/src/input_output/FGOutputSocket.cpp

/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

 Module:       FGOutputSocket.cpp
 Author:       Bertrand Coconnier
 Date started: 09/10/11
 Purpose:      Manage output of sim parameters to a socket
 Called by:    FGOutput

 ------------- Copyright (C) 2011 Bertrand Coconnier -------------

 This program is free software; you can redistribute it and/or modify it under
 the terms of the GNU Lesser General Public License as published by the Free Software
 Foundation; either version 2 of the License, or (at your option) any later
 version.

 This program is distributed in the hope that it will be useful, but WITHOUT
 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
 FOR A PARTICULAR PURPOSE.  See the GNU Lesser General Public License for more
 details.

 You should have received a copy of the GNU Lesser General Public License along with
 this program; if not, write to the Free Software Foundation, Inc., 59 Temple
 Place - Suite 330, Boston, MA  02111-1307, USA.

 Further information about the GNU Lesser General Public License can also be found on
 the world wide web at http://www.gnu.org.

FUNCTIONAL DESCRIPTION
--------------------------------------------------------------------------------
This is the place where you create output routines to dump data for perusal
later.

HISTORY
--------------------------------------------------------------------------------
09/10/11   BC    Created

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
INCLUDES
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/

#include <cstring>
#include <cstdlib>

#include "FGOutputSocket.h"
#include "FGFDMExec.h"
#include "models/FGAerodynamics.h"
#include "models/FGAccelerations.h"
#include "models/FGAircraft.h"
#include "models/FGAtmosphere.h"
#include "models/FGAuxiliary.h"
#include "models/FGPropulsion.h"
#include "models/FGMassBalance.h"
#include "models/FGPropagate.h"
#include "models/FGGroundReactions.h"
#include "models/FGFCS.h"
#include "models/atmosphere/FGWinds.h"

using namespace std;

namespace JSBSim {

static const char *IdSrc = "$Id: FGOutputSocket.cpp,v 1.1 2012/09/05 21:49:19 bcoconni Exp $";
static const char *IdHdr = ID_OUTPUTSOCKET;

/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS IMPLEMENTATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/

FGOutputSocket::FGOutputSocket(FGFDMExec* fdmex, Element* element, int idx) :
  FGOutputType(fdmex, element, idx),
  socket(0)
{
  Name = element->GetAttributeValue("name");
  string Port = element->GetAttributeValue("port");

  if (!Port.empty()) {
    port = atoi(Port.c_str());
    SetProtocol(element->GetAttributeValue("protocol"));
    socket = new FGfdmSocket(Name, port, Protocol);
  }
}

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

FGOutputSocket::FGOutputSocket(FGFDMExec* fdmex, int idx, int subSystems,
                               std::string protocol, std::string Port,
                               std::string name, double outRate,
                               std::vector<FGPropertyManager *> & outputProperties) :
  FGOutputType(fdmex, idx, subSystems, outRate, outputProperties),
  Name(name),
  socket(0)
{
  if (!Port.empty()) {
    port = atoi(Port.c_str());
    SetProtocol(protocol);
    socket = new FGfdmSocket(Name, port, Protocol);
  }
}

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

FGOutputSocket::~FGOutputSocket()
{
  delete socket;
}

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

bool FGOutputSocket::InitModel(void)
{
  if (FGOutputType::InitModel()) {
    string scratch;

    if (socket == 0) return false;
    if (!socket->GetConnectStatus()) return false;

    socket->Clear();
    socket->Clear("<LABELS>");
    socket->Append("Time");

    if (SubSystems & ssAerosurfaces) {
      socket->Append("Aileron Command");
      socket->Append("Elevator Command");
      socket->Append("Rudder Command");
      socket->Append("Flap Command");
      socket->Append("Left Aileron Position");
      socket->Append("Right Aileron Position");
      socket->Append("Elevator Position");
      socket->Append("Rudder Position");
      socket->Append("Flap Position");
    }

    if (SubSystems & ssRates) {
      socket->Append("P");
      socket->Append("Q");
      socket->Append("R");
      socket->Append("PDot");
      socket->Append("QDot");
      socket->Append("RDot");
    }

    if (SubSystems & ssVelocities) {
      socket->Append("QBar");
      socket->Append("Vtotal");
      socket->Append("UBody");
      socket->Append("VBody");
      socket->Append("WBody");
      socket->Append("UAero");
      socket->Append("VAero");
      socket->Append("WAero");
      socket->Append("Vn");
      socket->Append("Ve");
      socket->Append("Vd");
    }

    if (SubSystems & ssForces) {
      socket->Append("F_Drag");
      socket->Append("F_Side");
      socket->Append("F_Lift");
      socket->Append("LoD");
      socket->Append("Fx");
      socket->Append("Fy");
      socket->Append("Fz");
    }

    if (SubSystems & ssMoments) {
      socket->Append("L");
      socket->Append("M");
      socket->Append("N");
    }

    if (SubSystems & ssAtmosphere) {
      socket->Append("Rho");
      socket->Append("SL pressure");
      socket->Append("Ambient pressure");
      socket->Append("Turbulence Magnitude");
      socket->Append("Turbulence Direction X");
      socket->Append("Turbulence Direction Y");
      socket->Append("Turbulence Direction Z");
      socket->Append("NWind");
      socket->Append("EWind");
      socket->Append("DWind");
    }

    if (SubSystems & ssMassProps) {
      socket->Append("Ixx");
      socket->Append("Ixy");
      socket->Append("Ixz");
      socket->Append("Iyx");
      socket->Append("Iyy");
      socket->Append("Iyz");
      socket->Append("Izx");
      socket->Append("Izy");
      socket->Append("Izz");
      socket->Append("Mass");
      socket->Append("Xcg");
      socket->Append("Ycg");
      socket->Append("Zcg");
    }

    if (SubSystems & ssPropagate) {
      socket->Append("Altitude");
      socket->Append("Phi (deg)");
      socket->Append("Tht (deg)");
      socket->Append("Psi (deg)");
      socket->Append("Alpha (deg)");
      socket->Append("Beta (deg)");
      socket->Append("Latitude (deg)");
      socket->Append("Longitude (deg)");
    }

    if (SubSystems & ssAeroFunctions) {
      scratch = Aerodynamics->GetAeroFunctionStrings(",");
      if (scratch.length() != 0) socket->Append(scratch);
    }

    if (SubSystems & ssFCS) {
      scratch = FCS->GetComponentStrings(",");
      if (scratch.length() != 0) socket->Append(scratch);
    }

    if (SubSystems & ssGroundReactions)
      socket->Append(GroundReactions->GetGroundReactionStrings(","));

    if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0)
      socket->Append(Propulsion->GetPropulsionStrings(","));

    if (OutputProperties.size() > 0) {
      for (unsigned int i=0;i<OutputProperties.size();i++)
        socket->Append(OutputProperties[i]->GetPrintableName());
    }

    socket->Send();
    return true;
  }

  return false;
}

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

void FGOutputSocket::SetProtocol(const string& protocol)
{
  if (protocol == "UDP") Protocol = FGfdmSocket::ptUDP;
  else if (protocol == "TCP") Protocol = FGfdmSocket::ptTCP;
  else Protocol = FGfdmSocket::ptTCP; // Default to TCP

  if (socket != 0) {
    delete socket;
    socket = new FGfdmSocket(Name, port, Protocol);
    InitModel();
  }
}

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

void FGOutputSocket::SetPort(const std::string& Port)
{
  delete socket;
  port = atoi(Port.c_str());
  socket = new FGfdmSocket(Name, port, Protocol);
  InitModel();
}

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

void FGOutputSocket::Print(void)
{
  string asciiData, scratch;

  if (socket == 0) return;
  if (!socket->GetConnectStatus()) return;

  socket->Clear();
  socket->Append(FDMExec->GetSimTime());

  if (SubSystems & ssAerosurfaces) {
    socket->Append(FCS->GetDaCmd());
    socket->Append(FCS->GetDeCmd());
    socket->Append(FCS->GetDrCmd());
    socket->Append(FCS->GetDfCmd());
    socket->Append(FCS->GetDaLPos());
    socket->Append(FCS->GetDaRPos());
    socket->Append(FCS->GetDePos());
    socket->Append(FCS->GetDrPos());
    socket->Append(FCS->GetDfPos());
  }
  if (SubSystems & ssRates) {
    socket->Append(radtodeg*Propagate->GetPQR(eP));
    socket->Append(radtodeg*Propagate->GetPQR(eQ));
    socket->Append(radtodeg*Propagate->GetPQR(eR));
    socket->Append(radtodeg*Accelerations->GetPQRdot(eP));
    socket->Append(radtodeg*Accelerations->GetPQRdot(eQ));
    socket->Append(radtodeg*Accelerations->GetPQRdot(eR));
  }
  if (SubSystems & ssVelocities) {
    socket->Append(Auxiliary->Getqbar());
    socket->Append(Auxiliary->GetVt());
    socket->Append(Propagate->GetUVW(eU));
    socket->Append(Propagate->GetUVW(eV));
    socket->Append(Propagate->GetUVW(eW));
    socket->Append(Auxiliary->GetAeroUVW(eU));
    socket->Append(Auxiliary->GetAeroUVW(eV));
    socket->Append(Auxiliary->GetAeroUVW(eW));
    socket->Append(Propagate->GetVel(eNorth));
    socket->Append(Propagate->GetVel(eEast));
    socket->Append(Propagate->GetVel(eDown));
  }
  if (SubSystems & ssForces) {
    socket->Append(Aerodynamics->GetvFw()(eDrag));
    socket->Append(Aerodynamics->GetvFw()(eSide));
    socket->Append(Aerodynamics->GetvFw()(eLift));
    socket->Append(Aerodynamics->GetLoD());
    socket->Append(Aircraft->GetForces(eX));
    socket->Append(Aircraft->GetForces(eY));
    socket->Append(Aircraft->GetForces(eZ));
  }
  if (SubSystems & ssMoments) {
    socket->Append(Aircraft->GetMoments(eL));
    socket->Append(Aircraft->GetMoments(eM));
    socket->Append(Aircraft->GetMoments(eN));
  }
  if (SubSystems & ssAtmosphere) {
    socket->Append(Atmosphere->GetDensity());
    socket->Append(Atmosphere->GetPressureSL());
    socket->Append(Atmosphere->GetPressure());
    socket->Append(Winds->GetTurbMagnitude());
    socket->Append(Winds->GetTurbDirection().Dump(","));
    socket->Append(Winds->GetTotalWindNED().Dump(","));
  }
  if (SubSystems & ssMassProps) {
    socket->Append(MassBalance->GetJ()(1,1));
    socket->Append(MassBalance->GetJ()(1,2));
    socket->Append(MassBalance->GetJ()(1,3));
    socket->Append(MassBalance->GetJ()(2,1));
    socket->Append(MassBalance->GetJ()(2,2));
    socket->Append(MassBalance->GetJ()(2,3));
    socket->Append(MassBalance->GetJ()(3,1));
    socket->Append(MassBalance->GetJ()(3,2));
    socket->Append(MassBalance->GetJ()(3,3));
    socket->Append(MassBalance->GetMass());
    socket->Append(MassBalance->GetXYZcg()(eX));
    socket->Append(MassBalance->GetXYZcg()(eY));
    socket->Append(MassBalance->GetXYZcg()(eZ));
  }
  if (SubSystems & ssPropagate) {
    socket->Append(Propagate->GetAltitudeASL());
    socket->Append(radtodeg*Propagate->GetEuler(ePhi));
    socket->Append(radtodeg*Propagate->GetEuler(eTht));
    socket->Append(radtodeg*Propagate->GetEuler(ePsi));
    socket->Append(Auxiliary->Getalpha(inDegrees));
    socket->Append(Auxiliary->Getbeta(inDegrees));
    socket->Append(Propagate->GetLocation().GetLatitudeDeg());
    socket->Append(Propagate->GetLocation().GetLongitudeDeg());
  }
  if (SubSystems & ssAeroFunctions) {
    scratch = Aerodynamics->GetAeroFunctionValues(",");
    if (scratch.length() != 0) socket->Append(scratch);
  }
  if (SubSystems & ssFCS) {
    scratch = FCS->GetComponentValues(",");
    if (scratch.length() != 0) socket->Append(scratch);
  }
  if (SubSystems & ssGroundReactions) {
    socket->Append(GroundReactions->GetGroundReactionValues(","));
  }
  if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
    socket->Append(Propulsion->GetPropulsionValues(","));
  }

  for (unsigned int i=0;i<OutputProperties.size();i++) {
    socket->Append(OutputProperties[i]->getDoubleValue());
  }

  socket->Send();
}

//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

void FGOutputSocket::SocketStatusOutput(const string& out_str)
{
  string asciiData;

  if (socket == 0) return;

  socket->Clear();
  asciiData = string("<STATUS>") + out_str;
  socket->Append(asciiData.c_str());
  socket->Send();
}
}