1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
6 Purpose: Manage output of sim parameters to file or stdout
9 ------------- Copyright (C) 1999 Jon S. Berndt (jon@jsbsim.org) -------------
11 This program is free software; you can redistribute it and/or modify it under
12 the terms of the GNU Lesser General Public License as published by the Free Software
13 Foundation; either version 2 of the License, or (at your option) any later
16 This program is distributed in the hope that it will be useful, but WITHOUT
17 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
18 FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
21 You should have received a copy of the GNU Lesser General Public License along with
22 this program; if not, write to the Free Software Foundation, Inc., 59 Temple
23 Place - Suite 330, Boston, MA 02111-1307, USA.
25 Further information about the GNU Lesser General Public License can also be found on
26 the world wide web at http://www.gnu.org.
28 FUNCTIONAL DESCRIPTION
29 --------------------------------------------------------------------------------
30 This is the place where you create output routines to dump data for perusal
34 --------------------------------------------------------------------------------
36 11/09/07 HDW Added FlightGear Socket Interface
38 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
40 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
44 #include "FGFDMExec.h"
45 #include "FGAtmosphere.h"
47 #include "FGAerodynamics.h"
48 #include "FGGroundReactions.h"
49 #include "FGExternalReactions.h"
50 #include "FGBuoyantForces.h"
51 #include "FGAircraft.h"
52 #include "FGMassBalance.h"
53 #include "FGPropagate.h"
54 #include "FGAuxiliary.h"
55 #include "FGInertial.h"
56 #include "models/propulsion/FGEngine.h"
57 #include "models/propulsion/FGTank.h"
58 #include "models/propulsion/FGPiston.h"
64 #include "input_output/net_fdm.hxx"
65 #include "input_output/FGfdmSocket.h"
67 #if defined(WIN32) && !defined(__CYGWIN__)
70 # include <netinet/in.h> // htonl() ntohl()
73 static const int endianTest = 1;
74 #define isLittleEndian (*((char *) &endianTest ) != 0)
80 static const char *IdSrc = "$Id$";
81 static const char *IdHdr = ID_OUTPUT;
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
93 static void htond (double &x)
95 if ( isLittleEndian ) {
99 Double_Overlay = (int *) &x;
100 Holding_Buffer = Double_Overlay [0];
102 Double_Overlay [0] = htonl (Double_Overlay [1]);
103 Double_Overlay [1] = htonl (Holding_Buffer);
110 static void htonf (float &x)
112 if ( isLittleEndian ) {
116 Float_Overlay = (int *) &x;
117 Holding_Buffer = Float_Overlay [0];
119 Float_Overlay [0] = htonl (Holding_Buffer);
126 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
128 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
130 FGOutput::FGOutput(FGFDMExec* fdmex) : FGModel(fdmex)
133 sFirstPass = dFirstPass = true;
135 flightGearSocket = 0;
140 StartNewFile = false;
142 BaseFilename = Filename = "";
144 output_file_name = "";
146 memset(&fgSockBuf, 0x00, sizeof(fgSockBuf));
151 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
153 FGOutput::~FGOutput()
156 delete flightGearSocket;
157 OutputProperties.clear();
161 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
163 bool FGOutput::InitModel(void)
165 if (!FGModel::InitModel()) return false;
167 if (Filename.size() > 0 && StartNewFile) {
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);
173 buf << BaseFilename << '_' << runID_postfix++;
175 Filename = buf.str();
177 StartNewFile = false;
184 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
186 bool FGOutput::Run(void)
188 if (FGModel::Run()) return true;
190 if (enabled && !State->IntegrationSuspended()&& !FDMExec->Holding()) {
191 if (Type == otSocket) {
193 } else if (Type == otFlightGear) {
194 FlightGearSocketOutput();
195 } else if (Type == otCSV || Type == otTab) {
196 DelimitedOutput(Filename);
197 } else if (Type == otTerminal) {
199 } else if (Type == otNone) {
202 // Not a valid type of output
208 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
210 void FGOutput::SetType(const string& type)
215 } else if (type == "TABULAR") {
218 } else if (type == "SOCKET") {
220 } else if (type == "FLIGHTGEAR") {
222 } else if (type == "TERMINAL") {
224 } else if (type != string("NONE")) {
226 cerr << "Unknown type of output specified in config file" << endl;
230 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
232 void FGOutput::DelimitedOutput(const string& fname)
237 if (fname == "COUT" || fname == "cout") {
238 buffer = cout.rdbuf();
240 if (!datafile.is_open()) datafile.open(fname.c_str());
241 buffer = datafile.rdbuf();
244 ostream outstream(buffer);
246 outstream.precision(10);
250 if (SubSystems & ssSimulation) {
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)";
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)";
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)";
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)";
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)";
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)";
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}";
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)";
340 if (SubSystems & ssCoefficients) {
341 scratch = Aerodynamics->GetCoefficientStrings(delimeter);
342 if (scratch.length() != 0) outstream << delimeter << scratch;
344 if (SubSystems & ssFCS) {
345 scratch = FCS->GetComponentStrings(delimeter);
346 if (scratch.length() != 0) outstream << delimeter << scratch;
348 if (SubSystems & ssGroundReactions) {
349 outstream << delimeter;
350 outstream << GroundReactions->GetGroundReactionStrings(delimeter);
352 if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
353 outstream << delimeter;
354 outstream << Propulsion->GetPropulsionStrings(delimeter);
356 if (OutputProperties.size() > 0) {
357 for (unsigned int i=0;i<OutputProperties.size();i++) {
358 outstream << delimeter << OutputProperties[i]->GetPrintableName();
366 outstream << State->Getsim_time();
367 if (SubSystems & ssSimulation) {
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);
381 if (SubSystems & ssRates) {
382 outstream << delimeter;
383 outstream << (radtodeg*Propagate->GetPQR()).Dump(delimeter) << delimeter;
384 outstream << (radtodeg*Propagate->GetPQRdot()).Dump(delimeter);
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);
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);
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);
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);
429 if (SubSystems & ssMassProps) {
430 outstream << delimeter;
431 outstream << MassBalance->GetJ() << delimeter;
432 outstream << MassBalance->GetMass() << delimeter;
433 outstream << MassBalance->GetXYZcg();
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);
453 if (SubSystems & ssCoefficients) {
454 scratch = Aerodynamics->GetCoefficientValues(delimeter);
455 if (scratch.length() != 0) outstream << delimeter << scratch;
457 if (SubSystems & ssFCS) {
458 scratch = FCS->GetComponentValues(delimeter);
459 if (scratch.length() != 0) outstream << delimeter << scratch;
461 if (SubSystems & ssGroundReactions) {
462 outstream << delimeter;
463 outstream << GroundReactions->GetGroundReactionValues(delimeter);
465 if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
466 outstream << delimeter;
467 outstream << Propulsion->GetPropulsionValues(delimeter);
470 outstream.precision(18);
471 for (unsigned int i=0;i<OutputProperties.size();i++) {
472 outstream << delimeter << OutputProperties[i]->getDoubleValue();
474 outstream.precision(10);
480 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
482 void FGOutput::SocketDataFill(FGNetFDM* net)
487 net->version = FG_NET_FDM_VERSION;
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)
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)
499 net->alpha = (float)(Auxiliary->Getalpha()); // angle of attack (radians)
500 net->beta = (float)(Auxiliary->Getbeta()); // side slip angle (radians)
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
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
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
526 net->num_engines = Propulsion->GetNumEngines(); // Number of valid engines
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
534 net->eng_state[i] = 0; // Engine state off
536 switch (Propulsion->GetEngine(i)->GetType()) {
537 case (FGEngine::etRocket):
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)
550 case (FGEngine::etTurbine):
552 case (FGEngine::etTurboprop):
554 case (FGEngine::etElectric):
556 case (FGEngine::etUnknown):
563 net->num_tanks = Propulsion->GetNumTanks(); // Max number of fuel tanks
565 for (i=0; i<net->num_tanks; i++) {
566 net->fuel_quantity[i] = (float)(((FGTank *)Propulsion->GetTank(i))->GetContents());
571 net->num_wheels = GroundReactions->GetNumGearUnits();
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
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());
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)
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, --
603 // Convert the net buffer to network format
604 if ( isLittleEndian ) {
605 net->version = htonl(net->version);
607 htond(net->longitude);
608 htond(net->latitude);
609 htond(net->altitude);
618 htonf(net->thetadot);
621 htonf(net->climb_rate);
625 htonf(net->v_wind_body_north);
626 htonf(net->v_wind_body_east);
627 htonf(net->v_wind_body_down);
629 htonf(net->A_X_pilot);
630 htonf(net->A_Y_pilot);
631 htonf(net->A_Z_pilot);
633 htonf(net->stall_warning);
634 htonf(net->slip_deg);
636 for (i=0; i<net->num_engines; ++i ) {
637 net->eng_state[i] = htonl(net->eng_state[i]);
639 htonf(net->fuel_flow[i]);
640 htonf(net->fuel_px[i]);
643 htonf(net->mp_osi[i]);
645 htonf(net->oil_temp[i]);
646 htonf(net->oil_px[i]);
648 net->num_engines = htonl(net->num_engines);
650 for (i=0; i<net->num_tanks; ++i ) {
651 htonf(net->fuel_quantity[i]);
653 net->num_tanks = htonl(net->num_tanks);
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]);
661 net->num_wheels = htonl(net->num_wheels);
663 net->cur_time = htonl( net->cur_time );
664 net->warp = htonl( net->warp );
665 htonf(net->visibility);
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);
674 htonf(net->nose_wheel);
675 htonf(net->speedbrake);
676 htonf(net->spoilers);
680 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
682 void FGOutput::FlightGearSocketOutput(void)
684 int length = sizeof(fgSockBuf);
687 if (flightGearSocket == NULL) return;
688 if (!flightGearSocket->GetConnectStatus()) return;
690 SocketDataFill(&fgSockBuf);
691 flightGearSocket->Send((char *)&fgSockBuf, length);
694 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
696 void FGOutput::SocketOutput(void)
698 string asciiData, scratch;
700 if (socket == NULL) return;
701 if (!socket->GetConnectStatus()) return;
705 socket->Clear("<LABELS>");
706 socket->Append("Time");
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");
720 if (SubSystems & ssRates) {
724 socket->Append("PDot");
725 socket->Append("QDot");
726 socket->Append("RDot");
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");
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");
751 if (SubSystems & ssMoments) {
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");
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");
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)");
793 if (SubSystems & ssCoefficients) {
794 scratch = Aerodynamics->GetCoefficientStrings(",");
795 if (scratch.length() != 0) socket->Append(scratch);
797 if (SubSystems & ssFCS) {
798 scratch = FCS->GetComponentStrings(",");
799 if (scratch.length() != 0) socket->Append(scratch);
801 if (SubSystems & ssGroundReactions) {
802 socket->Append(GroundReactions->GetGroundReactionStrings(","));
804 if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
805 socket->Append(Propulsion->GetPropulsionStrings(","));
807 if (OutputProperties.size() > 0) {
808 for (unsigned int i=0;i<OutputProperties.size();i++) {
809 socket->Append(OutputProperties[i]->GetPrintableName());
818 socket->Append(State->Getsim_time());
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());
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));
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));
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));
861 if (SubSystems & ssMoments) {
862 socket->Append(Aircraft->GetMoments(eL));
863 socket->Append(Aircraft->GetMoments(eM));
864 socket->Append(Aircraft->GetMoments(eN));
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(","));
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));
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());
899 if (SubSystems & ssCoefficients) {
900 scratch = Aerodynamics->GetCoefficientValues(",");
901 if (scratch.length() != 0) socket->Append(scratch);
903 if (SubSystems & ssFCS) {
904 scratch = FCS->GetComponentValues(",");
905 if (scratch.length() != 0) socket->Append(scratch);
907 if (SubSystems & ssGroundReactions) {
908 socket->Append(GroundReactions->GetGroundReactionValues(","));
910 if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
911 socket->Append(Propulsion->GetPropulsionValues(","));
914 for (unsigned int i=0;i<OutputProperties.size();i++) {
915 socket->Append(OutputProperties[i]->getDoubleValue());
921 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
923 void FGOutput::SocketStatusOutput(const string& out_str)
927 if (socket == NULL) return;
930 asciiData = string("<STATUS>") + out_str;
931 socket->Append(asciiData.c_str());
935 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
937 bool FGOutput::Load(Element* element)
939 string type="", parameter="";
941 string protocol="tcp";
945 Element *property_element;
947 string separator = "/";
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);
959 name = document->GetAttributeValue("name");
960 type = document->GetAttributeValue("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
972 flightGearSocket = new FGfdmSocket(name, port, FGfdmSocket::ptTCP); // create tcp socket (default)
974 BaseFilename = Filename = name;
976 if (!document->GetAttributeValue("rate").empty()) {
977 OutRate = (int)document->GetAttributeValueAsNumber("rate");
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);
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."
1018 OutputProperties.push_back(node);
1020 property_element = document->FindNextElement("property");
1030 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
1032 void FGOutput::SetRate(int rtHz)
1034 rtHz = rtHz>1000?1000:(rtHz<0?0:rtHz);
1036 rate = (int)(0.5 + 1.0/(State->Getdt()*rtHz));
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
1052 // 1: This value explicity requests the normal JSBSim
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
1063 void FGOutput::Debug(int from)
1067 if (debug_lvl <= 0) return;
1069 if (debug_lvl & 1) { // Standard console startup message output
1070 if (from == 0) { // Constructor
1074 if (output_file_name.empty())
1075 cout << " " << "Output parameters read inline" << endl;
1077 cout << " Output parameters read from file: " << output_file_name << endl;
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;
1086 cout << scratch << " in CSV format output at rate " << 1/(State->Getdt()*rate) << " Hz" << endl;
1090 cout << " No log output" << endl;
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;
1113 if (debug_lvl & 2 ) { // Instantiation/Destruction notification
1114 if (from == 0) cout << "Instantiated: FGOutput" << endl;
1115 if (from == 1) cout << "Destroyed: FGOutput" << endl;
1117 if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
1119 if (debug_lvl & 8 ) { // Runtime state variables
1121 if (debug_lvl & 16) { // Sanity checking
1123 if (debug_lvl & 64) {
1124 if (from == 0) { // Constructor
1125 cout << IdSrc << endl;
1126 cout << IdHdr << endl;