Branch data Line data Source code
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 : : #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: FGOutput.cpp,v 1.48 2010/04/12 12:25:19 jberndt Exp $";
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 : 0 : static void htond (double &x)
94 : : {
95 [ # # ]: 0 : if ( isLittleEndian ) {
96 : : int *Double_Overlay;
97 : : int Holding_Buffer;
98 : :
99 : 0 : Double_Overlay = (int *) &x;
100 : 0 : Holding_Buffer = Double_Overlay [0];
101 : :
102 [ # # ]: 0 : Double_Overlay [0] = htonl (Double_Overlay [1]);
103 [ # # ]: 0 : Double_Overlay [1] = htonl (Holding_Buffer);
104 : : } else {
105 : 0 : return;
106 : : }
107 : : }
108 : :
109 : : // Float version
110 : 0 : static void htonf (float &x)
111 : : {
112 [ # # ]: 0 : if ( isLittleEndian ) {
113 : : int *Float_Overlay;
114 : : int Holding_Buffer;
115 : :
116 : 0 : Float_Overlay = (int *) &x;
117 : 0 : Holding_Buffer = Float_Overlay [0];
118 : :
119 [ # # ]: 0 : Float_Overlay [0] = htonl (Holding_Buffer);
120 : : } else {
121 : 0 : return;
122 : : }
123 : : }
124 : :
125 : :
126 : : /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
127 : : CLASS IMPLEMENTATION
128 : : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
129 : :
130 : 2 : FGOutput::FGOutput(FGFDMExec* fdmex) : FGModel(fdmex)
131 : : {
132 : 1 : Name = "FGOutput";
133 : 1 : sFirstPass = dFirstPass = true;
134 : 1 : socket = 0;
135 : 1 : flightGearSocket = 0;
136 : 1 : runID_postfix = 0;
137 : 1 : Type = otNone;
138 : 1 : SubSystems = 0;
139 : 1 : enabled = true;
140 : 1 : StartNewFile = false;
141 : 1 : delimeter = ", ";
142 : 2 : BaseFilename = Filename = "";
143 : 1 : DirectivesFile = "";
144 : 1 : output_file_name = "";
145 : :
146 : 1 : memset(&fgSockBuf, 0x00, sizeof(fgSockBuf));
147 : :
148 : 1 : Debug(0);
149 : 1 : }
150 : :
151 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
152 : :
153 : 1 : FGOutput::~FGOutput()
154 : : {
155 [ - + ][ # # ]: 1 : delete socket;
156 [ - + ][ # # ]: 1 : delete flightGearSocket;
157 : 1 : OutputProperties.clear();
158 : 1 : Debug(1);
159 : 2 : }
160 : :
161 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
162 : :
163 : 1 : bool FGOutput::InitModel(void)
164 : : {
165 [ - + ]: 1 : if (!FGModel::InitModel()) return false;
166 : :
167 [ - + ][ # # ]: 1 : if (Filename.size() > 0 && StartNewFile) {
[ - + ]
168 : 0 : ostringstream buf;
169 : 0 : string::size_type dot = BaseFilename.find_last_of('.');
170 [ # # ]: 0 : if (dot != string::npos) {
171 : 0 : buf << BaseFilename.substr(0, dot) << '_' << runID_postfix++ << BaseFilename.substr(dot);
172 : : } else {
173 : 0 : buf << BaseFilename << '_' << runID_postfix++;
174 : : }
175 : 0 : Filename = buf.str();
176 : 0 : datafile.close();
177 : 0 : StartNewFile = false;
178 : 0 : dFirstPass = true;
179 : : }
180 : :
181 : 1 : return true;
182 : : }
183 : :
184 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
185 : :
186 : 54005 : bool FGOutput::Run(void)
187 : : {
188 [ + + ]: 54005 : if (FGModel::Run()) return true;
189 : :
190 [ + - ][ + + ]: 4910 : if (enabled && !FDMExec->IntegrationSuspended()&& !FDMExec->Holding()) {
[ + - ][ + + ]
191 : 4909 : RunPreFunctions();
192 [ - + ]: 4909 : if (Type == otSocket) {
193 : 0 : SocketOutput();
194 [ - + ]: 4909 : } else if (Type == otFlightGear) {
195 : 0 : FlightGearSocketOutput();
196 [ + - ]: 4909 : } else if (Type == otCSV || Type == otTab) {
197 : 4909 : DelimitedOutput(Filename);
198 [ # # ]: 0 : } else if (Type == otTerminal) {
199 : : // Not done yet
200 : 0 : } else if (Type == otNone) {
201 : : // Do nothing
202 : : } else {
203 : : // Not a valid type of output
204 : : }
205 : 4909 : RunPostFunctions();
206 : : }
207 : 54005 : return false;
208 : : }
209 : :
210 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
211 : :
212 : 1 : void FGOutput::SetType(const string& type)
213 : : {
214 [ + - ]: 1 : if (type == "CSV") {
215 : 1 : Type = otCSV;
216 : 1 : delimeter = ", ";
217 [ # # ]: 0 : } else if (type == "TABULAR") {
218 : 0 : Type = otTab;
219 : 0 : delimeter = "\t";
220 [ # # ]: 0 : } else if (type == "SOCKET") {
221 : 0 : Type = otSocket;
222 [ # # ]: 0 : } else if (type == "FLIGHTGEAR") {
223 : 0 : Type = otFlightGear;
224 [ # # ]: 0 : } else if (type == "TERMINAL") {
225 : 0 : Type = otTerminal;
226 [ # # ]: 0 : } else if (type != string("NONE")) {
227 : 0 : Type = otUnknown;
228 : 0 : cerr << "Unknown type of output specified in config file" << endl;
229 : : }
230 : 1 : }
231 : :
232 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
233 : :
234 : 4909 : void FGOutput::DelimitedOutput(const string& fname)
235 : : {
236 : : streambuf* buffer;
237 : 4909 : string scratch = "";
238 : :
239 [ + - - + ]: 9818 : if (fname == "COUT" || fname == "cout") {
[ - + ]
240 : 0 : buffer = cout.rdbuf();
241 : : } else {
242 [ + + ]: 4909 : if (!datafile.is_open()) datafile.open(fname.c_str());
243 : 4909 : buffer = datafile.rdbuf();
244 : : }
245 : :
246 : 4909 : ostream outstream(buffer);
247 : :
248 : : outstream.precision(10);
249 : :
250 [ + + ]: 4909 : if (dFirstPass) {
251 : 1 : outstream << "Time";
252 : 1 : if (SubSystems & ssSimulation) {
253 : : // Nothing here, yet
254 : : }
255 [ - + ]: 1 : if (SubSystems & ssAerosurfaces) {
256 : 0 : outstream << delimeter;
257 : 0 : outstream << "Aileron Command (norm)" + delimeter;
258 : 0 : outstream << "Elevator Command (norm)" + delimeter;
259 : 0 : outstream << "Rudder Command (norm)" + delimeter;
260 : 0 : outstream << "Flap Command (norm)" + delimeter;
261 : 0 : outstream << "Left Aileron Position (deg)" + delimeter;
262 : 0 : outstream << "Right Aileron Position (deg)" + delimeter;
263 : 0 : outstream << "Elevator Position (deg)" + delimeter;
264 : 0 : outstream << "Rudder Position (deg)" + delimeter;
265 : 0 : outstream << "Flap Position (deg)";
266 : : }
267 [ + - ]: 1 : if (SubSystems & ssRates) {
268 : 1 : outstream << delimeter;
269 : 1 : outstream << "P (deg/s)" + delimeter + "Q (deg/s)" + delimeter + "R (deg/s)" + delimeter;
270 : 1 : outstream << "P dot (deg/s^2)" + delimeter + "Q dot (deg/s^2)" + delimeter + "R dot (deg/s^2)" + delimeter;
271 : 1 : outstream << "P_{inertial} (deg/s)" + delimeter + "Q_{inertial} (deg/s)" + delimeter + "R_{inertial} (deg/s)";
272 : : }
273 [ + - ]: 1 : if (SubSystems & ssVelocities) {
274 : 1 : outstream << delimeter;
275 : 1 : outstream << "q bar (psf)" + delimeter;
276 : 1 : outstream << "Reynolds Number" + delimeter;
277 : 1 : outstream << "V_{Total} (ft/s)" + delimeter;
278 : 1 : outstream << "V_{Inertial} (ft/s)" + delimeter;
279 : 1 : outstream << "UBody" + delimeter + "VBody" + delimeter + "WBody" + delimeter;
280 : 1 : outstream << "Aero V_{X Body} (ft/s)" + delimeter + "Aero V_{Y Body} (ft/s)" + delimeter + "Aero V_{Z Body} (ft/s)" + delimeter;
281 : 1 : outstream << "V_{X_{inertial}} (ft/s)" + delimeter + "V_{Y_{inertial}} (ft/s)" + delimeter + "V_{Z_{inertial}} (ft/s)" + delimeter;
282 : 1 : outstream << "V_{North} (ft/s)" + delimeter + "V_{East} (ft/s)" + delimeter + "V_{Down} (ft/s)";
283 : : }
284 [ + - ]: 1 : if (SubSystems & ssForces) {
285 : 1 : outstream << delimeter;
286 : 1 : outstream << "F_{Drag} (lbs)" + delimeter + "F_{Side} (lbs)" + delimeter + "F_{Lift} (lbs)" + delimeter;
287 : 1 : outstream << "L/D" + delimeter;
288 : 1 : outstream << "F_{Aero x} (lbs)" + delimeter + "F_{Aero y} (lbs)" + delimeter + "F_{Aero z} (lbs)" + delimeter;
289 : 1 : outstream << "F_{Prop x} (lbs)" + delimeter + "F_{Prop y} (lbs)" + delimeter + "F_{Prop z} (lbs)" + delimeter;
290 : 1 : outstream << "F_{Gear x} (lbs)" + delimeter + "F_{Gear y} (lbs)" + delimeter + "F_{Gear z} (lbs)" + delimeter;
291 : 1 : outstream << "F_{Ext x} (lbs)" + delimeter + "F_{Ext y} (lbs)" + delimeter + "F_{Ext z} (lbs)" + delimeter;
292 : 1 : outstream << "F_{Buoyant x} (lbs)" + delimeter + "F_{Buoyant y} (lbs)" + delimeter + "F_{Buoyant z} (lbs)" + delimeter;
293 : 1 : outstream << "F_{Total x} (lbs)" + delimeter + "F_{Total y} (lbs)" + delimeter + "F_{Total z} (lbs)";
294 : : }
295 [ + - ]: 1 : if (SubSystems & ssMoments) {
296 : 1 : outstream << delimeter;
297 : 1 : outstream << "L_{Aero} (ft-lbs)" + delimeter + "M_{Aero} ( ft-lbs)" + delimeter + "N_{Aero} (ft-lbs)" + delimeter;
298 : 1 : outstream << "L_{Prop} (ft-lbs)" + delimeter + "M_{Prop} (ft-lbs)" + delimeter + "N_{Prop} (ft-lbs)" + delimeter;
299 : 1 : outstream << "L_{Gear} (ft-lbs)" + delimeter + "M_{Gear} (ft-lbs)" + delimeter + "N_{Gear} (ft-lbs)" + delimeter;
300 : 1 : outstream << "L_{ext} (ft-lbs)" + delimeter + "M_{ext} (ft-lbs)" + delimeter + "N_{ext} (ft-lbs)" + delimeter;
301 : 1 : outstream << "L_{Buoyant} (ft-lbs)" + delimeter + "M_{Buoyant} (ft-lbs)" + delimeter + "N_{Buoyant} (ft-lbs)" + delimeter;
302 : 1 : outstream << "L_{Total} (ft-lbs)" + delimeter + "M_{Total} (ft-lbs)" + delimeter + "N_{Total} (ft-lbs)";
303 : : }
304 [ + - ]: 1 : if (SubSystems & ssAtmosphere) {
305 : 1 : outstream << delimeter;
306 : 1 : outstream << "Rho (slugs/ft^3)" + delimeter;
307 : 1 : outstream << "Absolute Viscosity" + delimeter;
308 : 1 : outstream << "Kinematic Viscosity" + delimeter;
309 : 1 : outstream << "Temperature (R)" + delimeter;
310 : 1 : outstream << "P_{SL} (psf)" + delimeter;
311 : 1 : outstream << "P_{Ambient} (psf)" + delimeter;
312 : 1 : outstream << "Turbulence Magnitude (ft/sec)" + delimeter;
313 : 1 : outstream << "Turbulence X Direction (rad)" + delimeter + "Turbulence Y Direction (rad)" + delimeter + "Turbulence Z Direction (rad)" + delimeter;
314 : 1 : outstream << "Wind V_{North} (ft/s)" + delimeter + "Wind V_{East} (ft/s)" + delimeter + "Wind V_{Down} (ft/s)";
315 : : }
316 [ + - ]: 1 : if (SubSystems & ssMassProps) {
317 : 1 : outstream << delimeter;
318 : 1 : outstream << "I_{xx}" + delimeter;
319 : 1 : outstream << "I_{xy}" + delimeter;
320 : 1 : outstream << "I_{xz}" + delimeter;
321 : 1 : outstream << "I_{yx}" + delimeter;
322 : 1 : outstream << "I_{yy}" + delimeter;
323 : 1 : outstream << "I_{yz}" + delimeter;
324 : 1 : outstream << "I_{zx}" + delimeter;
325 : 1 : outstream << "I_{zy}" + delimeter;
326 : 1 : outstream << "I_{zz}" + delimeter;
327 : 1 : outstream << "Mass" + delimeter;
328 : 1 : outstream << "X_{cg}" + delimeter + "Y_{cg}" + delimeter + "Z_{cg}";
329 : : }
330 [ + - ]: 1 : if (SubSystems & ssPropagate) {
331 : 1 : outstream << delimeter;
332 : 1 : outstream << "Altitude ASL (ft)" + delimeter;
333 : 1 : outstream << "Altitude AGL (ft)" + delimeter;
334 : 1 : outstream << "Phi (deg)" + delimeter + "Theta (deg)" + delimeter + "Psi (deg)" + delimeter;
335 : 1 : outstream << "Alpha (deg)" + delimeter;
336 : 1 : outstream << "Beta (deg)" + delimeter;
337 : 1 : outstream << "Latitude (deg)" + delimeter;
338 : 1 : outstream << "Longitude (deg)" + delimeter;
339 : 1 : outstream << "X_{ECI} (ft)" + delimeter + "Y_{ECI} (ft)" + delimeter + "Z_{ECI} (ft)" + delimeter;
340 : 1 : outstream << "X_{ECEF} (ft)" + delimeter + "Y_{ECEF} (ft)" + delimeter + "Z_{ECEF} (ft)" + delimeter;
341 : 1 : outstream << "Earth Position Angle (deg)" + delimeter;
342 : 1 : outstream << "Distance AGL (ft)" + delimeter;
343 : 1 : outstream << "Terrain Elevation (ft)";
344 : : }
345 [ - + ]: 1 : if (SubSystems & ssCoefficients) {
346 : 0 : scratch = Aerodynamics->GetCoefficientStrings(delimeter);
347 [ # # ]: 0 : if (scratch.length() != 0) outstream << delimeter << scratch;
348 : : }
349 [ + - ]: 1 : if (SubSystems & ssFCS) {
350 : 2 : scratch = FCS->GetComponentStrings(delimeter);
351 [ + - ]: 1 : if (scratch.length() != 0) outstream << delimeter << scratch;
352 : : }
353 [ - + ]: 1 : if (SubSystems & ssGroundReactions) {
354 : 0 : outstream << delimeter;
355 : 0 : outstream << GroundReactions->GetGroundReactionStrings(delimeter);
356 : : }
357 [ + - ][ + - ]: 1 : if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
[ + - ]
358 : 1 : outstream << delimeter;
359 : 1 : outstream << Propulsion->GetPropulsionStrings(delimeter);
360 : : }
361 [ - + ]: 1 : if (OutputProperties.size() > 0) {
362 [ # # ]: 0 : for (unsigned int i=0;i<OutputProperties.size();i++) {
363 : 0 : outstream << delimeter << OutputProperties[i]->GetPrintableName();
364 : : }
365 : : }
366 : :
367 : : outstream << endl;
368 : 1 : dFirstPass = false;
369 : : }
370 : :
371 : 4909 : outstream << FDMExec->GetSimTime();
372 : 4909 : if (SubSystems & ssSimulation) {
373 : : }
374 [ - + ]: 4909 : if (SubSystems & ssAerosurfaces) {
375 : 0 : outstream << delimeter;
376 : 0 : outstream << FCS->GetDaCmd() << delimeter;
377 : 0 : outstream << FCS->GetDeCmd() << delimeter;
378 : 0 : outstream << FCS->GetDrCmd() << delimeter;
379 : 0 : outstream << FCS->GetDfCmd() << delimeter;
380 : 0 : outstream << FCS->GetDaLPos(ofDeg) << delimeter;
381 : 0 : outstream << FCS->GetDaRPos(ofDeg) << delimeter;
382 : 0 : outstream << FCS->GetDePos(ofDeg) << delimeter;
383 : 0 : outstream << FCS->GetDrPos(ofDeg) << delimeter;
384 : 0 : outstream << FCS->GetDfPos(ofDeg);
385 : : }
386 [ + - ]: 4909 : if (SubSystems & ssRates) {
387 : 4909 : outstream << delimeter;
388 : 4909 : outstream << (radtodeg*Propagate->GetPQR()).Dump(delimeter) << delimeter;
389 : 4909 : outstream << (radtodeg*Propagate->GetPQRdot()).Dump(delimeter) << delimeter;
390 : 4909 : outstream << (radtodeg*Propagate->GetPQRi()).Dump(delimeter);
391 : : }
392 [ + - ]: 4909 : if (SubSystems & ssVelocities) {
393 : 4909 : outstream << delimeter;
394 : 4909 : outstream << Auxiliary->Getqbar() << delimeter;
395 : 4909 : outstream << Auxiliary->GetReynoldsNumber() << delimeter;
396 : 4909 : outstream << setprecision(12) << Auxiliary->GetVt() << delimeter;
397 : 4909 : outstream << Propagate->GetInertialVelocityMagnitude() << delimeter;
398 : 4909 : outstream << setprecision(12) << Propagate->GetUVW().Dump(delimeter) << delimeter;
399 : 4909 : outstream << Auxiliary->GetAeroUVW().Dump(delimeter) << delimeter;
400 : 4909 : outstream << Propagate->GetInertialVelocity().Dump(delimeter) << delimeter;
401 : 4909 : outstream << Propagate->GetVel().Dump(delimeter);
402 : : outstream.precision(10);
403 : : }
404 [ + - ]: 4909 : if (SubSystems & ssForces) {
405 : 4909 : outstream << delimeter;
406 : 4909 : outstream << Aerodynamics->GetvFw().Dump(delimeter) << delimeter;
407 : 4909 : outstream << Aerodynamics->GetLoD() << delimeter;
408 : 4909 : outstream << Aerodynamics->GetForces().Dump(delimeter) << delimeter;
409 : 4909 : outstream << Propulsion->GetForces().Dump(delimeter) << delimeter;
410 : 4909 : outstream << GroundReactions->GetForces().Dump(delimeter) << delimeter;
411 : 4909 : outstream << ExternalReactions->GetForces().Dump(delimeter) << delimeter;
412 : 4909 : outstream << BuoyantForces->GetForces().Dump(delimeter) << delimeter;
413 : 4909 : outstream << Aircraft->GetForces().Dump(delimeter);
414 : : }
415 [ + - ]: 4909 : if (SubSystems & ssMoments) {
416 : 4909 : outstream << delimeter;
417 : 4909 : outstream << Aerodynamics->GetMoments().Dump(delimeter) << delimeter;
418 : 4909 : outstream << Propulsion->GetMoments().Dump(delimeter) << delimeter;
419 : 4909 : outstream << GroundReactions->GetMoments().Dump(delimeter) << delimeter;
420 : 4909 : outstream << ExternalReactions->GetMoments().Dump(delimeter) << delimeter;
421 : 4909 : outstream << BuoyantForces->GetMoments().Dump(delimeter) << delimeter;
422 : 4909 : outstream << Aircraft->GetMoments().Dump(delimeter);
423 : : }
424 [ + - ]: 4909 : if (SubSystems & ssAtmosphere) {
425 : 4909 : outstream << delimeter;
426 : 4909 : outstream << Atmosphere->GetDensity() << delimeter;
427 : 4909 : outstream << Atmosphere->GetAbsoluteViscosity() << delimeter;
428 : 4909 : outstream << Atmosphere->GetKinematicViscosity() << delimeter;
429 : 4909 : outstream << Atmosphere->GetTemperature() << delimeter;
430 : 4909 : outstream << Atmosphere->GetPressureSL() << delimeter;
431 : 4909 : outstream << Atmosphere->GetPressure() << delimeter;
432 : 4909 : outstream << Atmosphere->GetTurbMagnitude() << delimeter;
433 : 4909 : outstream << Atmosphere->GetTurbDirection().Dump(delimeter) << delimeter;
434 : 4909 : outstream << Atmosphere->GetTotalWindNED().Dump(delimeter);
435 : : }
436 [ + - ]: 4909 : if (SubSystems & ssMassProps) {
437 : 4909 : outstream << delimeter;
438 : 4909 : outstream << MassBalance->GetJ().Dump(delimeter) << delimeter;
439 : 4909 : outstream << MassBalance->GetMass() << delimeter;
440 : 4909 : outstream << MassBalance->GetXYZcg().Dump(delimeter);
441 : : }
442 [ + - ]: 4909 : if (SubSystems & ssPropagate) {
443 : : outstream.precision(14);
444 : 4909 : outstream << delimeter;
445 : 4909 : outstream << Propagate->GetAltitudeASL() << delimeter;
446 : 9818 : outstream << Propagate->GetDistanceAGL() << delimeter;
447 : 4909 : outstream << (radtodeg*Propagate->GetEuler()).Dump(delimeter) << delimeter;
448 : 4909 : outstream << Auxiliary->Getalpha(inDegrees) << delimeter;
449 : 4909 : outstream << Auxiliary->Getbeta(inDegrees) << delimeter;
450 : 4909 : outstream << Propagate->GetLocation().GetLatitudeDeg() << delimeter;
451 : 4909 : outstream << Propagate->GetLocation().GetLongitudeDeg() << delimeter;
452 : : outstream.precision(18);
453 : 4909 : outstream << ((FGColumnVector3)Propagate->GetInertialPosition()).Dump(delimeter) << delimeter;
454 : 4909 : outstream << ((FGColumnVector3)Propagate->GetLocation()).Dump(delimeter) << delimeter;
455 : : outstream.precision(14);
456 : 4909 : outstream << Inertial->GetEarthPositionAngleDeg() << delimeter;
457 : 9818 : outstream << Propagate->GetDistanceAGL() << delimeter;
458 : 4909 : outstream << Propagate->GetTerrainElevation();
459 : : outstream.precision(10);
460 : : }
461 [ - + ]: 4909 : if (SubSystems & ssCoefficients) {
462 : 0 : scratch = Aerodynamics->GetCoefficientValues(delimeter);
463 [ # # ]: 0 : if (scratch.length() != 0) outstream << delimeter << scratch;
464 : : }
465 [ + - ]: 4909 : if (SubSystems & ssFCS) {
466 : 9818 : scratch = FCS->GetComponentValues(delimeter);
467 [ + - ]: 4909 : if (scratch.length() != 0) outstream << delimeter << scratch;
468 : : }
469 [ - + ]: 4909 : if (SubSystems & ssGroundReactions) {
470 : 0 : outstream << delimeter;
471 : 0 : outstream << GroundReactions->GetGroundReactionValues(delimeter);
472 : : }
473 [ + - ][ + - ]: 4909 : if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
[ + - ]
474 : 4909 : outstream << delimeter;
475 : 4909 : outstream << Propulsion->GetPropulsionValues(delimeter);
476 : : }
477 : :
478 : : outstream.precision(18);
479 [ - + ]: 4909 : for (unsigned int i=0;i<OutputProperties.size();i++) {
480 : 0 : outstream << delimeter << OutputProperties[i]->getDoubleValue();
481 : : }
482 : : outstream.precision(10);
483 : :
484 : : outstream << endl;
485 : 4909 : outstream.flush();
486 : 4909 : }
487 : :
488 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
489 : :
490 : 0 : void FGOutput::SocketDataFill(FGNetFDM* net)
491 : : {
492 : : unsigned int i;
493 : :
494 : : // Version
495 : 0 : net->version = FG_NET_FDM_VERSION;
496 : :
497 : : // Positions
498 : 0 : net->longitude = Propagate->GetLocation().GetLongitude(); // geodetic (radians)
499 : 0 : net->latitude = Propagate->GetLocation().GetLatitude(); // geodetic (radians)
500 : 0 : net->altitude = Propagate->GetAltitudeASL()*0.3048; // altitude, above sea level (meters)
501 : 0 : net->agl = (float)(Propagate->GetDistanceAGL()*0.3048); // altitude, above ground level (meters)
502 : :
503 : 0 : net->phi = (float)(Propagate->GetEuler(ePhi)); // roll (radians)
504 : 0 : net->theta = (float)(Propagate->GetEuler(eTht)); // pitch (radians)
505 : 0 : net->psi = (float)(Propagate->GetEuler(ePsi)); // yaw or true heading (radians)
506 : :
507 : 0 : net->alpha = (float)(Auxiliary->Getalpha()); // angle of attack (radians)
508 : 0 : net->beta = (float)(Auxiliary->Getbeta()); // side slip angle (radians)
509 : :
510 : : // Velocities
511 : 0 : net->phidot = (float)(Auxiliary->GetEulerRates(ePhi)); // roll rate (radians/sec)
512 : 0 : net->thetadot = (float)(Auxiliary->GetEulerRates(eTht)); // pitch rate (radians/sec)
513 : 0 : net->psidot = (float)(Auxiliary->GetEulerRates(ePsi)); // yaw rate (radians/sec)
514 : 0 : net->vcas = (float)(Auxiliary->GetVcalibratedFPS()); // VCAS, ft/sec
515 : 0 : net->climb_rate = (float)(Propagate->Gethdot()); // altitude rate, ft/sec
516 : 0 : net->v_north = (float)(Propagate->GetVel(eNorth)); // north vel in NED frame, fps
517 : 0 : net->v_east = (float)(Propagate->GetVel(eEast)); // east vel in NED frame, fps
518 : 0 : net->v_down = (float)(Propagate->GetVel(eDown)); // down vel in NED frame, fps
519 : : //---ADD METHOD TO CALCULATE THESE TERMS---
520 : 0 : net->v_wind_body_north = (float)(Propagate->GetVel(eNorth)); // north vel in NED relative to airmass, fps
521 : 0 : net->v_wind_body_east = (float)(Propagate->GetVel(eEast)); // east vel in NED relative to airmass, fps
522 : 0 : net->v_wind_body_down = (float)(Propagate->GetVel(eDown)); // down vel in NED relative to airmass, fps
523 : :
524 : : // Accelerations
525 : 0 : net->A_X_pilot = (float)(Auxiliary->GetPilotAccel(1)); // X body accel, ft/s/s
526 : 0 : net->A_Y_pilot = (float)(Auxiliary->GetPilotAccel(2)); // Y body accel, ft/s/s
527 : 0 : net->A_Z_pilot = (float)(Auxiliary->GetPilotAccel(3)); // Z body accel, ft/s/s
528 : :
529 : : // Stall
530 : 0 : net->stall_warning = 0.0; // 0.0 - 1.0 indicating the amount of stall
531 : 0 : net->slip_deg = (float)(Auxiliary->Getbeta(inDegrees)); // slip ball deflection, deg
532 : :
533 : : // Engine status
534 : 0 : net->num_engines = Propulsion->GetNumEngines(); // Number of valid engines
535 : :
536 [ # # ]: 0 : for (i=0; i<net->num_engines; i++) {
537 [ # # ]: 0 : if (Propulsion->GetEngine(i)->GetRunning())
538 : 0 : net->eng_state[i] = 2; // Engine state running
539 [ # # ]: 0 : else if (Propulsion->GetEngine(i)->GetCranking())
540 : 0 : net->eng_state[i] = 1; // Engine state cranking
541 : : else
542 : 0 : net->eng_state[i] = 0; // Engine state off
543 : :
544 [ # # ]: 0 : switch (Propulsion->GetEngine(i)->GetType()) {
545 : : case (FGEngine::etRocket):
546 : : break;
547 : : case (FGEngine::etPiston):
548 : 0 : net->rpm[i] = (float)(((FGPiston *)Propulsion->GetEngine(i))->getRPM());
549 : 0 : net->fuel_flow[i] = (float)(((FGPiston *)Propulsion->GetEngine(i))->getFuelFlow_gph());
550 : 0 : net->fuel_px[i] = 0; // Fuel pressure, psi (N/A in current model)
551 : 0 : net->egt[i] = (float)(((FGPiston *)Propulsion->GetEngine(i))->GetEGT());
552 : 0 : net->cht[i] = (float)(((FGPiston *)Propulsion->GetEngine(i))->getCylinderHeadTemp_degF());
553 : 0 : net->mp_osi[i] = (float)(((FGPiston *)Propulsion->GetEngine(i))->getManifoldPressure_inHg());
554 : 0 : net->oil_temp[i] = (float)(((FGPiston *)Propulsion->GetEngine(i))->getOilTemp_degF());
555 : 0 : net->oil_px[i] = (float)(((FGPiston *)Propulsion->GetEngine(i))->getOilPressure_psi());
556 : 0 : net->tit[i] = 0; // Turbine Inlet Temperature (N/A for piston)
557 : : break;
558 : : case (FGEngine::etTurbine):
559 : : break;
560 : : case (FGEngine::etTurboprop):
561 : : break;
562 : : case (FGEngine::etElectric):
563 : : break;
564 : : case (FGEngine::etUnknown):
565 : : break;
566 : : }
567 : : }
568 : :
569 : :
570 : : // Consumables
571 : 0 : net->num_tanks = Propulsion->GetNumTanks(); // Max number of fuel tanks
572 : :
573 [ # # ]: 0 : for (i=0; i<net->num_tanks; i++) {
574 : 0 : net->fuel_quantity[i] = (float)(((FGTank *)Propulsion->GetTank(i))->GetContents());
575 : : }
576 : :
577 : :
578 : : // Gear status
579 : 0 : net->num_wheels = GroundReactions->GetNumGearUnits();
580 : :
581 [ # # ]: 0 : for (i=0; i<net->num_wheels; i++) {
582 : 0 : net->wow[i] = GroundReactions->GetGearUnit(i)->GetWOW();
583 [ # # ]: 0 : if (GroundReactions->GetGearUnit(i)->GetGearUnitDown())
584 : 0 : net->gear_pos[i] = 1; //gear down, using FCS convention
585 : : else
586 : 0 : net->gear_pos[i] = 0; //gear up, using FCS convention
587 : 0 : net->gear_steer[i] = (float)(GroundReactions->GetGearUnit(i)->GetSteerNorm());
588 : 0 : net->gear_compression[i] = (float)(GroundReactions->GetGearUnit(i)->GetCompLen());
589 : : }
590 : :
591 : :
592 : : // Environment
593 : 0 : net->cur_time = (long int)1234567890; // Friday, Feb 13, 2009, 23:31:30 UTC (not processed by FGFS anyway)
594 : 0 : net->warp = 0; // offset in seconds to unix time
595 : 0 : net->visibility = 25000.0; // visibility in meters (for env. effects)
596 : :
597 : :
598 : : // Control surface positions (normalized values)
599 : 0 : net->elevator = (float)(FCS->GetDePos(ofNorm)); // Norm Elevator Pos, --
600 : 0 : net->elevator_trim_tab = (float)(FCS->GetPitchTrimCmd()); // Norm Elev Trim Tab Pos, --
601 : 0 : net->left_flap = (float)(FCS->GetDfPos(ofNorm)); // Norm Flap Pos, --
602 : 0 : net->right_flap = (float)(FCS->GetDfPos(ofNorm)); // Norm Flap Pos, --
603 : 0 : net->left_aileron = (float)(FCS->GetDaLPos(ofNorm)); // Norm L Aileron Pos, --
604 : 0 : net->right_aileron = (float)(FCS->GetDaRPos(ofNorm)); // Norm R Aileron Pos, --
605 : 0 : net->rudder = (float)(FCS->GetDrPos(ofNorm)); // Norm Rudder Pos, --
606 : 0 : net->nose_wheel = (float)(FCS->GetDrPos(ofNorm)); // *** FIX *** Using Rudder Pos for NWS, --
607 : 0 : net->speedbrake = (float)(FCS->GetDsbPos(ofNorm)); // Norm Speedbrake Pos, --
608 : 0 : net->spoilers = (float)(FCS->GetDspPos(ofNorm)); // Norm Spoiler Pos, --
609 : :
610 : :
611 : : // Convert the net buffer to network format
612 [ # # ]: 0 : if ( isLittleEndian ) {
613 [ # # ]: 0 : net->version = htonl(net->version);
614 : :
615 : 0 : htond(net->longitude);
616 : 0 : htond(net->latitude);
617 : 0 : htond(net->altitude);
618 : 0 : htonf(net->agl);
619 : 0 : htonf(net->phi);
620 : 0 : htonf(net->theta);
621 : 0 : htonf(net->psi);
622 : 0 : htonf(net->alpha);
623 : 0 : htonf(net->beta);
624 : :
625 : 0 : htonf(net->phidot);
626 : 0 : htonf(net->thetadot);
627 : 0 : htonf(net->psidot);
628 : 0 : htonf(net->vcas);
629 : 0 : htonf(net->climb_rate);
630 : 0 : htonf(net->v_north);
631 : 0 : htonf(net->v_east);
632 : 0 : htonf(net->v_down);
633 : 0 : htonf(net->v_wind_body_north);
634 : 0 : htonf(net->v_wind_body_east);
635 : 0 : htonf(net->v_wind_body_down);
636 : :
637 : 0 : htonf(net->A_X_pilot);
638 : 0 : htonf(net->A_Y_pilot);
639 : 0 : htonf(net->A_Z_pilot);
640 : :
641 : 0 : htonf(net->stall_warning);
642 : 0 : htonf(net->slip_deg);
643 : :
644 [ # # ]: 0 : for (i=0; i<net->num_engines; ++i ) {
645 [ # # ]: 0 : net->eng_state[i] = htonl(net->eng_state[i]);
646 : 0 : htonf(net->rpm[i]);
647 : 0 : htonf(net->fuel_flow[i]);
648 : 0 : htonf(net->fuel_px[i]);
649 : 0 : htonf(net->egt[i]);
650 : 0 : htonf(net->cht[i]);
651 : 0 : htonf(net->mp_osi[i]);
652 : 0 : htonf(net->tit[i]);
653 : 0 : htonf(net->oil_temp[i]);
654 : 0 : htonf(net->oil_px[i]);
655 : : }
656 [ # # ]: 0 : net->num_engines = htonl(net->num_engines);
657 : :
658 [ # # ]: 0 : for (i=0; i<net->num_tanks; ++i ) {
659 : 0 : htonf(net->fuel_quantity[i]);
660 : : }
661 [ # # ]: 0 : net->num_tanks = htonl(net->num_tanks);
662 : :
663 [ # # ]: 0 : for (i=0; i<net->num_wheels; ++i ) {
664 [ # # ]: 0 : net->wow[i] = htonl(net->wow[i]);
665 : 0 : htonf(net->gear_pos[i]);
666 : 0 : htonf(net->gear_steer[i]);
667 : 0 : htonf(net->gear_compression[i]);
668 : : }
669 [ # # ]: 0 : net->num_wheels = htonl(net->num_wheels);
670 : :
671 [ # # ]: 0 : net->cur_time = htonl( net->cur_time );
672 [ # # ]: 0 : net->warp = htonl( net->warp );
673 : 0 : htonf(net->visibility);
674 : :
675 : 0 : htonf(net->elevator);
676 : 0 : htonf(net->elevator_trim_tab);
677 : 0 : htonf(net->left_flap);
678 : 0 : htonf(net->right_flap);
679 : 0 : htonf(net->left_aileron);
680 : 0 : htonf(net->right_aileron);
681 : 0 : htonf(net->rudder);
682 : 0 : htonf(net->nose_wheel);
683 : 0 : htonf(net->speedbrake);
684 : 0 : htonf(net->spoilers);
685 : : }
686 : 0 : }
687 : :
688 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
689 : :
690 : 0 : void FGOutput::FlightGearSocketOutput(void)
691 : : {
692 : 0 : int length = sizeof(fgSockBuf);
693 : :
694 : :
695 [ # # ]: 0 : if (flightGearSocket == NULL) return;
696 [ # # ]: 0 : if (!flightGearSocket->GetConnectStatus()) return;
697 : :
698 : 0 : SocketDataFill(&fgSockBuf);
699 : 0 : flightGearSocket->Send((char *)&fgSockBuf, length);
700 : : }
701 : :
702 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
703 : :
704 : 0 : void FGOutput::SocketOutput(void)
705 : : {
706 : 0 : string asciiData, scratch;
707 : :
708 [ # # ]: 0 : if (socket == NULL) return;
709 [ # # ]: 0 : if (!socket->GetConnectStatus()) return;
710 : :
711 : 0 : socket->Clear();
712 [ # # ]: 0 : if (sFirstPass) {
713 : 0 : socket->Clear("<LABELS>");
714 : 0 : socket->Append("Time");
715 : :
716 [ # # ]: 0 : if (SubSystems & ssAerosurfaces) {
717 : 0 : socket->Append("Aileron Command");
718 : 0 : socket->Append("Elevator Command");
719 : 0 : socket->Append("Rudder Command");
720 : 0 : socket->Append("Flap Command");
721 : 0 : socket->Append("Left Aileron Position");
722 : 0 : socket->Append("Right Aileron Position");
723 : 0 : socket->Append("Elevator Position");
724 : 0 : socket->Append("Rudder Position");
725 : 0 : socket->Append("Flap Position");
726 : : }
727 : :
728 [ # # ]: 0 : if (SubSystems & ssRates) {
729 : 0 : socket->Append("P");
730 : 0 : socket->Append("Q");
731 : 0 : socket->Append("R");
732 : 0 : socket->Append("PDot");
733 : 0 : socket->Append("QDot");
734 : 0 : socket->Append("RDot");
735 : : }
736 : :
737 [ # # ]: 0 : if (SubSystems & ssVelocities) {
738 : 0 : socket->Append("QBar");
739 : 0 : socket->Append("Vtotal");
740 : 0 : socket->Append("UBody");
741 : 0 : socket->Append("VBody");
742 : 0 : socket->Append("WBody");
743 : 0 : socket->Append("UAero");
744 : 0 : socket->Append("VAero");
745 : 0 : socket->Append("WAero");
746 : 0 : socket->Append("Vn");
747 : 0 : socket->Append("Ve");
748 : 0 : socket->Append("Vd");
749 : : }
750 [ # # ]: 0 : if (SubSystems & ssForces) {
751 : 0 : socket->Append("F_Drag");
752 : 0 : socket->Append("F_Side");
753 : 0 : socket->Append("F_Lift");
754 : 0 : socket->Append("LoD");
755 : 0 : socket->Append("Fx");
756 : 0 : socket->Append("Fy");
757 : 0 : socket->Append("Fz");
758 : : }
759 [ # # ]: 0 : if (SubSystems & ssMoments) {
760 : 0 : socket->Append("L");
761 : 0 : socket->Append("M");
762 : 0 : socket->Append("N");
763 : : }
764 [ # # ]: 0 : if (SubSystems & ssAtmosphere) {
765 : 0 : socket->Append("Rho");
766 : 0 : socket->Append("SL pressure");
767 : 0 : socket->Append("Ambient pressure");
768 : 0 : socket->Append("Turbulence Magnitude");
769 : 0 : socket->Append("Turbulence Direction X");
770 : 0 : socket->Append("Turbulence Direction Y");
771 : 0 : socket->Append("Turbulence Direction Z");
772 : 0 : socket->Append("NWind");
773 : 0 : socket->Append("EWind");
774 : 0 : socket->Append("DWind");
775 : : }
776 [ # # ]: 0 : if (SubSystems & ssMassProps) {
777 : 0 : socket->Append("Ixx");
778 : 0 : socket->Append("Ixy");
779 : 0 : socket->Append("Ixz");
780 : 0 : socket->Append("Iyx");
781 : 0 : socket->Append("Iyy");
782 : 0 : socket->Append("Iyz");
783 : 0 : socket->Append("Izx");
784 : 0 : socket->Append("Izy");
785 : 0 : socket->Append("Izz");
786 : 0 : socket->Append("Mass");
787 : 0 : socket->Append("Xcg");
788 : 0 : socket->Append("Ycg");
789 : 0 : socket->Append("Zcg");
790 : : }
791 [ # # ]: 0 : if (SubSystems & ssPropagate) {
792 : 0 : socket->Append("Altitude");
793 : 0 : socket->Append("Phi (deg)");
794 : 0 : socket->Append("Tht (deg)");
795 : 0 : socket->Append("Psi (deg)");
796 : 0 : socket->Append("Alpha (deg)");
797 : 0 : socket->Append("Beta (deg)");
798 : 0 : socket->Append("Latitude (deg)");
799 : 0 : socket->Append("Longitude (deg)");
800 : : }
801 [ # # ]: 0 : if (SubSystems & ssCoefficients) {
802 : 0 : scratch = Aerodynamics->GetCoefficientStrings(",");
803 [ # # ]: 0 : if (scratch.length() != 0) socket->Append(scratch);
804 : : }
805 [ # # ]: 0 : if (SubSystems & ssFCS) {
806 : 0 : scratch = FCS->GetComponentStrings(",");
807 [ # # ]: 0 : if (scratch.length() != 0) socket->Append(scratch);
808 : : }
809 [ # # ]: 0 : if (SubSystems & ssGroundReactions) {
810 : 0 : socket->Append(GroundReactions->GetGroundReactionStrings(","));
811 : : }
812 [ # # ][ # # ]: 0 : if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
[ # # ]
813 : 0 : socket->Append(Propulsion->GetPropulsionStrings(","));
814 : : }
815 [ # # ]: 0 : if (OutputProperties.size() > 0) {
816 [ # # ]: 0 : for (unsigned int i=0;i<OutputProperties.size();i++) {
817 : 0 : socket->Append(OutputProperties[i]->GetPrintableName());
818 : : }
819 : : }
820 : :
821 : 0 : sFirstPass = false;
822 : 0 : socket->Send();
823 : : }
824 : :
825 : 0 : socket->Clear();
826 : 0 : socket->Append(FDMExec->GetSimTime());
827 : :
828 [ # # ]: 0 : if (SubSystems & ssAerosurfaces) {
829 : 0 : socket->Append(FCS->GetDaCmd());
830 : 0 : socket->Append(FCS->GetDeCmd());
831 : 0 : socket->Append(FCS->GetDrCmd());
832 : 0 : socket->Append(FCS->GetDfCmd());
833 : 0 : socket->Append(FCS->GetDaLPos());
834 : 0 : socket->Append(FCS->GetDaRPos());
835 : 0 : socket->Append(FCS->GetDePos());
836 : 0 : socket->Append(FCS->GetDrPos());
837 : 0 : socket->Append(FCS->GetDfPos());
838 : : }
839 [ # # ]: 0 : if (SubSystems & ssRates) {
840 : 0 : socket->Append(radtodeg*Propagate->GetPQR(eP));
841 : 0 : socket->Append(radtodeg*Propagate->GetPQR(eQ));
842 : 0 : socket->Append(radtodeg*Propagate->GetPQR(eR));
843 : 0 : socket->Append(radtodeg*Propagate->GetPQRdot(eP));
844 : 0 : socket->Append(radtodeg*Propagate->GetPQRdot(eQ));
845 : 0 : socket->Append(radtodeg*Propagate->GetPQRdot(eR));
846 : : }
847 [ # # ]: 0 : if (SubSystems & ssVelocities) {
848 : 0 : socket->Append(Auxiliary->Getqbar());
849 : 0 : socket->Append(Auxiliary->GetVt());
850 : 0 : socket->Append(Propagate->GetUVW(eU));
851 : 0 : socket->Append(Propagate->GetUVW(eV));
852 : 0 : socket->Append(Propagate->GetUVW(eW));
853 : 0 : socket->Append(Auxiliary->GetAeroUVW(eU));
854 : 0 : socket->Append(Auxiliary->GetAeroUVW(eV));
855 : 0 : socket->Append(Auxiliary->GetAeroUVW(eW));
856 : 0 : socket->Append(Propagate->GetVel(eNorth));
857 : 0 : socket->Append(Propagate->GetVel(eEast));
858 : 0 : socket->Append(Propagate->GetVel(eDown));
859 : : }
860 [ # # ]: 0 : if (SubSystems & ssForces) {
861 : 0 : socket->Append(Aerodynamics->GetvFw()(eDrag));
862 : 0 : socket->Append(Aerodynamics->GetvFw()(eSide));
863 : 0 : socket->Append(Aerodynamics->GetvFw()(eLift));
864 : 0 : socket->Append(Aerodynamics->GetLoD());
865 : 0 : socket->Append(Aircraft->GetForces(eX));
866 : 0 : socket->Append(Aircraft->GetForces(eY));
867 : 0 : socket->Append(Aircraft->GetForces(eZ));
868 : : }
869 [ # # ]: 0 : if (SubSystems & ssMoments) {
870 : 0 : socket->Append(Aircraft->GetMoments(eL));
871 : 0 : socket->Append(Aircraft->GetMoments(eM));
872 : 0 : socket->Append(Aircraft->GetMoments(eN));
873 : : }
874 [ # # ]: 0 : if (SubSystems & ssAtmosphere) {
875 : 0 : socket->Append(Atmosphere->GetDensity());
876 : 0 : socket->Append(Atmosphere->GetPressureSL());
877 : 0 : socket->Append(Atmosphere->GetPressure());
878 : 0 : socket->Append(Atmosphere->GetTurbMagnitude());
879 : 0 : socket->Append(Atmosphere->GetTurbDirection().Dump(","));
880 : 0 : socket->Append(Atmosphere->GetTotalWindNED().Dump(","));
881 : : }
882 [ # # ]: 0 : if (SubSystems & ssMassProps) {
883 : 0 : socket->Append(MassBalance->GetJ()(1,1));
884 : 0 : socket->Append(MassBalance->GetJ()(1,2));
885 : 0 : socket->Append(MassBalance->GetJ()(1,3));
886 : 0 : socket->Append(MassBalance->GetJ()(2,1));
887 : 0 : socket->Append(MassBalance->GetJ()(2,2));
888 : 0 : socket->Append(MassBalance->GetJ()(2,3));
889 : 0 : socket->Append(MassBalance->GetJ()(3,1));
890 : 0 : socket->Append(MassBalance->GetJ()(3,2));
891 : 0 : socket->Append(MassBalance->GetJ()(3,3));
892 : 0 : socket->Append(MassBalance->GetMass());
893 : 0 : socket->Append(MassBalance->GetXYZcg()(eX));
894 : 0 : socket->Append(MassBalance->GetXYZcg()(eY));
895 : 0 : socket->Append(MassBalance->GetXYZcg()(eZ));
896 : : }
897 [ # # ]: 0 : if (SubSystems & ssPropagate) {
898 : 0 : socket->Append(Propagate->GetAltitudeASL());
899 : 0 : socket->Append(radtodeg*Propagate->GetEuler(ePhi));
900 : 0 : socket->Append(radtodeg*Propagate->GetEuler(eTht));
901 : 0 : socket->Append(radtodeg*Propagate->GetEuler(ePsi));
902 : 0 : socket->Append(Auxiliary->Getalpha(inDegrees));
903 : 0 : socket->Append(Auxiliary->Getbeta(inDegrees));
904 : 0 : socket->Append(Propagate->GetLocation().GetLatitudeDeg());
905 : 0 : socket->Append(Propagate->GetLocation().GetLongitudeDeg());
906 : : }
907 [ # # ]: 0 : if (SubSystems & ssCoefficients) {
908 : 0 : scratch = Aerodynamics->GetCoefficientValues(",");
909 [ # # ]: 0 : if (scratch.length() != 0) socket->Append(scratch);
910 : : }
911 [ # # ]: 0 : if (SubSystems & ssFCS) {
912 : 0 : scratch = FCS->GetComponentValues(",");
913 [ # # ]: 0 : if (scratch.length() != 0) socket->Append(scratch);
914 : : }
915 [ # # ]: 0 : if (SubSystems & ssGroundReactions) {
916 : 0 : socket->Append(GroundReactions->GetGroundReactionValues(","));
917 : : }
918 [ # # ][ # # ]: 0 : if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
[ # # ]
919 : 0 : socket->Append(Propulsion->GetPropulsionValues(","));
920 : : }
921 : :
922 [ # # ]: 0 : for (unsigned int i=0;i<OutputProperties.size();i++) {
923 : 0 : socket->Append(OutputProperties[i]->getDoubleValue());
924 : : }
925 : :
926 : 0 : socket->Send();
927 : : }
928 : :
929 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
930 : :
931 : 0 : void FGOutput::SocketStatusOutput(const string& out_str)
932 : : {
933 : 0 : string asciiData;
934 : :
935 [ # # ]: 0 : if (socket == NULL) return;
936 : :
937 : 0 : socket->Clear();
938 : 0 : asciiData = string("<STATUS>") + out_str;
939 : 0 : socket->Append(asciiData.c_str());
940 : 0 : socket->Send();
941 : : }
942 : :
943 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
944 : :
945 : 1 : bool FGOutput::Load(Element* element)
946 : : {
947 : 1 : string type="", parameter="";
948 : 1 : string name="";
949 : 1 : string protocol="tcp";
950 : 1 : int OutRate = 0;
951 : 1 : string property;
952 : : unsigned int port;
953 : : Element *property_element;
954 : :
955 : 1 : string separator = "/";
956 : :
957 [ - + ]: 1 : if (!DirectivesFile.empty()) { // A directives filename from the command line overrides
958 : 0 : output_file_name = DirectivesFile; // one found in the config file.
959 : 0 : document = LoadXMLDocument(output_file_name);
960 [ - + ]: 1 : } else if (!element->GetAttributeValue("file").empty()) {
961 : 0 : output_file_name = FDMExec->GetRootDir() + element->GetAttributeValue("file");
962 : 0 : document = LoadXMLDocument(output_file_name);
963 : : } else {
964 : 1 : document = element;
965 : : }
966 : :
967 [ - + ]: 1 : if (!document) return false;
968 : :
969 : 3 : name = FDMExec->GetRootDir() + document->GetAttributeValue("name");
970 : 2 : type = document->GetAttributeValue("type");
971 : 1 : SetType(type);
972 [ - + ][ # # ]: 2 : if (!document->GetAttributeValue("port").empty() && type == string("SOCKET")) {
[ - + ][ # # ]
[ # # ][ - + ]
[ # # ][ + - ]
[ # # ][ + - ]
[ # # ][ + - ]
[ - + ]
973 : 0 : port = atoi(document->GetAttributeValue("port").c_str());
974 : 0 : socket = new FGfdmSocket(name, port);
975 [ - + ][ # # ]: 2 : } else if (!document->GetAttributeValue("port").empty() && type == string("FLIGHTGEAR")) {
[ - + ][ # # ]
[ # # ][ - + ]
[ # # ][ + - ]
[ # # ][ + - ]
[ # # ][ + - ]
[ - + ]
976 : 0 : port = atoi(document->GetAttributeValue("port").c_str());
977 [ # # ]: 0 : if (!document->GetAttributeValue("protocol").empty())
978 : 0 : protocol = document->GetAttributeValue("protocol");
979 [ # # ]: 0 : if (protocol == "udp")
980 : 0 : flightGearSocket = new FGfdmSocket(name, port, FGfdmSocket::ptUDP); // create udp socket
981 : : else
982 : 0 : flightGearSocket = new FGfdmSocket(name, port, FGfdmSocket::ptTCP); // create tcp socket (default)
983 : : } else {
984 : 2 : BaseFilename = Filename = name;
985 : : }
986 [ + - ]: 1 : if (!document->GetAttributeValue("rate").empty()) {
987 : 1 : OutRate = (int)document->GetAttributeValueAsNumber("rate");
988 : : } else {
989 : 0 : OutRate = 1;
990 : : }
991 : :
992 [ - + ]: 1 : if (document->FindElementValue("simulation") == string("ON"))
993 : 0 : SubSystems += ssSimulation;
994 [ - + ]: 1 : if (document->FindElementValue("aerosurfaces") == string("ON"))
995 : 0 : SubSystems += ssAerosurfaces;
996 [ + - ]: 1 : if (document->FindElementValue("rates") == string("ON"))
997 : 1 : SubSystems += ssRates;
998 [ + - ]: 1 : if (document->FindElementValue("velocities") == string("ON"))
999 : 1 : SubSystems += ssVelocities;
1000 [ + - ]: 1 : if (document->FindElementValue("forces") == string("ON"))
1001 : 1 : SubSystems += ssForces;
1002 [ + - ]: 1 : if (document->FindElementValue("moments") == string("ON"))
1003 : 1 : SubSystems += ssMoments;
1004 [ + - ]: 1 : if (document->FindElementValue("atmosphere") == string("ON"))
1005 : 1 : SubSystems += ssAtmosphere;
1006 [ + - ]: 1 : if (document->FindElementValue("massprops") == string("ON"))
1007 : 1 : SubSystems += ssMassProps;
1008 [ + - ]: 1 : if (document->FindElementValue("position") == string("ON"))
1009 : 1 : SubSystems += ssPropagate;
1010 [ - + ]: 1 : if (document->FindElementValue("coefficients") == string("ON"))
1011 : 0 : SubSystems += ssCoefficients;
1012 [ - + ]: 1 : if (document->FindElementValue("ground_reactions") == string("ON"))
1013 : 0 : SubSystems += ssGroundReactions;
1014 [ + - ]: 1 : if (document->FindElementValue("fcs") == string("ON"))
1015 : 1 : SubSystems += ssFCS;
1016 [ + - ]: 1 : if (document->FindElementValue("propulsion") == string("ON"))
1017 : 1 : SubSystems += ssPropulsion;
1018 : 1 : property_element = document->FindElement("property");
1019 [ - + ]: 1 : while (property_element) {
1020 : 0 : string property_str = property_element->GetDataLine();
1021 : 0 : FGPropertyManager* node = PropertyManager->GetNode(property_str);
1022 [ # # ]: 0 : if (!node) {
1023 : : cerr << fgred << highint << endl << " No property by the name "
1024 : : << property_str << " has been defined. This property will " << endl
1025 : : << " not be logged. You should check your configuration file."
1026 : 0 : << reset << endl;
1027 : : } else {
1028 : 0 : OutputProperties.push_back(node);
1029 : : }
1030 : 0 : property_element = document->FindNextElement("property");
1031 : : }
1032 : :
1033 : 1 : SetRate(OutRate);
1034 : :
1035 : 1 : Debug(2);
1036 : :
1037 : 1 : return true;
1038 : : }
1039 : :
1040 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
1041 : :
1042 : 2 : void FGOutput::SetRate(int rtHz)
1043 : : {
1044 [ + - ]: 2 : rtHz = rtHz>1000?1000:(rtHz<0?0:rtHz);
1045 [ + - ]: 2 : if (rtHz > 0) {
1046 : 4 : rate = (int)(0.5 + 1.0/(FDMExec->GetDeltaT()*rtHz));
1047 : : Enable();
1048 : : } else {
1049 : 0 : rate = 1;
1050 : : Disable();
1051 : : }
1052 : 2 : }
1053 : :
1054 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
1055 : : // The bitmasked value choices are as follows:
1056 : : // unset: In this case (the default) JSBSim would only print
1057 : : // out the normally expected messages, essentially echoing
1058 : : // the config files as they are read. If the environment
1059 : : // variable is not set, debug_lvl is set to 1 internally
1060 : : // 0: This requests JSBSim not to output any messages
1061 : : // whatsoever.
1062 : : // 1: This value explicity requests the normal JSBSim
1063 : : // startup messages
1064 : : // 2: This value asks for a message to be printed out when
1065 : : // a class is instantiated
1066 : : // 4: When this value is set, a message is displayed when a
1067 : : // FGModel object executes its Run() method
1068 : : // 8: When this value is set, various runtime state variables
1069 : : // are printed out periodically
1070 : : // 16: When set various parameters are sanity checked and
1071 : : // a message is printed out when they go out of bounds
1072 : :
1073 : 3 : void FGOutput::Debug(int from)
1074 : : {
1075 : 3 : string scratch="";
1076 : :
1077 [ + - ]: 3 : if (debug_lvl <= 0) return;
1078 : :
1079 [ + - ]: 3 : if (debug_lvl & 1) { // Standard console startup message output
1080 : : if (from == 0) { // Constructor
1081 : :
1082 : : }
1083 [ + + ]: 3 : if (from == 2) {
1084 [ + - ]: 1 : if (output_file_name.empty())
1085 : 1 : cout << " " << "Output parameters read inline" << endl;
1086 : : else
1087 : 0 : cout << " Output parameters read from file: " << output_file_name << endl;
1088 : :
1089 [ + - - + ]: 2 : if (Filename == "cout" || Filename == "COUT") {
[ - + ]
1090 : : scratch = " Log output goes to screen console";
1091 [ + - ]: 1 : } else if (!Filename.empty()) {
1092 : 2 : scratch = " Log output goes to file: " + Filename;
1093 : : }
1094 [ + - ]: 1 : switch (Type) {
1095 : : case otCSV:
1096 : 2 : cout << scratch << " in CSV format output at rate " << 1/(FDMExec->GetDeltaT()*rate) << " Hz" << endl;
1097 : : break;
1098 : : case otNone:
1099 : : default:
1100 : 0 : cout << " No log output" << endl;
1101 : : break;
1102 : : }
1103 : :
1104 [ - + ]: 1 : if (SubSystems & ssSimulation) cout << " Simulation parameters logged" << endl;
1105 [ - + ]: 1 : if (SubSystems & ssAerosurfaces) cout << " Aerosurface parameters logged" << endl;
1106 [ + - ]: 1 : if (SubSystems & ssRates) cout << " Rate parameters logged" << endl;
1107 [ + - ]: 1 : if (SubSystems & ssVelocities) cout << " Velocity parameters logged" << endl;
1108 [ + - ]: 1 : if (SubSystems & ssForces) cout << " Force parameters logged" << endl;
1109 [ + - ]: 1 : if (SubSystems & ssMoments) cout << " Moments parameters logged" << endl;
1110 [ + - ]: 1 : if (SubSystems & ssAtmosphere) cout << " Atmosphere parameters logged" << endl;
1111 [ + - ]: 1 : if (SubSystems & ssMassProps) cout << " Mass parameters logged" << endl;
1112 [ - + ]: 1 : if (SubSystems & ssCoefficients) cout << " Coefficient parameters logged" << endl;
1113 [ + - ]: 1 : if (SubSystems & ssPropagate) cout << " Propagate parameters logged" << endl;
1114 [ - + ]: 1 : if (SubSystems & ssGroundReactions) cout << " Ground parameters logged" << endl;
1115 [ + - ]: 1 : if (SubSystems & ssFCS) cout << " FCS parameters logged" << endl;
1116 [ + - ]: 1 : if (SubSystems & ssPropulsion) cout << " Propulsion parameters logged" << endl;
1117 [ - + ]: 1 : if (OutputProperties.size() > 0) cout << " Properties logged:" << endl;
1118 [ - + ]: 1 : for (unsigned int i=0;i<OutputProperties.size();i++) {
1119 : 0 : cout << " - " << OutputProperties[i]->GetName() << endl;
1120 : : }
1121 : : }
1122 : : }
1123 [ - + ]: 3 : if (debug_lvl & 2 ) { // Instantiation/Destruction notification
1124 [ # # ]: 0 : if (from == 0) cout << "Instantiated: FGOutput" << endl;
1125 [ # # ]: 0 : if (from == 1) cout << "Destroyed: FGOutput" << endl;
1126 : : }
1127 : 3 : if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
1128 : : }
1129 : 3 : if (debug_lvl & 8 ) { // Runtime state variables
1130 : : }
1131 : 3 : if (debug_lvl & 16) { // Sanity checking
1132 : : }
1133 [ - + ]: 3 : if (debug_lvl & 64) {
1134 [ # # ]: 0 : if (from == 0) { // Constructor
1135 : 0 : cout << IdSrc << endl;
1136 : 0 : cout << IdHdr << endl;
1137 : : }
1138 : 3 : }
1139 : : }
1140 [ + + ][ + - ]: 12 : }
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