src/FDM/JSBSim/models/FGOutput.cpp

   1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
   2
   3  Module:       FGOutput.cpp
   4  Author:       Jon Berndt
   5  Date started: 12/02/98
   6  Purpose:      Manage output of sim parameters to file or stdout
   7  Called by:    FGSimExec
   8
   9  ------------- Copyright (C) 1999  Jon S. Berndt (jon@jsbsim.org) -------------
  10
  11  This program is free software; you can redistribute it and/or modify it under
  12  the terms of the GNU Lesser General Public License as published by the Free Software
  13  Foundation; either version 2 of the License, or (at your option) any later
  14  version.
  15
  16  This program is distributed in the hope that it will be useful, but WITHOUT
  17  ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
  18  FOR A PARTICULAR PURPOSE.  See the GNU Lesser General Public License for more
  19  details.
  20
  21  You should have received a copy of the GNU Lesser General Public License along with
  22  this program; if not, write to the Free Software Foundation, Inc., 59 Temple
  23  Place - Suite 330, Boston, MA  02111-1307, USA.
  24
  25  Further information about the GNU Lesser General Public License can also be found on
  26  the world wide web at http://www.gnu.org.
  27
  28 FUNCTIONAL DESCRIPTION
  29 --------------------------------------------------------------------------------
  30 This is the place where you create output routines to dump data for perusal
  31 later.
  32
  33 HISTORY
  34 --------------------------------------------------------------------------------
  35 12/02/98   JSB   Created
  36 11/09/07   HDW   Added FlightGear Socket Interface
  37
  38 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  39 INCLUDES
  40 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  41
  42 #include "FGOutput.h"
  43 #include "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 "models/propulsion/FGEngine.h"
  57 #include "models/propulsion/FGTank.h"
  58 #include "models/propulsion/FGPiston.h"
  59 #include <sstream>
  60 #include <iomanip>
  61 #include <cstring>
  62 #include <cstdlib>
  63
  64 #include "input_output/net_fdm.hxx"
  65 #include "input_output/FGfdmSocket.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 = "$Id$";
  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   flightGearSocket = 0;
 136   runID_postfix = 0;
 137   Type = otNone;
 138   SubSystems = 0;
 139   enabled = true;
 140   StartNewFile = false;
 141   delimeter = ", ";
 142   BaseFilename = Filename = "";
 143   DirectivesFile = "";
 144   output_file_name = "";
 145
 146   memset(&fgSockBuf, 0x00, sizeof(fgSockBuf));
 147
 148   Debug(0);
 149 }
 150
 151 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 152
 153 FGOutput::~FGOutput()
 154 {
 155   delete socket;
 156   delete flightGearSocket;
 157   OutputProperties.clear();
 158   Debug(1);
 159 }
 160
 161 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 162
 163 bool FGOutput::InitModel(void)
 164 {
 165   if (!FGModel::InitModel()) return false;
 166
 167   if (Filename.size() > 0 && StartNewFile) {
 168     ostringstream buf;
 169     string::size_type dot = BaseFilename.find_last_of('.');
 170     if (dot != string::npos) {
 171       buf << BaseFilename.substr(0, dot) << '_' << runID_postfix++ << BaseFilename.substr(dot);
 172     } else {
 173       buf << BaseFilename << '_' << runID_postfix++;
 174     }
 175     Filename = buf.str();
 176     datafile.close();
 177     StartNewFile = false;
 178     dFirstPass = true;
 179   }
 180
 181   return true;
 182 }
 183
 184 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 185
 186 bool FGOutput::Run(void)
 187 {
 188   if (FGModel::Run()) return true;
 189
 190   if (enabled && !State->IntegrationSuspended()&& !FDMExec->Holding()) {
 191     if (Type == otSocket) {
 192       SocketOutput();
 193     } else if (Type == otFlightGear) {
 194       FlightGearSocketOutput();
 195     } else if (Type == otCSV || Type == otTab) {
 196       DelimitedOutput(Filename);
 197     } else if (Type == otTerminal) {
 198       // Not done yet
 199     } else if (Type == otNone) {
 200       // Do nothing
 201     } else {
 202       // Not a valid type of output
 203     }
 204   }
 205   return false;
 206 }
 207
 208 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 209
 210 void FGOutput::SetType(const string& type)
 211 {
 212   if (type == "CSV") {
 213     Type = otCSV;
 214     delimeter = ", ";
 215   } else if (type == "TABULAR") {
 216     Type = otTab;
 217     delimeter = "\t";
 218   } else if (type == "SOCKET") {
 219     Type = otSocket;
 220   } else if (type == "FLIGHTGEAR") {
 221     Type = otFlightGear;
 222   } else if (type == "TERMINAL") {
 223     Type = otTerminal;
 224   } else if (type != string("NONE")) {
 225     Type = otUnknown;
 226     cerr << "Unknown type of output specified in config file" << endl;
 227   }
 228 }
 229
 230 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 231
 232 void FGOutput::DelimitedOutput(const string& fname)
 233 {
 234   streambuf* buffer;
 235   string scratch = "";
 236
 237   if (fname == "COUT" || fname == "cout") {
 238     buffer = cout.rdbuf();
 239   } else {
 240     if (!datafile.is_open()) datafile.open(fname.c_str());
 241     buffer = datafile.rdbuf();
 242   }
 243
 244   ostream outstream(buffer);
 245
 246   outstream.precision(10);
 247
 248   if (dFirstPass) {
 249     outstream << "Time";
 250     if (SubSystems & ssSimulation) {
 251       // Nothing here, yet
 252     }
 253     if (SubSystems & ssAerosurfaces) {
 254       outstream << delimeter;
 255       outstream << "Aileron Command (norm)" + delimeter;
 256       outstream << "Elevator Command (norm)" + delimeter;
 257       outstream << "Rudder Command (norm)" + delimeter;
 258       outstream << "Flap Command (norm)" + delimeter;
 259       outstream << "Left Aileron Position (deg)" + delimeter;
 260       outstream << "Right Aileron Position (deg)" + delimeter;
 261       outstream << "Elevator Position (deg)" + delimeter;
 262       outstream << "Rudder Position (deg)" + delimeter;
 263       outstream << "Flap Position (deg)";
 264     }
 265     if (SubSystems & ssRates) {
 266       outstream << delimeter;
 267       outstream << "P (deg/s)" + delimeter + "Q (deg/s)" + delimeter + "R (deg/s)" + delimeter;
 268       outstream << "P dot (deg/s^2)" + delimeter + "Q dot (deg/s^2)" + delimeter + "R dot (deg/s^2)";
 269     }
 270     if (SubSystems & ssVelocities) {
 271       outstream << delimeter;
 272       outstream << "q bar (psf)" + delimeter;
 273       outstream << "Reynolds Number" + delimeter;
 274       outstream << "V_{Total} (ft/s)" + delimeter;
 275       outstream << "V_{Inertial} (ft/s)" + delimeter;
 276       outstream << "UBody" + delimeter + "VBody" + delimeter + "WBody" + delimeter;
 277       outstream << "Aero V_{X Body} (ft/s)" + delimeter + "Aero V_{Y Body} (ft/s)" + delimeter + "Aero V_{Z Body} (ft/s)" + delimeter;
 278       outstream << "V_{North} (ft/s)" + delimeter + "V_{East} (ft/s)" + delimeter + "V_{Down} (ft/s)";
 279     }
 280     if (SubSystems & ssForces) {
 281       outstream << delimeter;
 282       outstream << "F_{Drag} (lbs)" + delimeter + "F_{Side} (lbs)" + delimeter + "F_{Lift} (lbs)" + delimeter;
 283       outstream << "L/D" + delimeter;
 284       outstream << "F_{Aero x} (lbs)" + delimeter + "F_{Aero y} (lbs)" + delimeter + "F_{Aero z} (lbs)" + delimeter;
 285       outstream << "F_{Prop x} (lbs)" + delimeter + "F_{Prop y} (lbs)" + delimeter + "F_{Prop z} (lbs)" + delimeter;
 286       outstream << "F_{Gear x} (lbs)" + delimeter + "F_{Gear y} (lbs)" + delimeter + "F_{Gear z} (lbs)" + delimeter;
 287       outstream << "F_{Ext x} (lbs)" + delimeter + "F_{Ext y} (lbs)" + delimeter + "F_{Ext z} (lbs)" + delimeter;
 288       outstream << "F_{Buoyant x} (lbs)" + delimeter + "F_{Buoyant y} (lbs)" + delimeter + "F_{Buoyant z} (lbs)" + delimeter;
 289       outstream << "F_{Total x} (lbs)" + delimeter + "F_{Total y} (lbs)" + delimeter + "F_{Total z} (lbs)";
 290     }
 291     if (SubSystems & ssMoments) {
 292       outstream << delimeter;
 293       outstream << "L_{Aero} (ft-lbs)" + delimeter + "M_{Aero} ( ft-lbs)" + delimeter + "N_{Aero} (ft-lbs)" + delimeter;
 294       outstream << "L_{Prop} (ft-lbs)" + delimeter + "M_{Prop} (ft-lbs)" + delimeter + "N_{Prop} (ft-lbs)" + delimeter;
 295       outstream << "L_{Gear} (ft-lbs)" + delimeter + "M_{Gear} (ft-lbs)" + delimeter + "N_{Gear} (ft-lbs)" + delimeter;
 296       outstream << "L_{ext} (ft-lbs)" + delimeter + "M_{ext} (ft-lbs)" + delimeter + "N_{ext} (ft-lbs)" + delimeter;
 297       outstream << "L_{Buoyant} (ft-lbs)" + delimeter + "M_{Buoyant} (ft-lbs)" + delimeter + "N_{Buoyant} (ft-lbs)" + delimeter;
 298       outstream << "L_{Total} (ft-lbs)" + delimeter + "M_{Total} (ft-lbs)" + delimeter + "N_{Total} (ft-lbs)";
 299     }
 300     if (SubSystems & ssAtmosphere) {
 301       outstream << delimeter;
 302       outstream << "Rho (slugs/ft^3)" + delimeter;
 303       outstream << "Absolute Viscosity" + delimeter;
 304       outstream << "Kinematic Viscosity" + delimeter;
 305       outstream << "Temperature (R)" + delimeter;
 306       outstream << "P_{SL} (psf)" + delimeter;
 307       outstream << "P_{Ambient} (psf)" + delimeter;
 308       outstream << "Turbulence Magnitude (ft/sec)" + delimeter;
 309       outstream << "Turbulence X Direction (rad)" + delimeter + "Turbulence Y Direction (rad)" + delimeter + "Turbulence Z Direction (rad)" + delimeter;
 310       outstream << "Wind V_{North} (ft/s)" + delimeter + "Wind V_{East} (ft/s)" + delimeter + "Wind V_{Down} (ft/s)";
 311     }
 312     if (SubSystems & ssMassProps) {
 313       outstream << delimeter;
 314       outstream << "I_{xx}" + delimeter;
 315       outstream << "I_{xy}" + delimeter;
 316       outstream << "I_{xz}" + delimeter;
 317       outstream << "I_{yx}" + delimeter;
 318       outstream << "I_{yy}" + delimeter;
 319       outstream << "I_{yz}" + delimeter;
 320       outstream << "I_{zx}" + delimeter;
 321       outstream << "I_{zy}" + delimeter;
 322       outstream << "I_{zz}" + delimeter;
 323       outstream << "Mass" + delimeter;
 324       outstream << "X_{cg}" + delimeter + "Y_{cg}" + delimeter + "Z_{cg}";
 325     }
 326     if (SubSystems & ssPropagate) {
 327       outstream << delimeter;
 328       outstream << "Altitude ASL (ft)" + delimeter;
 329       outstream << "Altitude AGL (ft)" + delimeter;
 330       outstream << "Phi (deg)" + delimeter + "Theta (deg)" + delimeter + "Psi (deg)" + delimeter;
 331       outstream << "Alpha (deg)" + delimeter;
 332       outstream << "Beta (deg)" + delimeter;
 333       outstream << "Latitude (deg)" + delimeter;
 334       outstream << "Longitude (deg)" + delimeter;
 335       outstream << "ECEF X (ft)" + delimeter + "ECEF Y (ft)" + delimeter + "ECEF Z (ft)" + delimeter;
 336       outstream << "EPA (deg)" + delimeter;
 337       outstream << "Distance AGL (ft)" + delimeter;
 338       outstream << "Terrain Elevation (ft)";
 339     }
 340     if (SubSystems & ssCoefficients) {
 341       scratch = Aerodynamics->GetCoefficientStrings(delimeter);
 342       if (scratch.length() != 0) outstream << delimeter << scratch;
 343     }
 344     if (SubSystems & ssFCS) {
 345       scratch = FCS->GetComponentStrings(delimeter);
 346       if (scratch.length() != 0) outstream << delimeter << scratch;
 347     }
 348     if (SubSystems & ssGroundReactions) {
 349       outstream << delimeter;
 350       outstream << GroundReactions->GetGroundReactionStrings(delimeter);
 351     }
 352     if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
 353       outstream << delimeter;
 354       outstream << Propulsion->GetPropulsionStrings(delimeter);
 355     }
 356     if (OutputProperties.size() > 0) {
 357       for (unsigned int i=0;i<OutputProperties.size();i++) {
 358         outstream << delimeter << OutputProperties[i]->GetPrintableName();
 359       }
 360     }
 361
 362     outstream << endl;
 363     dFirstPass = false;
 364   }
 365
 366   outstream << State->Getsim_time();
 367   if (SubSystems & ssSimulation) {
 368   }
 369   if (SubSystems & ssAerosurfaces) {
 370     outstream << delimeter;
 371     outstream << FCS->GetDaCmd() << delimeter;
 372     outstream << FCS->GetDeCmd() << delimeter;
 373     outstream << FCS->GetDrCmd() << delimeter;
 374     outstream << FCS->GetDfCmd() << delimeter;
 375     outstream << FCS->GetDaLPos(ofDeg) << delimeter;
 376     outstream << FCS->GetDaRPos(ofDeg) << delimeter;
 377     outstream << FCS->GetDePos(ofDeg) << delimeter;
 378     outstream << FCS->GetDrPos(ofDeg) << delimeter;
 379     outstream << FCS->GetDfPos(ofDeg);
 380   }
 381   if (SubSystems & ssRates) {
 382     outstream << delimeter;
 383     outstream << (radtodeg*Propagate->GetPQR()).Dump(delimeter) << delimeter;
 384     outstream << (radtodeg*Propagate->GetPQRdot()).Dump(delimeter);
 385   }
 386   if (SubSystems & ssVelocities) {
 387     outstream << delimeter;
 388     outstream << Auxiliary->Getqbar() << delimeter;
 389     outstream << Auxiliary->GetReynoldsNumber() << delimeter;
 390     outstream << setprecision(12) << Auxiliary->GetVt() << delimeter;
 391     outstream << Propagate->GetInertialVelocityMagnitude() << delimeter;
 392     outstream << setprecision(12) << Propagate->GetUVW().Dump(delimeter) << delimeter;
 393     outstream << Auxiliary->GetAeroUVW().Dump(delimeter) << delimeter;
 394     outstream << Propagate->GetVel().Dump(delimeter);
 395     outstream.precision(10);
 396   }
 397   if (SubSystems & ssForces) {
 398     outstream << delimeter;
 399     outstream << Aerodynamics->GetvFw() << delimeter;
 400     outstream << Aerodynamics->GetLoD() << delimeter;
 401     outstream << Aerodynamics->GetForces() << delimeter;
 402     outstream << Propulsion->GetForces() << delimeter;
 403     outstream << GroundReactions->GetForces() << delimeter;
 404     outstream << ExternalReactions->GetForces() << delimeter;
 405     outstream << BuoyantForces->GetForces() << delimeter;
 406     outstream << Aircraft->GetForces().Dump(delimeter);
 407   }
 408   if (SubSystems & ssMoments) {
 409     outstream << delimeter;
 410     outstream << Aerodynamics->GetMoments() << delimeter;
 411     outstream << Propulsion->GetMoments() << delimeter;
 412     outstream << GroundReactions->GetMoments() << delimeter;
 413     outstream << ExternalReactions->GetMoments() << delimeter;
 414     outstream << BuoyantForces->GetMoments() << delimeter;
 415     outstream << Aircraft->GetMoments().Dump(delimeter);
 416   }
 417   if (SubSystems & ssAtmosphere) {
 418     outstream << delimeter;
 419     outstream << Atmosphere->GetDensity() << delimeter;
 420     outstream << Atmosphere->GetAbsoluteViscosity() << delimeter;
 421     outstream << Atmosphere->GetKinematicViscosity() << delimeter;
 422     outstream << Atmosphere->GetTemperature() << delimeter;
 423     outstream << Atmosphere->GetPressureSL() << delimeter;
 424     outstream << Atmosphere->GetPressure() << delimeter;
 425     outstream << Atmosphere->GetTurbMagnitude() << delimeter;
 426     outstream << Atmosphere->GetTurbDirection().Dump(delimeter) << delimeter;
 427     outstream << Atmosphere->GetTotalWindNED().Dump(delimeter);
 428   }
 429   if (SubSystems & ssMassProps) {
 430     outstream << delimeter;
 431     outstream << MassBalance->GetJ() << delimeter;
 432     outstream << MassBalance->GetMass() << delimeter;
 433     outstream << MassBalance->GetXYZcg();
 434   }
 435   if (SubSystems & ssPropagate) {
 436     outstream.precision(14);
 437     outstream << delimeter;
 438     outstream << Propagate->GetAltitudeASL() << delimeter;
 439     outstream << Propagate->GetDistanceAGL() << delimeter;
 440     outstream << (radtodeg*Propagate->GetEuler()).Dump(delimeter) << delimeter;
 441     outstream << Auxiliary->Getalpha(inDegrees) << delimeter;
 442     outstream << Auxiliary->Getbeta(inDegrees) << delimeter;
 443     outstream << Propagate->GetLocation().GetLatitudeDeg() << delimeter;
 444     outstream << Propagate->GetLocation().GetLongitudeDeg() << delimeter;
 445     outstream.precision(18);
 446     outstream << ((FGColumnVector3)Propagate->GetLocation()).Dump(delimeter) << delimeter;
 447     outstream.precision(14);
 448     outstream << Inertial->GetEarthPositionAngleDeg() << delimeter;
 449     outstream << Propagate->GetDistanceAGL() << delimeter;
 450     outstream << Propagate->GetTerrainElevation();
 451     outstream.precision(10);
 452   }
 453   if (SubSystems & ssCoefficients) {
 454     scratch = Aerodynamics->GetCoefficientValues(delimeter);
 455     if (scratch.length() != 0) outstream << delimeter << scratch;
 456   }
 457   if (SubSystems & ssFCS) {
 458     scratch = FCS->GetComponentValues(delimeter);
 459     if (scratch.length() != 0) outstream << delimeter << scratch;
 460   }
 461   if (SubSystems & ssGroundReactions) {
 462     outstream << delimeter;
 463     outstream << GroundReactions->GetGroundReactionValues(delimeter);
 464   }
 465   if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
 466     outstream << delimeter;
 467     outstream << Propulsion->GetPropulsionValues(delimeter);
 468   }
 469
 470   outstream.precision(18);
 471   for (unsigned int i=0;i<OutputProperties.size();i++) {
 472     outstream << delimeter << OutputProperties[i]->getDoubleValue();
 473   }
 474   outstream.precision(10);
 475
 476   outstream << endl;
 477   outstream.flush();
 478 }
 479
 480 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 481
 482 void FGOutput::SocketDataFill(FGNetFDM* net)
 483 {
 484     unsigned int i;
 485
 486     // Version
 487     net->version = FG_NET_FDM_VERSION;
 488
 489     // Positions
 490     net->longitude = Propagate->GetLocation().GetLongitude(); // geodetic (radians)
 491     net->latitude  = Propagate->GetLocation().GetLatitude(); // geodetic (radians)
 492     net->altitude  = Propagate->GetAltitudeASL()*0.3048; // altitude, above sea level (meters)
 493     net->agl       = (float)(Propagate->GetDistanceAGL()*0.3048); // altitude, above ground level (meters)
 494
 495     net->phi       = (float)(Propagate->GetEuler(ePhi)); // roll (radians)
 496     net->theta     = (float)(Propagate->GetEuler(eTht)); // pitch (radians)
 497     net->psi       = (float)(Propagate->GetEuler(ePsi)); // yaw or true heading (radians)
 498
 499     net->alpha     = (float)(Auxiliary->Getalpha()); // angle of attack (radians)
 500     net->beta      = (float)(Auxiliary->Getbeta()); // side slip angle (radians)
 501
 502     // Velocities
 503     net->phidot     = (float)(Auxiliary->GetEulerRates(ePhi)); // roll rate (radians/sec)
 504     net->thetadot   = (float)(Auxiliary->GetEulerRates(eTht)); // pitch rate (radians/sec)
 505     net->psidot     = (float)(Auxiliary->GetEulerRates(ePsi)); // yaw rate (radians/sec)
 506     net->vcas       = (float)(Auxiliary->GetVcalibratedFPS()); // VCAS, ft/sec
 507     net->climb_rate = (float)(Propagate->Gethdot());           // altitude rate, ft/sec
 508     net->v_north    = (float)(Propagate->GetVel(eNorth));      // north vel in NED frame, fps
 509     net->v_east     = (float)(Propagate->GetVel(eEast));       // east vel in NED frame, fps
 510     net->v_down     = (float)(Propagate->GetVel(eDown));       // down vel in NED frame, fps
 511 //---ADD METHOD TO CALCULATE THESE TERMS---
 512     net->v_wind_body_north = (float)(Propagate->GetVel(eNorth)); // north vel in NED relative to airmass, fps
 513     net->v_wind_body_east = (float)(Propagate->GetVel(eEast)); // east vel in NED relative to airmass, fps
 514     net->v_wind_body_down = (float)(Propagate->GetVel(eDown)); // down vel in NED relative to airmass, fps
 515
 516     // Accelerations
 517     net->A_X_pilot   = (float)(Auxiliary->GetPilotAccel(1));    // X body accel, ft/s/s
 518     net->A_Y_pilot   = (float)(Auxiliary->GetPilotAccel(2));    // Y body accel, ft/s/s
 519     net->A_Z_pilot   = (float)(Auxiliary->GetPilotAccel(3));    // Z body accel, ft/s/s
 520
 521     // Stall
 522     net->stall_warning = 0.0;  // 0.0 - 1.0 indicating the amount of stall
 523     net->slip_deg    = (float)(Auxiliary->Getbeta(inDegrees));  // slip ball deflection, deg
 524
 525     // Engine status
 526     net->num_engines = Propulsion->GetNumEngines(); // Number of valid engines
 527
 528     for (i=0; i<net->num_engines; i++) {
 529        if (Propulsion->GetEngine(i)->GetRunning())
 530           net->eng_state[i] = 2;       // Engine state running
 531        else if (Propulsion->GetEngine(i)->GetCranking())
 532           net->eng_state[i] = 1;       // Engine state cranking
 533        else
 534           net->eng_state[i] = 0;       // Engine state off
 535
 536        switch (Propulsion->GetEngine(i)->GetType()) {
 537        case (FGEngine::etRocket):
 538        break;
 539        case (FGEngine::etPiston):
 540           net->rpm[i]       = (float)(((FGPiston *)Propulsion->GetEngine(i))->getRPM());
 541           net->fuel_flow[i] = (float)(((FGPiston *)Propulsion->GetEngine(i))->getFuelFlow_gph());
 542           net->fuel_px[i]   = 0; // Fuel pressure, psi  (N/A in current model)
 543           net->egt[i]       = (float)(((FGPiston *)Propulsion->GetEngine(i))->GetEGT());
 544           net->cht[i]       = (float)(((FGPiston *)Propulsion->GetEngine(i))->getCylinderHeadTemp_degF());
 545           net->mp_osi[i]    = (float)(((FGPiston *)Propulsion->GetEngine(i))->getManifoldPressure_inHg());
 546           net->oil_temp[i]  = (float)(((FGPiston *)Propulsion->GetEngine(i))->getOilTemp_degF());
 547           net->oil_px[i]    = (float)(((FGPiston *)Propulsion->GetEngine(i))->getOilPressure_psi());
 548           net->tit[i]       = 0; // Turbine Inlet Temperature  (N/A for piston)
 549        break;
 550        case (FGEngine::etTurbine):
 551        break;
 552        case (FGEngine::etTurboprop):
 553        break;
 554        case (FGEngine::etElectric):
 555        break;
 556        case (FGEngine::etUnknown):
 557        break;
 558        }
 559     }
 560
 561
 562     // Consumables
 563     net->num_tanks = Propulsion->GetNumTanks();   // Max number of fuel tanks
 564
 565     for (i=0; i<net->num_tanks; i++) {
 566        net->fuel_quantity[i] = (float)(((FGTank *)Propulsion->GetTank(i))->GetContents());
 567     }
 568
 569
 570     // Gear status
 571     net->num_wheels  = GroundReactions->GetNumGearUnits();
 572
 573     for (i=0; i<net->num_wheels; i++) {
 574        net->wow[i]              = GroundReactions->GetGearUnit(i)->GetWOW();
 575        if (GroundReactions->GetGearUnit(i)->GetGearUnitDown())
 576           net->gear_pos[i]      = 1;  //gear down, using FCS convention
 577        else
 578           net->gear_pos[i]      = 0;  //gear up, using FCS convention
 579        net->gear_steer[i]       = (float)(GroundReactions->GetGearUnit(i)->GetSteerNorm());
 580        net->gear_compression[i] = (float)(GroundReactions->GetGearUnit(i)->GetCompLen());
 581     }
 582
 583
 584     // Environment
 585     net->cur_time    = (long int)1234567890;    // Friday, Feb 13, 2009, 23:31:30 UTC (not processed by FGFS anyway)
 586     net->warp        = 0;                       // offset in seconds to unix time
 587     net->visibility  = 25000.0;                 // visibility in meters (for env. effects)
 588
 589
 590     // Control surface positions (normalized values)
 591     net->elevator          = (float)(FCS->GetDePos(ofNorm));    // Norm Elevator Pos, --
 592     net->elevator_trim_tab = (float)(FCS->GetPitchTrimCmd());   // Norm Elev Trim Tab Pos, --
 593     net->left_flap         = (float)(FCS->GetDfPos(ofNorm));    // Norm Flap Pos, --
 594     net->right_flap        = (float)(FCS->GetDfPos(ofNorm));    // Norm Flap Pos, --
 595     net->left_aileron      = (float)(FCS->GetDaLPos(ofNorm));   // Norm L Aileron Pos, --
 596     net->right_aileron     = (float)(FCS->GetDaRPos(ofNorm));   // Norm R Aileron Pos, --
 597     net->rudder            = (float)(FCS->GetDrPos(ofNorm));    // Norm Rudder Pos, --
 598     net->nose_wheel        = (float)(FCS->GetDrPos(ofNorm));    // *** FIX ***  Using Rudder Pos for NWS, --
 599     net->speedbrake        = (float)(FCS->GetDsbPos(ofNorm));   // Norm Speedbrake Pos, --
 600     net->spoilers          = (float)(FCS->GetDspPos(ofNorm));   // Norm Spoiler Pos, --
 601
 602
 603     // Convert the net buffer to network format
 604     if ( isLittleEndian ) {
 605         net->version = htonl(net->version);
 606
 607         htond(net->longitude);
 608         htond(net->latitude);
 609         htond(net->altitude);
 610         htonf(net->agl);
 611         htonf(net->phi);
 612         htonf(net->theta);
 613         htonf(net->psi);
 614         htonf(net->alpha);
 615         htonf(net->beta);
 616
 617         htonf(net->phidot);
 618         htonf(net->thetadot);
 619         htonf(net->psidot);
 620         htonf(net->vcas);
 621         htonf(net->climb_rate);
 622         htonf(net->v_north);
 623         htonf(net->v_east);
 624         htonf(net->v_down);
 625         htonf(net->v_wind_body_north);
 626         htonf(net->v_wind_body_east);
 627         htonf(net->v_wind_body_down);
 628
 629         htonf(net->A_X_pilot);
 630         htonf(net->A_Y_pilot);
 631         htonf(net->A_Z_pilot);
 632
 633         htonf(net->stall_warning);
 634         htonf(net->slip_deg);
 635
 636         for (i=0; i<net->num_engines; ++i ) {
 637             net->eng_state[i] = htonl(net->eng_state[i]);
 638             htonf(net->rpm[i]);
 639             htonf(net->fuel_flow[i]);
 640             htonf(net->fuel_px[i]);
 641             htonf(net->egt[i]);
 642             htonf(net->cht[i]);
 643             htonf(net->mp_osi[i]);
 644             htonf(net->tit[i]);
 645             htonf(net->oil_temp[i]);
 646             htonf(net->oil_px[i]);
 647         }
 648         net->num_engines = htonl(net->num_engines);
 649
 650         for (i=0; i<net->num_tanks; ++i ) {
 651             htonf(net->fuel_quantity[i]);
 652         }
 653         net->num_tanks = htonl(net->num_tanks);
 654
 655         for (i=0; i<net->num_wheels; ++i ) {
 656             net->wow[i] = htonl(net->wow[i]);
 657             htonf(net->gear_pos[i]);
 658             htonf(net->gear_steer[i]);
 659             htonf(net->gear_compression[i]);
 660         }
 661         net->num_wheels = htonl(net->num_wheels);
 662
 663         net->cur_time = htonl( net->cur_time );
 664         net->warp = htonl( net->warp );
 665         htonf(net->visibility);
 666
 667         htonf(net->elevator);
 668         htonf(net->elevator_trim_tab);
 669         htonf(net->left_flap);
 670         htonf(net->right_flap);
 671         htonf(net->left_aileron);
 672         htonf(net->right_aileron);
 673         htonf(net->rudder);
 674         htonf(net->nose_wheel);
 675         htonf(net->speedbrake);
 676         htonf(net->spoilers);
 677     }
 678 }
 679
 680 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 681
 682 void FGOutput::FlightGearSocketOutput(void)
 683 {
 684   int length = sizeof(fgSockBuf);
 685
 686
 687   if (flightGearSocket == NULL) return;
 688   if (!flightGearSocket->GetConnectStatus()) return;
 689
 690   SocketDataFill(&fgSockBuf);
 691   flightGearSocket->Send((char *)&fgSockBuf, length);
 692 }
 693
 694 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 695
 696 void FGOutput::SocketOutput(void)
 697 {
 698   string asciiData, scratch;
 699
 700   if (socket == NULL) return;
 701   if (!socket->GetConnectStatus()) return;
 702
 703   socket->Clear();
 704   if (sFirstPass) {
 705     socket->Clear("<LABELS>");
 706     socket->Append("Time");
 707
 708     if (SubSystems & ssAerosurfaces) {
 709       socket->Append("Aileron Command");
 710       socket->Append("Elevator Command");
 711       socket->Append("Rudder Command");
 712       socket->Append("Flap Command");
 713       socket->Append("Left Aileron Position");
 714       socket->Append("Right Aileron Position");
 715       socket->Append("Elevator Position");
 716       socket->Append("Rudder Position");
 717       socket->Append("Flap Position");
 718     }
 719
 720     if (SubSystems & ssRates) {
 721       socket->Append("P");
 722       socket->Append("Q");
 723       socket->Append("R");
 724       socket->Append("PDot");
 725       socket->Append("QDot");
 726       socket->Append("RDot");
 727     }
 728
 729     if (SubSystems & ssVelocities) {
 730       socket->Append("QBar");
 731       socket->Append("Vtotal");
 732       socket->Append("UBody");
 733       socket->Append("VBody");
 734       socket->Append("WBody");
 735       socket->Append("UAero");
 736       socket->Append("VAero");
 737       socket->Append("WAero");
 738       socket->Append("Vn");
 739       socket->Append("Ve");
 740       socket->Append("Vd");
 741     }
 742     if (SubSystems & ssForces) {
 743       socket->Append("F_Drag");
 744       socket->Append("F_Side");
 745       socket->Append("F_Lift");
 746       socket->Append("LoD");
 747       socket->Append("Fx");
 748       socket->Append("Fy");
 749       socket->Append("Fz");
 750     }
 751     if (SubSystems & ssMoments) {
 752       socket->Append("L");
 753       socket->Append("M");
 754       socket->Append("N");
 755     }
 756     if (SubSystems & ssAtmosphere) {
 757       socket->Append("Rho");
 758       socket->Append("SL pressure");
 759       socket->Append("Ambient pressure");
 760       socket->Append("Turbulence Magnitude");
 761       socket->Append("Turbulence Direction X");
 762       socket->Append("Turbulence Direction Y");
 763       socket->Append("Turbulence Direction Z");
 764       socket->Append("NWind");
 765       socket->Append("EWind");
 766       socket->Append("DWind");
 767     }
 768     if (SubSystems & ssMassProps) {
 769       socket->Append("Ixx");
 770       socket->Append("Ixy");
 771       socket->Append("Ixz");
 772       socket->Append("Iyx");
 773       socket->Append("Iyy");
 774       socket->Append("Iyz");
 775       socket->Append("Izx");
 776       socket->Append("Izy");
 777       socket->Append("Izz");
 778       socket->Append("Mass");
 779       socket->Append("Xcg");
 780       socket->Append("Ycg");
 781       socket->Append("Zcg");
 782     }
 783     if (SubSystems & ssPropagate) {
 784         socket->Append("Altitude");
 785         socket->Append("Phi (deg)");
 786         socket->Append("Tht (deg)");
 787         socket->Append("Psi (deg)");
 788         socket->Append("Alpha (deg)");
 789         socket->Append("Beta (deg)");
 790         socket->Append("Latitude (deg)");
 791         socket->Append("Longitude (deg)");
 792     }
 793     if (SubSystems & ssCoefficients) {
 794       scratch = Aerodynamics->GetCoefficientStrings(",");
 795       if (scratch.length() != 0) socket->Append(scratch);
 796     }
 797     if (SubSystems & ssFCS) {
 798       scratch = FCS->GetComponentStrings(",");
 799       if (scratch.length() != 0) socket->Append(scratch);
 800     }
 801     if (SubSystems & ssGroundReactions) {
 802       socket->Append(GroundReactions->GetGroundReactionStrings(","));
 803     }
 804     if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
 805       socket->Append(Propulsion->GetPropulsionStrings(","));
 806     }
 807     if (OutputProperties.size() > 0) {
 808       for (unsigned int i=0;i<OutputProperties.size();i++) {
 809         socket->Append(OutputProperties[i]->GetPrintableName());
 810       }
 811     }
 812
 813     sFirstPass = false;
 814     socket->Send();
 815   }
 816
 817   socket->Clear();
 818   socket->Append(State->Getsim_time());
 819
 820   if (SubSystems & ssAerosurfaces) {
 821     socket->Append(FCS->GetDaCmd());
 822     socket->Append(FCS->GetDeCmd());
 823     socket->Append(FCS->GetDrCmd());
 824     socket->Append(FCS->GetDfCmd());
 825     socket->Append(FCS->GetDaLPos());
 826     socket->Append(FCS->GetDaRPos());
 827     socket->Append(FCS->GetDePos());
 828     socket->Append(FCS->GetDrPos());
 829     socket->Append(FCS->GetDfPos());
 830   }
 831   if (SubSystems & ssRates) {
 832     socket->Append(radtodeg*Propagate->GetPQR(eP));
 833     socket->Append(radtodeg*Propagate->GetPQR(eQ));
 834     socket->Append(radtodeg*Propagate->GetPQR(eR));
 835     socket->Append(radtodeg*Propagate->GetPQRdot(eP));
 836     socket->Append(radtodeg*Propagate->GetPQRdot(eQ));
 837     socket->Append(radtodeg*Propagate->GetPQRdot(eR));
 838   }
 839   if (SubSystems & ssVelocities) {
 840     socket->Append(Auxiliary->Getqbar());
 841     socket->Append(Auxiliary->GetVt());
 842     socket->Append(Propagate->GetUVW(eU));
 843     socket->Append(Propagate->GetUVW(eV));
 844     socket->Append(Propagate->GetUVW(eW));
 845     socket->Append(Auxiliary->GetAeroUVW(eU));
 846     socket->Append(Auxiliary->GetAeroUVW(eV));
 847     socket->Append(Auxiliary->GetAeroUVW(eW));
 848     socket->Append(Propagate->GetVel(eNorth));
 849     socket->Append(Propagate->GetVel(eEast));
 850     socket->Append(Propagate->GetVel(eDown));
 851   }
 852   if (SubSystems & ssForces) {
 853     socket->Append(Aerodynamics->GetvFw()(eDrag));
 854     socket->Append(Aerodynamics->GetvFw()(eSide));
 855     socket->Append(Aerodynamics->GetvFw()(eLift));
 856     socket->Append(Aerodynamics->GetLoD());
 857     socket->Append(Aircraft->GetForces(eX));
 858     socket->Append(Aircraft->GetForces(eY));
 859     socket->Append(Aircraft->GetForces(eZ));
 860   }
 861   if (SubSystems & ssMoments) {
 862     socket->Append(Aircraft->GetMoments(eL));
 863     socket->Append(Aircraft->GetMoments(eM));
 864     socket->Append(Aircraft->GetMoments(eN));
 865   }
 866   if (SubSystems & ssAtmosphere) {
 867     socket->Append(Atmosphere->GetDensity());
 868     socket->Append(Atmosphere->GetPressureSL());
 869     socket->Append(Atmosphere->GetPressure());
 870     socket->Append(Atmosphere->GetTurbMagnitude());
 871     socket->Append(Atmosphere->GetTurbDirection().Dump(","));
 872     socket->Append(Atmosphere->GetTotalWindNED().Dump(","));
 873   }
 874   if (SubSystems & ssMassProps) {
 875     socket->Append(MassBalance->GetJ()(1,1));
 876     socket->Append(MassBalance->GetJ()(1,2));
 877     socket->Append(MassBalance->GetJ()(1,3));
 878     socket->Append(MassBalance->GetJ()(2,1));
 879     socket->Append(MassBalance->GetJ()(2,2));
 880     socket->Append(MassBalance->GetJ()(2,3));
 881     socket->Append(MassBalance->GetJ()(3,1));
 882     socket->Append(MassBalance->GetJ()(3,2));
 883     socket->Append(MassBalance->GetJ()(3,3));
 884     socket->Append(MassBalance->GetMass());
 885     socket->Append(MassBalance->GetXYZcg()(eX));
 886     socket->Append(MassBalance->GetXYZcg()(eY));
 887     socket->Append(MassBalance->GetXYZcg()(eZ));
 888   }
 889   if (SubSystems & ssPropagate) {
 890     socket->Append(Propagate->GetAltitudeASL());
 891     socket->Append(radtodeg*Propagate->GetEuler(ePhi));
 892     socket->Append(radtodeg*Propagate->GetEuler(eTht));
 893     socket->Append(radtodeg*Propagate->GetEuler(ePsi));
 894     socket->Append(Auxiliary->Getalpha(inDegrees));
 895     socket->Append(Auxiliary->Getbeta(inDegrees));
 896     socket->Append(Propagate->GetLocation().GetLatitudeDeg());
 897     socket->Append(Propagate->GetLocation().GetLongitudeDeg());
 898   }
 899   if (SubSystems & ssCoefficients) {
 900     scratch = Aerodynamics->GetCoefficientValues(",");
 901     if (scratch.length() != 0) socket->Append(scratch);
 902   }
 903   if (SubSystems & ssFCS) {
 904     scratch = FCS->GetComponentValues(",");
 905     if (scratch.length() != 0) socket->Append(scratch);
 906   }
 907   if (SubSystems & ssGroundReactions) {
 908     socket->Append(GroundReactions->GetGroundReactionValues(","));
 909   }
 910   if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
 911     socket->Append(Propulsion->GetPropulsionValues(","));
 912   }
 913
 914   for (unsigned int i=0;i<OutputProperties.size();i++) {
 915     socket->Append(OutputProperties[i]->getDoubleValue());
 916   }
 917
 918   socket->Send();
 919 }
 920
 921 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 922
 923 void FGOutput::SocketStatusOutput(const string& out_str)
 924 {
 925   string asciiData;
 926
 927   if (socket == NULL) return;
 928
 929   socket->Clear();
 930   asciiData = string("<STATUS>") + out_str;
 931   socket->Append(asciiData.c_str());
 932   socket->Send();
 933 }
 934
 935 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 936
 937 bool FGOutput::Load(Element* element)
 938 {
 939   string type="", parameter="";
 940   string name="";
 941   string protocol="tcp";
 942   int OutRate = 0;
 943   string property;
 944   unsigned int port;
 945   Element *property_element;
 946
 947   string separator = "/";
 948
 949   if (!DirectivesFile.empty()) { // A directives filename from the command line overrides
 950     output_file_name = DirectivesFile;      // one found in the config file.
 951     document = LoadXMLDocument(output_file_name);
 952   } else if (!element->GetAttributeValue("file").empty()) {
 953     output_file_name = element->GetAttributeValue("file");
 954     document = LoadXMLDocument(output_file_name);
 955   } else {
 956     document = element;
 957   }
 958
 959   name = document->GetAttributeValue("name");
 960   type = document->GetAttributeValue("type");
 961   SetType(type);
 962   if (!document->GetAttributeValue("port").empty() && type == string("SOCKET")) {
 963     port = atoi(document->GetAttributeValue("port").c_str());
 964     socket = new FGfdmSocket(name, port);
 965   } else if (!document->GetAttributeValue("port").empty() && type == string("FLIGHTGEAR")) {
 966     port = atoi(document->GetAttributeValue("port").c_str());
 967     if (!document->GetAttributeValue("protocol").empty())
 968        protocol = document->GetAttributeValue("protocol");
 969     if (protocol == "udp")
 970        flightGearSocket = new FGfdmSocket(name, port, FGfdmSocket::ptUDP);  // create udp socket
 971     else
 972        flightGearSocket = new FGfdmSocket(name, port, FGfdmSocket::ptTCP);  // create tcp socket (default)
 973   } else {
 974     BaseFilename = Filename = name;
 975   }
 976   if (!document->GetAttributeValue("rate").empty()) {
 977     OutRate = (int)document->GetAttributeValueAsNumber("rate");
 978   } else {
 979     OutRate = 1;
 980   }
 981
 982   if (document->FindElementValue("simulation") == string("ON"))
 983     SubSystems += ssSimulation;
 984   if (document->FindElementValue("aerosurfaces") == string("ON"))
 985     SubSystems += ssAerosurfaces;
 986   if (document->FindElementValue("rates") == string("ON"))
 987     SubSystems += ssRates;
 988   if (document->FindElementValue("velocities") == string("ON"))
 989     SubSystems += ssVelocities;
 990   if (document->FindElementValue("forces") == string("ON"))
 991     SubSystems += ssForces;
 992   if (document->FindElementValue("moments") == string("ON"))
 993     SubSystems += ssMoments;
 994   if (document->FindElementValue("atmosphere") == string("ON"))
 995     SubSystems += ssAtmosphere;
 996   if (document->FindElementValue("massprops") == string("ON"))
 997     SubSystems += ssMassProps;
 998   if (document->FindElementValue("position") == string("ON"))
 999     SubSystems += ssPropagate;
1000   if (document->FindElementValue("coefficients") == string("ON"))
1001     SubSystems += ssCoefficients;
1002   if (document->FindElementValue("ground_reactions") == string("ON"))
1003     SubSystems += ssGroundReactions;
1004   if (document->FindElementValue("fcs") == string("ON"))
1005     SubSystems += ssFCS;
1006   if (document->FindElementValue("propulsion") == string("ON"))
1007     SubSystems += ssPropulsion;
1008   property_element = document->FindElement("property");
1009   while (property_element) {
1010     string property_str = property_element->GetDataLine();
1011     FGPropertyManager* node = PropertyManager->GetNode(property_str);
1012     if (!node) {
1013       cerr << fgred << highint << endl << "  No property by the name "
1014            << property_str << " has been defined. This property will " << endl
1015            << "  not be logged. You should check your configuration file."
1016            << reset << endl;
1017     } else {
1018       OutputProperties.push_back(node);
1019     }
1020     property_element = document->FindNextElement("property");
1021   }
1022
1023   SetRate(OutRate);
1024
1025   Debug(2);
1026
1027   return true;
1028 }
1029
1030 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
1031
1032 void FGOutput::SetRate(int rtHz)
1033 {
1034   rtHz = rtHz>1000?1000:(rtHz<0?0:rtHz);
1035   if (rtHz > 0) {
1036     rate = (int)(0.5 + 1.0/(State->Getdt()*rtHz));
1037     Enable();
1038   } else {
1039     rate = 1;
1040     Disable();
1041   }
1042 }
1043
1044 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
1045 //    The bitmasked value choices are as follows:
1046 //    unset: In this case (the default) JSBSim would only print
1047 //       out the normally expected messages, essentially echoing
1048 //       the config files as they are read. If the environment
1049 //       variable is not set, debug_lvl is set to 1 internally
1050 //    0: This requests JSBSim not to output any messages
1051 //       whatsoever.
1052 //    1: This value explicity requests the normal JSBSim
1053 //       startup messages
1054 //    2: This value asks for a message to be printed out when
1055 //       a class is instantiated
1056 //    4: When this value is set, a message is displayed when a
1057 //       FGModel object executes its Run() method
1058 //    8: When this value is set, various runtime state variables
1059 //       are printed out periodically
1060 //    16: When set various parameters are sanity checked and
1061 //       a message is printed out when they go out of bounds
1062
1063 void FGOutput::Debug(int from)
1064 {
1065   string scratch="";
1066
1067   if (debug_lvl <= 0) return;
1068
1069   if (debug_lvl & 1) { // Standard console startup message output
1070     if (from == 0) { // Constructor
1071
1072     }
1073     if (from == 2) {
1074       if (output_file_name.empty())
1075         cout << "  " << "Output parameters read inline" << endl;
1076       else
1077         cout << "    Output parameters read from file: " << output_file_name << endl;
1078
1079       if (Filename == "cout" || Filename == "COUT") {
1080         scratch = "    Log output goes to screen console";
1081       } else if (!Filename.empty()) {
1082         scratch = "    Log output goes to file: " + Filename;
1083       }
1084       switch (Type) {
1085       case otCSV:
1086         cout << scratch << " in CSV format output at rate " << 1/(State->Getdt()*rate) << " Hz" << endl;
1087         break;
1088       case otNone:
1089       default:
1090         cout << "  No log output" << endl;
1091         break;
1092       }
1093
1094       if (SubSystems & ssSimulation)      cout << "    Simulation parameters logged" << endl;
1095       if (SubSystems & ssAerosurfaces)    cout << "    Aerosurface parameters logged" << endl;
1096       if (SubSystems & ssRates)           cout << "    Rate parameters logged" << endl;
1097       if (SubSystems & ssVelocities)      cout << "    Velocity parameters logged" << endl;
1098       if (SubSystems & ssForces)          cout << "    Force parameters logged" << endl;
1099       if (SubSystems & ssMoments)         cout << "    Moments parameters logged" << endl;
1100       if (SubSystems & ssAtmosphere)      cout << "    Atmosphere parameters logged" << endl;
1101       if (SubSystems & ssMassProps)       cout << "    Mass parameters logged" << endl;
1102       if (SubSystems & ssCoefficients)    cout << "    Coefficient parameters logged" << endl;
1103       if (SubSystems & ssPropagate)       cout << "    Propagate parameters logged" << endl;
1104       if (SubSystems & ssGroundReactions) cout << "    Ground parameters logged" << endl;
1105       if (SubSystems & ssFCS)             cout << "    FCS parameters logged" << endl;
1106       if (SubSystems & ssPropulsion)      cout << "    Propulsion parameters logged" << endl;
1107       if (OutputProperties.size() > 0)    cout << "    Properties logged:" << endl;
1108       for (unsigned int i=0;i<OutputProperties.size();i++) {
1109         cout << "      - " << OutputProperties[i]->GetName() << endl;
1110       }
1111     }
1112   }
1113   if (debug_lvl & 2 ) { // Instantiation/Destruction notification
1114     if (from == 0) cout << "Instantiated: FGOutput" << endl;
1115     if (from == 1) cout << "Destroyed:    FGOutput" << endl;
1116   }
1117   if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
1118   }
1119   if (debug_lvl & 8 ) { // Runtime state variables
1120   }
1121   if (debug_lvl & 16) { // Sanity checking
1122   }
1123   if (debug_lvl & 64) {
1124     if (from == 0) { // Constructor
1125       cout << IdSrc << endl;
1126       cout << IdHdr << endl;
1127     }
1128   }
1129 }
1130 }