socket->Append("Aileron Command");
 755       socket->Append("Elevator Command");
 756       socket->Append("Rudder Command");
 757       socket->Append("Flap Command");
 758       socket->Append("Left Aileron Position");
 759       socket->Append("Right Aileron Position");
 760       socket->Append("Elevator Position");
 761       socket->Append("Rudder Position");
 762       socket->Append("Flap Position");
 763     }
 764
 765     if (SubSystems & ssRates) {
 766       socket->Append("P");
 767       socket->Append("Q");
 768       socket->Append("R");
 769       socket->Append("PDot");
 770       socket->Append("QDot");
 771       socket->Append("RDot");
 772     }
 773
 774     if (SubSystems & ssVelocities) {
 775       socket->Append("QBar");
 776       socket->Append("Vtotal");
 777       socket->Append("UBody");
 778       socket->Append("VBody");
 779       socket->Append("WBody");
 780       socket->Append("UAero");
 781       socket->Append("VAero");
 782       socket->Append("WAero");
 783       socket->Append("Vn");
 784       socket->Append("Ve");
 785       socket->Append("Vd");
 786     }
 787     if (SubSystems & ssForces) {
 788       socket->Append("F_Drag");
 789       socket->Append("F_Side");
 790       socket->Append("F_Lift");
 791       socket->Append("LoD");
 792       socket->Append("Fx");
 793       socket->Append("Fy");
 794       socket->Append("Fz");
 795     }
 796     if (SubSystems & ssMoments) {
 797       socket->Append("L");
 798       socket->Append("M");
 799       socket->Append("N");
 800     }
 801     if (SubSystems & ssAtmosphere) {
 802       socket->Append("Rho");
 803       socket->Append("SL pressure");
 804       socket->Append("Ambient pressure");
 805       socket->Append("Turbulence Magnitude");
 806       socket->Append("Turbulence Direction X");
 807       socket->Append("Turbulence Direction Y");
 808       socket->Append("Turbulence Direction Z");
 809       socket->Append("NWind");
 810       socket->Append("EWind");
 811       socket->Append("DWind");
 812     }
 813     if (SubSystems & ssMassProps) {
 814       socket->Append("Ixx");
 815       socket->Append("Ixy");
 816       socket->Append("Ixz");
 817       socket->Append("Iyx");
 818       socket->Append("Iyy");
 819       socket->Append("Iyz");
 820       socket->Append("Izx");
 821       socket->Append("Izy");
 822       socket->Append("Izz");
 823       socket->Append("Mass");
 824       socket->Append("Xcg");
 825       socket->Append("Ycg");
 826       socket->Append("Zcg");
 827     }
 828     if (SubSystems & ssPropagate) {
 829         socket->Append("Altitude");
 830         socket->Append("Phi (deg)");
 831         socket->Append("Tht (deg)");
 832         socket->Append("Psi (deg)");
 833         socket->Append("Alpha (deg)");
 834         socket->Append("Beta (deg)");
 835         socket->Append("Latitude (deg)");
 836         socket->Append("Longitude (deg)");
 837     }
 838     if (SubSystems & ssAeroFunctions) {
 839       scratch = Aerodynamics->GetAeroFunctionStrings(",");
 840       if (scratch.length() != 0) socket->Append(scratch);
 841     }
 842     if (SubSystems & ssFCS) {
 843       scratch = FCS->GetComponentStrings(",");
 844       if (scratch.length() != 0) socket->Append(scratch);
 845     }
 846     if (SubSystems & ssGroundReactions) {
 847       socket->Append(GroundReactions->GetGroundReactionStrings(","));
 848     }
 849     if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
 850       socket->Append(Propulsion->GetPropulsionStrings(","));
 851     }
 852     if (OutputProperties.size() > 0) {
 853       for (unsigned int i=0;i<OutputProperties.size();i++) {
 854         socket->Append(OutputProperties[i]->GetPrintableName());
 855       }
 856     }
 857
 858     sFirstPass = false;
 859     socket->Send();
 860   }
 861
 862   socket->Clear();
 863   socket->Append(FDMExec->GetSimTime());
 864
 865   if (SubSystems & ssAerosurfaces) {
 866     socket->Append(FCS->GetDaCmd());
 867     socket->Append(FCS->GetDeCmd());
 868     socket->Append(FCS->GetDrCmd());
 869     socket->Append(FCS->GetDfCmd());
 870     socket->Append(FCS->GetDaLPos());
 871     socket->Append(FCS->GetDaRPos());
 872     socket->Append(FCS->GetDePos());
 873     socket->Append(FCS->GetDrPos());
 874     socket->Append(FCS->GetDfPos());
 875   }
 876   if (SubSystems & ssRates) {
 877     socket->Append(radtodeg*Propagate->GetPQR(eP));
 878     socket->Append(radtodeg*Propagate->GetPQR(eQ));
 879     socket->Append(radtodeg*Propagate->GetPQR(eR));
 880     socket->Append(radtodeg*Propagate->GetPQRdot(eP));
 881     socket->Append(radtodeg*Propagate->GetPQRdot(eQ));
 882     socket->Append(radtodeg*Propagate->GetPQRdot(eR));
 883   }
 884   if (SubSystems & ssVelocities) {
 885     socket->Append(Auxiliary->Getqbar());
 886     socket->Append(Auxiliary->GetVt());
 887     socket->Append(Propagate->GetUVW(eU));
 888     socket->Append(Propagate->GetUVW(eV));
 889     socket->Append(Propagate->GetUVW(eW));
 890     socket->Append(Auxiliary->GetAeroUVW(eU));
 891     socket->Append(Auxiliary->GetAeroUVW(eV));
 892     socket->Append(Auxiliary->GetAeroUVW(eW));
 893     socket->Append(Propagate->GetVel(eNorth));
 894     socket->Append(Propagate->GetVel(eEast));
 895     socket->Append(Propagate->GetVel(eDown));
 896   }
 897   if (SubSystems & ssForces) {
 898     socket->Append(Aerodynamics->GetvFw()(eDrag));
 899     socket->Append(Aerodynamics->GetvFw()(eSide));
 900     socket->Append(Aerodynamics->GetvFw()(eLift));
 901     socket->Append(Aerodynamics->GetLoD());
 902     socket->Append(Aircraft->GetForces(eX));
 903     socket->Append(Aircraft->GetForces(eY));
 904     socket->Append(Aircraft->GetForces(eZ));
 905   }
 906   if (SubSystems & ssMoments) {
 907     socket->Append(Aircraft->GetMoments(eL));
 908     socket->Append(Aircraft->GetMoments(eM));
 909     socket->Append(Aircraft->GetMoments(eN));
 910   }
 911   if (SubSystems & ssAtmosphere) {
 912     socket->Append(Atmosphere->GetDensity());
 913     socket->Append(Atmosphere->GetPressureSL());
 914     socket->Append(Atmosphere->GetPressure());
 915     socket->Append(Atmosphere->GetTurbMagnitude());
 916     socket->Append(Atmosphere->GetTurbDirection().Dump(","));
 917     socket->Append(Atmosphere->GetTotalWindNED().Dump(","));
 918   }
 919   if (SubSystems & ssMassProps) {
 920     socket->Append(MassBalance->GetJ()(1,1));
 921     socket->Append(MassBalance->GetJ()(1,2));
 922     socket->Append(MassBalance->GetJ()(1,3));
 923     socket->Append(MassBalance->GetJ()(2,1));
 924     socket->Append(MassBalance->GetJ()(2,2));
 925     socket->Append(MassBalance->GetJ()(2,3));
 926     socket->Append(MassBalance->GetJ()(3,1));
 927     socket->Append(MassBalance->GetJ()(3,2));
 928     socket->Append(MassBalance->GetJ()(3,3));
 929     socket->Append(MassBalance->GetMass());
 930     socket->Append(MassBalance->GetXYZcg()(eX));
 931     socket->Append(MassBalance->GetXYZcg()(eY));
 932     socket->Append(MassBalance->GetXYZcg()(eZ));
 933   }
 934   if (SubSystems & ssPropagate) {
 935     socket->Append(Propagate->GetAltitudeASL());
 936     socket->Append(radtodeg*Propagate->GetEuler(ePhi));
 937     socket->Append(radtodeg*Propagate->GetEuler(eTht));
 938     socket->Append(radtodeg*Propagate->GetEuler(ePsi));
 939     socket->Append(Auxiliary->Getalpha(inDegrees));
 940     socket->Append(Auxiliary->Getbeta(inDegrees));
 941     socket->Append(Propagate->GetLocation().GetLatitudeDeg());
 942     socket->Append(Propagate->GetLocation().GetLongitudeDeg());
 943   }
 944   if (SubSystems & ssAeroFunctions) {
 945     scratch = Aerodynamics->GetAeroFunctionValues(",");
 946     if (scratch.length() != 0) socket->Append(scratch);
 947   }
 948   if (SubSystems & ssFCS) {
 949     scratch = FCS->GetComponentValues(",");
 950     if (scratch.length() != 0) socket->Append(scratch);
 951   }
 952   if (SubSystems & ssGroundReactions) {
 953     socket->Append(GroundReactions->GetGroundReactionValues(","));
 954   }
 955   if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
 956     socket->Append(Propulsion->GetPropulsionValues(","));
 957   }
 958
 959   for (unsigned int i=0;i<OutputProperties.size();i++) {
 960     socket->Append(OutputProperties[i]->getDoubleValue());
 961   }
 962
 963   socket->Send();
 964 }
 965
 966 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 967
 968 void FGOutput::SocketStatusOutput(const string& out_str)
 969 {
 970   string asciiData;
 971
 972   if (socket == NULL) return;
 973
 974   socket->Clear();
 975   asciiData = string("<STATUS>") + out_str;
 976   socket->Append(asciiData.c_str());
 977   socket->Send();
 978 }
 979
 980 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 981
 982 bool FGOutput::Load(Element* element)
 983 {
 984   string parameter="";
 985   string name="";
 986   double OutRate = 0.0;
 987   unsigned int port;
 988   Element *property_element;
 989
 990   string separator = "/";
 991
 992   if (!DirectivesFile.empty()) { // A directives filename from the command line overrides
 993     output_file_name = DirectivesFile;      // one found in the config file.
 994     document = LoadXMLDocument(output_file_name);
 995   } else if (!element->GetAttributeValue("file").empty()) {
 996     output_file_name = FDMExec->GetRootDir() + element->GetAttributeValue("file");
 997     document = LoadXMLDocument(output_file_name);
 998   } else {
 999     document = element;
1000   }
1001
1002   if (!document) return false;
1003
1004   name = FDMExec->GetRootDir() + document->GetAttributeValue("name");
1005   SetType(document->GetAttributeValue("type"));
1006   Port = document->GetAttributeValue("port");
1007   if (!Port.empty() && (Type == otSocket || Type == otFlightGear)) {
1008     port = atoi(Port.c_str());
1009     SetProtocol(document->GetAttributeValue("protocol"));
1010     socket = new FGfdmSocket(name, port, Protocol);
1011   } else {
1012     BaseFilename = Filename = name;
1013   }
1014   if (!document->GetAttributeValue("rate").empty()) {
1015     OutRate = document->GetAttributeValueAsNumber("rate");
1016   } else {
1017     OutRate = 1;
1018   }
1019
1020   if (document->FindElementValue("simulation") == string("ON"))
1021     SubSystems += ssSimulation;
1022   if (document->FindElementValue("aerosurfaces") == string("ON"))
1023     SubSystems += ssAerosurfaces;
1024   if (document->FindElementValue("rates") == string("ON"))
1025     SubSystems += ssRates;
1026   if (document->FindElementValue("velocities") == string("ON"))
1027     SubSystems += ssVelocities;
1028   if (document->FindElementValue("forces") == string("ON"))
1029     SubSystems += ssForces;
1030   if (document->FindElementValue("moments") == string("ON"))
1031     SubSystems += ssMoments;
1032   if (document->FindElementValue("atmosphere") == string("ON"))
1033     SubSystems += ssAtmosphere;
1034   if (document->FindElementValue("massprops") == string("ON"))
1035     SubSystems += ssMassProps;
1036   if (document->FindElementValue("position") == string("ON"))
1037     SubSystems += ssPropagate;
1038   if (document->FindElementValue("coefficients") == string("ON"))
1039     SubSystems += ssAeroFunctions;
1040   if (document->FindElementValue("ground_reactions") == string("ON"))
1041     SubSystems += ssGroundReactions;
1042   if (document->FindElementValue("fcs") == string("ON"))
1043     SubSystems += ssFCS;
1044   if (document->FindElementValue("propulsion") == string("ON"))
1045     SubSystems += ssPropulsion;
1046   property_element = document->FindElement("property");
1047   while (property_element) {
1048     string property_str = property_element->GetDataLine();
1049     FGPropertyManager* node = PropertyManager->GetNode(property_str);
1050     if (!node) {
1051       cerr << fgred << highint << endl << "  No property by the name "
1052            << property_str << " has been defined. This property will " << endl
1053            << "  not be logged. You should check your configuration file."
1054            << reset << endl;
1055     } else {
1056       OutputProperties.push_back(node);
1057     }
1058     property_element = document->FindNextElement("property");
1059   }
1060
1061   SetRate(OutRate);
1062
1063   Debug(2);
1064
1065   return true;
1066 }
1067
1068 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
1069
1070 void FGOutput::SetRate(double rtHz)
1071 {
1072   rtHz = rtHz>1000?1000:(rtHz<0?0:rtHz);
1073   if (rtHz > 0) {
1074     rate = (int)(0.5 + 1.0/(FDMExec->GetDeltaT()*rtHz));
1075     Enable();
1076   } else {
1077     rate = 1;
1078     Disable();
1079   }
1080 }
1081
1082 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
1083 //    The bitmasked value choices are as follows:
1084 //    unset: In this case (the default) JSBSim would only print
1085 //       out the normally expected messages, essentially echoing
1086 //       the config files as they are read. If the environment
1087 //       variable is not set, debug_lvl is set to 1 internally
1088 //    0: This requests JSBSim not to output any messages
1089 //       whatsoever.
1090 //    1: This value explicity requests the normal JSBSim
1091 //       startup messages
1092 //    2: This value asks for a message to be printed out when
1093 //       a class is instantiated
1094 //    4: When this value is set, a message is displayed when a
1095 //       FGModel object executes its Run() method
1096 //    8: When this value is set, various runtime state variables
1097 //       are printed out periodically
1098 //    16: When set various parameters are sanity checked and
1099 //       a message is printed out when they go out of bounds
1100
1101 void FGOutput::Debug(int from)
1102 {
1103   string scratch="";
1104
1105   if (debug_lvl <= 0) return;
1106
1107   if (debug_lvl & 1) { // Standard console startup message output
1108     if (from == 0) { // Constructor
1109
1110     }
1111     if (from == 2) {
1112       if (output_file_name.empty())
1113         cout << "  " << "Output parameters read inline" << endl;
1114       else
1115         cout << "    Output parameters read from file: " << output_file_name << endl;
1116
1117       if (Filename == "cout" || Filename == "COUT") {
1118         scratch = "    Log output goes to screen console";
1119       } else if (!Filename.empty()) {
1120         scratch = "    Log output goes to file: " + Filename;
1121       }
1122       switch (Type) {
1123       case otCSV:
1124         cout << scratch << " in CSV format output at rate " << 1/(FDMExec->GetDeltaT()*rate) << " Hz" << endl;
1125         break;
1126       case otNone:
1127       default:
1128         cout << "  No log output" << endl;
1129         break;
1130       }
1131
1132       if (SubSystems & ssSimulation)      cout << "    Simulation parameters logged" << endl;
1133       if (SubSystems & ssAerosurfaces)    cout << "    Aerosurface parameters logged" << endl;
1134       if (SubSystems & ssRates)           cout << "    Rate parameters logged" << endl;
1135       if (SubSystems & ssVelocities)      cout << "    Velocity parameters logged" << endl;
1136       if (SubSystems & ssForces)          cout << "    Force parameters logged" << endl;
1137       if (SubSystems & ssMoments)         cout << "    Moments parameters logged" << endl;
1138       if (SubSystems & ssAtmosphere)      cout << "    Atmosphere parameters logged" << endl;
1139       if (SubSystems & ssMassProps)       cout << "    Mass parameters logged" << endl;
1140       if (SubSystems & ssAeroFunctions)    cout << "    Coefficient parameters logged" << endl;
1141       if (SubSystems & ssPropagate)       cout << "    Propagate parameters logged" << endl;
1142       if (SubSystems & ssGroundReactions) cout << "    Ground parameters logged" << endl;
1143       if (SubSystems & ssFCS)             cout << "    FCS parameters logged" << endl;
1144       if (SubSystems & ssPropulsion)      cout << "    Propulsion parameters logged" << endl;
1145       if (OutputProperties.size() > 0)    cout << "    Properties logged:" << endl;
1146       for (unsigned int i=0;i<OutputProperties.size();i++) {
1147         cout << "      - " << OutputProperties[i]->GetName() << endl;
1148       }
1149     }
1150   }
1151   if (debug_lvl & 2 ) { // Instantiation/Destruction notification
1152     if (from == 0) cout << "Instantiated: FGOutput" << endl;
1153     if (from == 1) cout << "Destroyed:    FGOutput" << endl;
1154   }
1155   if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
1156   }
1157   if (debug_lvl & 8 ) { // Runtime state variables
1158   }
1159   if (debug_lvl & 16) { // Sanity checking
1160   }
1161   if (debug_lvl & 64) {
1162     if (from == 0) { // Constructor
1163       cout << IdSrc << endl;
1164       cout << IdHdr << endl;
1165     }
1166   }
1167 }
1168 }