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 (jsb@hal-pc.org) -------------
  10
  11  This program is free software; you can redistribute it and/or modify it under
  12  the terms of the GNU Lesser General Public License as published by the Free Software
  13  Foundation; either version 2 of the License, or (at your option) any later
  14  version.
  15
  16  This program is distributed in the hope that it will be useful, but WITHOUT
  17  ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
  18  FOR A PARTICULAR PURPOSE.  See the GNU Lesser General Public License for more
  19  details.
  20
  21  You should have received a copy of the GNU Lesser General Public License along with
  22  this program; if not, write to the Free Software Foundation, Inc., 59 Temple
  23  Place - Suite 330, Boston, MA  02111-1307, USA.
  24
  25  Further information about the GNU Lesser General Public License can also be found on
  26  the world wide web at http://www.gnu.org.
  27
  28 FUNCTIONAL DESCRIPTION
  29 --------------------------------------------------------------------------------
  30 This is the place where you create output routines to dump data for perusal
  31 later.
  32
  33 HISTORY
  34 --------------------------------------------------------------------------------
  35 12/02/98   JSB   Created
  36 11/09/07   HDW   Added FlightGear Socket Interface
  37
  38 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  39 INCLUDES
  40 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  41
  42 #include "FGOutput.h"
  43 #include "FGState.h"
  44 #include "FGFDMExec.h"
  45 #include "FGAtmosphere.h"
  46 #include "FGFCS.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"
  58 #include <fstream>
  59 #include <iomanip>
  60 #include <cstring>
  61
  62 #include "input_output/net_fdm.hxx"
  63
  64 #if defined(WIN32) && !defined(__CYGWIN__)
  65 #  include <windows.h>
  66 #else
  67 #  include <netinet/in.h>       // htonl() ntohl()
  68 #endif
  69
  70 static const int endianTest = 1;
  71 #define isLittleEndian (*((char *) &endianTest ) != 0)
  72
  73 namespace JSBSim {
  74
  75 static const char *IdSrc = "$Id$";
  76 static const char *IdHdr = ID_OUTPUT;
  77
  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
  87 // possible
  88 static void htond (double &x)
  89 {
  90     if ( isLittleEndian ) {
  91         int    *Double_Overlay;
  92         int     Holding_Buffer;
  93
  94         Double_Overlay = (int *) &x;
  95         Holding_Buffer = Double_Overlay [0];
  96
  97         Double_Overlay [0] = htonl (Double_Overlay [1]);
  98         Double_Overlay [1] = htonl (Holding_Buffer);
  99     } else {
 100         return;
 101     }
 102 }
 103
 104 // Float version
 105 static void htonf (float &x)
 106 {
 107     if ( isLittleEndian ) {
 108         int    *Float_Overlay;
 109         int     Holding_Buffer;
 110
 111         Float_Overlay = (int *) &x;
 112         Holding_Buffer = Float_Overlay [0];
 113
 114         Float_Overlay [0] = htonl (Holding_Buffer);
 115     } else {
 116         return;
 117     }
 118 }
 119
 120
 121 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 122 CLASS IMPLEMENTATION
 123 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 124
 125 FGOutput::FGOutput(FGFDMExec* fdmex) : FGModel(fdmex)
 126 {
 127   Name = "FGOutput";
 128   sFirstPass = dFirstPass = true;
 129   socket = 0;
 130   flightGearSocket = 0;
 131   runID_postfix = 0;
 132   Type = otNone;
 133   SubSystems = 0;
 134   enabled = true;
 135   StartNewFile = false;
 136   delimeter = ", ";
 137   BaseFilename = Filename = "";
 138   DirectivesFile = "";
 139   output_file_name = "";
 140
 141   memset(&fgSockBuf, 0x00, sizeof(fgSockBuf));
 142
 143   Debug(0);
 144 }
 145
 146 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 147
 148 FGOutput::~FGOutput()
 149 {
 150   delete socket;
 151   delete flightGearSocket;
 152   OutputProperties.clear();
 153   Debug(1);
 154 }
 155
 156 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 157
 158 bool FGOutput::InitModel(void)
 159 {
 160   char fname[1000] = "";
 161
 162   if (!FGModel::InitModel()) return false;
 163
 164   if (Filename.size() > 0 && StartNewFile) {
 165     int idx = BaseFilename.find_last_of(".");
 166     int len = BaseFilename.length();
 167     string extension = "";
 168     if (idx != string::npos) {
 169       extension = BaseFilename.substr(idx, len-idx);
 170       len -= extension.length();
 171     }
 172     sprintf(fname, "%s_%d%s", BaseFilename.substr(0,len).c_str(), runID_postfix++, extension.c_str());
 173     Filename = string(fname);
 174     datafile.close();
 175     StartNewFile = false;
 176     dFirstPass = true;
 177   }
 178
 179   return true;
 180 }
 181
 182 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 183
 184 bool FGOutput::Run(void)
 185 {
 186   if (FGModel::Run()) return true;
 187
 188   if (enabled && !State->IntegrationSuspended()&& !FDMExec->Holding()) {
 189     if (Type == otSocket) {
 190       SocketOutput();
 191     } else if (Type == otFlightGear) {
 192       FlightGearSocketOutput();
 193     } else if (Type == otCSV || Type == otTab) {
 194       DelimitedOutput(Filename);
 195     } else if (Type == otTerminal) {
 196       // Not done yet
 197     } else if (Type == otNone) {
 198       // Do nothing
 199     } else {
 200       // Not a valid type of output
 201     }
 202   }
 203   return false;
 204 }
 205
 206 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 207
 208 void FGOutput::SetType(string type)
 209 {
 210   if (type == "CSV") {
 211     Type = otCSV;
 212     delimeter = ", ";
 213   } else if (type == "TABULAR") {
 214     Type = otTab;
 215     delimeter = "\t";
 216   } else if (type == "SOCKET") {
 217     Type = otSocket;
 218   } else if (type == "FLIGHTGEAR") {
 219     Type = otFlightGear;
 220   } else if (type == "TERMINAL") {
 221     Type = otTerminal;
 222   } else if (type != string("NONE")) {
 223     Type = otUnknown;
 224     cerr << "Unknown type of output specified in config file" << endl;
 225   }
 226 }
 227
 228 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 229
 230 void FGOutput::DelimitedOutput(string fname)
 231 {
 232   streambuf* buffer;
 233   string scratch = "";
 234
 235   if (fname == "COUT" || fname == "cout") {
 236     buffer = cout.rdbuf();
 237   } else {
 238     if (!datafile.is_open()) datafile.open(fname.c_str());
 239     buffer = datafile.rdbuf();
 240   }
 241
 242   ostream outstream(buffer);
 243
 244   outstream.precision(10);
 245
 246   if (dFirstPass) {
 247     outstream << "Time";
 248     if (SubSystems & ssSimulation) {
 249       // Nothing here, yet
 250     }
 251     if (SubSystems & ssAerosurfaces) {
 252       outstream << delimeter;
 253       outstream << "Aileron Command (norm)" + delimeter;
 254       outstream << "Elevator Command (norm)" + delimeter;
 255       outstream << "Rudder Command (norm)" + delimeter;
 256       outstream << "Flap Command (norm)" + delimeter;
 257       outstream << "Left Aileron Position (deg)" + delimeter;
 258       outstream << "Right Aileron Position (deg)" + delimeter;
 259       outstream << "Elevator Position (deg)" + delimeter;
 260       outstream << "Rudder Position (deg)" + delimeter;
 261       outstream << "Flap Position (deg)";
 262     }
 263     if (SubSystems & ssRates) {
 264       outstream << delimeter;
 265       outstream << "P (deg/s)" + delimeter + "Q (deg/s)" + delimeter + "R (deg/s)" + delimeter;
 266       outstream << "P dot (deg/s^2)" + delimeter + "Q dot (deg/s^2)" + delimeter + "R dot (deg/s^2)";
 267     }
 268     if (SubSystems & ssVelocities) {
 269       outstream << delimeter;
 270       outstream << "q bar (psf)" + delimeter;
 271       outstream << "Reynolds Number" + delimeter;
 272       outstream << "V_{Total} (ft/s)" + delimeter;
 273       outstream << "V_{Inertial} (ft/s)" + delimeter;
 274       outstream << "UBody" + delimeter + "VBody" + delimeter + "WBody" + delimeter;
 275       outstream << "Aero V_{X Body} (ft/s)" + delimeter + "Aero V_{Y Body} (ft/s)" + delimeter + "Aero V_{Z Body} (ft/s)" + delimeter;
 276       outstream << "V_{North} (ft/s)" + delimeter + "V_{East} (ft/s)" + delimeter + "V_{Down} (ft/s)";
 277     }
 278     if (SubSystems & ssForces) {
 279       outstream << delimeter;
 280       outstream << "F_{Drag} (lbs)" + delimeter + "F_{Side} (lbs)" + delimeter + "F_{Lift} (lbs)" + delimeter;
 281       outstream << "L/D" + delimeter;
 282       outstream << "F_{Aero x} (lbs)" + delimeter + "F_{Aero y} (lbs)" + delimeter + "F_{Aero z} (lbs)" + delimeter;
 283       outstream << "F_{Prop x} (lbs)" + delimeter + "F_{Prop y} (lbs)" + delimeter + "F_{Prop z} (lbs)" + delimeter;
 284       outstream << "F_{Gear x} (lbs)" + delimeter + "F_{Gear y} (lbs)" + delimeter + "F_{Gear z} (lbs)" + delimeter;
 285       outstream << "F_{Ext x} (lbs)" + delimeter + "F_{Ext y} (lbs)" + delimeter + "F_{Ext z} (lbs)" + delimeter;
 286       outstream << "F_{Buoyant x} (lbs)" + delimeter + "F_{Buoyant y} (lbs)" + delimeter + "F_{Buoyant z} (lbs)" + delimeter;
 287       outstream << "F_{Total x} (lbs)" + delimeter + "F_{Total y} (lbs)" + delimeter + "F_{Total z} (lbs)";
 288     }
 289     if (SubSystems & ssMoments) {
 290       outstream << delimeter;
 291       outstream << "L_{Aero} (ft-lbs)" + delimeter + "M_{Aero} ( ft-lbs)" + delimeter + "N_{Aero} (ft-lbs)" + delimeter;
 292       outstream << "L_{Prop} (ft-lbs)" + delimeter + "M_{Prop} (ft-lbs)" + delimeter + "N_{Prop} (ft-lbs)" + delimeter;
 293       outstream << "L_{Gear} (ft-lbs)" + delimeter + "M_{Gear} (ft-lbs)" + delimeter + "N_{Gear} (ft-lbs)" + delimeter;
 294       outstream << "L_{ext} (ft-lbs)" + delimeter + "M_{ext} (ft-lbs)" + delimeter + "N_{ext} (ft-lbs)" + delimeter;
 295       outstream << "L_{Buoyant} (ft-lbs)" + delimeter + "M_{Buoyant} (ft-lbs)" + delimeter + "N_{Buoyant} (ft-lbs)" + delimeter;
 296       outstream << "L_{Total} (ft-lbs)" + delimeter + "M_{Total} (ft-lbs)" + delimeter + "N_{Total} (ft-lbs)";
 297     }
 298     if (SubSystems & ssAtmosphere) {
 299       outstream << delimeter;
 300       outstream << "Rho (slugs/ft^3)" + delimeter;
 301       outstream << "Absolute Viscosity" + delimeter;
 302       outstream << "Kinematic Viscosity" + delimeter;
 303       outstream << "Temperature (R)" + delimeter;
 304       outstream << "P_{SL} (psf)" + delimeter;
 305       outstream << "P_{Ambient} (psf)" + delimeter;
 306       outstream << "Turbulence Magnitude (ft/sec)" + delimeter;
 307       outstream << "Turbulence X Direction (rad)" + delimeter + "Turbulence Y Direction (rad)" + delimeter + "Turbulence Z Direction (rad)" + delimeter;
 308       outstream << "Wind V_{North} (ft/s)" + delimeter + "Wind V_{East} (ft/s)" + delimeter + "Wind V_{Down} (ft/s)";
 309     }
 310     if (SubSystems & ssMassProps) {
 311       outstream << delimeter;
 312       outstream << "I_{xx}" + delimeter;
 313       outstream << "I_{xy}" + delimeter;
 314       outstream << "I_{xz}" + delimeter;
 315       outstream << "I_{yx}" + delimeter;
 316       outstream << "I_{yy}" + delimeter;
 317       outstream << "I_{yz}" + delimeter;
 318       outstream << "I_{zx}" + delimeter;
 319       outstream << "I_{zy}" + delimeter;
 320       outstream << "I_{zz}" + delimeter;
 321       outstream << "Mass" + delimeter;
 322       outstream << "X_{cg}" + delimeter + "Y_{cg}" + delimeter + "Z_{cg}";
 323     }
 324     if (SubSystems & ssPropagate) {
 325       outstream << delimeter;
 326       outstream << "Altitude (ft)" + delimeter;
 327       outstream << "Phi (deg)" + delimeter + "Theta (deg)" + delimeter + "Psi (deg)" + delimeter;
 328       outstream << "Alpha (deg)" + delimeter;
 329       outstream << "Beta (deg)" + delimeter;
 330       outstream << "Latitude (deg)" + delimeter;
 331       outstream << "Longitude (deg)" + delimeter;
 332       outstream << "ECEF X (ft)" + delimeter + "ECEF Y (ft)" + delimeter + "ECEF Z (ft)" + delimeter;
 333       outstream << "EPA (deg)" + delimeter;
 334       outstream << "Distance AGL (ft)" + delimeter;
 335       outstream << "Runway Radius (ft)";
 336     }
 337     if (SubSystems & ssCoefficients) {
 338       scratch = Aerodynamics->GetCoefficientStrings(delimeter);
 339       if (scratch.length() != 0) outstream << delimeter << scratch;
 340     }
 341     if (SubSystems & ssFCS) {
 342       scratch = FCS->GetComponentStrings(delimeter);
 343       if (scratch.length() != 0) outstream << delimeter << scratch;
 344     }
 345     if (SubSystems & ssGroundReactions) {
 346       outstream << delimeter;
 347       outstream << GroundReactions->GetGroundReactionStrings(delimeter);
 348     }
 349     if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
 350       outstream << delimeter;
 351       outstream << Propulsion->GetPropulsionStrings(delimeter);
 352     }
 353     if (OutputProperties.size() > 0) {
 354       for (unsigned int i=0;i<OutputProperties.size();i++) {
 355         outstream << delimeter << OutputProperties[i]->GetPrintableName();
 356       }
 357     }
 358
 359     outstream << endl;
 360     dFirstPass = false;
 361   }
 362
 363   outstream << State->Getsim_time();
 364   if (SubSystems & ssSimulation) {
 365   }
 366   if (SubSystems & ssAerosurfaces) {
 367     outstream << delimeter;
 368     outstream << FCS->GetDaCmd() << delimeter;
 369     outstream << FCS->GetDeCmd() << delimeter;
 370     outstream << FCS->GetDrCmd() << delimeter;
 371     outstream << FCS->GetDfCmd() << delimeter;
 372     outstream << FCS->GetDaLPos(ofDeg) << delimeter;
 373     outstream << FCS->GetDaRPos(ofDeg) << delimeter;
 374     outstream << FCS->GetDePos(ofDeg) << delimeter;
 375     outstream << FCS->GetDrPos(ofDeg) << delimeter;
 376     outstream << FCS->GetDfPos(ofDeg);
 377   }
 378   if (SubSystems & ssRates) {
 379     outstream << delimeter;
 380     outstream << (radtodeg*Propagate->GetPQR()).Dump(delimeter) << delimeter;
 381     outstream << (radtodeg*Propagate->GetPQRdot()).Dump(delimeter);
 382   }
 383   if (SubSystems & ssVelocities) {
 384     outstream << delimeter;
 385     outstream << Auxiliary->Getqbar() << delimeter;
 386     outstream << Auxiliary->GetReynoldsNumber() << delimeter;
 387     outstream << setprecision(12) << Auxiliary->GetVt() << delimeter;
 388     outstream << Propagate->GetInertialVelocityMagnitude() << delimeter;
 389     outstream << setprecision(12) << Propagate->GetUVW().Dump(delimeter) << delimeter;
 390     outstream << Auxiliary->GetAeroUVW().Dump(delimeter) << delimeter;
 391     outstream << Propagate->GetVel().Dump(delimeter);
 392     outstream.precision(10);
 393   }
 394   if (SubSystems & ssForces) {
 395     outstream << delimeter;
 396     outstream << Aerodynamics->GetvFw() << delimeter;
 397     outstream << Aerodynamics->GetLoD() << delimeter;
 398     outstream << Aerodynamics->GetForces() << delimeter;
 399     outstream << Propulsion->GetForces() << delimeter;
 400     outstream << GroundReactions->GetForces() << delimeter;
 401     outstream << ExternalReactions->GetForces() << delimeter;
 402     outstream << BuoyantForces->GetForces() << delimeter;
 403     outstream << Aircraft->GetForces().Dump(delimeter);
 404   }
 405   if (SubSystems & ssMoments) {
 406     outstream << delimeter;
 407     outstream << Aerodynamics->GetMoments() << delimeter;
 408     outstream << Propulsion->GetMoments() << delimeter;
 409     outstream << GroundReactions->GetMoments() << delimeter;
 410     outstream << ExternalReactions->GetMoments() << delimeter;
 411     outstream << BuoyantForces->GetMoments() << delimeter;
 412     outstream << Aircraft->GetMoments().Dump(delimeter);
 413   }
 414   if (SubSystems & ssAtmosphere) {
 415     outstream << delimeter;
 416     outstream << Atmosphere->GetDensity() << delimeter;
 417     outstream << Atmosphere->GetAbsoluteViscosity() << delimeter;
 418     outstream << Atmosphere->GetKinematicViscosity() << delimeter;
 419     outstream << Atmosphere->GetTemperature() << delimeter;
 420     outstream << Atmosphere->GetPressureSL() << delimeter;
 421     outstream << Atmosphere->GetPressure() << delimeter;
 422     outstream << Atmosphere->GetTurbMagnitude() << delimeter;
 423     outstream << Atmosphere->GetTurbDirection().Dump(delimeter) << delimeter;
 424     outstream << Atmosphere->GetTotalWindNED().Dump(delimeter);
 425   }
 426   if (SubSystems & ssMassProps) {
 427     outstream << delimeter;
 428     outstream << MassBalance->GetJ() << delimeter;
 429     outstream << MassBalance->GetMass() << delimeter;
 430     outstream << MassBalance->GetXYZcg();
 431   }
 432   if (SubSystems & ssPropagate) {
 433     outstream.precision(14);
 434     outstream << delimeter;
 435     outstream << Propagate->Geth() << delimeter;
 436     outstream << (radtodeg*Propagate->GetEuler()).Dump(delimeter) << delimeter;
 437     outstream << Auxiliary->Getalpha(inDegrees) << delimeter;
 438     outstream << Auxiliary->Getbeta(inDegrees) << delimeter;
 439     outstream << Propagate->GetLocation().GetLatitudeDeg() << delimeter;
 440     outstream << Propagate->GetLocation().GetLongitudeDeg() << delimeter;
 441     outstream.precision(18);
 442     outstream << ((FGColumnVector3)Propagate->GetLocation()).Dump(delimeter) << delimeter;
 443     outstream.precision(14);
 444     outstream << Inertial->GetEarthPositionAngleDeg() << delimeter;
 445     outstream << Propagate->GetDistanceAGL() << delimeter;
 446     outstream << Propagate->GetRunwayRadius();
 447     outstream.precision(10);
 448   }
 449   if (SubSystems & ssCoefficients) {
 450     scratch = Aerodynamics->GetCoefficientValues(delimeter);
 451     if (scratch.length() != 0) outstream << delimeter << scratch;
 452   }
 453   if (SubSystems & ssFCS) {
 454     scratch = FCS->GetComponentValues(delimeter);
 455     if (scratch.length() != 0) outstream << delimeter << scratch;
 456   }
 457   if (SubSystems & ssGroundReactions) {
 458     outstream << delimeter;
 459     outstream << GroundReactions->GetGroundReactionValues(delimeter);
 460   }
 461   if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
 462     outstream << delimeter;
 463     outstream << Propulsion->GetPropulsionValues(delimeter);
 464   }
 465
 466   for (unsigned int i=0;i<OutputProperties.size();i++) {
 467     outstream << delimeter << OutputProperties[i]->getDoubleValue();
 468   }
 469
 470   outstream << endl;
 471   outstream.flush();
 472 }
 473
 474 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 475
 476 void FGOutput::SocketDataFill(FGNetFDM* net)
 477 {
 478     unsigned int i;
 479
 480     // Version
 481     net->version = FG_NET_FDM_VERSION;
 482
 483     // Positions
 484     net->longitude = Propagate->GetLocation().GetLongitude(); // geodetic (radians)
 485     net->latitude  = Propagate->GetLocation().GetLatitude(); // geodetic (radians)
 486     net->altitude  = Propagate->Geth()*0.3048; // altitude, above sea level (meters)
 487     net->agl       = (float)(Propagate->GetDistanceAGL()*0.3048); // altitude, above ground level (meters)
 488
 489     net->phi       = (float)(Propagate->GetEuler(ePhi)); // roll (radians)
 490     net->theta     = (float)(Propagate->GetEuler(eTht)); // pitch (radians)
 491     net->psi       = (float)(Propagate->GetEuler(ePsi)); // yaw or true heading (radians)
 492
 493     net->alpha     = (float)(Auxiliary->Getalpha()); // angle of attack (radians)
 494     net->beta      = (float)(Auxiliary->Getbeta()); // side slip angle (radians)
 495
 496     // Velocities
 497     net->phidot     = (float)(Auxiliary->GetEulerRates(ePhi)); // roll rate (radians/sec)
 498     net->thetadot   = (float)(Auxiliary->GetEulerRates(eTht)); // pitch rate (radians/sec)
 499     net->psidot     = (float)(Auxiliary->GetEulerRates(ePsi)); // yaw rate (radians/sec)
 500     net->vcas       = (float)(Auxiliary->GetVcalibratedFPS()); // VCAS, ft/sec
 501     net->climb_rate = (float)(Propagate->Gethdot());           // altitude rate, ft/sec
 502     net->v_north    = (float)(Propagate->GetVel(eNorth));      // north vel in NED frame, fps
 503     net->v_east     = (float)(Propagate->GetVel(eEast));       // east vel in NED frame, fps
 504     net->v_down     = (float)(Propagate->GetVel(eDown));       // down vel in NED frame, fps
 505 //---ADD METHOD TO CALCULATE THESE TERMS---
 506     net->v_wind_body_north = (float)(Propagate->GetVel(eNorth)); // north vel in NED relative to airmass, fps
 507     net->v_wind_body_east = (float)(Propagate->GetVel(eEast)); // east vel in NED relative to airmass, fps
 508     net->v_wind_body_down = (float)(Propagate->GetVel(eDown)); // down vel in NED relative to airmass, fps
 509
 510     // Accelerations
 511     net->A_X_pilot   = (float)(Auxiliary->GetPilotAccel(1));    // X body accel, ft/s/s
 512     net->A_Y_pilot   = (float)(Auxiliary->GetPilotAccel(2));    // Y body accel, ft/s/s
 513     net->A_Z_pilot   = (float)(Auxiliary->GetPilotAccel(3));    // Z body accel, ft/s/s
 514
 515     // Stall
 516     net->stall_warning = 0.0;  // 0.0 - 1.0 indicating the amount of stall
 517     net->slip_deg    = (float)(Auxiliary->Getbeta(inDegrees));  // slip ball deflection, deg
 518
 519     // Engine status
 520     net->num_engines = Propulsion->GetNumEngines(); // Number of valid engines
 521
 522     for (i=0; i<net->num_engines; i++) {
 523        if (Propulsion->GetEngine(i)->GetRunning())
 524           net->eng_state[i] = 2;       // Engine state running
 525        else if (Propulsion->GetEngine(i)->GetCranking())
 526           net->eng_state[i] = 1;       // Engine state cranking
 527        else
 528           net->eng_state[i] = 0;       // Engine state off
 529
 530        switch (Propulsion->GetEngine(i)->GetType()) {
 531        case (FGEngine::etRocket):
 532        break;
 533        case (FGEngine::etPiston):
 534           net->rpm[i]       = (float)(((FGPiston *)Propulsion->GetEngine(i))->getRPM());
 535           net->fuel_flow[i] = (float)(((FGPiston *)Propulsion->GetEngine(i))->getFuelFlow_gph());
 536           net->fuel_px[i]   = 0; // Fuel pressure, psi  (N/A in current model)
 537           net->egt[i]       = (float)(((FGPiston *)Propulsion->GetEngine(i))->GetEGT());
 538           net->cht[i]       = (float)(((FGPiston *)Propulsion->GetEngine(i))->getCylinderHeadTemp_degF());
 539           net->mp_osi[i]    = (float)(((FGPiston *)Propulsion->GetEngine(i))->getManifoldPressure_inHg());
 540           net->oil_temp[i]  = (float)(((FGPiston *)Propulsion->GetEngine(i))->getOilTemp_degF());
 541           net->oil_px[i]    = (float)(((FGPiston *)Propulsion->GetEngine(i))->getOilPressure_psi());
 542           net->tit[i]       = 0; // Turbine Inlet Temperature  (N/A for piston)
 543        break;
 544        case (FGEngine::etTurbine):
 545        break;
 546        case (FGEngine::etTurboprop):
 547        break;
 548        case (FGEngine::etElectric):
 549        break;
 550        case (FGEngine::etUnknown):
 551        break;
 552        }
 553     }
 554
 555
 556     // Consumables
 557     net->num_tanks = Propulsion->GetNumTanks();   // Max number of fuel tanks
 558
 559     for (i=0; i<net->num_tanks; i++) {
 560        net->fuel_quantity[i] = (float)(((FGTank *)Propulsion->GetTank(i))->GetContents());
 561     }
 562
 563
 564     // Gear status
 565     net->num_wheels  = GroundReactions->GetNumGearUnits();
 566
 567     for (i=0; i<net->num_wheels; i++) {
 568        net->wow[i]              = GroundReactions->GetGearUnit(i)->GetWOW();
 569        if (GroundReactions->GetGearUnit(i)->GetGearUnitDown())
 570           net->gear_pos[i]      = 1;  //gear down, using FCS convention
 571        else
 572           net->gear_pos[i]      = 0;  //gear up, using FCS convention
 573        net->gear_steer[i]       = (float)(GroundReactions->GetGearUnit(i)->GetSteerNorm());
 574        net->gear_compression[i] = (float)(GroundReactions->GetGearUnit(i)->GetCompLen());
 575     }
 576
 577
 578     // Environment
 579     net->cur_time    = (long int)1234567890;    // Friday, Feb 13, 2009, 23:31:30 UTC (not processed by FGFS anyway)
 580     net->warp        = 0;                       // offset in seconds to unix time
 581     net->visibility  = 25000.0;                 // visibility in meters (for env. effects)
 582
 583
 584     // Control surface positions (normalized values)
 585     net->elevator          = (float)(FCS->GetDePos(ofNorm));    // Norm Elevator Pos, --
 586     net->elevator_trim_tab = (float)(FCS->GetPitchTrimCmd());   // Norm Elev Trim Tab Pos, --
 587     net->left_flap         = (float)(FCS->GetDfPos(ofNorm));    // Norm Flap Pos, --
 588     net->right_flap        = (float)(FCS->GetDfPos(ofNorm));    // Norm Flap Pos, --
 589     net->left_aileron      = (float)(FCS->GetDaLPos(ofNorm));   // Norm L Aileron Pos, --
 590     net->right_aileron     = (float)(FCS->GetDaRPos(ofNorm));   // Norm R Aileron Pos, --
 591     net->rudder            = (float)(FCS->GetDrPos(ofNorm));    // Norm Rudder Pos, --
 592     net->nose_wheel        = (float)(FCS->GetDrPos(ofNorm));    // *** FIX ***  Using Rudder Pos for NWS, --
 593     net->speedbrake        = (float)(FCS->GetDsbPos(ofNorm));   // Norm Speedbrake Pos, --
 594     net->spoilers          = (float)(FCS->GetDspPos(ofNorm));   // Norm Spoiler Pos, --
 595
 596
 597     // Convert the net buffer to network format
 598     if ( isLittleEndian ) {
 599         net->version = htonl(net->version);
 600
 601         htond(net->longitude);
 602         htond(net->latitude);
 603         htond(net->altitude);
 604         htonf(net->agl);
 605         htonf(net->phi);
 606         htonf(net->theta);
 607         htonf(net->psi);
 608         htonf(net->alpha);
 609         htonf(net->beta);
 610
 611         htonf(net->phidot);
 612         htonf(net->thetadot);
 613         htonf(net->psidot);
 614         htonf(net->vcas);
 615         htonf(net->climb_rate);
 616         htonf(net->v_north);
 617         htonf(net->v_east);
 618         htonf(net->v_down);
 619         htonf(net->v_wind_body_north);
 620         htonf(net->v_wind_body_east);
 621         htonf(net->v_wind_body_down);
 622
 623         htonf(net->A_X_pilot);
 624         htonf(net->A_Y_pilot);
 625         htonf(net->A_Z_pilot);
 626
 627         htonf(net->stall_warning);
 628         htonf(net->slip_deg);
 629
 630         for (i=0; i<net->num_engines; ++i ) {
 631             net->eng_state[i] = htonl(net->eng_state[i]);
 632             htonf(net->rpm[i]);
 633             htonf(net->fuel_flow[i]);
 634             htonf(net->fuel_px[i]);
 635             htonf(net->egt[i]);
 636             htonf(net->cht[i]);
 637             htonf(net->mp_osi[i]);
 638             htonf(net->tit[i]);
 639             htonf(net->oil_temp[i]);
 640             htonf(net->oil_px[i]);
 641         }
 642         net->num_engines = htonl(net->num_engines);
 643
 644         for (i=0; i<net->num_tanks; ++i ) {
 645             htonf(net->fuel_quantity[i]);
 646         }
 647         net->num_tanks = htonl(net->num_tanks);
 648
 649         for (i=0; i<net->num_wheels; ++i ) {
 650             net->wow[i] = htonl(net->wow[i]);
 651             htonf(net->gear_pos[i]);
 652             htonf(net->gear_steer[i]);
 653             htonf(net->gear_compression[i]);
 654         }
 655         net->num_wheels = htonl(net->num_wheels);
 656
 657         net->cur_time = htonl( net->cur_time );
 658         net->warp = htonl( net->warp );
 659         htonf(net->visibility);
 660
 661         htonf(net->elevator);
 662         htonf(net->elevator_trim_tab);
 663         htonf(net->left_flap);
 664         htonf(net->right_flap);
 665         htonf(net->left_aileron);
 666         htonf(net->right_aileron);
 667         htonf(net->rudder);
 668         htonf(net->nose_wheel);
 669         htonf(net->speedbrake);
 670         htonf(net->spoilers);
 671     }
 672 }
 673
 674 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 675
 676 void FGOutput::FlightGearSocketOutput(void)
 677 {
 678   int length = sizeof(fgSockBuf);
 679
 680
 681   if (flightGearSocket == NULL) return;
 682   if (!flightGearSocket->GetConnectStatus()) return;
 683
 684   SocketDataFill(&fgSockBuf);
 685   flightGearSocket->Send((char *)&fgSockBuf, length);
 686 }
 687
 688 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 689
 690 void FGOutput::SocketOutput(void)
 691 {
 692   string asciiData, scratch;
 693
 694   if (socket == NULL) return;
 695   if (!socket->GetConnectStatus()) return;
 696
 697   socket->Clear();
 698   if (sFirstPass) {
 699     socket->Clear("<LABELS>");
 700     socket->Append("Time");
 701
 702     if (SubSystems & ssAerosurfaces) {
 703       socket->Append("Aileron Command");
 704       socket->Append("Elevator Command");
 705       socket->Append("Rudder Command");
 706       socket->Append("Flap Command");
 707       socket->Append("Left Aileron Position");
 708       socket->Append("Right Aileron Position");
 709       socket->Append("Elevator Position");
 710       socket->Append("Rudder Position");
 711       socket->Append("Flap Position");
 712     }
 713
 714     if (SubSystems & ssRates) {
 715       socket->Append("P");
 716       socket->Append("Q");
 717       socket->Append("R");
 718       socket->Append("PDot");
 719       socket->Append("QDot");
 720       socket->Append("RDot");
 721     }
 722
 723     if (SubSystems & ssVelocities) {
 724       socket->Append("QBar");
 725       socket->Append("Vtotal");
 726       socket->Append("UBody");
 727       socket->Append("VBody");
 728       socket->Append("WBody");
 729       socket->Append("UAero");
 730       socket->Append("VAero");
 731       socket->Append("WAero");
 732       socket->Append("Vn");
 733       socket->Append("Ve");
 734       socket->Append("Vd");
 735     }
 736     if (SubSystems & ssForces) {
 737       socket->Append("F_Drag");
 738       socket->Append("F_Side");
 739       socket->Append("F_Lift");
 740       socket->Append("LoD");
 741       socket->Append("Fx");
 742       socket->Append("Fy");
 743       socket->Append("Fz");
 744     }
 745     if (SubSystems & ssMoments) {
 746       socket->Append("L");
 747       socket->Append("M");
 748       socket->Append("N");
 749     }
 750     if (SubSystems & ssAtmosphere) {
 751       socket->Append("Rho");
 752       socket->Append("SL pressure");
 753       socket->Append("Ambient pressure");
 754       socket->Append("Turbulence Magnitude");
 755       socket->Append("Turbulence Direction X");
 756       socket->Append("Turbulence Direction Y");
 757       socket->Append("Turbulence Direction Z");
 758       socket->Append("NWind");
 759       socket->Append("EWind");
 760       socket->Append("DWind");
 761     }
 762     if (SubSystems & ssMassProps) {
 763       socket->Append("Ixx");
 764       socket->Append("Ixy");
 765       socket->Append("Ixz");
 766       socket->Append("Iyx");
 767       socket->Append("Iyy");
 768       socket->Append("Iyz");
 769       socket->Append("Izx");
 770       socket->Append("Izy");
 771       socket->Append("Izz");
 772       socket->Append("Mass");
 773       socket->Append("Xcg");
 774       socket->Append("Ycg");
 775       socket->Append("Zcg");
 776     }
 777     if (SubSystems & ssPropagate) {
 778         socket->Append("Altitude");
 779         socket->Append("Phi (deg)");
 780         socket->Append("Tht (deg)");
 781         socket->Append("Psi (deg)");
 782         socket->Append("Alpha (deg)");
 783         socket->Append("Beta (deg)");
 784         socket->Append("Latitude (deg)");
 785         socket->Append("Longitude (deg)");
 786     }
 787     if (SubSystems & ssCoefficients) {
 788       scratch = Aerodynamics->GetCoefficientStrings(",");
 789       if (scratch.length() != 0) socket->Append(scratch);
 790     }
 791     if (SubSystems & ssFCS) {
 792       scratch = FCS->GetComponentStrings(",");
 793       if (scratch.length() != 0) socket->Append(scratch);
 794     }
 795     if (SubSystems & ssGroundReactions) {
 796       socket->Append(GroundReactions->GetGroundReactionStrings(","));
 797     }
 798     if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
 799       socket->Append(Propulsion->GetPropulsionStrings(","));
 800     }
 801     if (OutputProperties.size() > 0) {
 802       for (unsigned int i=0;i<OutputProperties.size();i++) {
 803         socket->Append(OutputProperties[i]->GetPrintableName());
 804       }
 805     }
 806
 807     sFirstPass = false;
 808     socket->Send();
 809   }
 810
 811   socket->Clear();
 812   socket->Append(State->Getsim_time());
 813
 814   if (SubSystems & ssAerosurfaces) {
 815     socket->Append(FCS->GetDaCmd());
 816     socket->Append(FCS->GetDeCmd());
 817     socket->Append(FCS->GetDrCmd());
 818     socket->Append(FCS->GetDfCmd());
 819     socket->Append(FCS->GetDaLPos());
 820     socket->Append(FCS->GetDaRPos());
 821     socket->Append(FCS->GetDePos());
 822     socket->Append(FCS->GetDrPos());
 823     socket->Append(FCS->GetDfPos());
 824   }
 825   if (SubSystems & ssRates) {
 826     socket->Append(radtodeg*Propagate->GetPQR(eP));
 827     socket->Append(radtodeg*Propagate->GetPQR(eQ));
 828     socket->Append(radtodeg*Propagate->GetPQR(eR));
 829     socket->Append(radtodeg*Propagate->GetPQRdot(eP));
 830     socket->Append(radtodeg*Propagate->GetPQRdot(eQ));
 831     socket->Append(radtodeg*Propagate->GetPQRdot(eR));
 832   }
 833   if (SubSystems & ssVelocities) {
 834     socket->Append(Auxiliary->Getqbar());
 835     socket->Append(Auxiliary->GetVt());
 836     socket->Append(Propagate->GetUVW(eU));
 837     socket->Append(Propagate->GetUVW(eV));
 838     socket->Append(Propagate->GetUVW(eW));
 839     socket->Append(Auxiliary->GetAeroUVW(eU));
 840     socket->Append(Auxiliary->GetAeroUVW(eV));
 841     socket->Append(Auxiliary->GetAeroUVW(eW));
 842     socket->Append(Propagate->GetVel(eNorth));
 843     socket->Append(Propagate->GetVel(eEast));
 844     socket->Append(Propagate->GetVel(eDown));
 845   }
 846   if (SubSystems & ssForces) {
 847     socket->Append(Aerodynamics->GetvFw()(eDrag));
 848     socket->Append(Aerodynamics->GetvFw()(eSide));
 849     socket->Append(Aerodynamics->GetvFw()(eLift));
 850     socket->Append(Aerodynamics->GetLoD());
 851     socket->Append(Aircraft->GetForces(eX));
 852     socket->Append(Aircraft->GetForces(eY));
 853     socket->Append(Aircraft->GetForces(eZ));
 854   }
 855   if (SubSystems & ssMoments) {
 856     socket->Append(Aircraft->GetMoments(eL));
 857     socket->Append(Aircraft->GetMoments(eM));
 858     socket->Append(Aircraft->GetMoments(eN));
 859   }
 860   if (SubSystems & ssAtmosphere) {
 861     socket->Append(Atmosphere->GetDensity());
 862     socket->Append(Atmosphere->GetPressureSL());
 863     socket->Append(Atmosphere->GetPressure());
 864     socket->Append(Atmosphere->GetTurbMagnitude());
 865     socket->Append(Atmosphere->GetTurbDirection().Dump(","));
 866     socket->Append(Atmosphere->GetTotalWindNED().Dump(","));
 867   }
 868   if (SubSystems & ssMassProps) {
 869     socket->Append(MassBalance->GetJ()(1,1));
 870     socket->Append(MassBalance->GetJ()(1,2));
 871     socket->Append(MassBalance->GetJ()(1,3));
 872     socket->Append(MassBalance->GetJ()(2,1));
 873     socket->Append(MassBalance->GetJ()(2,2));
 874     socket->Append(MassBalance->GetJ()(2,3));
 875     socket->Append(MassBalance->GetJ()(3,1));
 876     socket->Append(MassBalance->GetJ()(3,2));
 877     socket->Append(MassBalance->GetJ()(3,3));
 878     socket->Append(MassBalance->GetMass());
 879     socket->Append(MassBalance->GetXYZcg()(eX));
 880     socket->Append(MassBalance->GetXYZcg()(eY));
 881     socket->Append(MassBalance->GetXYZcg()(eZ));
 882   }
 883   if (SubSystems & ssPropagate) {
 884     socket->Append(Propagate->Geth());
 885     socket->Append(radtodeg*Propagate->GetEuler(ePhi));
 886     socket->Append(radtodeg*Propagate->GetEuler(eTht));
 887     socket->Append(radtodeg*Propagate->GetEuler(ePsi));
 888     socket->Append(Auxiliary->Getalpha(inDegrees));
 889     socket->Append(Auxiliary->Getbeta(inDegrees));
 890     socket->Append(Propagate->GetLocation().GetLatitudeDeg());
 891     socket->Append(Propagate->GetLocation().GetLongitudeDeg());
 892   }
 893   if (SubSystems & ssCoefficients) {
 894     scratch = Aerodynamics->GetCoefficientValues(",");
 895     if (scratch.length() != 0) socket->Append(scratch);
 896   }
 897   if (SubSystems & ssFCS) {
 898     scratch = FCS->GetComponentValues(",");
 899     if (scratch.length() != 0) socket->Append(scratch);
 900   }
 901   if (SubSystems & ssGroundReactions) {
 902     socket->Append(GroundReactions->GetGroundReactionValues(","));
 903   }
 904   if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
 905     socket->Append(Propulsion->GetPropulsionValues(","));
 906   }
 907
 908   for (unsigned int i=0;i<OutputProperties.size();i++) {
 909     socket->Append(OutputProperties[i]->getDoubleValue());
 910   }
 911
 912   socket->Send();
 913 }
 914
 915 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 916
 917 void FGOutput::SocketStatusOutput(string out_str)
 918 {
 919   string asciiData;
 920
 921   if (socket == NULL) return;
 922
 923   socket->Clear();
 924   asciiData = string("<STATUS>") + out_str;
 925   socket->Append(asciiData.c_str());
 926   socket->Send();
 927 }
 928
 929 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 930
 931 bool FGOutput::Load(Element* element)
 932 {
 933   string type="", parameter="";
 934   string name="";
 935   string protocol="tcp";
 936   int OutRate = 0;
 937   string property;
 938   unsigned int port;
 939   Element *property_element;
 940
 941   string separator = "/";
 942
 943   if (!DirectivesFile.empty()) { // A directives filename from the command line overrides
 944     output_file_name = DirectivesFile;      // one found in the config file.
 945     document = LoadXMLDocument(output_file_name);
 946   } else if (!element->GetAttributeValue("file").empty()) {
 947     output_file_name = element->GetAttributeValue("file");
 948     document = LoadXMLDocument(output_file_name);
 949   } else {
 950     document = element;
 951   }
 952
 953   name = document->GetAttributeValue("name");
 954   type = document->GetAttributeValue("type");
 955   SetType(type);
 956   if (!document->GetAttributeValue("port").empty() && type == string("SOCKET")) {
 957     port = atoi(document->GetAttributeValue("port").c_str());
 958     socket = new FGfdmSocket(name, port);
 959   } else if (!document->GetAttributeValue("port").empty() && type == string("FLIGHTGEAR")) {
 960     port = atoi(document->GetAttributeValue("port").c_str());
 961     if (!document->GetAttributeValue("protocol").empty())
 962        protocol = document->GetAttributeValue("protocol");
 963     if (protocol == "udp")
 964        flightGearSocket = new FGfdmSocket(name, port, FGfdmSocket::ptUDP);  // create udp socket
 965     else
 966        flightGearSocket = new FGfdmSocket(name, port, FGfdmSocket::ptTCP);  // create tcp socket (default)
 967   } else {
 968     BaseFilename = Filename = name;
 969   }
 970   if (!document->GetAttributeValue("rate").empty()) {
 971     OutRate = (int)document->GetAttributeValueAsNumber("rate");
 972   } else {
 973     OutRate = 1;
 974   }
 975
 976   if (document->FindElementValue("simulation") == string("ON"))
 977     SubSystems += ssSimulation;
 978   if (document->FindElementValue("aerosurfaces") == string("ON"))
 979     SubSystems += ssAerosurfaces;
 980   if (document->FindElementValue("rates") == string("ON"))
 981     SubSystems += ssRates;
 982   if (document->FindElementValue("velocities") == string("ON"))
 983     SubSystems += ssVelocities;
 984   if (document->FindElementValue("forces") == string("ON"))
 985     SubSystems += ssForces;
 986   if (document->FindElementValue("moments") == string("ON"))
 987     SubSystems += ssMoments;
 988   if (document->FindElementValue("atmosphere") == string("ON"))
 989     SubSystems += ssAtmosphere;
 990   if (document->FindElementValue("massprops") == string("ON"))
 991     SubSystems += ssMassProps;
 992   if (document->FindElementValue("position") == string("ON"))
 993     SubSystems += ssPropagate;
 994   if (document->FindElementValue("coefficients") == string("ON"))
 995     SubSystems += ssCoefficients;
 996   if (document->FindElementValue("ground_reactions") == string("ON"))
 997     SubSystems += ssGroundReactions;
 998   if (document->FindElementValue("fcs") == string("ON"))
 999     SubSystems += ssFCS;
1000   if (document->FindElementValue("propulsion") == string("ON"))
1001     SubSystems += ssPropulsion;
1002   property_element = document->FindElement("property");
1003   while (property_element) {
1004     string property_str = property_element->GetDataLine();
1005     FGPropertyManager* node = PropertyManager->GetNode(property_str);
1006     if (!node) {
1007       cerr << fgred << highint << endl << "  No property by the name "
1008            << property_str << " has been defined. This property will " << endl
1009            << "  not be logged. You should check your configuration file."
1010            << reset << endl;
1011     } else {
1012       OutputProperties.push_back(node);
1013     }
1014     property_element = document->FindNextElement("property");
1015   }
1016
1017   OutRate = OutRate>1000?1000:(OutRate<0?0:OutRate);
1018   rate = (int)(0.5 + 1.0/(State->Getdt()*OutRate));
1019
1020   Debug(2);
1021
1022   return true;
1023 }
1024
1025 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
1026 //    The bitmasked value choices are as follows:
1027 //    unset: In this case (the default) JSBSim would only print
1028 //       out the normally expected messages, essentially echoing
1029 //       the config files as they are read. If the environment
1030 //       variable is not set, debug_lvl is set to 1 internally
1031 //    0: This requests JSBSim not to output any messages
1032 //       whatsoever.
1033 //    1: This value explicity requests the normal JSBSim
1034 //       startup messages
1035 //    2: This value asks for a message to be printed out when
1036 //       a class is instantiated
1037 //    4: When this value is set, a message is displayed when a
1038 //       FGModel object executes its Run() method
1039 //    8: When this value is set, various runtime state variables
1040 //       are printed out periodically
1041 //    16: When set various parameters are sanity checked and
1042 //       a message is printed out when they go out of bounds
1043
1044 void FGOutput::Debug(int from)
1045 {
1046   string scratch="";
1047
1048   if (debug_lvl <= 0) return;
1049
1050   if (debug_lvl & 1) { // Standard console startup message output
1051     if (from == 0) { // Constructor
1052
1053     }
1054     if (from == 2) {
1055       if (output_file_name.empty())
1056         cout << "  " << "Output parameters read inline" << endl;
1057       else
1058         cout << "    Output parameters read from file: " << output_file_name << endl;
1059
1060       if (Filename == "cout" || Filename == "COUT") {
1061         scratch = "    Log output goes to screen console";
1062       } else if (!Filename.empty()) {
1063         scratch = "    Log output goes to file: " + Filename;
1064       }
1065       switch (Type) {
1066       case otCSV:
1067         cout << scratch << " in CSV format output at rate " << 1/(State->Getdt()*rate) << " Hz" << endl;
1068         break;
1069       case otNone:
1070         cout << "  No log output" << endl;
1071         break;
1072       }
1073
1074       if (SubSystems & ssSimulation)      cout << "    Simulation parameters logged" << endl;
1075       if (SubSystems & ssAerosurfaces)    cout << "    Aerosurface parameters logged" << endl;
1076       if (SubSystems & ssRates)           cout << "    Rate parameters logged" << endl;
1077       if (SubSystems & ssVelocities)      cout << "    Velocity parameters logged" << endl;
1078       if (SubSystems & ssForces)          cout << "    Force parameters logged" << endl;
1079       if (SubSystems & ssMoments)         cout << "    Moments parameters logged" << endl;
1080       if (SubSystems & ssAtmosphere)      cout << "    Atmosphere parameters logged" << endl;
1081       if (SubSystems & ssMassProps)       cout << "    Mass parameters logged" << endl;
1082       if (SubSystems & ssCoefficients)    cout << "    Coefficient parameters logged" << endl;
1083       if (SubSystems & ssPropagate)       cout << "    Propagate parameters logged" << endl;
1084       if (SubSystems & ssGroundReactions) cout << "    Ground parameters logged" << endl;
1085       if (SubSystems & ssFCS)             cout << "    FCS parameters logged" << endl;
1086       if (SubSystems & ssPropulsion)      cout << "    Propulsion parameters logged" << endl;
1087       if (OutputProperties.size() > 0)    cout << "    Properties logged:" << endl;
1088       for (unsigned int i=0;i<OutputProperties.size();i++) {
1089         cout << "      - " << OutputProperties[i]->GetName() << endl;
1090       }
1091     }
1092   }
1093   if (debug_lvl & 2 ) { // Instantiation/Destruction notification
1094     if (from == 0) cout << "Instantiated: FGOutput" << endl;
1095     if (from == 1) cout << "Destroyed:    FGOutput" << endl;
1096   }
1097   if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
1098   }
1099   if (debug_lvl & 8 ) { // Runtime state variables
1100   }
1101   if (debug_lvl & 16) { // Sanity checking
1102   }
1103   if (debug_lvl & 64) {
1104     if (from == 0) { // Constructor
1105       cout << IdSrc << endl;
1106       cout << IdHdr << endl;
1107     }
1108   }
1109 }
1110 }