1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
6 Purpose: Manage output of sim parameters to file or stdout
9 ------------- Copyright (C) 1999 Jon S. Berndt (jon@jsbsim.org) -------------
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
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
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.
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.
28 FUNCTIONAL DESCRIPTION
29 --------------------------------------------------------------------------------
30 This is the place where you create output routines to dump data for perusal
34 --------------------------------------------------------------------------------
36 11/09/07 HDW Added FlightGear Socket Interface
38 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
40 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
43 #include "FGFDMExec.h"
44 #include "FGAtmosphere.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"
64 #if defined(WIN32) && !defined(__CYGWIN__)
67 # include <netinet/in.h> // htonl() ntohl()
70 static const int endianTest = 1;
71 #define isLittleEndian (*((char *) &endianTest ) != 0)
77 static const char *IdSrc = "$Id: FGOutput.cpp,v 1.49 2010/10/15 11:30:29 jberndt Exp $";
78 static const char *IdHdr = ID_OUTPUT;
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
90 static void htond (double &x)
92 if ( isLittleEndian ) {
96 Double_Overlay = (int *) &x;
97 Holding_Buffer = Double_Overlay [0];
99 Double_Overlay [0] = htonl (Double_Overlay [1]);
100 Double_Overlay [1] = htonl (Holding_Buffer);
107 static void htonf (float &x)
109 if ( isLittleEndian ) {
113 Float_Overlay = (int *) &x;
114 Holding_Buffer = Float_Overlay [0];
116 Float_Overlay [0] = htonl (Holding_Buffer);
123 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
125 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
127 FGOutput::FGOutput(FGFDMExec* fdmex) : FGModel(fdmex)
130 sFirstPass = dFirstPass = true;
136 StartNewFile = false;
138 BaseFilename = Filename = "";
140 output_file_name = "";
142 memset(&fgSockBuf, 0x00, sizeof(fgSockBuf));
147 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
149 FGOutput::~FGOutput()
152 OutputProperties.clear();
156 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
158 bool FGOutput::InitModel(void)
160 if (!FGModel::InitModel()) return false;
162 if (Filename.size() > 0 && StartNewFile) {
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);
168 buf << BaseFilename << '_' << runID_postfix++;
170 Filename = buf.str();
172 StartNewFile = false;
179 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
181 bool FGOutput::Run(void)
183 if (FGModel::Run()) return true;
185 if (enabled && !FDMExec->IntegrationSuspended()&& !FDMExec->Holding()) {
187 if (Type == otSocket) {
189 } else if (Type == otFlightGear) {
190 FlightGearSocketOutput();
191 } else if (Type == otCSV || Type == otTab) {
192 DelimitedOutput(Filename);
193 } else if (Type == otTerminal) {
195 } else if (Type == otNone) {
198 // Not a valid type of output
205 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
207 void FGOutput::SetType(const string& type)
212 } else if (type == "TABULAR") {
215 } else if (type == "SOCKET") {
217 } else if (type == "FLIGHTGEAR") {
219 } else if (type == "TERMINAL") {
221 } else if (type != string("NONE")) {
223 cerr << "Unknown type of output specified in config file" << endl;
227 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
229 void FGOutput::SetProtocol(const string& protocol)
231 if (protocol == "UDP") Protocol = FGfdmSocket::ptUDP;
232 else if (protocol == "TCP") Protocol = FGfdmSocket::ptTCP;
233 else Protocol = FGfdmSocket::ptTCP; // Default to TCP
236 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
238 void FGOutput::DelimitedOutput(const string& fname)
243 if (fname == "COUT" || fname == "cout") {
244 buffer = cout.rdbuf();
246 if (!datafile.is_open()) datafile.open(fname.c_str());
247 buffer = datafile.rdbuf();
250 ostream outstream(buffer);
252 outstream.precision(10);
256 if (SubSystems & ssSimulation) {
259 if (SubSystems & ssAerosurfaces) {
260 outstream << delimeter;
261 outstream << "Aileron Command (norm)" + delimeter;
262 outstream << "Elevator Command (norm)" + delimeter;
263 outstream << "Rudder Command (norm)" + delimeter;
264 outstream << "Flap Command (norm)" + delimeter;
265 outstream << "Left Aileron Position (deg)" + delimeter;
266 outstream << "Right Aileron Position (deg)" + delimeter;
267 outstream << "Elevator Position (deg)" + delimeter;
268 outstream << "Rudder Position (deg)" + delimeter;
269 outstream << "Flap Position (deg)";
271 if (SubSystems & ssRates) {
272 outstream << delimeter;
273 outstream << "P (deg/s)" + delimeter + "Q (deg/s)" + delimeter + "R (deg/s)" + delimeter;
274 outstream << "P dot (deg/s^2)" + delimeter + "Q dot (deg/s^2)" + delimeter + "R dot (deg/s^2)" + delimeter;
275 outstream << "P_{inertial} (deg/s)" + delimeter + "Q_{inertial} (deg/s)" + delimeter + "R_{inertial} (deg/s)";
277 if (SubSystems & ssVelocities) {
278 outstream << delimeter;
279 outstream << "q bar (psf)" + delimeter;
280 outstream << "Reynolds Number" + delimeter;
281 outstream << "V_{Total} (ft/s)" + delimeter;
282 outstream << "V_{Inertial} (ft/s)" + delimeter;
283 outstream << "UBody" + delimeter + "VBody" + delimeter + "WBody" + delimeter;
284 outstream << "Aero V_{X Body} (ft/s)" + delimeter + "Aero V_{Y Body} (ft/s)" + delimeter + "Aero V_{Z Body} (ft/s)" + delimeter;
285 outstream << "V_{X_{inertial}} (ft/s)" + delimeter + "V_{Y_{inertial}} (ft/s)" + delimeter + "V_{Z_{inertial}} (ft/s)" + delimeter;
286 outstream << "V_{North} (ft/s)" + delimeter + "V_{East} (ft/s)" + delimeter + "V_{Down} (ft/s)";
288 if (SubSystems & ssForces) {
289 outstream << delimeter;
290 outstream << "F_{Drag} (lbs)" + delimeter + "F_{Side} (lbs)" + delimeter + "F_{Lift} (lbs)" + delimeter;
291 outstream << "L/D" + delimeter;
292 outstream << "F_{Aero x} (lbs)" + delimeter + "F_{Aero y} (lbs)" + delimeter + "F_{Aero z} (lbs)" + delimeter;
293 outstream << "F_{Prop x} (lbs)" + delimeter + "F_{Prop y} (lbs)" + delimeter + "F_{Prop z} (lbs)" + delimeter;
294 outstream << "F_{Gear x} (lbs)" + delimeter + "F_{Gear y} (lbs)" + delimeter + "F_{Gear z} (lbs)" + delimeter;
295 outstream << "F_{Ext x} (lbs)" + delimeter + "F_{Ext y} (lbs)" + delimeter + "F_{Ext z} (lbs)" + delimeter;
296 outstream << "F_{Buoyant x} (lbs)" + delimeter + "F_{Buoyant y} (lbs)" + delimeter + "F_{Buoyant z} (lbs)" + delimeter;
297 outstream << "F_{Total x} (lbs)" + delimeter + "F_{Total y} (lbs)" + delimeter + "F_{Total z} (lbs)";
299 if (SubSystems & ssMoments) {
300 outstream << delimeter;
301 outstream << "L_{Aero} (ft-lbs)" + delimeter + "M_{Aero} ( ft-lbs)" + delimeter + "N_{Aero} (ft-lbs)" + delimeter;
302 outstream << "L_{Prop} (ft-lbs)" + delimeter + "M_{Prop} (ft-lbs)" + delimeter + "N_{Prop} (ft-lbs)" + delimeter;
303 outstream << "L_{Gear} (ft-lbs)" + delimeter + "M_{Gear} (ft-lbs)" + delimeter + "N_{Gear} (ft-lbs)" + delimeter;
304 outstream << "L_{ext} (ft-lbs)" + delimeter + "M_{ext} (ft-lbs)" + delimeter + "N_{ext} (ft-lbs)" + delimeter;
305 outstream << "L_{Buoyant} (ft-lbs)" + delimeter + "M_{Buoyant} (ft-lbs)" + delimeter + "N_{Buoyant} (ft-lbs)" + delimeter;
306 outstream << "L_{Total} (ft-lbs)" + delimeter + "M_{Total} (ft-lbs)" + delimeter + "N_{Total} (ft-lbs)";
308 if (SubSystems & ssAtmosphere) {
309 outstream << delimeter;
310 outstream << "Rho (slugs/ft^3)" + delimeter;
311 outstream << "Absolute Viscosity" + delimeter;
312 outstream << "Kinematic Viscosity" + delimeter;
313 outstream << "Temperature (R)" + delimeter;
314 outstream << "P_{SL} (psf)" + delimeter;
315 outstream << "P_{Ambient} (psf)" + delimeter;
316 outstream << "Turbulence Magnitude (ft/sec)" + delimeter;
317 outstream << "Turbulence X Direction (rad)" + delimeter + "Turbulence Y Direction (rad)" + delimeter + "Turbulence Z Direction (rad)" + delimeter;
318 outstream << "Wind V_{North} (ft/s)" + delimeter + "Wind V_{East} (ft/s)" + delimeter + "Wind V_{Down} (ft/s)";
320 if (SubSystems & ssMassProps) {
321 outstream << delimeter;
322 outstream << "I_{xx}" + delimeter;
323 outstream << "I_{xy}" + delimeter;
324 outstream << "I_{xz}" + delimeter;
325 outstream << "I_{yx}" + delimeter;
326 outstream << "I_{yy}" + delimeter;
327 outstream << "I_{yz}" + delimeter;
328 outstream << "I_{zx}" + delimeter;
329 outstream << "I_{zy}" + delimeter;
330 outstream << "I_{zz}" + delimeter;
331 outstream << "Mass" + delimeter;
332 outstream << "X_{cg}" + delimeter + "Y_{cg}" + delimeter + "Z_{cg}";
334 if (SubSystems & ssPropagate) {
335 outstream << delimeter;
336 outstream << "Altitude ASL (ft)" + delimeter;
337 outstream << "Altitude AGL (ft)" + delimeter;
338 outstream << "Phi (deg)" + delimeter + "Theta (deg)" + delimeter + "Psi (deg)" + delimeter;
339 outstream << "Alpha (deg)" + delimeter;
340 outstream << "Beta (deg)" + delimeter;
341 outstream << "Latitude (deg)" + delimeter;
342 outstream << "Longitude (deg)" + delimeter;
343 outstream << "X_{ECI} (ft)" + delimeter + "Y_{ECI} (ft)" + delimeter + "Z_{ECI} (ft)" + delimeter;
344 outstream << "X_{ECEF} (ft)" + delimeter + "Y_{ECEF} (ft)" + delimeter + "Z_{ECEF} (ft)" + delimeter;
345 outstream << "Earth Position Angle (deg)" + delimeter;
346 outstream << "Distance AGL (ft)" + delimeter;
347 outstream << "Terrain Elevation (ft)";
349 if (SubSystems & ssCoefficients) {
350 scratch = Aerodynamics->GetCoefficientStrings(delimeter);
351 if (scratch.length() != 0) outstream << delimeter << scratch;
353 if (SubSystems & ssFCS) {
354 scratch = FCS->GetComponentStrings(delimeter);
355 if (scratch.length() != 0) outstream << delimeter << scratch;
357 if (SubSystems & ssGroundReactions) {
358 outstream << delimeter;
359 outstream << GroundReactions->GetGroundReactionStrings(delimeter);
361 if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
362 outstream << delimeter;
363 outstream << Propulsion->GetPropulsionStrings(delimeter);
365 if (OutputProperties.size() > 0) {
366 for (unsigned int i=0;i<OutputProperties.size();i++) {
367 outstream << delimeter << OutputProperties[i]->GetPrintableName();
375 outstream << FDMExec->GetSimTime();
376 if (SubSystems & ssSimulation) {
378 if (SubSystems & ssAerosurfaces) {
379 outstream << delimeter;
380 outstream << FCS->GetDaCmd() << delimeter;
381 outstream << FCS->GetDeCmd() << delimeter;
382 outstream << FCS->GetDrCmd() << delimeter;
383 outstream << FCS->GetDfCmd() << delimeter;
384 outstream << FCS->GetDaLPos(ofDeg) << delimeter;
385 outstream << FCS->GetDaRPos(ofDeg) << delimeter;
386 outstream << FCS->GetDePos(ofDeg) << delimeter;
387 outstream << FCS->GetDrPos(ofDeg) << delimeter;
388 outstream << FCS->GetDfPos(ofDeg);
390 if (SubSystems & ssRates) {
391 outstream << delimeter;
392 outstream << (radtodeg*Propagate->GetPQR()).Dump(delimeter) << delimeter;
393 outstream << (radtodeg*Propagate->GetPQRdot()).Dump(delimeter) << delimeter;
394 outstream << (radtodeg*Propagate->GetPQRi()).Dump(delimeter);
396 if (SubSystems & ssVelocities) {
397 outstream << delimeter;
398 outstream << Auxiliary->Getqbar() << delimeter;
399 outstream << Auxiliary->GetReynoldsNumber() << delimeter;
400 outstream << setprecision(12) << Auxiliary->GetVt() << delimeter;
401 outstream << Propagate->GetInertialVelocityMagnitude() << delimeter;
402 outstream << setprecision(12) << Propagate->GetUVW().Dump(delimeter) << delimeter;
403 outstream << Auxiliary->GetAeroUVW().Dump(delimeter) << delimeter;
404 outstream << Propagate->GetInertialVelocity().Dump(delimeter) << delimeter;
405 outstream << Propagate->GetVel().Dump(delimeter);
406 outstream.precision(10);
408 if (SubSystems & ssForces) {
409 outstream << delimeter;
410 outstream << Aerodynamics->GetvFw().Dump(delimeter) << delimeter;
411 outstream << Aerodynamics->GetLoD() << delimeter;
412 outstream << Aerodynamics->GetForces().Dump(delimeter) << delimeter;
413 outstream << Propulsion->GetForces().Dump(delimeter) << delimeter;
414 outstream << GroundReactions->GetForces().Dump(delimeter) << delimeter;
415 outstream << ExternalReactions->GetForces().Dump(delimeter) << delimeter;
416 outstream << BuoyantForces->GetForces().Dump(delimeter) << delimeter;
417 outstream << Aircraft->GetForces().Dump(delimeter);
419 if (SubSystems & ssMoments) {
420 outstream << delimeter;
421 outstream << Aerodynamics->GetMoments().Dump(delimeter) << delimeter;
422 outstream << Propulsion->GetMoments().Dump(delimeter) << delimeter;
423 outstream << GroundReactions->GetMoments().Dump(delimeter) << delimeter;
424 outstream << ExternalReactions->GetMoments().Dump(delimeter) << delimeter;
425 outstream << BuoyantForces->GetMoments().Dump(delimeter) << delimeter;
426 outstream << Aircraft->GetMoments().Dump(delimeter);
428 if (SubSystems & ssAtmosphere) {
429 outstream << delimeter;
430 outstream << Atmosphere->GetDensity() << delimeter;
431 outstream << Atmosphere->GetAbsoluteViscosity() << delimeter;
432 outstream << Atmosphere->GetKinematicViscosity() << delimeter;
433 outstream << Atmosphere->GetTemperature() << delimeter;
434 outstream << Atmosphere->GetPressureSL() << delimeter;
435 outstream << Atmosphere->GetPressure() << delimeter;
436 outstream << Atmosphere->GetTurbMagnitude() << delimeter;
437 outstream << Atmosphere->GetTurbDirection().Dump(delimeter) << delimeter;
438 outstream << Atmosphere->GetTotalWindNED().Dump(delimeter);
440 if (SubSystems & ssMassProps) {
441 outstream << delimeter;
442 outstream << MassBalance->GetJ().Dump(delimeter) << delimeter;
443 outstream << MassBalance->GetMass() << delimeter;
444 outstream << MassBalance->GetXYZcg().Dump(delimeter);
446 if (SubSystems & ssPropagate) {
447 outstream.precision(14);
448 outstream << delimeter;
449 outstream << Propagate->GetAltitudeASL() << delimeter;
450 outstream << Propagate->GetDistanceAGL() << delimeter;
451 outstream << (radtodeg*Propagate->GetEuler()).Dump(delimeter) << delimeter;
452 outstream << Auxiliary->Getalpha(inDegrees) << delimeter;
453 outstream << Auxiliary->Getbeta(inDegrees) << delimeter;
454 outstream << Propagate->GetLocation().GetLatitudeDeg() << delimeter;
455 outstream << Propagate->GetLocation().GetLongitudeDeg() << delimeter;
456 outstream.precision(18);
457 outstream << ((FGColumnVector3)Propagate->GetInertialPosition()).Dump(delimeter) << delimeter;
458 outstream << ((FGColumnVector3)Propagate->GetLocation()).Dump(delimeter) << delimeter;
459 outstream.precision(14);
460 outstream << Inertial->GetEarthPositionAngleDeg() << delimeter;
461 outstream << Propagate->GetDistanceAGL() << delimeter;
462 outstream << Propagate->GetTerrainElevation();
463 outstream.precision(10);
465 if (SubSystems & ssCoefficients) {
466 scratch = Aerodynamics->GetCoefficientValues(delimeter);
467 if (scratch.length() != 0) outstream << delimeter << scratch;
469 if (SubSystems & ssFCS) {
470 scratch = FCS->GetComponentValues(delimeter);
471 if (scratch.length() != 0) outstream << delimeter << scratch;
473 if (SubSystems & ssGroundReactions) {
474 outstream << delimeter;
475 outstream << GroundReactions->GetGroundReactionValues(delimeter);
477 if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
478 outstream << delimeter;
479 outstream << Propulsion->GetPropulsionValues(delimeter);
482 outstream.precision(18);
483 for (unsigned int i=0;i<OutputProperties.size();i++) {
484 outstream << delimeter << OutputProperties[i]->getDoubleValue();
486 outstream.precision(10);
492 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
494 void FGOutput::SocketDataFill(FGNetFDM* net)
499 net->version = FG_NET_FDM_VERSION;
502 net->longitude = Propagate->GetLocation().GetLongitude(); // geodetic (radians)
503 net->latitude = Propagate->GetLocation().GetLatitude(); // geodetic (radians)
504 net->altitude = Propagate->GetAltitudeASL()*0.3048; // altitude, above sea level (meters)
505 net->agl = (float)(Propagate->GetDistanceAGL()*0.3048); // altitude, above ground level (meters)
507 net->phi = (float)(Propagate->GetEuler(ePhi)); // roll (radians)
508 net->theta = (float)(Propagate->GetEuler(eTht)); // pitch (radians)
509 net->psi = (float)(Propagate->GetEuler(ePsi)); // yaw or true heading (radians)
511 net->alpha = (float)(Auxiliary->Getalpha()); // angle of attack (radians)
512 net->beta = (float)(Auxiliary->Getbeta()); // side slip angle (radians)
515 net->phidot = (float)(Auxiliary->GetEulerRates(ePhi)); // roll rate (radians/sec)
516 net->thetadot = (float)(Auxiliary->GetEulerRates(eTht)); // pitch rate (radians/sec)
517 net->psidot = (float)(Auxiliary->GetEulerRates(ePsi)); // yaw rate (radians/sec)
518 net->vcas = (float)(Auxiliary->GetVcalibratedFPS()); // VCAS, ft/sec
519 net->climb_rate = (float)(Propagate->Gethdot()); // altitude rate, ft/sec
520 net->v_north = (float)(Propagate->GetVel(eNorth)); // north vel in NED frame, fps
521 net->v_east = (float)(Propagate->GetVel(eEast)); // east vel in NED frame, fps
522 net->v_down = (float)(Propagate->GetVel(eDown)); // down vel in NED frame, fps
523 //---ADD METHOD TO CALCULATE THESE TERMS---
524 net->v_wind_body_north = (float)(Propagate->GetVel(eNorth)); // north vel in NED relative to airmass, fps
525 net->v_wind_body_east = (float)(Propagate->GetVel(eEast)); // east vel in NED relative to airmass, fps
526 net->v_wind_body_down = (float)(Propagate->GetVel(eDown)); // down vel in NED relative to airmass, fps
529 net->A_X_pilot = (float)(Auxiliary->GetPilotAccel(1)); // X body accel, ft/s/s
530 net->A_Y_pilot = (float)(Auxiliary->GetPilotAccel(2)); // Y body accel, ft/s/s
531 net->A_Z_pilot = (float)(Auxiliary->GetPilotAccel(3)); // Z body accel, ft/s/s
534 net->stall_warning = 0.0; // 0.0 - 1.0 indicating the amount of stall
535 net->slip_deg = (float)(Auxiliary->Getbeta(inDegrees)); // slip ball deflection, deg
538 net->num_engines = Propulsion->GetNumEngines(); // Number of valid engines
540 for (i=0; i<net->num_engines; i++) {
541 if (Propulsion->GetEngine(i)->GetRunning())
542 net->eng_state[i] = 2; // Engine state running
543 else if (Propulsion->GetEngine(i)->GetCranking())
544 net->eng_state[i] = 1; // Engine state cranking
546 net->eng_state[i] = 0; // Engine state off
548 switch (Propulsion->GetEngine(i)->GetType()) {
549 case (FGEngine::etRocket):
551 case (FGEngine::etPiston):
552 net->rpm[i] = (float)(((FGPiston *)Propulsion->GetEngine(i))->getRPM());
553 net->fuel_flow[i] = (float)(((FGPiston *)Propulsion->GetEngine(i))->getFuelFlow_gph());
554 net->fuel_px[i] = 0; // Fuel pressure, psi (N/A in current model)
555 net->egt[i] = (float)(((FGPiston *)Propulsion->GetEngine(i))->GetEGT());
556 net->cht[i] = (float)(((FGPiston *)Propulsion->GetEngine(i))->getCylinderHeadTemp_degF());
557 net->mp_osi[i] = (float)(((FGPiston *)Propulsion->GetEngine(i))->getManifoldPressure_inHg());
558 net->oil_temp[i] = (float)(((FGPiston *)Propulsion->GetEngine(i))->getOilTemp_degF());
559 net->oil_px[i] = (float)(((FGPiston *)Propulsion->GetEngine(i))->getOilPressure_psi());
560 net->tit[i] = 0; // Turbine Inlet Temperature (N/A for piston)
562 case (FGEngine::etTurbine):
564 case (FGEngine::etTurboprop):
566 case (FGEngine::etElectric):
568 case (FGEngine::etUnknown):
574 net->num_tanks = Propulsion->GetNumTanks(); // Max number of fuel tanks
576 for (i=0; i<net->num_tanks; i++) {
577 net->fuel_quantity[i] = (float)(((FGTank *)Propulsion->GetTank(i))->GetContents());
581 net->num_wheels = GroundReactions->GetNumGearUnits();
583 for (i=0; i<net->num_wheels; i++) {
584 net->wow[i] = GroundReactions->GetGearUnit(i)->GetWOW();
585 if (GroundReactions->GetGearUnit(i)->GetGearUnitDown())
586 net->gear_pos[i] = 1; //gear down, using FCS convention
588 net->gear_pos[i] = 0; //gear up, using FCS convention
589 net->gear_steer[i] = (float)(GroundReactions->GetGearUnit(i)->GetSteerNorm());
590 net->gear_compression[i] = (float)(GroundReactions->GetGearUnit(i)->GetCompLen());
594 net->cur_time = (long int)1234567890; // Friday, Feb 13, 2009, 23:31:30 UTC (not processed by FGFS anyway)
595 net->warp = 0; // offset in seconds to unix time
596 net->visibility = 25000.0; // visibility in meters (for env. effects)
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, --
610 // Convert the net buffer to network format
611 if ( isLittleEndian ) {
612 net->version = htonl(net->version);
614 htond(net->longitude);
615 htond(net->latitude);
616 htond(net->altitude);
625 htonf(net->thetadot);
628 htonf(net->climb_rate);
632 htonf(net->v_wind_body_north);
633 htonf(net->v_wind_body_east);
634 htonf(net->v_wind_body_down);
636 htonf(net->A_X_pilot);
637 htonf(net->A_Y_pilot);
638 htonf(net->A_Z_pilot);
640 htonf(net->stall_warning);
641 htonf(net->slip_deg);
643 for (i=0; i<net->num_engines; ++i ) {
644 net->eng_state[i] = htonl(net->eng_state[i]);
646 htonf(net->fuel_flow[i]);
647 htonf(net->fuel_px[i]);
650 htonf(net->mp_osi[i]);
652 htonf(net->oil_temp[i]);
653 htonf(net->oil_px[i]);
655 net->num_engines = htonl(net->num_engines);
657 for (i=0; i<net->num_tanks; ++i ) {
658 htonf(net->fuel_quantity[i]);
660 net->num_tanks = htonl(net->num_tanks);
662 for (i=0; i<net->num_wheels; ++i ) {
663 net->wow[i] = htonl(net->wow[i]);
664 htonf(net->gear_pos[i]);
665 htonf(net->gear_steer[i]);
666 htonf(net->gear_compression[i]);
668 net->num_wheels = htonl(net->num_wheels);
670 net->cur_time = htonl( net->cur_time );
671 net->warp = htonl( net->warp );
672 htonf(net->visibility);
674 htonf(net->elevator);
675 htonf(net->elevator_trim_tab);
676 htonf(net->left_flap);
677 htonf(net->right_flap);
678 htonf(net->left_aileron);
679 htonf(net->right_aileron);
681 htonf(net->nose_wheel);
682 htonf(net->speedbrake);
683 htonf(net->spoilers);
687 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
689 void FGOutput::FlightGearSocketOutput(void)
691 int length = sizeof(fgSockBuf);
693 if (socket == NULL) return;
694 if (!socket->GetConnectStatus()) return;
696 SocketDataFill(&fgSockBuf);
697 socket->Send((char *)&fgSockBuf, length);
700 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
702 void FGOutput::SocketOutput(void)
704 string asciiData, scratch;
706 if (socket == NULL) return;
707 if (!socket->GetConnectStatus()) return;
711 socket->Clear("<LABELS>");
712 socket->Append("Time");
714 if (SubSystems & ssAerosurfaces) {
715 socket->Append("Aileron Command");
716 socket->Append("Elevator Command");
717 socket->Append("Rudder Command");
718 socket->Append("Flap Command");
719 socket->Append("Left Aileron Position");
720 socket->Append("Right Aileron Position");
721 socket->Append("Elevator Position");
722 socket->Append("Rudder Position");
723 socket->Append("Flap Position");
726 if (SubSystems & ssRates) {
730 socket->Append("PDot");
731 socket->Append("QDot");
732 socket->Append("RDot");
735 if (SubSystems & ssVelocities) {
736 socket->Append("QBar");
737 socket->Append("Vtotal");
738 socket->Append("UBody");
739 socket->Append("VBody");
740 socket->Append("WBody");
741 socket->Append("UAero");
742 socket->Append("VAero");
743 socket->Append("WAero");
744 socket->Append("Vn");
745 socket->Append("Ve");
746 socket->Append("Vd");
748 if (SubSystems & ssForces) {
749 socket->Append("F_Drag");
750 socket->Append("F_Side");
751 socket->Append("F_Lift");
752 socket->Append("LoD");
753 socket->Append("Fx");
754 socket->Append("Fy");
755 socket->Append("Fz");
757 if (SubSystems & ssMoments) {
762 if (SubSystems & ssAtmosphere) {
763 socket->Append("Rho");
764 socket->Append("SL pressure");
765 socket->Append("Ambient pressure");
766 socket->Append("Turbulence Magnitude");
767 socket->Append("Turbulence Direction X");
768 socket->Append("Turbulence Direction Y");
769 socket->Append("Turbulence Direction Z");
770 socket->Append("NWind");
771 socket->Append("EWind");
772 socket->Append("DWind");
774 if (SubSystems & ssMassProps) {
775 socket->Append("Ixx");
776 socket->Append("Ixy");
777 socket->Append("Ixz");
778 socket->Append("Iyx");
779 socket->Append("Iyy");
780 socket->Append("Iyz");
781 socket->Append("Izx");
782 socket->Append("Izy");
783 socket->Append("Izz");
784 socket->Append("Mass");
785 socket->Append("Xcg");
786 socket->Append("Ycg");
787 socket->Append("Zcg");
789 if (SubSystems & ssPropagate) {
790 socket->Append("Altitude");
791 socket->Append("Phi (deg)");
792 socket->Append("Tht (deg)");
793 socket->Append("Psi (deg)");
794 socket->Append("Alpha (deg)");
795 socket->Append("Beta (deg)");
796 socket->Append("Latitude (deg)");
797 socket->Append("Longitude (deg)");
799 if (SubSystems & ssCoefficients) {
800 scratch = Aerodynamics->GetCoefficientStrings(",");
801 if (scratch.length() != 0) socket->Append(scratch);
803 if (SubSystems & ssFCS) {
804 scratch = FCS->GetComponentStrings(",");
805 if (scratch.length() != 0) socket->Append(scratch);
807 if (SubSystems & ssGroundReactions) {
808 socket->Append(GroundReactions->GetGroundReactionStrings(","));
810 if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
811 socket->Append(Propulsion->GetPropulsionStrings(","));
813 if (OutputProperties.size() > 0) {
814 for (unsigned int i=0;i<OutputProperties.size();i++) {
815 socket->Append(OutputProperties[i]->GetPrintableName());
824 socket->Append(FDMExec->GetSimTime());
826 if (SubSystems & ssAerosurfaces) {
827 socket->Append(FCS->GetDaCmd());
828 socket->Append(FCS->GetDeCmd());
829 socket->Append(FCS->GetDrCmd());
830 socket->Append(FCS->GetDfCmd());
831 socket->Append(FCS->GetDaLPos());
832 socket->Append(FCS->GetDaRPos());
833 socket->Append(FCS->GetDePos());
834 socket->Append(FCS->GetDrPos());
835 socket->Append(FCS->GetDfPos());
837 if (SubSystems & ssRates) {
838 socket->Append(radtodeg*Propagate->GetPQR(eP));
839 socket->Append(radtodeg*Propagate->GetPQR(eQ));
840 socket->Append(radtodeg*Propagate->GetPQR(eR));
841 socket->Append(radtodeg*Propagate->GetPQRdot(eP));
842 socket->Append(radtodeg*Propagate->GetPQRdot(eQ));
843 socket->Append(radtodeg*Propagate->GetPQRdot(eR));
845 if (SubSystems & ssVelocities) {
846 socket->Append(Auxiliary->Getqbar());
847 socket->Append(Auxiliary->GetVt());
848 socket->Append(Propagate->GetUVW(eU));
849 socket->Append(Propagate->GetUVW(eV));
850 socket->Append(Propagate->GetUVW(eW));
851 socket->Append(Auxiliary->GetAeroUVW(eU));
852 socket->Append(Auxiliary->GetAeroUVW(eV));
853 socket->Append(Auxiliary->GetAeroUVW(eW));
854 socket->Append(Propagate->GetVel(eNorth));
855 socket->Append(Propagate->GetVel(eEast));
856 socket->Append(Propagate->GetVel(eDown));
858 if (SubSystems & ssForces) {
859 socket->Append(Aerodynamics->GetvFw()(eDrag));
860 socket->Append(Aerodynamics->GetvFw()(eSide));
861 socket->Append(Aerodynamics->GetvFw()(eLift));
862 socket->Append(Aerodynamics->GetLoD());
863 socket->Append(Aircraft->GetForces(eX));
864 socket->Append(Aircraft->GetForces(eY));
865 socket->Append(Aircraft->GetForces(eZ));
867 if (SubSystems & ssMoments) {
868 socket->Append(Aircraft->GetMoments(eL));
869 socket->Append(Aircraft->GetMoments(eM));
870 socket->Append(Aircraft->GetMoments(eN));
872 if (SubSystems & ssAtmosphere) {
873 socket->Append(Atmosphere->GetDensity());
874 socket->Append(Atmosphere->GetPressureSL());
875 socket->Append(Atmosphere->GetPressure());
876 socket->Append(Atmosphere->GetTurbMagnitude());
877 socket->Append(Atmosphere->GetTurbDirection().Dump(","));
878 socket->Append(Atmosphere->GetTotalWindNED().Dump(","));
880 if (SubSystems & ssMassProps) {
881 socket->Append(MassBalance->GetJ()(1,1));
882 socket->Append(MassBalance->GetJ()(1,2));
883 socket->Append(MassBalance->GetJ()(1,3));
884 socket->Append(MassBalance->GetJ()(2,1));
885 socket->Append(MassBalance->GetJ()(2,2));
886 socket->Append(MassBalance->GetJ()(2,3));
887 socket->Append(MassBalance->GetJ()(3,1));
888 socket->Append(MassBalance->GetJ()(3,2));
889 socket->Append(MassBalance->GetJ()(3,3));
890 socket->Append(MassBalance->GetMass());
891 socket->Append(MassBalance->GetXYZcg()(eX));
892 socket->Append(MassBalance->GetXYZcg()(eY));
893 socket->Append(MassBalance->GetXYZcg()(eZ));
895 if (SubSystems & ssPropagate) {
896 socket->Append(Propagate->GetAltitudeASL());
897 socket->Append(radtodeg*Propagate->GetEuler(ePhi));
898 socket->Append(radtodeg*Propagate->GetEuler(eTht));
899 socket->Append(radtodeg*Propagate->GetEuler(ePsi));
900 socket->Append(Auxiliary->Getalpha(inDegrees));
901 socket->Append(Auxiliary->Getbeta(inDegrees));
902 socket->Append(Propagate->GetLocation().GetLatitudeDeg());
903 socket->Append(Propagate->GetLocation().GetLongitudeDeg());
905 if (SubSystems & ssCoefficients) {
906 scratch = Aerodynamics->GetCoefficientValues(",");
907 if (scratch.length() != 0) socket->Append(scratch);
909 if (SubSystems & ssFCS) {
910 scratch = FCS->GetComponentValues(",");
911 if (scratch.length() != 0) socket->Append(scratch);
913 if (SubSystems & ssGroundReactions) {
914 socket->Append(GroundReactions->GetGroundReactionValues(","));
916 if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
917 socket->Append(Propulsion->GetPropulsionValues(","));
920 for (unsigned int i=0;i<OutputProperties.size();i++) {
921 socket->Append(OutputProperties[i]->getDoubleValue());
927 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
929 void FGOutput::SocketStatusOutput(const string& out_str)
933 if (socket == NULL) return;
936 asciiData = string("<STATUS>") + out_str;
937 socket->Append(asciiData.c_str());
941 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
943 bool FGOutput::Load(Element* element)
949 Element *property_element;
951 string separator = "/";
953 if (!DirectivesFile.empty()) { // A directives filename from the command line overrides
954 output_file_name = DirectivesFile; // one found in the config file.
955 document = LoadXMLDocument(output_file_name);
956 } else if (!element->GetAttributeValue("file").empty()) {
957 output_file_name = FDMExec->GetRootDir() + element->GetAttributeValue("file");
958 document = LoadXMLDocument(output_file_name);
963 if (!document) return false;
965 name = FDMExec->GetRootDir() + document->GetAttributeValue("name");
966 SetType(document->GetAttributeValue("type"));
967 Port = document->GetAttributeValue("port");
968 if (!Port.empty() && (Type == otSocket || Type == otFlightGear)) {
969 port = atoi(Port.c_str());
970 SetProtocol(document->GetAttributeValue("protocol"));
971 socket = new FGfdmSocket(name, port, Protocol);
973 BaseFilename = Filename = name;
975 if (!document->GetAttributeValue("rate").empty()) {
976 OutRate = (int)document->GetAttributeValueAsNumber("rate");
981 if (document->FindElementValue("simulation") == string("ON"))
982 SubSystems += ssSimulation;
983 if (document->FindElementValue("aerosurfaces") == string("ON"))
984 SubSystems += ssAerosurfaces;
985 if (document->FindElementValue("rates") == string("ON"))
986 SubSystems += ssRates;
987 if (document->FindElementValue("velocities") == string("ON"))
988 SubSystems += ssVelocities;
989 if (document->FindElementValue("forces") == string("ON"))
990 SubSystems += ssForces;
991 if (document->FindElementValue("moments") == string("ON"))
992 SubSystems += ssMoments;
993 if (document->FindElementValue("atmosphere") == string("ON"))
994 SubSystems += ssAtmosphere;
995 if (document->FindElementValue("massprops") == string("ON"))
996 SubSystems += ssMassProps;
997 if (document->FindElementValue("position") == string("ON"))
998 SubSystems += ssPropagate;
999 if (document->FindElementValue("coefficients") == string("ON"))
1000 SubSystems += ssCoefficients;
1001 if (document->FindElementValue("ground_reactions") == string("ON"))
1002 SubSystems += ssGroundReactions;
1003 if (document->FindElementValue("fcs") == string("ON"))
1004 SubSystems += ssFCS;
1005 if (document->FindElementValue("propulsion") == string("ON"))
1006 SubSystems += ssPropulsion;
1007 property_element = document->FindElement("property");
1008 while (property_element) {
1009 string property_str = property_element->GetDataLine();
1010 FGPropertyManager* node = PropertyManager->GetNode(property_str);
1012 cerr << fgred << highint << endl << " No property by the name "
1013 << property_str << " has been defined. This property will " << endl
1014 << " not be logged. You should check your configuration file."
1017 OutputProperties.push_back(node);
1019 property_element = document->FindNextElement("property");
1029 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
1031 void FGOutput::SetRate(int rtHz)
1033 rtHz = rtHz>1000?1000:(rtHz<0?0:rtHz);
1035 rate = (int)(0.5 + 1.0/(FDMExec->GetDeltaT()*rtHz));
1043 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
1044 // The bitmasked value choices are as follows:
1045 // unset: In this case (the default) JSBSim would only print
1046 // out the normally expected messages, essentially echoing
1047 // the config files as they are read. If the environment
1048 // variable is not set, debug_lvl is set to 1 internally
1049 // 0: This requests JSBSim not to output any messages
1051 // 1: This value explicity requests the normal JSBSim
1053 // 2: This value asks for a message to be printed out when
1054 // a class is instantiated
1055 // 4: When this value is set, a message is displayed when a
1056 // FGModel object executes its Run() method
1057 // 8: When this value is set, various runtime state variables
1058 // are printed out periodically
1059 // 16: When set various parameters are sanity checked and
1060 // a message is printed out when they go out of bounds
1062 void FGOutput::Debug(int from)
1066 if (debug_lvl <= 0) return;
1068 if (debug_lvl & 1) { // Standard console startup message output
1069 if (from == 0) { // Constructor
1073 if (output_file_name.empty())
1074 cout << " " << "Output parameters read inline" << endl;
1076 cout << " Output parameters read from file: " << output_file_name << endl;
1078 if (Filename == "cout" || Filename == "COUT") {
1079 scratch = " Log output goes to screen console";
1080 } else if (!Filename.empty()) {
1081 scratch = " Log output goes to file: " + Filename;
1085 cout << scratch << " in CSV format output at rate " << 1/(FDMExec->GetDeltaT()*rate) << " Hz" << endl;
1089 cout << " No log output" << endl;
1093 if (SubSystems & ssSimulation) cout << " Simulation parameters logged" << endl;
1094 if (SubSystems & ssAerosurfaces) cout << " Aerosurface parameters logged" << endl;
1095 if (SubSystems & ssRates) cout << " Rate parameters logged" << endl;
1096 if (SubSystems & ssVelocities) cout << " Velocity parameters logged" << endl;
1097 if (SubSystems & ssForces) cout << " Force parameters logged" << endl;
1098 if (SubSystems & ssMoments) cout << " Moments parameters logged" << endl;
1099 if (SubSystems & ssAtmosphere) cout << " Atmosphere parameters logged" << endl;
1100 if (SubSystems & ssMassProps) cout << " Mass parameters logged" << endl;
1101 if (SubSystems & ssCoefficients) cout << " Coefficient parameters logged" << endl;
1102 if (SubSystems & ssPropagate) cout << " Propagate parameters logged" << endl;
1103 if (SubSystems & ssGroundReactions) cout << " Ground parameters logged" << endl;
1104 if (SubSystems & ssFCS) cout << " FCS parameters logged" << endl;
1105 if (SubSystems & ssPropulsion) cout << " Propulsion parameters logged" << endl;
1106 if (OutputProperties.size() > 0) cout << " Properties logged:" << endl;
1107 for (unsigned int i=0;i<OutputProperties.size();i++) {
1108 cout << " - " << OutputProperties[i]->GetName() << endl;
1112 if (debug_lvl & 2 ) { // Instantiation/Destruction notification
1113 if (from == 0) cout << "Instantiated: FGOutput" << endl;
1114 if (from == 1) cout << "Destroyed: FGOutput" << endl;
1116 if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
1118 if (debug_lvl & 8 ) { // Runtime state variables
1120 if (debug_lvl & 16) { // Sanity checking
1122 if (debug_lvl & 64) {
1123 if (from == 0) { // Constructor
1124 cout << IdSrc << endl;
1125 cout << IdHdr << endl;