1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
6 Purpose: Manage output of sim parameters to file or stdout
9 ------------- Copyright (C) 1999 Jon S. Berndt (jsb@hal-pc.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 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
44 #include "FGFDMExec.h"
45 #include "FGAtmosphere.h"
47 #include "FGAerodynamics.h"
48 #include "FGGroundReactions.h"
49 #include "FGExternalReactions.h"
50 #include "FGBuoyantForces.h"
51 #include "FGAircraft.h"
52 #include "FGMassBalance.h"
53 #include "FGPropagate.h"
54 #include "FGAuxiliary.h"
55 #include "FGInertial.h"
56 #include "FGPropulsion.h" //access to FGEngine, FGTank
57 #include "models/propulsion/FGPiston.h"
62 #include "input_output/net_fdm.hxx"
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)
75 static const char *IdSrc = "$Id$";
76 static const char *IdHdr = ID_OUTPUT;
78 // (stolen from FGFS native_fdm.cxx)
79 // The function htond is defined this way due to the way some
80 // processors and OSes treat floating point values. Some will raise
81 // an exception whenever a "bad" floating point value is loaded into a
82 // floating point register. Solaris is notorious for this, but then
83 // so is LynxOS on the PowerPC. By translating the data in place,
84 // there is no need to load a FP register with the "corruped" floating
85 // point value. By doing the BIG_ENDIAN test, I can optimize the
86 // routine for big-endian processors so it can be as efficient as
88 static void htond (double &x)
90 if ( isLittleEndian ) {
94 Double_Overlay = (int *) &x;
95 Holding_Buffer = Double_Overlay [0];
97 Double_Overlay [0] = htonl (Double_Overlay [1]);
98 Double_Overlay [1] = htonl (Holding_Buffer);
105 static void htonf (float &x)
107 if ( isLittleEndian ) {
111 Float_Overlay = (int *) &x;
112 Holding_Buffer = Float_Overlay [0];
114 Float_Overlay [0] = htonl (Holding_Buffer);
121 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
123 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
125 FGOutput::FGOutput(FGFDMExec* fdmex) : FGModel(fdmex)
128 sFirstPass = dFirstPass = true;
130 flightGearSocket = 0;
137 output_file_name = "";
139 memset(&fgSockBuf, 0x00, sizeof(fgSockBuf));
144 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
146 FGOutput::~FGOutput()
149 delete flightGearSocket;
150 OutputProperties.clear();
154 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
156 bool FGOutput::InitModel(void)
158 if (!FGModel::InitModel()) return false;
163 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
165 bool FGOutput::Run(void)
167 if (FGModel::Run()) return true;
169 if (enabled && !State->IntegrationSuspended()&& !FDMExec->Holding()) {
170 if (Type == otSocket) {
172 } else if (Type == otFlightGear) {
173 FlightGearSocketOutput();
174 } else if (Type == otCSV || Type == otTab) {
175 DelimitedOutput(Filename);
176 } else if (Type == otTerminal) {
178 } else if (Type == otNone) {
181 // Not a valid type of output
187 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
189 void FGOutput::SetType(string type)
194 } else if (type == "TABULAR") {
197 } else if (type == "SOCKET") {
199 } else if (type == "FLIGHTGEAR") {
201 } else if (type == "TERMINAL") {
203 } else if (type != string("NONE")) {
205 cerr << "Unknown type of output specified in config file" << endl;
209 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
211 void FGOutput::DelimitedOutput(string fname)
216 if (fname == "COUT" || fname == "cout") {
217 buffer = cout.rdbuf();
219 datafile.open(fname.c_str());
220 buffer = datafile.rdbuf();
223 ostream outstream(buffer);
225 outstream.precision(10);
229 if (SubSystems & ssSimulation) {
232 if (SubSystems & ssAerosurfaces) {
233 outstream << delimeter;
234 outstream << "Aileron Command (norm)" + delimeter;
235 outstream << "Elevator Command (norm)" + delimeter;
236 outstream << "Rudder Command (norm)" + delimeter;
237 outstream << "Flap Command (norm)" + delimeter;
238 outstream << "Left Aileron Position (deg)" + delimeter;
239 outstream << "Right Aileron Position (deg)" + delimeter;
240 outstream << "Elevator Position (deg)" + delimeter;
241 outstream << "Rudder Position (deg)" + delimeter;
242 outstream << "Flap Position (deg)";
244 if (SubSystems & ssRates) {
245 outstream << delimeter;
246 outstream << "P (deg/s)" + delimeter + "Q (deg/s)" + delimeter + "R (deg/s)" + delimeter;
247 outstream << "P dot (deg/s^2)" + delimeter + "Q dot (deg/s^2)" + delimeter + "R dot (deg/s^2)";
249 if (SubSystems & ssVelocities) {
250 outstream << delimeter;
251 outstream << "q bar (psf)" + delimeter;
252 outstream << "Reynolds Number" + delimeter;
253 outstream << "V_{Total} (ft/s)" + delimeter;
254 outstream << "V_{Inertial} (ft/s)" + delimeter;
255 outstream << "UBody" + delimeter + "VBody" + delimeter + "WBody" + delimeter;
256 outstream << "Aero V_{X Body} (ft/s)" + delimeter + "Aero V_{Y Body} (ft/s)" + delimeter + "Aero V_{Z Body} (ft/s)" + delimeter;
257 outstream << "V_{North} (ft/s)" + delimeter + "V_{East} (ft/s)" + delimeter + "V_{Down} (ft/s)";
259 if (SubSystems & ssForces) {
260 outstream << delimeter;
261 outstream << "F_{Drag} (lbs)" + delimeter + "F_{Side} (lbs)" + delimeter + "F_{Lift} (lbs)" + delimeter;
262 outstream << "L/D" + delimeter;
263 outstream << "F_{Aero x} (lbs)" + delimeter + "F_{Aero y} (lbs)" + delimeter + "F_{Aero z} (lbs)" + delimeter;
264 outstream << "F_{Prop x} (lbs)" + delimeter + "F_{Prop y} (lbs)" + delimeter + "F_{Prop z} (lbs)" + delimeter;
265 outstream << "F_{Gear x} (lbs)" + delimeter + "F_{Gear y} (lbs)" + delimeter + "F_{Gear z} (lbs)" + delimeter;
266 outstream << "F_{Ext x} (lbs)" + delimeter + "F_{Ext y} (lbs)" + delimeter + "F_{Ext z} (lbs)" + delimeter;
267 outstream << "F_{Buoyant x} (lbs)" + delimeter + "F_{Buoyant y} (lbs)" + delimeter + "F_{Buoyant z} (lbs)" + delimeter;
268 outstream << "F_{Total x} (lbs)" + delimeter + "F_{Total y} (lbs)" + delimeter + "F_{Total z} (lbs)";
270 if (SubSystems & ssMoments) {
271 outstream << delimeter;
272 outstream << "L_{Aero} (ft-lbs)" + delimeter + "M_{Aero} ( ft-lbs)" + delimeter + "N_{Aero} (ft-lbs)" + delimeter;
273 outstream << "L_{Prop} (ft-lbs)" + delimeter + "M_{Prop} (ft-lbs)" + delimeter + "N_{Prop} (ft-lbs)" + delimeter;
274 outstream << "L_{Gear} (ft-lbs)" + delimeter + "M_{Gear} (ft-lbs)" + delimeter + "N_{Gear} (ft-lbs)" + delimeter;
275 outstream << "L_{ext} (ft-lbs)" + delimeter + "M_{ext} (ft-lbs)" + delimeter + "N_{ext} (ft-lbs)" + delimeter;
276 outstream << "L_{Buoyant} (ft-lbs)" + delimeter + "M_{Buoyant} (ft-lbs)" + delimeter + "N_{Buoyant} (ft-lbs)" + delimeter;
277 outstream << "L_{Total} (ft-lbs)" + delimeter + "M_{Total} (ft-lbs)" + delimeter + "N_{Total} (ft-lbs)";
279 if (SubSystems & ssAtmosphere) {
280 outstream << delimeter;
281 outstream << "Rho (slugs/ft^3)" + delimeter;
282 outstream << "Absolute Viscosity" + delimeter;
283 outstream << "Kinematic Viscosity" + delimeter;
284 outstream << "Temperature (R)" + delimeter;
285 outstream << "P_{SL} (psf)" + delimeter;
286 outstream << "P_{Ambient} (psf)" + delimeter;
287 outstream << "Turbulence Magnitude (ft/sec)" + delimeter;
288 outstream << "Turbulence X Direction (rad)" + delimeter + "Turbulence Y Direction (rad)" + delimeter + "Turbulence Z Direction (rad)" + delimeter;
289 outstream << "Wind V_{North} (ft/s)" + delimeter + "Wind V_{East} (ft/s)" + delimeter + "Wind V_{Down} (ft/s)";
291 if (SubSystems & ssMassProps) {
292 outstream << delimeter;
293 outstream << "I_{xx}" + delimeter;
294 outstream << "I_{xy}" + delimeter;
295 outstream << "I_{xz}" + delimeter;
296 outstream << "I_{yx}" + delimeter;
297 outstream << "I_{yy}" + delimeter;
298 outstream << "I_{yz}" + delimeter;
299 outstream << "I_{zx}" + delimeter;
300 outstream << "I_{zy}" + delimeter;
301 outstream << "I_{zz}" + delimeter;
302 outstream << "Mass" + delimeter;
303 outstream << "X_{cg}" + delimeter + "Y_{cg}" + delimeter + "Z_{cg}";
305 if (SubSystems & ssPropagate) {
306 outstream << delimeter;
307 outstream << "Altitude (ft)" + delimeter;
308 outstream << "Phi (deg)" + delimeter + "Theta (deg)" + delimeter + "Psi (deg)" + delimeter;
309 outstream << "Alpha (deg)" + delimeter;
310 outstream << "Beta (deg)" + delimeter;
311 outstream << "Latitude (deg)" + delimeter;
312 outstream << "Longitude (deg)" + delimeter;
313 outstream << "ECEF X (ft)" + delimeter + "ECEF Y (ft)" + delimeter + "ECEF Z (ft)" + delimeter;
314 outstream << "EPA (deg)" + delimeter;
315 outstream << "Distance AGL (ft)" + delimeter;
316 outstream << "Runway Radius (ft)";
318 if (SubSystems & ssCoefficients) {
319 scratch = Aerodynamics->GetCoefficientStrings(delimeter);
320 if (scratch.length() != 0) outstream << delimeter << scratch;
322 if (SubSystems & ssFCS) {
323 scratch = FCS->GetComponentStrings(delimeter);
324 if (scratch.length() != 0) outstream << delimeter << scratch;
326 if (SubSystems & ssGroundReactions) {
327 outstream << delimeter;
328 outstream << GroundReactions->GetGroundReactionStrings(delimeter);
330 if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
331 outstream << delimeter;
332 outstream << Propulsion->GetPropulsionStrings(delimeter);
334 if (OutputProperties.size() > 0) {
335 for (unsigned int i=0;i<OutputProperties.size();i++) {
336 outstream << delimeter << OutputProperties[i]->GetPrintableName();
344 outstream << State->Getsim_time();
345 if (SubSystems & ssSimulation) {
347 if (SubSystems & ssAerosurfaces) {
348 outstream << delimeter;
349 outstream << FCS->GetDaCmd() << delimeter;
350 outstream << FCS->GetDeCmd() << delimeter;
351 outstream << FCS->GetDrCmd() << delimeter;
352 outstream << FCS->GetDfCmd() << delimeter;
353 outstream << FCS->GetDaLPos(ofDeg) << delimeter;
354 outstream << FCS->GetDaRPos(ofDeg) << delimeter;
355 outstream << FCS->GetDePos(ofDeg) << delimeter;
356 outstream << FCS->GetDrPos(ofDeg) << delimeter;
357 outstream << FCS->GetDfPos(ofDeg);
359 if (SubSystems & ssRates) {
360 outstream << delimeter;
361 outstream << (radtodeg*Propagate->GetPQR()).Dump(delimeter) << delimeter;
362 outstream << (radtodeg*Propagate->GetPQRdot()).Dump(delimeter);
364 if (SubSystems & ssVelocities) {
365 outstream << delimeter;
366 outstream << Auxiliary->Getqbar() << delimeter;
367 outstream << Auxiliary->GetReynoldsNumber() << delimeter;
368 outstream << setprecision(12) << Auxiliary->GetVt() << delimeter;
369 outstream << Propagate->GetInertialVelocityMagnitude() << delimeter;
370 outstream << setprecision(12) << Propagate->GetUVW().Dump(delimeter) << delimeter;
371 outstream << Auxiliary->GetAeroUVW().Dump(delimeter) << delimeter;
372 outstream << Propagate->GetVel().Dump(delimeter);
373 outstream.precision(10);
375 if (SubSystems & ssForces) {
376 outstream << delimeter;
377 outstream << Aerodynamics->GetvFw() << delimeter;
378 outstream << Aerodynamics->GetLoD() << delimeter;
379 outstream << Aerodynamics->GetForces() << delimeter;
380 outstream << Propulsion->GetForces() << delimeter;
381 outstream << GroundReactions->GetForces() << delimeter;
382 outstream << ExternalReactions->GetForces() << delimeter;
383 outstream << BuoyantForces->GetForces() << delimeter;
384 outstream << Aircraft->GetForces().Dump(delimeter);
386 if (SubSystems & ssMoments) {
387 outstream << delimeter;
388 outstream << Aerodynamics->GetMoments() << delimeter;
389 outstream << Propulsion->GetMoments() << delimeter;
390 outstream << GroundReactions->GetMoments() << delimeter;
391 outstream << ExternalReactions->GetMoments() << delimeter;
392 outstream << BuoyantForces->GetMoments() << delimeter;
393 outstream << Aircraft->GetMoments().Dump(delimeter);
395 if (SubSystems & ssAtmosphere) {
396 outstream << delimeter;
397 outstream << Atmosphere->GetDensity() << delimeter;
398 outstream << Atmosphere->GetAbsoluteViscosity() << delimeter;
399 outstream << Atmosphere->GetKinematicViscosity() << delimeter;
400 outstream << Atmosphere->GetTemperature() << delimeter;
401 outstream << Atmosphere->GetPressureSL() << delimeter;
402 outstream << Atmosphere->GetPressure() << delimeter;
403 outstream << Atmosphere->GetTurbMagnitude() << delimeter;
404 outstream << Atmosphere->GetTurbDirection().Dump(delimeter) << delimeter;
405 outstream << Atmosphere->GetTotalWindNED().Dump(delimeter);
407 if (SubSystems & ssMassProps) {
408 outstream << delimeter;
409 outstream << MassBalance->GetJ() << delimeter;
410 outstream << MassBalance->GetMass() << delimeter;
411 outstream << MassBalance->GetXYZcg();
413 if (SubSystems & ssPropagate) {
414 outstream.precision(14);
415 outstream << delimeter;
416 outstream << Propagate->Geth() << delimeter;
417 outstream << (radtodeg*Propagate->GetEuler()).Dump(delimeter) << delimeter;
418 outstream << Auxiliary->Getalpha(inDegrees) << delimeter;
419 outstream << Auxiliary->Getbeta(inDegrees) << delimeter;
420 outstream << Propagate->GetLocation().GetLatitudeDeg() << delimeter;
421 outstream << Propagate->GetLocation().GetLongitudeDeg() << delimeter;
422 outstream.precision(18);
423 outstream << ((FGColumnVector3)Propagate->GetLocation()).Dump(delimeter) << delimeter;
424 outstream.precision(14);
425 outstream << Inertial->GetEarthPositionAngleDeg() << delimeter;
426 outstream << Propagate->GetDistanceAGL() << delimeter;
427 outstream << Propagate->GetRunwayRadius();
428 outstream.precision(10);
430 if (SubSystems & ssCoefficients) {
431 scratch = Aerodynamics->GetCoefficientValues(delimeter);
432 if (scratch.length() != 0) outstream << delimeter << scratch;
434 if (SubSystems & ssFCS) {
435 scratch = FCS->GetComponentValues(delimeter);
436 if (scratch.length() != 0) outstream << delimeter << scratch;
438 if (SubSystems & ssGroundReactions) {
439 outstream << delimeter;
440 outstream << GroundReactions->GetGroundReactionValues(delimeter);
442 if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
443 outstream << delimeter;
444 outstream << Propulsion->GetPropulsionValues(delimeter);
447 for (unsigned int i=0;i<OutputProperties.size();i++) {
448 outstream << delimeter << OutputProperties[i]->getDoubleValue();
455 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
457 void FGOutput::SocketDataFill(FGNetFDM* net)
462 net->version = FG_NET_FDM_VERSION;
465 net->longitude = Propagate->GetLocation().GetLongitude(); // geodetic (radians)
466 net->latitude = Propagate->GetLocation().GetLatitude(); // geodetic (radians)
467 net->altitude = Propagate->Geth()*0.3048; // altitude, above sea level (meters)
468 net->agl = (float)(Propagate->GetDistanceAGL()*0.3048); // altitude, above ground level (meters)
470 net->phi = (float)(Propagate->GetEuler(ePhi)); // roll (radians)
471 net->theta = (float)(Propagate->GetEuler(eTht)); // pitch (radians)
472 net->psi = (float)(Propagate->GetEuler(ePsi)); // yaw or true heading (radians)
474 net->alpha = (float)(Auxiliary->Getalpha()); // angle of attack (radians)
475 net->beta = (float)(Auxiliary->Getbeta()); // side slip angle (radians)
478 net->phidot = (float)(Auxiliary->GetEulerRates(ePhi)); // roll rate (radians/sec)
479 net->thetadot = (float)(Auxiliary->GetEulerRates(eTht)); // pitch rate (radians/sec)
480 net->psidot = (float)(Auxiliary->GetEulerRates(ePsi)); // yaw rate (radians/sec)
481 net->vcas = (float)(Auxiliary->GetVcalibratedFPS()); // VCAS, ft/sec
482 net->climb_rate = (float)(Propagate->Gethdot()); // altitude rate, ft/sec
483 net->v_north = (float)(Propagate->GetVel(eNorth)); // north vel in NED frame, fps
484 net->v_east = (float)(Propagate->GetVel(eEast)); // east vel in NED frame, fps
485 net->v_down = (float)(Propagate->GetVel(eDown)); // down vel in NED frame, fps
486 //---ADD METHOD TO CALCULATE THESE TERMS---
487 net->v_wind_body_north = (float)(Propagate->GetVel(eNorth)); // north vel in NED relative to airmass, fps
488 net->v_wind_body_east = (float)(Propagate->GetVel(eEast)); // east vel in NED relative to airmass, fps
489 net->v_wind_body_down = (float)(Propagate->GetVel(eDown)); // down vel in NED relative to airmass, fps
492 net->A_X_pilot = (float)(Auxiliary->GetPilotAccel(1)); // X body accel, ft/s/s
493 net->A_Y_pilot = (float)(Auxiliary->GetPilotAccel(2)); // Y body accel, ft/s/s
494 net->A_Z_pilot = (float)(Auxiliary->GetPilotAccel(3)); // Z body accel, ft/s/s
497 net->stall_warning = 0.0; // 0.0 - 1.0 indicating the amount of stall
498 net->slip_deg = (float)(Auxiliary->Getbeta(inDegrees)); // slip ball deflection, deg
501 net->num_engines = Propulsion->GetNumEngines(); // Number of valid engines
503 for (i=0; i<net->num_engines; i++) {
504 if (Propulsion->GetEngine(i)->GetRunning())
505 net->eng_state[i] = 2; // Engine state running
506 else if (Propulsion->GetEngine(i)->GetCranking())
507 net->eng_state[i] = 1; // Engine state cranking
509 net->eng_state[i] = 0; // Engine state off
511 switch (Propulsion->GetEngine(i)->GetType()) {
512 case (FGEngine::etRocket):
514 case (FGEngine::etPiston):
515 net->rpm[i] = (float)(((FGPiston *)Propulsion->GetEngine(i))->getRPM());
516 net->fuel_flow[i] = (float)(((FGPiston *)Propulsion->GetEngine(i))->getFuelFlow_gph());
517 net->fuel_px[i] = 0; // Fuel pressure, psi (N/A in current model)
518 net->egt[i] = (float)(((FGPiston *)Propulsion->GetEngine(i))->GetEGT());
519 net->cht[i] = (float)(((FGPiston *)Propulsion->GetEngine(i))->getCylinderHeadTemp_degF());
520 net->mp_osi[i] = (float)(((FGPiston *)Propulsion->GetEngine(i))->getManifoldPressure_inHg());
521 net->oil_temp[i] = (float)(((FGPiston *)Propulsion->GetEngine(i))->getOilTemp_degF());
522 net->oil_px[i] = (float)(((FGPiston *)Propulsion->GetEngine(i))->getOilPressure_psi());
523 net->tit[i] = 0; // Turbine Inlet Temperature (N/A for piston)
525 case (FGEngine::etTurbine):
527 case (FGEngine::etTurboprop):
529 case (FGEngine::etElectric):
531 case (FGEngine::etUnknown):
538 net->num_tanks = Propulsion->GetNumTanks(); // Max number of fuel tanks
540 for (i=0; i<net->num_tanks; i++) {
541 net->fuel_quantity[i] = (float)(((FGTank *)Propulsion->GetTank(i))->GetContents());
546 net->num_wheels = GroundReactions->GetNumGearUnits();
548 for (i=0; i<net->num_wheels; i++) {
549 net->wow[i] = GroundReactions->GetGearUnit(i)->GetWOW();
550 if (GroundReactions->GetGearUnit(i)->GetGearUnitDown())
551 net->gear_pos[i] = 1; //gear down, using FCS convention
553 net->gear_pos[i] = 0; //gear up, using FCS convention
554 net->gear_steer[i] = (float)(GroundReactions->GetGearUnit(i)->GetSteerNorm());
555 net->gear_compression[i] = (float)(GroundReactions->GetGearUnit(i)->GetCompLen());
560 net->cur_time = (long int)1234567890; // Friday, Feb 13, 2009, 23:31:30 UTC (not processed by FGFS anyway)
561 net->warp = 0; // offset in seconds to unix time
562 net->visibility = 25000.0; // visibility in meters (for env. effects)
565 // Control surface positions (normalized values)
566 net->elevator = (float)(FCS->GetDePos(ofNorm)); // Norm Elevator Pos, --
567 net->elevator_trim_tab = (float)(FCS->GetPitchTrimCmd()); // Norm Elev Trim Tab Pos, --
568 net->left_flap = (float)(FCS->GetDfPos(ofNorm)); // Norm Flap Pos, --
569 net->right_flap = (float)(FCS->GetDfPos(ofNorm)); // Norm Flap Pos, --
570 net->left_aileron = (float)(FCS->GetDaLPos(ofNorm)); // Norm L Aileron Pos, --
571 net->right_aileron = (float)(FCS->GetDaRPos(ofNorm)); // Norm R Aileron Pos, --
572 net->rudder = (float)(FCS->GetDrPos(ofNorm)); // Norm Rudder Pos, --
573 net->nose_wheel = (float)(FCS->GetDrPos(ofNorm)); // *** FIX *** Using Rudder Pos for NWS, --
574 net->speedbrake = (float)(FCS->GetDsbPos(ofNorm)); // Norm Speedbrake Pos, --
575 net->spoilers = (float)(FCS->GetDspPos(ofNorm)); // Norm Spoiler Pos, --
578 // Convert the net buffer to network format
579 if ( isLittleEndian ) {
580 net->version = htonl(net->version);
582 htond(net->longitude);
583 htond(net->latitude);
584 htond(net->altitude);
593 htonf(net->thetadot);
596 htonf(net->climb_rate);
600 htonf(net->v_wind_body_north);
601 htonf(net->v_wind_body_east);
602 htonf(net->v_wind_body_down);
604 htonf(net->A_X_pilot);
605 htonf(net->A_Y_pilot);
606 htonf(net->A_Z_pilot);
608 htonf(net->stall_warning);
609 htonf(net->slip_deg);
611 for (i=0; i<net->num_engines; ++i ) {
612 net->eng_state[i] = htonl(net->eng_state[i]);
614 htonf(net->fuel_flow[i]);
615 htonf(net->fuel_px[i]);
618 htonf(net->mp_osi[i]);
620 htonf(net->oil_temp[i]);
621 htonf(net->oil_px[i]);
623 net->num_engines = htonl(net->num_engines);
625 for (i=0; i<net->num_tanks; ++i ) {
626 htonf(net->fuel_quantity[i]);
628 net->num_tanks = htonl(net->num_tanks);
630 for (i=0; i<net->num_wheels; ++i ) {
631 net->wow[i] = htonl(net->wow[i]);
632 htonf(net->gear_pos[i]);
633 htonf(net->gear_steer[i]);
634 htonf(net->gear_compression[i]);
636 net->num_wheels = htonl(net->num_wheels);
638 net->cur_time = htonl( net->cur_time );
639 net->warp = htonl( net->warp );
640 htonf(net->visibility);
642 htonf(net->elevator);
643 htonf(net->elevator_trim_tab);
644 htonf(net->left_flap);
645 htonf(net->right_flap);
646 htonf(net->left_aileron);
647 htonf(net->right_aileron);
649 htonf(net->nose_wheel);
650 htonf(net->speedbrake);
651 htonf(net->spoilers);
655 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
657 void FGOutput::FlightGearSocketOutput(void)
659 int length = sizeof(fgSockBuf);
662 if (flightGearSocket == NULL) return;
663 if (!flightGearSocket->GetConnectStatus()) return;
665 SocketDataFill(&fgSockBuf);
666 flightGearSocket->Send((char *)&fgSockBuf, length);
669 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
671 void FGOutput::SocketOutput(void)
673 string asciiData, scratch;
675 if (socket == NULL) return;
676 if (!socket->GetConnectStatus()) return;
680 socket->Clear("<LABELS>");
681 socket->Append("Time");
683 if (SubSystems & ssAerosurfaces) {
684 socket->Append("Aileron Command");
685 socket->Append("Elevator Command");
686 socket->Append("Rudder Command");
687 socket->Append("Flap Command");
688 socket->Append("Left Aileron Position");
689 socket->Append("Right Aileron Position");
690 socket->Append("Elevator Position");
691 socket->Append("Rudder Position");
692 socket->Append("Flap Position");
695 if (SubSystems & ssRates) {
699 socket->Append("PDot");
700 socket->Append("QDot");
701 socket->Append("RDot");
704 if (SubSystems & ssVelocities) {
705 socket->Append("QBar");
706 socket->Append("Vtotal");
707 socket->Append("UBody");
708 socket->Append("VBody");
709 socket->Append("WBody");
710 socket->Append("UAero");
711 socket->Append("VAero");
712 socket->Append("WAero");
713 socket->Append("Vn");
714 socket->Append("Ve");
715 socket->Append("Vd");
717 if (SubSystems & ssForces) {
718 socket->Append("F_Drag");
719 socket->Append("F_Side");
720 socket->Append("F_Lift");
721 socket->Append("LoD");
722 socket->Append("Fx");
723 socket->Append("Fy");
724 socket->Append("Fz");
726 if (SubSystems & ssMoments) {
731 if (SubSystems & ssAtmosphere) {
732 socket->Append("Rho");
733 socket->Append("SL pressure");
734 socket->Append("Ambient pressure");
735 socket->Append("Turbulence Magnitude");
736 socket->Append("Turbulence Direction X");
737 socket->Append("Turbulence Direction Y");
738 socket->Append("Turbulence Direction Z");
739 socket->Append("NWind");
740 socket->Append("EWind");
741 socket->Append("DWind");
743 if (SubSystems & ssMassProps) {
744 socket->Append("Ixx");
745 socket->Append("Ixy");
746 socket->Append("Ixz");
747 socket->Append("Iyx");
748 socket->Append("Iyy");
749 socket->Append("Iyz");
750 socket->Append("Izx");
751 socket->Append("Izy");
752 socket->Append("Izz");
753 socket->Append("Mass");
754 socket->Append("Xcg");
755 socket->Append("Ycg");
756 socket->Append("Zcg");
758 if (SubSystems & ssPropagate) {
759 socket->Append("Altitude");
760 socket->Append("Phi (deg)");
761 socket->Append("Tht (deg)");
762 socket->Append("Psi (deg)");
763 socket->Append("Alpha (deg)");
764 socket->Append("Beta (deg)");
765 socket->Append("Latitude (deg)");
766 socket->Append("Longitude (deg)");
768 if (SubSystems & ssCoefficients) {
769 scratch = Aerodynamics->GetCoefficientStrings(",");
770 if (scratch.length() != 0) socket->Append(scratch);
772 if (SubSystems & ssFCS) {
773 scratch = FCS->GetComponentStrings(",");
774 if (scratch.length() != 0) socket->Append(scratch);
776 if (SubSystems & ssGroundReactions) {
777 socket->Append(GroundReactions->GetGroundReactionStrings(","));
779 if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
780 socket->Append(Propulsion->GetPropulsionStrings(","));
782 if (OutputProperties.size() > 0) {
783 for (unsigned int i=0;i<OutputProperties.size();i++) {
784 socket->Append(OutputProperties[i]->GetPrintableName());
793 socket->Append(State->Getsim_time());
795 if (SubSystems & ssAerosurfaces) {
796 socket->Append(FCS->GetDaCmd());
797 socket->Append(FCS->GetDeCmd());
798 socket->Append(FCS->GetDrCmd());
799 socket->Append(FCS->GetDfCmd());
800 socket->Append(FCS->GetDaLPos());
801 socket->Append(FCS->GetDaRPos());
802 socket->Append(FCS->GetDePos());
803 socket->Append(FCS->GetDrPos());
804 socket->Append(FCS->GetDfPos());
806 if (SubSystems & ssRates) {
807 socket->Append(radtodeg*Propagate->GetPQR(eP));
808 socket->Append(radtodeg*Propagate->GetPQR(eQ));
809 socket->Append(radtodeg*Propagate->GetPQR(eR));
810 socket->Append(radtodeg*Propagate->GetPQRdot(eP));
811 socket->Append(radtodeg*Propagate->GetPQRdot(eQ));
812 socket->Append(radtodeg*Propagate->GetPQRdot(eR));
814 if (SubSystems & ssVelocities) {
815 socket->Append(Auxiliary->Getqbar());
816 socket->Append(Auxiliary->GetVt());
817 socket->Append(Propagate->GetUVW(eU));
818 socket->Append(Propagate->GetUVW(eV));
819 socket->Append(Propagate->GetUVW(eW));
820 socket->Append(Auxiliary->GetAeroUVW(eU));
821 socket->Append(Auxiliary->GetAeroUVW(eV));
822 socket->Append(Auxiliary->GetAeroUVW(eW));
823 socket->Append(Propagate->GetVel(eNorth));
824 socket->Append(Propagate->GetVel(eEast));
825 socket->Append(Propagate->GetVel(eDown));
827 if (SubSystems & ssForces) {
828 socket->Append(Aerodynamics->GetvFw()(eDrag));
829 socket->Append(Aerodynamics->GetvFw()(eSide));
830 socket->Append(Aerodynamics->GetvFw()(eLift));
831 socket->Append(Aerodynamics->GetLoD());
832 socket->Append(Aircraft->GetForces(eX));
833 socket->Append(Aircraft->GetForces(eY));
834 socket->Append(Aircraft->GetForces(eZ));
836 if (SubSystems & ssMoments) {
837 socket->Append(Aircraft->GetMoments(eL));
838 socket->Append(Aircraft->GetMoments(eM));
839 socket->Append(Aircraft->GetMoments(eN));
841 if (SubSystems & ssAtmosphere) {
842 socket->Append(Atmosphere->GetDensity());
843 socket->Append(Atmosphere->GetPressureSL());
844 socket->Append(Atmosphere->GetPressure());
845 socket->Append(Atmosphere->GetTurbMagnitude());
846 socket->Append(Atmosphere->GetTurbDirection().Dump(","));
847 socket->Append(Atmosphere->GetTotalWindNED().Dump(","));
849 if (SubSystems & ssMassProps) {
850 socket->Append(MassBalance->GetJ()(1,1));
851 socket->Append(MassBalance->GetJ()(1,2));
852 socket->Append(MassBalance->GetJ()(1,3));
853 socket->Append(MassBalance->GetJ()(2,1));
854 socket->Append(MassBalance->GetJ()(2,2));
855 socket->Append(MassBalance->GetJ()(2,3));
856 socket->Append(MassBalance->GetJ()(3,1));
857 socket->Append(MassBalance->GetJ()(3,2));
858 socket->Append(MassBalance->GetJ()(3,3));
859 socket->Append(MassBalance->GetMass());
860 socket->Append(MassBalance->GetXYZcg()(eX));
861 socket->Append(MassBalance->GetXYZcg()(eY));
862 socket->Append(MassBalance->GetXYZcg()(eZ));
864 if (SubSystems & ssPropagate) {
865 socket->Append(Propagate->Geth());
866 socket->Append(radtodeg*Propagate->GetEuler(ePhi));
867 socket->Append(radtodeg*Propagate->GetEuler(eTht));
868 socket->Append(radtodeg*Propagate->GetEuler(ePsi));
869 socket->Append(Auxiliary->Getalpha(inDegrees));
870 socket->Append(Auxiliary->Getbeta(inDegrees));
871 socket->Append(Propagate->GetLocation().GetLatitudeDeg());
872 socket->Append(Propagate->GetLocation().GetLongitudeDeg());
874 if (SubSystems & ssCoefficients) {
875 scratch = Aerodynamics->GetCoefficientValues(",");
876 if (scratch.length() != 0) socket->Append(scratch);
878 if (SubSystems & ssFCS) {
879 scratch = FCS->GetComponentValues(",");
880 if (scratch.length() != 0) socket->Append(scratch);
882 if (SubSystems & ssGroundReactions) {
883 socket->Append(GroundReactions->GetGroundReactionValues(","));
885 if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
886 socket->Append(Propulsion->GetPropulsionValues(","));
889 for (unsigned int i=0;i<OutputProperties.size();i++) {
890 socket->Append(OutputProperties[i]->getDoubleValue());
896 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
898 void FGOutput::SocketStatusOutput(string out_str)
902 if (socket == NULL) return;
905 asciiData = string("<STATUS>") + out_str;
906 socket->Append(asciiData.c_str());
910 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
912 bool FGOutput::Load(Element* element)
914 string type="", parameter="";
916 string protocol="tcp";
920 Element *property_element;
922 string separator = "/";
924 if (!DirectivesFile.empty()) { // A directives filename from the command line overrides
925 output_file_name = DirectivesFile; // one found in the config file.
926 document = LoadXMLDocument(output_file_name);
927 } else if (!element->GetAttributeValue("file").empty()) {
928 output_file_name = element->GetAttributeValue("file");
929 document = LoadXMLDocument(output_file_name);
934 name = document->GetAttributeValue("name");
935 type = document->GetAttributeValue("type");
937 if (!document->GetAttributeValue("port").empty() && type == string("SOCKET")) {
938 port = atoi(document->GetAttributeValue("port").c_str());
939 socket = new FGfdmSocket(name, port);
940 } else if (!document->GetAttributeValue("port").empty() && type == string("FLIGHTGEAR")) {
941 port = atoi(document->GetAttributeValue("port").c_str());
942 if (!document->GetAttributeValue("protocol").empty())
943 protocol = document->GetAttributeValue("protocol");
944 if (protocol == "udp")
945 flightGearSocket = new FGfdmSocket(name, port, FGfdmSocket::ptUDP); // create udp socket
947 flightGearSocket = new FGfdmSocket(name, port, FGfdmSocket::ptTCP); // create tcp socket (default)
951 if (!document->GetAttributeValue("rate").empty()) {
952 OutRate = (int)document->GetAttributeValueAsNumber("rate");
957 if (document->FindElementValue("simulation") == string("ON"))
958 SubSystems += ssSimulation;
959 if (document->FindElementValue("aerosurfaces") == string("ON"))
960 SubSystems += ssAerosurfaces;
961 if (document->FindElementValue("rates") == string("ON"))
962 SubSystems += ssRates;
963 if (document->FindElementValue("velocities") == string("ON"))
964 SubSystems += ssVelocities;
965 if (document->FindElementValue("forces") == string("ON"))
966 SubSystems += ssForces;
967 if (document->FindElementValue("moments") == string("ON"))
968 SubSystems += ssMoments;
969 if (document->FindElementValue("atmosphere") == string("ON"))
970 SubSystems += ssAtmosphere;
971 if (document->FindElementValue("massprops") == string("ON"))
972 SubSystems += ssMassProps;
973 if (document->FindElementValue("position") == string("ON"))
974 SubSystems += ssPropagate;
975 if (document->FindElementValue("coefficients") == string("ON"))
976 SubSystems += ssCoefficients;
977 if (document->FindElementValue("ground_reactions") == string("ON"))
978 SubSystems += ssGroundReactions;
979 if (document->FindElementValue("fcs") == string("ON"))
981 if (document->FindElementValue("propulsion") == string("ON"))
982 SubSystems += ssPropulsion;
983 property_element = document->FindElement("property");
984 while (property_element) {
985 string property_str = property_element->GetDataLine();
986 FGPropertyManager* node = PropertyManager->GetNode(property_str);
988 cerr << fgred << highint << endl << " No property by the name "
989 << property_str << " has been defined. This property will " << endl
990 << " not be logged. You should check your configuration file."
993 OutputProperties.push_back(node);
995 property_element = document->FindNextElement("property");
998 OutRate = OutRate>1000?1000:(OutRate<0?0:OutRate);
999 rate = (int)(0.5 + 1.0/(State->Getdt()*OutRate));
1006 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
1007 // The bitmasked value choices are as follows:
1008 // unset: In this case (the default) JSBSim would only print
1009 // out the normally expected messages, essentially echoing
1010 // the config files as they are read. If the environment
1011 // variable is not set, debug_lvl is set to 1 internally
1012 // 0: This requests JSBSim not to output any messages
1014 // 1: This value explicity requests the normal JSBSim
1016 // 2: This value asks for a message to be printed out when
1017 // a class is instantiated
1018 // 4: When this value is set, a message is displayed when a
1019 // FGModel object executes its Run() method
1020 // 8: When this value is set, various runtime state variables
1021 // are printed out periodically
1022 // 16: When set various parameters are sanity checked and
1023 // a message is printed out when they go out of bounds
1025 void FGOutput::Debug(int from)
1029 if (debug_lvl <= 0) return;
1031 if (debug_lvl & 1) { // Standard console startup message output
1032 if (from == 0) { // Constructor
1036 if (output_file_name.empty())
1037 cout << " " << "Output parameters read inline" << endl;
1039 cout << " Output parameters read from file: " << output_file_name << endl;
1041 if (Filename == "cout" || Filename == "COUT") {
1042 scratch = " Log output goes to screen console";
1043 } else if (!Filename.empty()) {
1044 scratch = " Log output goes to file: " + Filename;
1048 cout << scratch << " in CSV format output at rate " << 1/(State->Getdt()*rate) << " Hz" << endl;
1051 cout << " No log output" << endl;
1055 if (SubSystems & ssSimulation) cout << " Simulation parameters logged" << endl;
1056 if (SubSystems & ssAerosurfaces) cout << " Aerosurface parameters logged" << endl;
1057 if (SubSystems & ssRates) cout << " Rate parameters logged" << endl;
1058 if (SubSystems & ssVelocities) cout << " Velocity parameters logged" << endl;
1059 if (SubSystems & ssForces) cout << " Force parameters logged" << endl;
1060 if (SubSystems & ssMoments) cout << " Moments parameters logged" << endl;
1061 if (SubSystems & ssAtmosphere) cout << " Atmosphere parameters logged" << endl;
1062 if (SubSystems & ssMassProps) cout << " Mass parameters logged" << endl;
1063 if (SubSystems & ssCoefficients) cout << " Coefficient parameters logged" << endl;
1064 if (SubSystems & ssPropagate) cout << " Propagate parameters logged" << endl;
1065 if (SubSystems & ssGroundReactions) cout << " Ground parameters logged" << endl;
1066 if (SubSystems & ssFCS) cout << " FCS parameters logged" << endl;
1067 if (SubSystems & ssPropulsion) cout << " Propulsion parameters logged" << endl;
1068 if (OutputProperties.size() > 0) cout << " Properties logged:" << endl;
1069 for (unsigned int i=0;i<OutputProperties.size();i++) {
1070 cout << " - " << OutputProperties[i]->GetName() << endl;
1074 if (debug_lvl & 2 ) { // Instantiation/Destruction notification
1075 if (from == 0) cout << "Instantiated: FGOutput" << endl;
1076 if (from == 1) cout << "Destroyed: FGOutput" << endl;
1078 if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
1080 if (debug_lvl & 8 ) { // Runtime state variables
1082 if (debug_lvl & 16) { // Sanity checking
1084 if (debug_lvl & 64) {
1085 if (from == 0) { // Constructor
1086 cout << IdSrc << endl;
1087 cout << IdHdr << endl;