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 "FGFDMExec.h"
  44 #include "FGAtmosphere.h"
  45 #include "FGFCS.h"
  46 #include "FGAerodynamics.h"
  47 #include "FGGroundReactions.h"
  48 #include "FGExternalReactions.h"
  49 #include "FGBuoyantForces.h"
  50 #include "FGAircraft.h"
  51 #include "FGMassBalance.h"
  52 #include "FGPropagate.h"
  53 #include "FGAuxiliary.h"
  54 #include "FGInertial.h"
  55 #include "FGPropulsion.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 #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 using namespace std;
  74
  75 namespace JSBSim {
  76
  77 static const char *IdSrc = "$Id: FGOutput.cpp,v 1.49 2010/10/15 11:30:29 jberndt Exp $";
  78 static const char *IdHdr = ID_OUTPUT;
  79
  80 // (stolen from FGFS native_fdm.cxx)
  81 // The function htond is defined this way due to the way some
  82 // processors and OSes treat floating point values.  Some will raise
  83 // an exception whenever a "bad" floating point value is loaded into a
  84 // floating point register.  Solaris is notorious for this, but then
  85 // so is LynxOS on the PowerPC.  By translating the data in place,
  86 // there is no need to load a FP register with the "corruped" floating
  87 // point value.  By doing the BIG_ENDIAN test, I can optimize the
  88 // routine for big-endian processors so it can be as efficient as
  89 // possible
  90 static void htond (double &x)
  91 {
  92     if ( isLittleEndian ) {
  93         int    *Double_Overlay;
  94         int     Holding_Buffer;
  95
  96         Double_Overlay = (int *) &x;
  97         Holding_Buffer = Double_Overlay [0];
  98
  99         Double_Overlay [0] = htonl (Double_Overlay [1]);
 100         Double_Overlay [1] = htonl (Holding_Buffer);
 101     } else {
 102         return;
 103     }
 104 }
 105
 106 // Float version
 107 static void htonf (float &x)
 108 {
 109     if ( isLittleEndian ) {
 110         int    *Float_Overlay;
 111         int     Holding_Buffer;
 112
 113         Float_Overlay = (int *) &x;
 114         Holding_Buffer = Float_Overlay [0];
 115
 116         Float_Overlay [0] = htonl (Holding_Buffer);
 117     } else {
 118         return;
 119     }
 120 }
 121
 122
 123 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 124 CLASS IMPLEMENTATION
 125 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 126
 127 FGOutput::FGOutput(FGFDMExec* fdmex) : FGModel(fdmex)
 128 {
 129   Name = "FGOutput";
 130   sFirstPass = dFirstPass = true;
 131   socket = 0;
 132   runID_postfix = 0;
 133   Type = otNone;
 134   SubSystems = 0;
 135   enabled = true;
 136   StartNewFile = false;
 137   delimeter = ", ";
 138   BaseFilename = Filename = "";
 139   DirectivesFile = "";
 140   output_file_name = "";
 141
 142   memset(&fgSockBuf, 0x00, sizeof(fgSockBuf));
 143
 144   Debug(0);
 145 }
 146
 147 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 148
 149 FGOutput::~FGOutput()
 150 {
 151   delete socket;
 152   OutputProperties.clear();
 153   Debug(1);
 154 }
 155
 156 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 157
 158 bool FGOutput::InitModel(void)
 159 {
 160   if (!FGModel::InitModel()) return false;
 161
 162   if (Filename.size() > 0 && StartNewFile) {
 163     ostringstream buf;
 164     string::size_type dot = BaseFilename.find_last_of('.');
 165     if (dot != string::npos) {
 166       buf << BaseFilename.substr(0, dot) << '_' << runID_postfix++ << BaseFilename.substr(dot);
 167     } else {
 168       buf << BaseFilename << '_' << runID_postfix++;
 169     }
 170     Filename = buf.str();
 171     datafile.close();
 172     StartNewFile = false;
 173     dFirstPass = true;
 174   }
 175
 176   return true;
 177 }
 178
 179 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 180
 181 bool FGOutput::Run(void)
 182 {
 183   if (FGModel::Run()) return true;
 184
 185   if (enabled && !FDMExec->IntegrationSuspended()&& !FDMExec->Holding()) {
 186     RunPreFunctions();
 187     if (Type == otSocket) {
 188       SocketOutput();
 189     } else if (Type == otFlightGear) {
 190       FlightGearSocketOutput();
 191     } else if (Type == otCSV || Type == otTab) {
 192       DelimitedOutput(Filename);
 193     } else if (Type == otTerminal) {
 194       // Not done yet
 195     } else if (Type == otNone) {
 196       // Do nothing
 197     } else {
 198       // Not a valid type of output
 199     }
 200     RunPostFunctions();
 201   }
 202   return false;
 203 }
 204
 205 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 206
 207 void FGOutput::SetType(const string& type)
 208 {
 209   if (type == "CSV") {
 210     Type = otCSV;
 211     delimeter = ", ";
 212   } else if (type == "TABULAR") {
 213     Type = otTab;
 214     delimeter = "\t";
 215   } else if (type == "SOCKET") {
 216     Type = otSocket;
 217   } else if (type == "FLIGHTGEAR") {
 218     Type = otFlightGear;
 219   } else if (type == "TERMINAL") {
 220     Type = otTerminal;
 221   } else if (type != string("NONE")) {
 222     Type = otUnknown;
 223     cerr << "Unknown type of output specified in config file" << endl;
 224   }
 225 }
 226
 227 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 228
 229 void FGOutput::SetProtocol(const string& protocol)
 230 {
 231   if (protocol == "UDP") Protocol = FGfdmSocket::ptUDP;
 232   else if (protocol == "TCP") Protocol = FGfdmSocket::ptTCP;
 233   else Protocol = FGfdmSocket::ptTCP; // Default to TCP
 234 }
 235
 236 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 237
 238 void FGOutput::DelimitedOutput(const string& fname)
 239 {
 240   streambuf* buffer;
 241   string scratch = "";
 242
 243   if (fname == "COUT" || fname == "cout") {
 244     buffer = cout.rdbuf();
 245   } else {
 246     if (!datafile.is_open()) datafile.open(fname.c_str());
 247     buffer = datafile.rdbuf();
 248   }
 249
 250   ostream outstream(buffer);
 251
 252   outstream.precision(10);
 253
 254   if (dFirstPass) {
 255     outstream << "Time";
 256     if (SubSystems & ssSimulation) {
 257       // Nothing here, yet
 258     }
 259     if (SubSystems & ssAerosurfaces) {
 260       outstream << delimeter;
 261       outstream << "Aileron Command (norm)" + delimeter;
 262       outstream << "Elevator Command (norm)" + delimeter;
 263       outstream << "Rudder Command (norm)" + delimeter;
 264       outstream << "Flap Command (norm)" + delimeter;
 265       outstream << "Left Aileron Position (deg)" + delimeter;
 266       outstream << "Right Aileron Position (deg)" + delimeter;
 267       outstream << "Elevator Position (deg)" + delimeter;
 268       outstream << "Rudder Position (deg)" + delimeter;
 269       outstream << "Flap Position (deg)";
 270     }
 271     if (SubSystems & ssRates) {
 272       outstream << delimeter;
 273       outstream << "P (deg/s)" + delimeter + "Q (deg/s)" + delimeter + "R (deg/s)" + delimeter;
 274       outstream << "P dot (deg/s^2)" + delimeter + "Q dot (deg/s^2)" + delimeter + "R dot (deg/s^2)" + delimeter;
 275       outstream << "P_{inertial} (deg/s)" + delimeter + "Q_{inertial} (deg/s)" + delimeter + "R_{inertial} (deg/s)";
 276     }
 277     if (SubSystems & ssVelocities) {
 278       outstream << delimeter;
 279       outstream << "q bar (psf)" + delimeter;
 280       outstream << "Reynolds Number" + delimeter;
 281       outstream << "V_{Total} (ft/s)" + delimeter;
 282       outstream << "V_{Inertial} (ft/s)" + delimeter;
 283       outstream << "UBody" + delimeter + "VBody" + delimeter + "WBody" + delimeter;
 284       outstream << "Aero V_{X Body} (ft/s)" + delimeter + "Aero V_{Y Body} (ft/s)" + delimeter + "Aero V_{Z Body} (ft/s)" + delimeter;
 285       outstream << "V_{X_{inertial}} (ft/s)" + delimeter + "V_{Y_{inertial}} (ft/s)" + delimeter + "V_{Z_{inertial}} (ft/s)" + delimeter;
 286       outstream << "V_{North} (ft/s)" + delimeter + "V_{East} (ft/s)" + delimeter + "V_{Down} (ft/s)";
 287     }
 288     if (SubSystems & ssForces) {
 289       outstream << delimeter;
 290       outstream << "F_{Drag} (lbs)" + delimeter + "F_{Side} (lbs)" + delimeter + "F_{Lift} (lbs)" + delimeter;
 291       outstream << "L/D" + delimeter;
 292       outstream << "F_{Aero x} (lbs)" + delimeter + "F_{Aero y} (lbs)" + delimeter + "F_{Aero z} (lbs)" + delimeter;
 293       outstream << "F_{Prop x} (lbs)" + delimeter + "F_{Prop y} (lbs)" + delimeter + "F_{Prop z} (lbs)" + delimeter;
 294       outstream << "F_{Gear x} (lbs)" + delimeter + "F_{Gear y} (lbs)" + delimeter + "F_{Gear z} (lbs)" + delimeter;
 295       outstream << "F_{Ext x} (lbs)" + delimeter + "F_{Ext y} (lbs)" + delimeter + "F_{Ext z} (lbs)" + delimeter;
 296       outstream << "F_{Buoyant x} (lbs)" + delimeter + "F_{Buoyant y} (lbs)" + delimeter + "F_{Buoyant z} (lbs)" + delimeter;
 297       outstream << "F_{Total x} (lbs)" + delimeter + "F_{Total y} (lbs)" + delimeter + "F_{Total z} (lbs)";
 298     }
 299     if (SubSystems & ssMoments) {
 300       outstream << delimeter;
 301       outstream << "L_{Aero} (ft-lbs)" + delimeter + "M_{Aero} ( ft-lbs)" + delimeter + "N_{Aero} (ft-lbs)" + delimeter;
 302       outstream << "L_{Prop} (ft-lbs)" + delimeter + "M_{Prop} (ft-lbs)" + delimeter + "N_{Prop} (ft-lbs)" + delimeter;
 303       outstream << "L_{Gear} (ft-lbs)" + delimeter + "M_{Gear} (ft-lbs)" + delimeter + "N_{Gear} (ft-lbs)" + delimeter;
 304       outstream << "L_{ext} (ft-lbs)" + delimeter + "M_{ext} (ft-lbs)" + delimeter + "N_{ext} (ft-lbs)" + delimeter;
 305       outstream << "L_{Buoyant} (ft-lbs)" + delimeter + "M_{Buoyant} (ft-lbs)" + delimeter + "N_{Buoyant} (ft-lbs)" + delimeter;
 306       outstream << "L_{Total} (ft-lbs)" + delimeter + "M_{Total} (ft-lbs)" + delimeter + "N_{Total} (ft-lbs)";
 307     }
 308     if (SubSystems & ssAtmosphere) {
 309       outstream << delimeter;
 310       outstream << "Rho (slugs/ft^3)" + delimeter;
 311       outstream << "Absolute Viscosity" + delimeter;
 312       outstream << "Kinematic Viscosity" + delimeter;
 313       outstream << "Temperature (R)" + delimeter;
 314       outstream << "P_{SL} (psf)" + delimeter;
 315       outstream << "P_{Ambient} (psf)" + delimeter;
 316       outstream << "Turbulence Magnitude (ft/sec)" + delimeter;
 317       outstream << "Turbulence X Direction (rad)" + delimeter + "Turbulence Y Direction (rad)" + delimeter + "Turbulence Z Direction (rad)" + delimeter;
 318       outstream << "Wind V_{North} (ft/s)" + delimeter + "Wind V_{East} (ft/s)" + delimeter + "Wind V_{Down} (ft/s)";
 319     }
 320     if (SubSystems & ssMassProps) {
 321       outstream << delimeter;
 322       outstream << "I_{xx}" + delimeter;
 323       outstream << "I_{xy}" + delimeter;
 324       outstream << "I_{xz}" + delimeter;
 325       outstream << "I_{yx}" + delimeter;
 326       outstream << "I_{yy}" + delimeter;
 327       outstream << "I_{yz}" + delimeter;
 328       outstream << "I_{zx}" + delimeter;
 329       outstream << "I_{zy}" + delimeter;
 330       outstream << "I_{zz}" + delimeter;
 331       outstream << "Mass" + delimeter;
 332       outstream << "X_{cg}" + delimeter + "Y_{cg}" + delimeter + "Z_{cg}";
 333     }
 334     if (SubSystems & ssPropagate) {
 335       outstream << delimeter;
 336       outstream << "Altitude ASL (ft)" + delimeter;
 337       outstream << "Altitude AGL (ft)" + delimeter;
 338       outstream << "Phi (deg)" + delimeter + "Theta (deg)" + delimeter + "Psi (deg)" + delimeter;
 339       outstream << "Alpha (deg)" + delimeter;
 340       outstream << "Beta (deg)" + delimeter;
 341       outstream << "Latitude (deg)" + delimeter;
 342       outstream << "Longitude (deg)" + delimeter;
 343       outstream << "X_{ECI} (ft)" + delimeter + "Y_{ECI} (ft)" + delimeter + "Z_{ECI} (ft)" + delimeter;
 344       outstream << "X_{ECEF} (ft)" + delimeter + "Y_{ECEF} (ft)" + delimeter + "Z_{ECEF} (ft)" + delimeter;
 345       outstream << "Earth Position Angle (deg)" + delimeter;
 346       outstream << "Distance AGL (ft)" + delimeter;
 347       outstream << "Terrain Elevation (ft)";
 348     }
 349     if (SubSystems & ssCoefficients) {
 350       scratch = Aerodynamics->GetCoefficientStrings(delimeter);
 351       if (scratch.length() != 0) outstream << delimeter << scratch;
 352     }
 353     if (SubSystems & ssFCS) {
 354       scratch = FCS->GetComponentStrings(delimeter);
 355       if (scratch.length() != 0) outstream << delimeter << scratch;
 356     }
 357     if (SubSystems & ssGroundReactions) {
 358       outstream << delimeter;
 359       outstream << GroundReactions->GetGroundReactionStrings(delimeter);
 360     }
 361     if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
 362       outstream << delimeter;
 363       outstream << Propulsion->GetPropulsionStrings(delimeter);
 364     }
 365     if (OutputProperties.size() > 0) {
 366       for (unsigned int i=0;i<OutputProperties.size();i++) {
 367         outstream << delimeter << OutputProperties[i]->GetPrintableName();
 368       }
 369     }
 370
 371     outstream << endl;
 372     dFirstPass = false;
 373   }
 374
 375   outstream << FDMExec->GetSimTime();
 376   if (SubSystems & ssSimulation) {
 377   }
 378   if (SubSystems & ssAerosurfaces) {
 379     outstream << delimeter;
 380     outstream << FCS->GetDaCmd() << delimeter;
 381     outstream << FCS->GetDeCmd() << delimeter;
 382     outstream << FCS->GetDrCmd() << delimeter;
 383     outstream << FCS->GetDfCmd() << delimeter;
 384     outstream << FCS->GetDaLPos(ofDeg) << delimeter;
 385     outstream << FCS->GetDaRPos(ofDeg) << delimeter;
 386     outstream << FCS->GetDePos(ofDeg) << delimeter;
 387     outstream << FCS->GetDrPos(ofDeg) << delimeter;
 388     outstream << FCS->GetDfPos(ofDeg);
 389   }
 390   if (SubSystems & ssRates) {
 391     outstream << delimeter;
 392     outstream << (radtodeg*Propagate->GetPQR()).Dump(delimeter) << delimeter;
 393     outstream << (radtodeg*Propagate->GetPQRdot()).Dump(delimeter) << delimeter;
 394     outstream << (radtodeg*Propagate->GetPQRi()).Dump(delimeter);
 395   }
 396   if (SubSystems & ssVelocities) {
 397     outstream << delimeter;
 398     outstream << Auxiliary->Getqbar() << delimeter;
 399     outstream << Auxiliary->GetReynoldsNumber() << delimeter;
 400     outstream << setprecision(12) << Auxiliary->GetVt() << delimeter;
 401     outstream << Propagate->GetInertialVelocityMagnitude() << delimeter;
 402     outstream << setprecision(12) << Propagate->GetUVW().Dump(delimeter) << delimeter;
 403     outstream << Auxiliary->GetAeroUVW().Dump(delimeter) << delimeter;
 404     outstream << Propagate->GetInertialVelocity().Dump(delimeter) << delimeter;
 405     outstream << Propagate->GetVel().Dump(delimeter);
 406     outstream.precision(10);
 407   }
 408   if (SubSystems & ssForces) {
 409     outstream << delimeter;
 410     outstream << Aerodynamics->GetvFw().Dump(delimeter) << delimeter;
 411     outstream << Aerodynamics->GetLoD() << delimeter;
 412     outstream << Aerodynamics->GetForces().Dump(delimeter) << delimeter;
 413     outstream << Propulsion->GetForces().Dump(delimeter) << delimeter;
 414     outstream << GroundReactions->GetForces().Dump(delimeter) << delimeter;
 415     outstream << ExternalReactions->GetForces().Dump(delimeter) << delimeter;
 416     outstream << BuoyantForces->GetForces().Dump(delimeter) << delimeter;
 417     outstream << Aircraft->GetForces().Dump(delimeter);
 418   }
 419   if (SubSystems & ssMoments) {
 420     outstream << delimeter;
 421     outstream << Aerodynamics->GetMoments().Dump(delimeter) << delimeter;
 422     outstream << Propulsion->GetMoments().Dump(delimeter) << delimeter;
 423     outstream << GroundReactions->GetMoments().Dump(delimeter) << delimeter;
 424     outstream << ExternalReactions->GetMoments().Dump(delimeter) << delimeter;
 425     outstream << BuoyantForces->GetMoments().Dump(delimeter) << delimeter;
 426     outstream << Aircraft->GetMoments().Dump(delimeter);
 427   }
 428   if (SubSystems & ssAtmosphere) {
 429     outstream << delimeter;
 430     outstream << Atmosphere->GetDensity() << delimeter;
 431     outstream << Atmosphere->GetAbsoluteViscosity() << delimeter;
 432     outstream << Atmosphere->GetKinematicViscosity() << delimeter;
 433     outstream << Atmosphere->GetTemperature() << delimeter;
 434     outstream << Atmosphere->GetPressureSL() << delimeter;
 435     outstream << Atmosphere->GetPressure() << delimeter;
 436     outstream << Atmosphere->GetTurbMagnitude() << delimeter;
 437     outstream << Atmosphere->GetTurbDirection().Dump(delimeter) << delimeter;
 438     outstream << Atmosphere->GetTotalWindNED().Dump(delimeter);
 439   }
 440   if (SubSystems & ssMassProps) {
 441     outstream << delimeter;
 442     outstream << MassBalance->GetJ().Dump(delimeter) << delimeter;
 443     outstream << MassBalance->GetMass() << delimeter;
 444     outstream << MassBalance->GetXYZcg().Dump(delimeter);
 445   }
 446   if (SubSystems & ssPropagate) {
 447     outstream.precision(14);
 448     outstream << delimeter;
 449     outstream << Propagate->GetAltitudeASL() << delimeter;
 450     outstream << Propagate->GetDistanceAGL() << delimeter;
 451     outstream << (radtodeg*Propagate->GetEuler()).Dump(delimeter) << delimeter;
 452     outstream << Auxiliary->Getalpha(inDegrees) << delimeter;
 453     outstream << Auxiliary->Getbeta(inDegrees) << delimeter;
 454     outstream << Propagate->GetLocation().GetLatitudeDeg() << delimeter;
 455     outstream << Propagate->GetLocation().GetLongitudeDeg() << delimeter;
 456     outstream.precision(18);
 457     outstream << ((FGColumnVector3)Propagate->GetInertialPosition()).Dump(delimeter) << delimeter;
 458     outstream << ((FGColumnVector3)Propagate->GetLocation()).Dump(delimeter) << delimeter;
 459     outstream.precision(14);
 460     outstream << Inertial->GetEarthPositionAngleDeg() << delimeter;
 461     outstream << Propagate->GetDistanceAGL() << delimeter;
 462     outstream << Propagate->GetTerrainElevation();
 463     outstream.precision(10);
 464   }
 465   if (SubSystems & ssCoefficients) {
 466     scratch = Aerodynamics->GetCoefficientValues(delimeter);
 467     if (scratch.length() != 0) outstream << delimeter << scratch;
 468   }
 469   if (SubSystems & ssFCS) {
 470     scratch = FCS->GetComponentValues(delimeter);
 471     if (scratch.length() != 0) outstream << delimeter << scratch;
 472   }
 473   if (SubSystems & ssGroundReactions) {
 474     outstream << delimeter;
 475     outstream << GroundReactions->GetGroundReactionValues(delimeter);
 476   }
 477   if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
 478     outstream << delimeter;
 479     outstream << Propulsion->GetPropulsionValues(delimeter);
 480   }
 481
 482   outstream.precision(18);
 483   for (unsigned int i=0;i<OutputProperties.size();i++) {
 484     outstream << delimeter << OutputProperties[i]->getDoubleValue();
 485   }
 486   outstream.precision(10);
 487
 488   outstream << endl;
 489   outstream.flush();
 490 }
 491
 492 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 493
 494 void FGOutput::SocketDataFill(FGNetFDM* net)
 495 {
 496     unsigned int i;
 497
 498     // Version
 499     net->version = FG_NET_FDM_VERSION;
 500
 501     // Positions
 502     net->longitude = Propagate->GetLocation().GetLongitude(); // geodetic (radians)
 503     net->latitude  = Propagate->GetLocation().GetLatitude(); // geodetic (radians)
 504     net->altitude  = Propagate->GetAltitudeASL()*0.3048; // altitude, above sea level (meters)
 505     net->agl       = (float)(Propagate->GetDistanceAGL()*0.3048); // altitude, above ground level (meters)
 506
 507     net->phi       = (float)(Propagate->GetEuler(ePhi)); // roll (radians)
 508     net->theta     = (float)(Propagate->GetEuler(eTht)); // pitch (radians)
 509     net->psi       = (float)(Propagate->GetEuler(ePsi)); // yaw or true heading (radians)
 510
 511     net->alpha     = (float)(Auxiliary->Getalpha()); // angle of attack (radians)
 512     net->beta      = (float)(Auxiliary->Getbeta()); // side slip angle (radians)
 513
 514     // Velocities
 515     net->phidot     = (float)(Auxiliary->GetEulerRates(ePhi)); // roll rate (radians/sec)
 516     net->thetadot   = (float)(Auxiliary->GetEulerRates(eTht)); // pitch rate (radians/sec)
 517     net->psidot     = (float)(Auxiliary->GetEulerRates(ePsi)); // yaw rate (radians/sec)
 518     net->vcas       = (float)(Auxiliary->GetVcalibratedFPS()); // VCAS, ft/sec
 519     net->climb_rate = (float)(Propagate->Gethdot());           // altitude rate, ft/sec
 520     net->v_north    = (float)(Propagate->GetVel(eNorth));      // north vel in NED frame, fps
 521     net->v_east     = (float)(Propagate->GetVel(eEast));       // east vel in NED frame, fps
 522     net->v_down     = (float)(Propagate->GetVel(eDown));       // down vel in NED frame, fps
 523 //---ADD METHOD TO CALCULATE THESE TERMS---
 524     net->v_wind_body_north = (float)(Propagate->GetVel(eNorth)); // north vel in NED relative to airmass, fps
 525     net->v_wind_body_east = (float)(Propagate->GetVel(eEast)); // east vel in NED relative to airmass, fps
 526     net->v_wind_body_down = (float)(Propagate->GetVel(eDown)); // down vel in NED relative to airmass, fps
 527
 528     // Accelerations
 529     net->A_X_pilot   = (float)(Auxiliary->GetPilotAccel(1));    // X body accel, ft/s/s
 530     net->A_Y_pilot   = (float)(Auxiliary->GetPilotAccel(2));    // Y body accel, ft/s/s
 531     net->A_Z_pilot   = (float)(Auxiliary->GetPilotAccel(3));    // Z body accel, ft/s/s
 532
 533     // Stall
 534     net->stall_warning = 0.0;  // 0.0 - 1.0 indicating the amount of stall
 535     net->slip_deg    = (float)(Auxiliary->Getbeta(inDegrees));  // slip ball deflection, deg
 536
 537     // Engine status
 538     net->num_engines = Propulsion->GetNumEngines(); // Number of valid engines
 539
 540     for (i=0; i<net->num_engines; i++) {
 541        if (Propulsion->GetEngine(i)->GetRunning())
 542           net->eng_state[i] = 2;       // Engine state running
 543        else if (Propulsion->GetEngine(i)->GetCranking())
 544           net->eng_state[i] = 1;       // Engine state cranking
 545        else
 546           net->eng_state[i] = 0;       // Engine state off
 547
 548        switch (Propulsion->GetEngine(i)->GetType()) {
 549        case (FGEngine::etRocket):
 550        break;
 551        case (FGEngine::etPiston):
 552           net->rpm[i]       = (float)(((FGPiston *)Propulsion->GetEngine(i))->getRPM());
 553           net->fuel_flow[i] = (float)(((FGPiston *)Propulsion->GetEngine(i))->getFuelFlow_gph());
 554           net->fuel_px[i]   = 0; // Fuel pressure, psi  (N/A in current model)
 555           net->egt[i]       = (float)(((FGPiston *)Propulsion->GetEngine(i))->GetEGT());
 556           net->cht[i]       = (float)(((FGPiston *)Propulsion->GetEngine(i))->getCylinderHeadTemp_degF());
 557           net->mp_osi[i]    = (float)(((FGPiston *)Propulsion->GetEngine(i))->getManifoldPressure_inHg());
 558           net->oil_temp[i]  = (float)(((FGPiston *)Propulsion->GetEngine(i))->getOilTemp_degF());
 559           net->oil_px[i]    = (float)(((FGPiston *)Propulsion->GetEngine(i))->getOilPressure_psi());
 560           net->tit[i]       = 0; // Turbine Inlet Temperature  (N/A for piston)
 561        break;
 562        case (FGEngine::etTurbine):
 563        break;
 564        case (FGEngine::etTurboprop):
 565        break;
 566        case (FGEngine::etElectric):
 567        break;
 568        case (FGEngine::etUnknown):
 569        break;
 570        }
 571     }
 572
 573     // Consumables
 574     net->num_tanks = Propulsion->GetNumTanks();   // Max number of fuel tanks
 575
 576     for (i=0; i<net->num_tanks; i++) {
 577        net->fuel_quantity[i] = (float)(((FGTank *)Propulsion->GetTank(i))->GetContents());
 578     }
 579
 580     // Gear status
 581     net->num_wheels  = GroundReactions->GetNumGearUnits();
 582
 583     for (i=0; i<net->num_wheels; i++) {
 584        net->wow[i]              = GroundReactions->GetGearUnit(i)->GetWOW();
 585        if (GroundReactions->GetGearUnit(i)->GetGearUnitDown())
 586           net->gear_pos[i]      = 1;  //gear down, using FCS convention
 587        else
 588           net->gear_pos[i]      = 0;  //gear up, using FCS convention
 589        net->gear_steer[i]       = (float)(GroundReactions->GetGearUnit(i)->GetSteerNorm());
 590        net->gear_compression[i] = (float)(GroundReactions->GetGearUnit(i)->GetCompLen());
 591     }
 592
 593     // Environment
 594     net->cur_time    = (long int)1234567890;    // Friday, Feb 13, 2009, 23:31:30 UTC (not processed by FGFS anyway)
 595     net->warp        = 0;                       // offset in seconds to unix time
 596     net->visibility  = 25000.0;                 // visibility in meters (for env. effects)
 597
 598     // Control surface positions (normalized values)
 599     net->elevator          = (float)(FCS->GetDePos(ofNorm));    // Norm Elevator Pos, --
 600     net->elevator_trim_tab = (float)(FCS->GetPitchTrimCmd());   // Norm Elev Trim Tab Pos, --
 601     net->left_flap         = (float)(FCS->GetDfPos(ofNorm));    // Norm Flap Pos, --
 602     net->right_flap        = (float)(FCS->GetDfPos(ofNorm));    // Norm Flap Pos, --
 603     net->left_aileron      = (float)(FCS->GetDaLPos(ofNorm));   // Norm L Aileron Pos, --
 604     net->right_aileron     = (float)(FCS->GetDaRPos(ofNorm));   // Norm R Aileron Pos, --
 605     net->rudder            = (float)(FCS->GetDrPos(ofNorm));    // Norm Rudder Pos, --
 606     net->nose_wheel        = (float)(FCS->GetDrPos(ofNorm));    // *** FIX ***  Using Rudder Pos for NWS, --
 607     net->speedbrake        = (float)(FCS->GetDsbPos(ofNorm));   // Norm Speedbrake Pos, --
 608     net->spoilers          = (float)(FCS->GetDspPos(ofNorm));   // Norm Spoiler Pos, --
 609
 610     // Convert the net buffer to network format
 611     if ( isLittleEndian ) {
 612         net->version = htonl(net->version);
 613
 614         htond(net->longitude);
 615         htond(net->latitude);
 616         htond(net->altitude);
 617         htonf(net->agl);
 618         htonf(net->phi);
 619         htonf(net->theta);
 620         htonf(net->psi);
 621         htonf(net->alpha);
 622         htonf(net->beta);
 623
 624         htonf(net->phidot);
 625         htonf(net->thetadot);
 626         htonf(net->psidot);
 627         htonf(net->vcas);
 628         htonf(net->climb_rate);
 629         htonf(net->v_north);
 630         htonf(net->v_east);
 631         htonf(net->v_down);
 632         htonf(net->v_wind_body_north);
 633         htonf(net->v_wind_body_east);
 634         htonf(net->v_wind_body_down);
 635
 636         htonf(net->A_X_pilot);
 637         htonf(net->A_Y_pilot);
 638         htonf(net->A_Z_pilot);
 639
 640         htonf(net->stall_warning);
 641         htonf(net->slip_deg);
 642
 643         for (i=0; i<net->num_engines; ++i ) {
 644             net->eng_state[i] = htonl(net->eng_state[i]);
 645             htonf(net->rpm[i]);
 646             htonf(net->fuel_flow[i]);
 647             htonf(net->fuel_px[i]);
 648             htonf(net->egt[i]);
 649             htonf(net->cht[i]);
 650             htonf(net->mp_osi[i]);
 651             htonf(net->tit[i]);
 652             htonf(net->oil_temp[i]);
 653             htonf(net->oil_px[i]);
 654         }
 655         net->num_engines = htonl(net->num_engines);
 656
 657         for (i=0; i<net->num_tanks; ++i ) {
 658             htonf(net->fuel_quantity[i]);
 659         }
 660         net->num_tanks = htonl(net->num_tanks);
 661
 662         for (i=0; i<net->num_wheels; ++i ) {
 663             net->wow[i] = htonl(net->wow[i]);
 664             htonf(net->gear_pos[i]);
 665             htonf(net->gear_steer[i]);
 666             htonf(net->gear_compression[i]);
 667         }
 668         net->num_wheels = htonl(net->num_wheels);
 669
 670         net->cur_time = htonl( net->cur_time );
 671         net->warp = htonl( net->warp );
 672         htonf(net->visibility);
 673
 674         htonf(net->elevator);
 675         htonf(net->elevator_trim_tab);
 676         htonf(net->left_flap);
 677         htonf(net->right_flap);
 678         htonf(net->left_aileron);
 679         htonf(net->right_aileron);
 680         htonf(net->rudder);
 681         htonf(net->nose_wheel);
 682         htonf(net->speedbrake);
 683         htonf(net->spoilers);
 684     }
 685 }
 686
 687 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 688
 689 void FGOutput::FlightGearSocketOutput(void)
 690 {
 691   int length = sizeof(fgSockBuf);
 692
 693   if (socket == NULL) return;
 694   if (!socket->GetConnectStatus()) return;
 695
 696   SocketDataFill(&fgSockBuf);
 697   socket->Send((char *)&fgSockBuf, length);
 698 }
 699
 700 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 701
 702 void FGOutput::SocketOutput(void)
 703 {
 704   string asciiData, scratch;
 705
 706   if (socket == NULL) return;
 707   if (!socket->GetConnectStatus()) return;
 708
 709   socket->Clear();
 710   if (sFirstPass) {
 711     socket->Clear("<LABELS>");
 712     socket->Append("Time");
 713
 714     if (SubSystems & ssAerosurfaces) {
 715       socket->Append("Aileron Command");
 716       socket->Append("Elevator Command");
 717       socket->Append("Rudder Command");
 718       socket->Append("Flap Command");
 719       socket->Append("Left Aileron Position");
 720       socket->Append("Right Aileron Position");
 721       socket->Append("Elevator Position");
 722       socket->Append("Rudder Position");
 723       socket->Append("Flap Position");
 724     }
 725
 726     if (SubSystems & ssRates) {
 727       socket->Append("P");
 728       socket->Append("Q");
 729       socket->Append("R");
 730       socket->Append("PDot");
 731       socket->Append("QDot");
 732       socket->Append("RDot");
 733     }
 734
 735     if (SubSystems & ssVelocities) {
 736       socket->Append("QBar");
 737       socket->Append("Vtotal");
 738       socket->Append("UBody");
 739       socket->Append("VBody");
 740       socket->Append("WBody");
 741       socket->Append("UAero");
 742       socket->Append("VAero");
 743       socket->Append("WAero");
 744       socket->Append("Vn");
 745       socket->Append("Ve");
 746       socket->Append("Vd");
 747     }
 748     if (SubSystems & ssForces) {
 749       socket->Append("F_Drag");
 750       socket->Append("F_Side");
 751       socket->Append("F_Lift");
 752       socket->Append("LoD");
 753       socket->Append("Fx");
 754       socket->Append("Fy");
 755       socket->Append("Fz");
 756     }
 757     if (SubSystems & ssMoments) {
 758       socket->Append("L");
 759       socket->Append("M");
 760       socket->Append("N");
 761     }
 762     if (SubSystems & ssAtmosphere) {
 763       socket->Append("Rho");
 764       socket->Append("SL pressure");
 765       socket->Append("Ambient pressure");
 766       socket->Append("Turbulence Magnitude");
 767       socket->Append("Turbulence Direction X");
 768       socket->Append("Turbulence Direction Y");
 769       socket->Append("Turbulence Direction Z");
 770       socket->Append("NWind");
 771       socket->Append("EWind");
 772       socket->Append("DWind");
 773     }
 774     if (SubSystems & ssMassProps) {
 775       socket->Append("Ixx");
 776       socket->Append("Ixy");
 777       socket->Append("Ixz");
 778       socket->Append("Iyx");
 779       socket->Append("Iyy");
 780       socket->Append("Iyz");
 781       socket->Append("Izx");
 782       socket->Append("Izy");
 783       socket->Append("Izz");
 784       socket->Append("Mass");
 785       socket->Append("Xcg");
 786       socket->Append("Ycg");
 787       socket->Append("Zcg");
 788     }
 789     if (SubSystems & ssPropagate) {
 790         socket->Append("Altitude");
 791         socket->Append("Phi (deg)");
 792         socket->Append("Tht (deg)");
 793         socket->Append("Psi (deg)");
 794         socket->Append("Alpha (deg)");
 795         socket->Append("Beta (deg)");
 796         socket->Append("Latitude (deg)");
 797         socket->Append("Longitude (deg)");
 798     }
 799     if (SubSystems & ssCoefficients) {
 800       scratch = Aerodynamics->GetCoefficientStrings(",");
 801       if (scratch.length() != 0) socket->Append(scratch);
 802     }
 803     if (SubSystems & ssFCS) {
 804       scratch = FCS->GetComponentStrings(",");
 805       if (scratch.length() != 0) socket->Append(scratch);
 806     }
 807     if (SubSystems & ssGroundReactions) {
 808       socket->Append(GroundReactions->GetGroundReactionStrings(","));
 809     }
 810     if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
 811       socket->Append(Propulsion->GetPropulsionStrings(","));
 812     }
 813     if (OutputProperties.size() > 0) {
 814       for (unsigned int i=0;i<OutputProperties.size();i++) {
 815         socket->Append(OutputProperties[i]->GetPrintableName());
 816       }
 817     }
 818
 819     sFirstPass = false;
 820     socket->Send();
 821   }
 822
 823   socket->Clear();
 824   socket->Append(FDMExec->GetSimTime());
 825
 826   if (SubSystems & ssAerosurfaces) {
 827     socket->Append(FCS->GetDaCmd());
 828     socket->Append(FCS->GetDeCmd());
 829     socket->Append(FCS->GetDrCmd());
 830     socket->Append(FCS->GetDfCmd());
 831     socket->Append(FCS->GetDaLPos());
 832     socket->Append(FCS->GetDaRPos());
 833     socket->Append(FCS->GetDePos());
 834     socket->Append(FCS->GetDrPos());
 835     socket->Append(FCS->GetDfPos());
 836   }
 837   if (SubSystems & ssRates) {
 838     socket->Append(radtodeg*Propagate->GetPQR(eP));
 839     socket->Append(radtodeg*Propagate->GetPQR(eQ));
 840     socket->Append(radtodeg*Propagate->GetPQR(eR));
 841     socket->Append(radtodeg*Propagate->GetPQRdot(eP));
 842     socket->Append(radtodeg*Propagate->GetPQRdot(eQ));
 843     socket->Append(radtodeg*Propagate->GetPQRdot(eR));
 844   }
 845   if (SubSystems & ssVelocities) {
 846     socket->Append(Auxiliary->Getqbar());
 847     socket->Append(Auxiliary->GetVt());
 848     socket->Append(Propagate->GetUVW(eU));
 849     socket->Append(Propagate->GetUVW(eV));
 850     socket->Append(Propagate->GetUVW(eW));
 851     socket->Append(Auxiliary->GetAeroUVW(eU));
 852     socket->Append(Auxiliary->GetAeroUVW(eV));
 853     socket->Append(Auxiliary->GetAeroUVW(eW));
 854     socket->Append(Propagate->GetVel(eNorth));
 855     socket->Append(Propagate->GetVel(eEast));
 856     socket->Append(Propagate->GetVel(eDown));
 857   }
 858   if (SubSystems & ssForces) {
 859     socket->Append(Aerodynamics->GetvFw()(eDrag));
 860     socket->Append(Aerodynamics->GetvFw()(eSide));
 861     socket->Append(Aerodynamics->GetvFw()(eLift));
 862     socket->Append(Aerodynamics->GetLoD());
 863     socket->Append(Aircraft->GetForces(eX));
 864     socket->Append(Aircraft->GetForces(eY));
 865     socket->Append(Aircraft->GetForces(eZ));
 866   }
 867   if (SubSystems & ssMoments) {
 868     socket->Append(Aircraft->GetMoments(eL));
 869     socket->Append(Aircraft->GetMoments(eM));
 870     socket->Append(Aircraft->GetMoments(eN));
 871   }
 872   if (SubSystems & ssAtmosphere) {
 873     socket->Append(Atmosphere->GetDensity());
 874     socket->Append(Atmosphere->GetPressureSL());
 875     socket->Append(Atmosphere->GetPressure());
 876     socket->Append(Atmosphere->GetTurbMagnitude());
 877     socket->Append(Atmosphere->GetTurbDirection().Dump(","));
 878     socket->Append(Atmosphere->GetTotalWindNED().Dump(","));
 879   }
 880   if (SubSystems & ssMassProps) {
 881     socket->Append(MassBalance->GetJ()(1,1));
 882     socket->Append(MassBalance->GetJ()(1,2));
 883     socket->Append(MassBalance->GetJ()(1,3));
 884     socket->Append(MassBalance->GetJ()(2,1));
 885     socket->Append(MassBalance->GetJ()(2,2));
 886     socket->Append(MassBalance->GetJ()(2,3));
 887     socket->Append(MassBalance->GetJ()(3,1));
 888     socket->Append(MassBalance->GetJ()(3,2));
 889     socket->Append(MassBalance->GetJ()(3,3));
 890     socket->Append(MassBalance->GetMass());
 891     socket->Append(MassBalance->GetXYZcg()(eX));
 892     socket->Append(MassBalance->GetXYZcg()(eY));
 893     socket->Append(MassBalance->GetXYZcg()(eZ));
 894   }
 895   if (SubSystems & ssPropagate) {
 896     socket->Append(Propagate->GetAltitudeASL());
 897     socket->Append(radtodeg*Propagate->GetEuler(ePhi));
 898     socket->Append(radtodeg*Propagate->GetEuler(eTht));
 899     socket->Append(radtodeg*Propagate->GetEuler(ePsi));
 900     socket->Append(Auxiliary->Getalpha(inDegrees));
 901     socket->Append(Auxiliary->Getbeta(inDegrees));
 902     socket->Append(Propagate->GetLocation().GetLatitudeDeg());
 903     socket->Append(Propagate->GetLocation().GetLongitudeDeg());
 904   }
 905   if (SubSystems & ssCoefficients) {
 906     scratch = Aerodynamics->GetCoefficientValues(",");
 907     if (scratch.length() != 0) socket->Append(scratch);
 908   }
 909   if (SubSystems & ssFCS) {
 910     scratch = FCS->GetComponentValues(",");
 911     if (scratch.length() != 0) socket->Append(scratch);
 912   }
 913   if (SubSystems & ssGroundReactions) {
 914     socket->Append(GroundReactions->GetGroundReactionValues(","));
 915   }
 916   if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
 917     socket->Append(Propulsion->GetPropulsionValues(","));
 918   }
 919
 920   for (unsigned int i=0;i<OutputProperties.size();i++) {
 921     socket->Append(OutputProperties[i]->getDoubleValue());
 922   }
 923
 924   socket->Send();
 925 }
 926
 927 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 928
 929 void FGOutput::SocketStatusOutput(const string& out_str)
 930 {
 931   string asciiData;
 932
 933   if (socket == NULL) return;
 934
 935   socket->Clear();
 936   asciiData = string("<STATUS>") + out_str;
 937   socket->Append(asciiData.c_str());
 938   socket->Send();
 939 }
 940
 941 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 942
 943 bool FGOutput::Load(Element* element)
 944 {
 945   string parameter="";
 946   string name="";
 947   int OutRate = 0;
 948   unsigned int port;
 949   Element *property_element;
 950
 951   string separator = "/";
 952
 953   if (!DirectivesFile.empty()) { // A directives filename from the command line overrides
 954     output_file_name = DirectivesFile;      // one found in the config file.
 955     document = LoadXMLDocument(output_file_name);
 956   } else if (!element->GetAttributeValue("file").empty()) {
 957     output_file_name = FDMExec->GetRootDir() + element->GetAttributeValue("file");
 958     document = LoadXMLDocument(output_file_name);
 959   } else {
 960     document = element;
 961   }
 962
 963   if (!document) return false;
 964
 965   name = FDMExec->GetRootDir() + document->GetAttributeValue("name");
 966   SetType(document->GetAttributeValue("type"));
 967   Port = document->GetAttributeValue("port");
 968   if (!Port.empty() && (Type == otSocket || Type == otFlightGear)) {
 969     port = atoi(Port.c_str());
 970     SetProtocol(document->GetAttributeValue("protocol"));
 971     socket = new FGfdmSocket(name, port, Protocol);
 972   } else {
 973     BaseFilename = Filename = name;
 974   }
 975   if (!document->GetAttributeValue("rate").empty()) {
 976     OutRate = (int)document->GetAttributeValueAsNumber("rate");
 977   } else {
 978     OutRate = 1;
 979   }
 980
 981   if (document->FindElementValue("simulation") == string("ON"))
 982     SubSystems += ssSimulation;
 983   if (document->FindElementValue("aerosurfaces") == string("ON"))
 984     SubSystems += ssAerosurfaces;
 985   if (document->FindElementValue("rates") == string("ON"))
 986     SubSystems += ssRates;
 987   if (document->FindElementValue("velocities") == string("ON"))
 988     SubSystems += ssVelocities;
 989   if (document->FindElementValue("forces") == string("ON"))
 990     SubSystems += ssForces;
 991   if (document->FindElementValue("moments") == string("ON"))
 992     SubSystems += ssMoments;
 993   if (document->FindElementValue("atmosphere") == string("ON"))
 994     SubSystems += ssAtmosphere;
 995   if (document->FindElementValue("massprops") == string("ON"))
 996     SubSystems += ssMassProps;
 997   if (document->FindElementValue("position") == string("ON"))
 998     SubSystems += ssPropagate;
 999   if (document->FindElementValue("coefficients") == string("ON"))
1000     SubSystems += ssCoefficients;
1001   if (document->FindElementValue("ground_reactions") == string("ON"))
1002     SubSystems += ssGroundReactions;
1003   if (document->FindElementValue("fcs") == string("ON"))
1004     SubSystems += ssFCS;
1005   if (document->FindElementValue("propulsion") == string("ON"))
1006     SubSystems += ssPropulsion;
1007   property_element = document->FindElement("property");
1008   while (property_element) {
1009     string property_str = property_element->GetDataLine();
1010     FGPropertyManager* node = PropertyManager->GetNode(property_str);
1011     if (!node) {
1012       cerr << fgred << highint << endl << "  No property by the name "
1013            << property_str << " has been defined. This property will " << endl
1014            << "  not be logged. You should check your configuration file."
1015            << reset << endl;
1016     } else {
1017       OutputProperties.push_back(node);
1018     }
1019     property_element = document->FindNextElement("property");
1020   }
1021
1022   SetRate(OutRate);
1023
1024   Debug(2);
1025
1026   return true;
1027 }
1028
1029 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
1030
1031 void FGOutput::SetRate(int rtHz)
1032 {
1033   rtHz = rtHz>1000?1000:(rtHz<0?0:rtHz);
1034   if (rtHz > 0) {
1035     rate = (int)(0.5 + 1.0/(FDMExec->GetDeltaT()*rtHz));
1036     Enable();
1037   } else {
1038     rate = 1;
1039     Disable();
1040   }
1041 }
1042
1043 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
1044 //    The bitmasked value choices are as follows:
1045 //    unset: In this case (the default) JSBSim would only print
1046 //       out the normally expected messages, essentially echoing
1047 //       the config files as they are read. If the environment
1048 //       variable is not set, debug_lvl is set to 1 internally
1049 //    0: This requests JSBSim not to output any messages
1050 //       whatsoever.
1051 //    1: This value explicity requests the normal JSBSim
1052 //       startup messages
1053 //    2: This value asks for a message to be printed out when
1054 //       a class is instantiated
1055 //    4: When this value is set, a message is displayed when a
1056 //       FGModel object executes its Run() method
1057 //    8: When this value is set, various runtime state variables
1058 //       are printed out periodically
1059 //    16: When set various parameters are sanity checked and
1060 //       a message is printed out when they go out of bounds
1061
1062 void FGOutput::Debug(int from)
1063 {
1064   string scratch="";
1065
1066   if (debug_lvl <= 0) return;
1067
1068   if (debug_lvl & 1) { // Standard console startup message output
1069     if (from == 0) { // Constructor
1070
1071     }
1072     if (from == 2) {
1073       if (output_file_name.empty())
1074         cout << "  " << "Output parameters read inline" << endl;
1075       else
1076         cout << "    Output parameters read from file: " << output_file_name << endl;
1077
1078       if (Filename == "cout" || Filename == "COUT") {
1079         scratch = "    Log output goes to screen console";
1080       } else if (!Filename.empty()) {
1081         scratch = "    Log output goes to file: " + Filename;
1082       }
1083       switch (Type) {
1084       case otCSV:
1085         cout << scratch << " in CSV format output at rate " << 1/(FDMExec->GetDeltaT()*rate) << " Hz" << endl;
1086         break;
1087       case otNone:
1088       default:
1089         cout << "  No log output" << endl;
1090         break;
1091       }
1092
1093       if (SubSystems & ssSimulation)      cout << "    Simulation parameters logged" << endl;
1094       if (SubSystems & ssAerosurfaces)    cout << "    Aerosurface parameters logged" << endl;
1095       if (SubSystems & ssRates)           cout << "    Rate parameters logged" << endl;
1096       if (SubSystems & ssVelocities)      cout << "    Velocity parameters logged" << endl;
1097       if (SubSystems & ssForces)          cout << "    Force parameters logged" << endl;
1098       if (SubSystems & ssMoments)         cout << "    Moments parameters logged" << endl;
1099       if (SubSystems & ssAtmosphere)      cout << "    Atmosphere parameters logged" << endl;
1100       if (SubSystems & ssMassProps)       cout << "    Mass parameters logged" << endl;
1101       if (SubSystems & ssCoefficients)    cout << "    Coefficient parameters logged" << endl;
1102       if (SubSystems & ssPropagate)       cout << "    Propagate parameters logged" << endl;
1103       if (SubSystems & ssGroundReactions) cout << "    Ground parameters logged" << endl;
1104       if (SubSystems & ssFCS)             cout << "    FCS parameters logged" << endl;
1105       if (SubSystems & ssPropulsion)      cout << "    Propulsion parameters logged" << endl;
1106       if (OutputProperties.size() > 0)    cout << "    Properties logged:" << endl;
1107       for (unsigned int i=0;i<OutputProperties.size();i++) {
1108         cout << "      - " << OutputProperties[i]->GetName() << endl;
1109       }
1110     }
1111   }
1112   if (debug_lvl & 2 ) { // Instantiation/Destruction notification
1113     if (from == 0) cout << "Instantiated: FGOutput" << endl;
1114     if (from == 1) cout << "Destroyed:    FGOutput" << endl;
1115   }
1116   if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
1117   }
1118   if (debug_lvl & 8 ) { // Runtime state variables
1119   }
1120   if (debug_lvl & 16) { // Sanity checking
1121   }
1122   if (debug_lvl & 64) {
1123     if (from == 0) { // Constructor
1124       cout << IdSrc << endl;
1125       cout << IdHdr << endl;
1126     }
1127   }
1128 }
1129 }