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 <sstream>
  43 #include <iomanip>
  44 #include <cstring>
  45 #include <cstdlib>
  46
  47 #include "FGOutput.h"
  48 #include "FGFDMExec.h"
  49 #include "FGAtmosphere.h"
  50 #include "FGAccelerations.h"
  51 #include "atmosphere/FGWinds.h"
  52 #include "FGFCS.h"
  53 #include "FGAerodynamics.h"
  54 #include "FGGroundReactions.h"
  55 #include "FGExternalReactions.h"
  56 #include "FGBuoyantForces.h"
  57 #include "FGAircraft.h"
  58 #include "FGMassBalance.h"
  59 #include "FGPropagate.h"
  60 #include "FGAuxiliary.h"
  61 #include "FGInertial.h"
  62 #include "FGPropulsion.h"
  63 #include "models/propulsion/FGEngine.h"
  64 #include "models/propulsion/FGTank.h"
  65 #include "models/propulsion/FGPiston.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 1.67 2012/04/27 12:14:56 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   runID_postfix = 0;
 136   Type = otNone;
 137   SubSystems = 0;
 138   enabled = true;
 139   StartNewFile = false;
 140   delimeter = ", ";
 141   BaseFilename = Filename = "";
 142   DirectivesFile = "";
 143   output_file_name = "";
 144
 145   memset(&fgSockBuf, 0x00, sizeof(fgSockBuf));
 146
 147   Debug(0);
 148 }
 149
 150 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 151
 152 FGOutput::~FGOutput()
 153 {
 154   delete socket;
 155   OutputProperties.clear();
 156   Debug(1);
 157 }
 158
 159 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 160
 161 bool FGOutput::InitModel(void)
 162 {
 163   if (Filename.size() > 0 && StartNewFile) {
 164     ostringstream buf;
 165     string::size_type dot = BaseFilename.find_last_of('.');
 166     if (dot != string::npos) {
 167       buf << BaseFilename.substr(0, dot) << '_' << runID_postfix++ << BaseFilename.substr(dot);
 168     } else {
 169       buf << BaseFilename << '_' << runID_postfix++;
 170     }
 171     Filename = buf.str();
 172     datafile.close();
 173     StartNewFile = false;
 174     dFirstPass = true;
 175   }
 176
 177   return true;
 178 }
 179
 180 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 181
 182 bool FGOutput::Run(bool Holding)
 183 {
 184   if (FGModel::Run(Holding)) return true;
 185
 186   if (enabled && !FDMExec->IntegrationSuspended() && !Holding) {
 187     RunPreFunctions();
 188     Print();
 189     RunPostFunctions();
 190   }
 191   return false;
 192 }
 193
 194 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 195
 196 void FGOutput::Print(void)
 197 {
 198   if (Type == otSocket) {
 199     SocketOutput();
 200   } else if (Type == otFlightGear) {
 201     FlightGearSocketOutput();
 202   } else if (Type == otCSV || Type == otTab) {
 203     DelimitedOutput(Filename);
 204   } else if (Type == otTerminal) {
 205     // Not done yet
 206   } else if (Type == otNone) {
 207     // Do nothing
 208   } else {
 209     // Not a valid type of output
 210   }
 211 }
 212
 213 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 214
 215 void FGOutput::SetType(const string& type)
 216 {
 217   if (type == "CSV") {
 218     Type = otCSV;
 219     delimeter = ",";
 220   } else if (type == "TABULAR") {
 221     Type = otTab;
 222     delimeter = "\t";
 223   } else if (type == "SOCKET") {
 224     Type = otSocket;
 225   } else if (type == "FLIGHTGEAR") {
 226     Type = otFlightGear;
 227   } else if (type == "TERMINAL") {
 228     Type = otTerminal;
 229   } else if (type != string("NONE")) {
 230     Type = otUnknown;
 231     cerr << "Unknown type of output specified in config file" << endl;
 232   }
 233 }
 234
 235 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 236
 237 void FGOutput::SetProtocol(const string& protocol)
 238 {
 239   if (protocol == "UDP") Protocol = FGfdmSocket::ptUDP;
 240   else if (protocol == "TCP") Protocol = FGfdmSocket::ptTCP;
 241   else Protocol = FGfdmSocket::ptTCP; // Default to TCP
 242 }
 243
 244 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 245
 246 void FGOutput::DelimitedOutput(const string& fname)
 247 {
 248   const FGAerodynamics* Aerodynamics = FDMExec->GetAerodynamics();
 249   const FGAuxiliary* Auxiliary = FDMExec->GetAuxiliary();
 250   const FGAircraft* Aircraft = FDMExec->GetAircraft();
 251   const FGAtmosphere* Atmosphere = FDMExec->GetAtmosphere();
 252   const FGWinds* Winds = FDMExec->GetWinds();
 253   const FGPropulsion* Propulsion = FDMExec->GetPropulsion();
 254   const FGMassBalance* MassBalance = FDMExec->GetMassBalance();
 255   const FGPropagate* Propagate = FDMExec->GetPropagate();
 256   const FGAccelerations* Accelerations = FDMExec->GetAccelerations();
 257   const FGFCS* FCS = FDMExec->GetFCS();
 258   const FGGroundReactions* GroundReactions = FDMExec->GetGroundReactions();
 259   const FGExternalReactions* ExternalReactions = FDMExec->GetExternalReactions();
 260   const FGBuoyantForces* BuoyantForces = FDMExec->GetBuoyantForces();
 261
 262   streambuf* buffer;
 263   string scratch = "";
 264
 265   if (fname == "COUT" || fname == "cout") {
 266     buffer = cout.rdbuf();
 267   } else {
 268     if (!datafile.is_open()) datafile.open(fname.c_str());
 269     buffer = datafile.rdbuf();
 270   }
 271
 272   ostream outstream(buffer);
 273
 274   outstream.precision(10);
 275
 276   if (dFirstPass) {
 277     outstream << "Time";
 278     if (SubSystems & ssSimulation) {
 279       // Nothing here, yet
 280     }
 281     if (SubSystems & ssAerosurfaces) {
 282       outstream << delimeter;
 283       outstream << "Aileron Command (norm)" + delimeter;
 284       outstream << "Elevator Command (norm)" + delimeter;
 285       outstream << "Rudder Command (norm)" + delimeter;
 286       outstream << "Flap Command (norm)" + delimeter;
 287       outstream << "Left Aileron Position (deg)" + delimeter;
 288       outstream << "Right Aileron Position (deg)" + delimeter;
 289       outstream << "Elevator Position (deg)" + delimeter;
 290       outstream << "Rudder Position (deg)" + delimeter;
 291       outstream << "Flap Position (deg)";
 292     }
 293     if (SubSystems & ssRates) {
 294       outstream << delimeter;
 295       outstream << "P (deg/s)" + delimeter + "Q (deg/s)" + delimeter + "R (deg/s)" + delimeter;
 296       outstream << "P dot (deg/s^2)" + delimeter + "Q dot (deg/s^2)" + delimeter + "R dot (deg/s^2)" + delimeter;
 297       outstream << "P_{inertial} (deg/s)" + delimeter + "Q_{inertial} (deg/s)" + delimeter + "R_{inertial} (deg/s)";
 298     }
 299     if (SubSystems & ssVelocities) {
 300       outstream << delimeter;
 301       outstream << "q bar (psf)" + delimeter;
 302       outstream << "Reynolds Number" + delimeter;
 303       outstream << "V_{Total} (ft/s)" + delimeter;
 304       outstream << "V_{Inertial} (ft/s)" + delimeter;
 305       outstream << "UBody" + delimeter + "VBody" + delimeter + "WBody" + delimeter;
 306       outstream << "Aero V_{X Body} (ft/s)" + delimeter + "Aero V_{Y Body} (ft/s)" + delimeter + "Aero V_{Z Body} (ft/s)" + delimeter;
 307       outstream << "V_{X_{inertial}} (ft/s)" + delimeter + "V_{Y_{inertial}} (ft/s)" + delimeter + "V_{Z_{inertial}} (ft/s)" + delimeter;
 308       outstream << "V_{X_{ecef}} (ft/s)" + delimeter + "V_{Y_{ecef}} (ft/s)" + delimeter + "V_{Z_{ecef}} (ft/s)" + delimeter;
 309       outstream << "V_{North} (ft/s)" + delimeter + "V_{East} (ft/s)" + delimeter + "V_{Down} (ft/s)";
 310     }
 311     if (SubSystems & ssForces) {
 312       outstream << delimeter;
 313       outstream << "F_{Drag} (lbs)" + delimeter + "F_{Side} (lbs)" + delimeter + "F_{Lift} (lbs)" + delimeter;
 314       outstream << "L/D" + delimeter;
 315       outstream << "F_{Aero x} (lbs)" + delimeter + "F_{Aero y} (lbs)" + delimeter + "F_{Aero z} (lbs)" + delimeter;
 316       outstream << "F_{Prop x} (lbs)" + delimeter + "F_{Prop y} (lbs)" + delimeter + "F_{Prop z} (lbs)" + delimeter;
 317       outstream << "F_{Gear x} (lbs)" + delimeter + "F_{Gear y} (lbs)" + delimeter + "F_{Gear z} (lbs)" + delimeter;
 318       outstream << "F_{Ext x} (lbs)" + delimeter + "F_{Ext y} (lbs)" + delimeter + "F_{Ext z} (lbs)" + delimeter;
 319       outstream << "F_{Buoyant x} (lbs)" + delimeter + "F_{Buoyant y} (lbs)" + delimeter + "F_{Buoyant z} (lbs)" + delimeter;
 320       outstream << "F_{Total x} (lbs)" + delimeter + "F_{Total y} (lbs)" + delimeter + "F_{Total z} (lbs)";
 321     }
 322     if (SubSystems & ssMoments) {
 323       outstream << delimeter;
 324       outstream << "L_{Aero} (ft-lbs)" + delimeter + "M_{Aero} (ft-lbs)" + delimeter + "N_{Aero} (ft-lbs)" + delimeter;
 325       outstream << "L_{Prop} (ft-lbs)" + delimeter + "M_{Prop} (ft-lbs)" + delimeter + "N_{Prop} (ft-lbs)" + delimeter;
 326       outstream << "L_{Gear} (ft-lbs)" + delimeter + "M_{Gear} (ft-lbs)" + delimeter + "N_{Gear} (ft-lbs)" + delimeter;
 327       outstream << "L_{ext} (ft-lbs)" + delimeter + "M_{ext} (ft-lbs)" + delimeter + "N_{ext} (ft-lbs)" + delimeter;
 328       outstream << "L_{Buoyant} (ft-lbs)" + delimeter + "M_{Buoyant} (ft-lbs)" + delimeter + "N_{Buoyant} (ft-lbs)" + delimeter;
 329       outstream << "L_{Total} (ft-lbs)" + delimeter + "M_{Total} (ft-lbs)" + delimeter + "N_{Total} (ft-lbs)";
 330     }
 331     if (SubSystems & ssAtmosphere) {
 332       outstream << delimeter;
 333       outstream << "Rho (slugs/ft^3)" + delimeter;
 334       outstream << "Absolute Viscosity" + delimeter;
 335       outstream << "Kinematic Viscosity" + delimeter;
 336       outstream << "Temperature (R)" + delimeter;
 337       outstream << "P_{SL} (psf)" + delimeter;
 338       outstream << "P_{Ambient} (psf)" + delimeter;
 339       outstream << "Turbulence Magnitude (ft/sec)" + delimeter;
 340       outstream << "Turbulence X Direction (rad)" + delimeter + "Turbulence Y Direction (rad)" + delimeter + "Turbulence Z Direction (rad)" + delimeter;
 341       outstream << "Wind V_{North} (ft/s)" + delimeter + "Wind V_{East} (ft/s)" + delimeter + "Wind V_{Down} (ft/s)";
 342     }
 343     if (SubSystems & ssMassProps) {
 344       outstream << delimeter;
 345       outstream << "I_{xx}" + delimeter;
 346       outstream << "I_{xy}" + delimeter;
 347       outstream << "I_{xz}" + delimeter;
 348       outstream << "I_{yx}" + delimeter;
 349       outstream << "I_{yy}" + delimeter;
 350       outstream << "I_{yz}" + delimeter;
 351       outstream << "I_{zx}" + delimeter;
 352       outstream << "I_{zy}" + delimeter;
 353       outstream << "I_{zz}" + delimeter;
 354       outstream << "Mass" + delimeter;
 355       outstream << "X_{cg}" + delimeter + "Y_{cg}" + delimeter + "Z_{cg}";
 356     }
 357     if (SubSystems & ssPropagate) {
 358       outstream << delimeter;
 359       outstream << "Altitude ASL (ft)" + delimeter;
 360       outstream << "Altitude AGL (ft)" + delimeter;
 361       outstream << "Phi (deg)" + delimeter + "Theta (deg)" + delimeter + "Psi (deg)" + delimeter;
 362       outstream << "Alpha (deg)" + delimeter;
 363       outstream << "Beta (deg)" + delimeter;
 364       outstream << "Latitude (deg)" + delimeter;
 365       outstream << "Longitude (deg)" + delimeter;
 366       outstream << "X_{ECI} (ft)" + delimeter + "Y_{ECI} (ft)" + delimeter + "Z_{ECI} (ft)" + delimeter;
 367       outstream << "X_{ECEF} (ft)" + delimeter + "Y_{ECEF} (ft)" + delimeter + "Z_{ECEF} (ft)" + delimeter;
 368       outstream << "Earth Position Angle (deg)" + delimeter;
 369       outstream << "Distance AGL (ft)" + delimeter;
 370       outstream << "Terrain Elevation (ft)";
 371     }
 372     if (SubSystems & ssAeroFunctions) {
 373       scratch = Aerodynamics->GetAeroFunctionStrings(delimeter);
 374       if (scratch.length() != 0) outstream << delimeter << scratch;
 375     }
 376     if (SubSystems & ssFCS) {
 377       scratch = FCS->GetComponentStrings(delimeter);
 378       if (scratch.length() != 0) outstream << delimeter << scratch;
 379     }
 380     if (SubSystems & ssGroundReactions) {
 381       outstream << delimeter;
 382       outstream << GroundReactions->GetGroundReactionStrings(delimeter);
 383     }
 384     if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
 385       outstream << delimeter;
 386       outstream << Propulsion->GetPropulsionStrings(delimeter);
 387     }
 388     if (OutputProperties.size() > 0) {
 389       for (unsigned int i=0;i<OutputProperties.size();i++) {
 390         outstream << delimeter << OutputProperties[i]->GetPrintableName();
 391       }
 392     }
 393
 394     outstream << endl;
 395     dFirstPass = false;
 396   }
 397
 398   outstream << FDMExec->GetSimTime();
 399   if (SubSystems & ssSimulation) {
 400   }
 401   if (SubSystems & ssAerosurfaces) {
 402     outstream << delimeter;
 403     outstream << FCS->GetDaCmd() << delimeter;
 404     outstream << FCS->GetDeCmd() << delimeter;
 405     outstream << FCS->GetDrCmd() << delimeter;
 406     outstream << FCS->GetDfCmd() << delimeter;
 407     outstream << FCS->GetDaLPos(ofDeg) << delimeter;
 408     outstream << FCS->GetDaRPos(ofDeg) << delimeter;
 409     outstream << FCS->GetDePos(ofDeg) << delimeter;
 410     outstream << FCS->GetDrPos(ofDeg) << delimeter;
 411     outstream << FCS->GetDfPos(ofDeg);
 412   }
 413   if (SubSystems & ssRates) {
 414     outstream << delimeter;
 415     outstream << (radtodeg*Propagate->GetPQR()).Dump(delimeter) << delimeter;
 416     outstream << (radtodeg*Accelerations->GetPQRdot()).Dump(delimeter) << delimeter;
 417     outstream << (radtodeg*Propagate->GetPQRi()).Dump(delimeter);
 418   }
 419   if (SubSystems & ssVelocities) {
 420     outstream << delimeter;
 421     outstream << Auxiliary->Getqbar() << delimeter;
 422     outstream << Auxiliary->GetReynoldsNumber() << delimeter;
 423     outstream << setprecision(12) << Auxiliary->GetVt() << delimeter;
 424     outstream << Propagate->GetInertialVelocityMagnitude() << delimeter;
 425     outstream << setprecision(12) << Propagate->GetUVW().Dump(delimeter) << delimeter;
 426     outstream << Auxiliary->GetAeroUVW().Dump(delimeter) << delimeter;
 427     outstream << Propagate->GetInertialVelocity().Dump(delimeter) << delimeter;
 428     outstream << Propagate->GetECEFVelocity().Dump(delimeter) << delimeter;
 429     outstream << Propagate->GetVel().Dump(delimeter);
 430     outstream.precision(10);
 431   }
 432   if (SubSystems & ssForces) {
 433     outstream << delimeter;
 434     outstream << Aerodynamics->GetvFw().Dump(delimeter) << delimeter;
 435     outstream << Aerodynamics->GetLoD() << delimeter;
 436     outstream << Aerodynamics->GetForces().Dump(delimeter) << delimeter;
 437     outstream << Propulsion->GetForces().Dump(delimeter) << delimeter;
 438     outstream << GroundReactions->GetForces().Dump(delimeter) << delimeter;
 439     outstream << ExternalReactions->GetForces().Dump(delimeter) << delimeter;
 440     outstream << BuoyantForces->GetForces().Dump(delimeter) << delimeter;
 441     outstream << Aircraft->GetForces().Dump(delimeter);
 442   }
 443   if (SubSystems & ssMoments) {
 444     outstream << delimeter;
 445     outstream << Aerodynamics->GetMoments().Dump(delimeter) << delimeter;
 446     outstream << Propulsion->GetMoments().Dump(delimeter) << delimeter;
 447     outstream << GroundReactions->GetMoments().Dump(delimeter) << delimeter;
 448     outstream << ExternalReactions->GetMoments().Dump(delimeter) << delimeter;
 449     outstream << BuoyantForces->GetMoments().Dump(delimeter) << delimeter;
 450     outstream << Aircraft->GetMoments().Dump(delimeter);
 451   }
 452   if (SubSystems & ssAtmosphere) {
 453     outstream << delimeter;
 454     outstream << Atmosphere->GetDensity() << delimeter;
 455     outstream << Atmosphere->GetAbsoluteViscosity() << delimeter;
 456     outstream << Atmosphere->GetKinematicViscosity() << delimeter;
 457     outstream << Atmosphere->GetTemperature() << delimeter;
 458     outstream << Atmosphere->GetPressureSL() << delimeter;
 459     outstream << Atmosphere->GetPressure() << delimeter;
 460     outstream << Winds->GetTurbMagnitude() << delimeter;
 461     outstream << Winds->GetTurbDirection().Dump(delimeter) << delimeter;
 462     outstream << Winds->GetTotalWindNED().Dump(delimeter);
 463   }
 464   if (SubSystems & ssMassProps) {
 465     outstream << delimeter;
 466     outstream << MassBalance->GetJ().Dump(delimeter) << delimeter;
 467     outstream << MassBalance->GetMass() << delimeter;
 468     outstream << MassBalance->GetXYZcg().Dump(delimeter);
 469   }
 470   if (SubSystems & ssPropagate) {
 471     outstream.precision(14);
 472     outstream << delimeter;
 473     outstream << Propagate->GetAltitudeASL() << delimeter;
 474     outstream << Propagate->GetDistanceAGL() << delimeter;
 475     outstream << (radtodeg*Propagate->GetEuler()).Dump(delimeter) << delimeter;
 476     outstream << Auxiliary->Getalpha(inDegrees) << delimeter;
 477     outstream << Auxiliary->Getbeta(inDegrees) << delimeter;
 478     outstream << Propagate->GetLocation().GetLatitudeDeg() << delimeter;
 479     outstream << Propagate->GetLocation().GetLongitudeDeg() << delimeter;
 480     outstream.precision(18);
 481     outstream << ((FGColumnVector3)Propagate->GetInertialPosition()).Dump(delimeter) << delimeter;
 482     outstream << ((FGColumnVector3)Propagate->GetLocation()).Dump(delimeter) << delimeter;
 483     outstream.precision(14);
 484     outstream << Propagate->GetEarthPositionAngleDeg() << delimeter;
 485     outstream << Propagate->GetDistanceAGL() << delimeter;
 486     outstream << Propagate->GetTerrainElevation();
 487     outstream.precision(10);
 488   }
 489   if (SubSystems & ssAeroFunctions) {
 490     scratch = Aerodynamics->GetAeroFunctionValues(delimeter);
 491     if (scratch.length() != 0) outstream << delimeter << scratch;
 492   }
 493   if (SubSystems & ssFCS) {
 494     scratch = FCS->GetComponentValues(delimeter);
 495     if (scratch.length() != 0) outstream << delimeter << scratch;
 496   }
 497   if (SubSystems & ssGroundReactions) {
 498     outstream << delimeter;
 499     outstream << GroundReactions->GetGroundReactionValues(delimeter);
 500   }
 501   if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
 502     outstream << delimeter;
 503     outstream << Propulsion->GetPropulsionValues(delimeter);
 504   }
 505
 506   outstream.precision(18);
 507   for (unsigned int i=0;i<OutputProperties.size();i++) {
 508     outstream << delimeter << OutputProperties[i]->getDoubleValue();
 509   }
 510   outstream.precision(10);
 511
 512   outstream << endl;
 513   outstream.flush();
 514 }
 515
 516 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 517
 518 void FGOutput::SocketDataFill(FGNetFDM* net)
 519 {
 520   const FGAuxiliary* Auxiliary = FDMExec->GetAuxiliary();
 521   const FGPropulsion* Propulsion = FDMExec->GetPropulsion();
 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 FGAccelerations* Accelerations = FDMExec->GetAccelerations();
 739   const FGFCS* FCS = FDMExec->GetFCS();
 740   const FGAtmosphere* Atmosphere = FDMExec->GetAtmosphere();
 741   const FGWinds* Winds = FDMExec->GetWinds();
 742   const FGAircraft* Aircraft = FDMExec->GetAircraft();
 743   const FGGroundReactions* GroundReactions = FDMExec->GetGroundReactions();
 744
 745   string asciiData, scratch;
 746
 747   if (socket == NULL) return;
 748   if (!socket->GetConnectStatus()) return;
 749
 750   socket->Clear();
 751   if (sFirstPass) {
 752     socket->Clear("<LABELS>");
 753     socket->Append("Time");
 754
 755     if (SubSystems & ssAerosurfaces) {
 756       socket->Append("Aileron Command");
 757       socket->Append("Elevator Command");
 758       socket->Append("Rudder Command");
 759       socket->Append("Flap Command");
 760       socket->Append("Left Aileron Position");
 761       socket->Append("Right Aileron Position");
 762       socket->Append("Elevator Position");
 763       socket->Append("Rudder Position");
 764       socket->Append("Flap Position");
 765     }
 766
 767     if (SubSystems & ssRates) {
 768       socket->Append("P");
 769       socket->Append("Q");
 770       socket->Append("R");
 771       socket->Append("PDot");
 772       socket->Append("QDot");
 773       socket->Append("RDot");
 774     }
 775
 776     if (SubSystems & ssVelocities) {
 777       socket->Append("QBar");
 778       socket->Append("Vtotal");
 779       socket->Append("UBody");
 780       socket->Append("VBody");
 781       socket->Append("WBody");
 782       socket->Append("UAero");
 783       socket->Append("VAero");
 784       socket->Append("WAero");
 785       socket->Append("Vn");
 786       socket->Append("Ve");
 787       socket->Append("Vd");
 788     }
 789     if (SubSystems & ssForces) {
 790       socket->Append("F_Drag");
 791       socket->Append("F_Side");
 792       socket->Append("F_Lift");
 793       socket->Append("LoD");
 794       socket->Append("Fx");
 795       socket->Append("Fy");
 796       socket->Append("Fz");
 797     }
 798     if (SubSystems & ssMoments) {
 799       socket->Append("L");
 800       socket->Append("M");
 801       socket->Append("N");
 802     }
 803     if (SubSystems & ssAtmosphere) {
 804       socket->Append("Rho");
 805       socket->Append("SL pressure");
 806       socket->Append("Ambient pressure");
 807       socket->Append("Turbulence Magnitude");
 808       socket->Append("Turbulence Direction X");
 809       socket->Append("Turbulence Direction Y");
 810       socket->Append("Turbulence Direction Z");
 811       socket->Append("NWind");
 812       socket->Append("EWind");
 813       socket->Append("DWind");
 814     }
 815     if (SubSystems & ssMassProps) {
 816       socket->Append("Ixx");
 817       socket->Append("Ixy");
 818       socket->Append("Ixz");
 819       socket->Append("Iyx");
 820       socket->Append("Iyy");
 821       socket->Append("Iyz");
 822       socket->Append("Izx");
 823       socket->Append("Izy");
 824       socket->Append("Izz");
 825       socket->Append("Mass");
 826       socket->Append("Xcg");
 827       socket->Append("Ycg");
 828       socket->Append("Zcg");
 829     }
 830     if (SubSystems & ssPropagate) {
 831         socket->Append("Altitude");
 832         socket->Append("Phi (deg)");
 833         socket->Append("Tht (deg)");
 834         socket->Append("Psi (deg)");
 835         socket->Append("Alpha (deg)");
 836         socket->Append("Beta (deg)");
 837         socket->Append("Latitude (deg)");
 838         socket->Append("Longitude (deg)");
 839     }
 840     if (SubSystems & ssAeroFunctions) {
 841       scratch = Aerodynamics->GetAeroFunctionStrings(",");
 842       if (scratch.length() != 0) socket->Append(scratch);
 843     }
 844     if (SubSystems & ssFCS) {
 845       scratch = FCS->GetComponentStrings(",");
 846       if (scratch.length() != 0) socket->Append(scratch);
 847     }
 848     if (SubSystems & ssGroundReactions) {
 849       socket->Append(GroundReactions->GetGroundReactionStrings(","));
 850     }
 851     if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
 852       socket->Append(Propulsion->GetPropulsionStrings(","));
 853     }
 854     if (OutputProperties.size() > 0) {
 855       for (unsigned int i=0;i<OutputProperties.size();i++) {
 856         socket->Append(OutputProperties[i]->GetPrintableName());
 857       }
 858     }
 859
 860     sFirstPass = false;
 861     socket->Send();
 862   }
 863
 864   socket->Clear();
 865   socket->Append(FDMExec->GetSimTime());
 866
 867   if (SubSystems & ssAerosurfaces) {
 868     socket->Append(FCS->GetDaCmd());
 869     socket->Append(FCS->GetDeCmd());
 870     socket->Append(FCS->GetDrCmd());
 871     socket->Append(FCS->GetDfCmd());
 872     socket->Append(FCS->GetDaLPos());
 873     socket->Append(FCS->GetDaRPos());
 874     socket->Append(FCS->GetDePos());
 875     socket->Append(FCS->GetDrPos());
 876     socket->Append(FCS->GetDfPos());
 877   }
 878   if (SubSystems & ssRates) {
 879     socket->Append(radtodeg*Propagate->GetPQR(eP));
 880     socket->Append(radtodeg*Propagate->GetPQR(eQ));
 881     socket->Append(radtodeg*Propagate->GetPQR(eR));
 882     socket->Append(radtodeg*Accelerations->GetPQRdot(eP));
 883     socket->Append(radtodeg*Accelerations->GetPQRdot(eQ));
 884     socket->Append(radtodeg*Accelerations->GetPQRdot(eR));
 885   }
 886   if (SubSystems & ssVelocities) {
 887     socket->Append(Auxiliary->Getqbar());
 888     socket->Append(Auxiliary->GetVt());
 889     socket->Append(Propagate->GetUVW(eU));
 890     socket->Append(Propagate->GetUVW(eV));
 891     socket->Append(Propagate->GetUVW(eW));
 892     socket->Append(Auxiliary->GetAeroUVW(eU));
 893     socket->Append(Auxiliary->GetAeroUVW(eV));
 894     socket->Append(Auxiliary->GetAeroUVW(eW));
 895     socket->Append(Propagate->GetVel(eNorth));
 896     socket->Append(Propagate->GetVel(eEast));
 897     socket->Append(Propagate->GetVel(eDown));
 898   }
 899   if (SubSystems & ssForces) {
 900     socket->Append(Aerodynamics->GetvFw()(eDrag));
 901     socket->Append(Aerodynamics->GetvFw()(eSide));
 902     socket->Append(Aerodynamics->GetvFw()(eLift));
 903     socket->Append(Aerodynamics->GetLoD());
 904     socket->Append(Aircraft->GetForces(eX));
 905     socket->Append(Aircraft->GetForces(eY));
 906     socket->Append(Aircraft->GetForces(eZ));
 907   }
 908   if (SubSystems & ssMoments) {
 909     socket->Append(Aircraft->GetMoments(eL));
 910     socket->Append(Aircraft->GetMoments(eM));
 911     socket->Append(Aircraft->GetMoments(eN));
 912   }
 913   if (SubSystems & ssAtmosphere) {
 914     socket->Append(Atmosphere->GetDensity());
 915     socket->Append(Atmosphere->GetPressureSL());
 916     socket->Append(Atmosphere->GetPressure());
 917     socket->Append(Winds->GetTurbMagnitude());
 918     socket->Append(Winds->GetTurbDirection().Dump(","));
 919     socket->Append(Winds->GetTotalWindNED().Dump(","));
 920   }
 921   if (SubSystems & ssMassProps) {
 922     socket->Append(MassBalance->GetJ()(1,1));
 923     socket->Append(MassBalance->GetJ()(1,2));
 924     socket->Append(MassBalance->GetJ()(1,3));
 925     socket->Append(MassBalance->GetJ()(2,1));
 926     socket->Append(MassBalance->GetJ()(2,2));
 927     socket->Append(MassBalance->GetJ()(2,3));
 928     socket->Append(MassBalance->GetJ()(3,1));
 929     socket->Append(MassBalance->GetJ()(3,2));
 930     socket->Append(MassBalance->GetJ()(3,3));
 931     socket->Append(MassBalance->GetMass());
 932     socket->Append(MassBalance->GetXYZcg()(eX));
 933     socket->Append(MassBalance->GetXYZcg()(eY));
 934     socket->Append(MassBalance->GetXYZcg()(eZ));
 935   }
 936   if (SubSystems & ssPropagate) {
 937     socket->Append(Propagate->GetAltitudeASL());
 938     socket->Append(radtodeg*Propagate->GetEuler(ePhi));
 939     socket->Append(radtodeg*Propagate->GetEuler(eTht));
 940     socket->Append(radtodeg*Propagate->GetEuler(ePsi));
 941     socket->Append(Auxiliary->Getalpha(inDegrees));
 942     socket->Append(Auxiliary->Getbeta(inDegrees));
 943     socket->Append(Propagate->GetLocation().GetLatitudeDeg());
 944     socket->Append(Propagate->GetLocation().GetLongitudeDeg());
 945   }
 946   if (SubSystems & ssAeroFunctions) {
 947     scratch = Aerodynamics->GetAeroFunctionValues(",");
 948     if (scratch.length() != 0) socket->Append(scratch);
 949   }
 950   if (SubSystems & ssFCS) {
 951     scratch = FCS->GetComponentValues(",");
 952     if (scratch.length() != 0) socket->Append(scratch);
 953   }
 954   if (SubSystems & ssGroundReactions) {
 955     socket->Append(GroundReactions->GetGroundReactionValues(","));
 956   }
 957   if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
 958     socket->Append(Propulsion->GetPropulsionValues(","));
 959   }
 960
 961   for (unsigned int i=0;i<OutputProperties.size();i++) {
 962     socket->Append(OutputProperties[i]->getDoubleValue());
 963   }
 964
 965   socket->Send();
 966 }
 967
 968 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 969
 970 void FGOutput::SocketStatusOutput(const string& out_str)
 971 {
 972   string asciiData;
 973
 974   if (socket == NULL) return;
 975
 976   socket->Clear();
 977   asciiData = string("<STATUS>") + out_str;
 978   socket->Append(asciiData.c_str());
 979   socket->Send();
 980 }
 981
 982 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 983
 984 bool FGOutput::Load(int subSystems, std::string protocol, std::string  type, std::string port, std::string name, double outRate, std::vector<FGPropertyManager *> & outputProperties)
 985 {
 986   SetType(type);
 987   SetRate(outRate);
 988   SubSystems = subSystems;
 989   OutputProperties = outputProperties;
 990
 991   if (((Type == otCSV) || (Type == otTab)) && (name != "cout") && (name !="COUT"))
 992     name = FDMExec->GetRootDir() + name;
 993
 994   if (!port.empty() && (Type == otSocket || Type == otFlightGear)) {
 995     SetProtocol(protocol);
 996     socket = new FGfdmSocket(name, atoi(port.c_str()), Protocol);
 997   } else {
 998     BaseFilename = Filename = name;
 999   }
1000
1001   Debug(2);
1002   return true;
1003 }
1004
1005 bool FGOutput::Load(Element* element)
1006 {
1007   int subSystems = 0;
1008   Element *property_element;
1009   std::vector<FGPropertyManager *> outputProperties;
1010
1011   if (!DirectivesFile.empty()) { // A directives filename from the command line overrides
1012     output_file_name = DirectivesFile;      // one found in the config file.
1013     document = LoadXMLDocument(output_file_name);
1014   } else if (!element->GetAttributeValue("file").empty()) {
1015     output_file_name = FDMExec->GetRootDir() + element->GetAttributeValue("file");
1016     document = LoadXMLDocument(output_file_name);
1017   } else {
1018     document = element;
1019   }
1020
1021   if (!document) return false;
1022
1023   string type = document->GetAttributeValue("type");
1024   string name = document->GetAttributeValue("name");
1025   string port = document->GetAttributeValue("port");
1026   string protocol = document->GetAttributeValue("protocol");
1027   if (!document->GetAttributeValue("rate").empty()) {
1028     rate = document->GetAttributeValueAsNumber("rate");
1029   } else {
1030     rate = 1;
1031   }
1032
1033   if (document->FindElementValue("simulation") == string("ON"))
1034     subSystems += ssSimulation;
1035   if (document->FindElementValue("aerosurfaces") == string("ON"))
1036     subSystems += ssAerosurfaces;
1037   if (document->FindElementValue("rates") == string("ON"))
1038     subSystems += ssRates;
1039   if (document->FindElementValue("velocities") == string("ON"))
1040     subSystems += ssVelocities;
1041   if (document->FindElementValue("forces") == string("ON"))
1042     subSystems += ssForces;
1043   if (document->FindElementValue("moments") == string("ON"))
1044     subSystems += ssMoments;
1045   if (document->FindElementValue("atmosphere") == string("ON"))
1046     subSystems += ssAtmosphere;
1047   if (document->FindElementValue("massprops") == string("ON"))
1048     subSystems += ssMassProps;
1049   if (document->FindElementValue("position") == string("ON"))
1050     subSystems += ssPropagate;
1051   if (document->FindElementValue("coefficients") == string("ON") || document->FindElementValue("aerodynamics") == string("ON"))
1052     subSystems += ssAeroFunctions;
1053   if (document->FindElementValue("ground_reactions") == string("ON"))
1054     subSystems += ssGroundReactions;
1055   if (document->FindElementValue("fcs") == string("ON"))
1056     subSystems += ssFCS;
1057   if (document->FindElementValue("propulsion") == string("ON"))
1058     subSystems += ssPropulsion;
1059   property_element = document->FindElement("property");
1060   while (property_element) {
1061     string property_str = property_element->GetDataLine();
1062     FGPropertyManager* node = PropertyManager->GetNode(property_str);
1063     if (!node) {
1064       cerr << fgred << highint << endl << "  No property by the name "
1065            << property_str << " has been defined. This property will " << endl
1066            << "  not be logged. You should check your configuration file."
1067            << reset << endl;
1068     } else {
1069       outputProperties.push_back(node);
1070     }
1071     property_element = document->FindNextElement("property");
1072   }
1073
1074   return Load(subSystems, protocol, type, port, name, rate, outputProperties);
1075 }
1076
1077
1078
1079 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
1080
1081 void FGOutput::SetRate(double rtHz)
1082 {
1083   rtHz = rtHz>1000?1000:(rtHz<0?0:rtHz);
1084   if (rtHz > 0) {
1085     rate = (int)(0.5 + 1.0/(FDMExec->GetDeltaT()*rtHz));
1086     Enable();
1087   } else {
1088     rate = 1;
1089     Disable();
1090   }
1091 }
1092
1093 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
1094 //    The bitmasked value choices are as follows:
1095 //    unset: In this case (the default) JSBSim would only print
1096 //       out the normally expected messages, essentially echoing
1097 //       the config files as they are read. If the environment
1098 //       variable is not set, debug_lvl is set to 1 internally
1099 //    0: This requests JSBSim not to output any messages
1100 //       whatsoever.
1101 //    1: This value explicity requests the normal JSBSim
1102 //       startup messages
1103 //    2: This value asks for a message to be printed out when
1104 //       a class is instantiated
1105 //    4: When this value is set, a message is displayed when a
1106 //       FGModel object executes its Run() method
1107 //    8: When this value is set, various runtime state variables
1108 //       are printed out periodically
1109 //    16: When set various parameters are sanity checked and
1110 //       a message is printed out when they go out of bounds
1111
1112 void FGOutput::Debug(int from)
1113 {
1114   string scratch="";
1115
1116   if (debug_lvl <= 0) return;
1117
1118   if (debug_lvl & 1) { // Standard console startup message output
1119     if (from == 0) { // Constructor
1120
1121     }
1122     if (from == 2) {
1123       if (output_file_name.empty())
1124         cout << "  " << "Output parameters read inline" << endl;
1125       else
1126         cout << "    Output parameters read from file: " << output_file_name << endl;
1127
1128       if (Filename == "cout" || Filename == "COUT") {
1129         scratch = "    Log output goes to screen console";
1130       } else if (!Filename.empty()) {
1131         scratch = "    Log output goes to file: " + Filename;
1132       }
1133       switch (Type) {
1134       case otCSV:
1135         cout << scratch << " in CSV format output at rate " << 1/(FDMExec->GetDeltaT()*rate) << " Hz" << endl;
1136         break;
1137       case otNone:
1138       default:
1139         cout << "  No log output" << endl;
1140         break;
1141       }
1142
1143       if (SubSystems & ssSimulation)      cout << "    Simulation parameters logged" << endl;
1144       if (SubSystems & ssAerosurfaces)    cout << "    Aerosurface parameters logged" << endl;
1145       if (SubSystems & ssRates)           cout << "    Rate parameters logged" << endl;
1146       if (SubSystems & ssVelocities)      cout << "    Velocity parameters logged" << endl;
1147       if (SubSystems & ssForces)          cout << "    Force parameters logged" << endl;
1148       if (SubSystems & ssMoments)         cout << "    Moments parameters logged" << endl;
1149       if (SubSystems & ssAtmosphere)      cout << "    Atmosphere parameters logged" << endl;
1150       if (SubSystems & ssMassProps)       cout << "    Mass parameters logged" << endl;
1151       if (SubSystems & ssAeroFunctions)    cout << "    Coefficient parameters logged" << endl;
1152       if (SubSystems & ssPropagate)       cout << "    Propagate parameters logged" << endl;
1153       if (SubSystems & ssGroundReactions) cout << "    Ground parameters logged" << endl;
1154       if (SubSystems & ssFCS)             cout << "    FCS parameters logged" << endl;
1155       if (SubSystems & ssPropulsion)      cout << "    Propulsion parameters logged" << endl;
1156       if (OutputProperties.size() > 0)    cout << "    Properties logged:" << endl;
1157       for (unsigned int i=0;i<OutputProperties.size();i++) {
1158         cout << "      - " << OutputProperties[i]->GetName() << endl;
1159       }
1160     }
1161   }
1162   if (debug_lvl & 2 ) { // Instantiation/Destruction notification
1163     if (from == 0) cout << "Instantiated: FGOutput" << endl;
1164     if (from == 1) cout << "Destroyed:    FGOutput" << endl;
1165   }
1166   if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
1167   }
1168   if (debug_lvl & 8 ) { // Runtime state variables
1169   }
1170   if (debug_lvl & 16) { // Sanity checking
1171   }
1172   if (debug_lvl & 64) {
1173     if (from == 0) { // Constructor
1174       cout << IdSrc << endl;
1175       cout << IdHdr << endl;
1176     }
1177   }
1178 }
1179 }