/src/FDM/JSBSim/models/FGOutput.cpp
C++ | 1127 lines | 917 code | 111 blank | 99 comment | 240 complexity | 443387ae5d985b1dc1ecc2879fefb77c MD5 | raw file
Possible License(s): GPL-2.0
- /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
- Module: FGOutput.cpp
- Author: Jon Berndt
- Date started: 12/02/98
- Purpose: Manage output of sim parameters to file or stdout
- Called by: FGSimExec
- ------------- Copyright (C) 1999 Jon S. Berndt (jon@jsbsim.org) -------------
- 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
- --------------------------------------------------------------------------------
- 12/02/98 JSB Created
- 11/09/07 HDW Added FlightGear Socket Interface
- %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
- INCLUDES
- %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
- #include "FGOutput.h"
- #include "FGState.h"
- #include "FGFDMExec.h"
- #include "FGAtmosphere.h"
- #include "FGFCS.h"
- #include "FGAerodynamics.h"
- #include "FGGroundReactions.h"
- #include "FGExternalReactions.h"
- #include "FGBuoyantForces.h"
- #include "FGAircraft.h"
- #include "FGMassBalance.h"
- #include "FGPropagate.h"
- #include "FGAuxiliary.h"
- #include "FGInertial.h"
- #include "FGPropulsion.h" //access to FGEngine, FGTank
- #include "models/propulsion/FGPiston.h"
- #include <fstream>
- #include <iomanip>
- #include <cstring>
- #include "input_output/net_fdm.hxx"
- #if defined(WIN32) && !defined(__CYGWIN__)
- # include <windows.h>
- #else
- # include <netinet/in.h> // htonl() ntohl()
- #endif
- static const int endianTest = 1;
- #define isLittleEndian (*((char *) &endianTest ) != 0)
- namespace JSBSim {
- static const char *IdSrc = "$Id$";
- static const char *IdHdr = ID_OUTPUT;
- // (stolen from FGFS native_fdm.cxx)
- // The function htond is defined this way due to the way some
- // processors and OSes treat floating point values. Some will raise
- // an exception whenever a "bad" floating point value is loaded into a
- // floating point register. Solaris is notorious for this, but then
- // so is LynxOS on the PowerPC. By translating the data in place,
- // there is no need to load a FP register with the "corruped" floating
- // point value. By doing the BIG_ENDIAN test, I can optimize the
- // routine for big-endian processors so it can be as efficient as
- // possible
- static void htond (double &x)
- {
- if ( isLittleEndian ) {
- int *Double_Overlay;
- int Holding_Buffer;
- Double_Overlay = (int *) &x;
- Holding_Buffer = Double_Overlay [0];
- Double_Overlay [0] = htonl (Double_Overlay [1]);
- Double_Overlay [1] = htonl (Holding_Buffer);
- } else {
- return;
- }
- }
- // Float version
- static void htonf (float &x)
- {
- if ( isLittleEndian ) {
- int *Float_Overlay;
- int Holding_Buffer;
- Float_Overlay = (int *) &x;
- Holding_Buffer = Float_Overlay [0];
- Float_Overlay [0] = htonl (Holding_Buffer);
- } else {
- return;
- }
- }
- /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
- CLASS IMPLEMENTATION
- %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
- FGOutput::FGOutput(FGFDMExec* fdmex) : FGModel(fdmex)
- {
- Name = "FGOutput";
- sFirstPass = dFirstPass = true;
- socket = 0;
- flightGearSocket = 0;
- runID_postfix = 0;
- Type = otNone;
- SubSystems = 0;
- enabled = true;
- StartNewFile = false;
- delimeter = ", ";
- BaseFilename = Filename = "";
- DirectivesFile = "";
- output_file_name = "";
- memset(&fgSockBuf, 0x00, sizeof(fgSockBuf));
- Debug(0);
- }
- //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
- FGOutput::~FGOutput()
- {
- delete socket;
- delete flightGearSocket;
- OutputProperties.clear();
- Debug(1);
- }
- //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
- bool FGOutput::InitModel(void)
- {
- char fname[1000] = "";
- if (!FGModel::InitModel()) return false;
- if (Filename.size() > 0 && StartNewFile) {
- int idx = BaseFilename.find_last_of(".");
- int len = BaseFilename.length();
- string extension = "";
- if (idx != string::npos) {
- extension = BaseFilename.substr(idx, len-idx);
- len -= extension.length();
- }
- sprintf(fname, "%s_%d%s", BaseFilename.substr(0,len).c_str(), runID_postfix++, extension.c_str());
- Filename = string(fname);
- datafile.close();
- StartNewFile = false;
- dFirstPass = true;
- }
- return true;
- }
- //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
- bool FGOutput::Run(void)
- {
- if (FGModel::Run()) return true;
- if (enabled && !State->IntegrationSuspended()&& !FDMExec->Holding()) {
- if (Type == otSocket) {
- SocketOutput();
- } else if (Type == otFlightGear) {
- FlightGearSocketOutput();
- } else if (Type == otCSV || Type == otTab) {
- DelimitedOutput(Filename);
- } else if (Type == otTerminal) {
- // Not done yet
- } else if (Type == otNone) {
- // Do nothing
- } else {
- // Not a valid type of output
- }
- }
- return false;
- }
- //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
- void FGOutput::SetType(string type)
- {
- if (type == "CSV") {
- Type = otCSV;
- delimeter = ", ";
- } else if (type == "TABULAR") {
- Type = otTab;
- delimeter = "\t";
- } else if (type == "SOCKET") {
- Type = otSocket;
- } else if (type == "FLIGHTGEAR") {
- Type = otFlightGear;
- } else if (type == "TERMINAL") {
- Type = otTerminal;
- } else if (type != string("NONE")) {
- Type = otUnknown;
- cerr << "Unknown type of output specified in config file" << endl;
- }
- }
- //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
- void FGOutput::DelimitedOutput(string fname)
- {
- streambuf* buffer;
- string scratch = "";
- if (fname == "COUT" || fname == "cout") {
- buffer = cout.rdbuf();
- } else {
- if (!datafile.is_open()) datafile.open(fname.c_str());
- buffer = datafile.rdbuf();
- }
- ostream outstream(buffer);
- outstream.precision(10);
- if (dFirstPass) {
- outstream << "Time";
- if (SubSystems & ssSimulation) {
- // Nothing here, yet
- }
- if (SubSystems & ssAerosurfaces) {
- outstream << delimeter;
- outstream << "Aileron Command (norm)" + delimeter;
- outstream << "Elevator Command (norm)" + delimeter;
- outstream << "Rudder Command (norm)" + delimeter;
- outstream << "Flap Command (norm)" + delimeter;
- outstream << "Left Aileron Position (deg)" + delimeter;
- outstream << "Right Aileron Position (deg)" + delimeter;
- outstream << "Elevator Position (deg)" + delimeter;
- outstream << "Rudder Position (deg)" + delimeter;
- outstream << "Flap Position (deg)";
- }
- if (SubSystems & ssRates) {
- outstream << delimeter;
- outstream << "P (deg/s)" + delimeter + "Q (deg/s)" + delimeter + "R (deg/s)" + delimeter;
- outstream << "P dot (deg/s^2)" + delimeter + "Q dot (deg/s^2)" + delimeter + "R dot (deg/s^2)";
- }
- if (SubSystems & ssVelocities) {
- outstream << delimeter;
- outstream << "q bar (psf)" + delimeter;
- outstream << "Reynolds Number" + delimeter;
- outstream << "V_{Total} (ft/s)" + delimeter;
- outstream << "V_{Inertial} (ft/s)" + delimeter;
- outstream << "UBody" + delimeter + "VBody" + delimeter + "WBody" + delimeter;
- outstream << "Aero V_{X Body} (ft/s)" + delimeter + "Aero V_{Y Body} (ft/s)" + delimeter + "Aero V_{Z Body} (ft/s)" + delimeter;
- outstream << "V_{North} (ft/s)" + delimeter + "V_{East} (ft/s)" + delimeter + "V_{Down} (ft/s)";
- }
- if (SubSystems & ssForces) {
- outstream << delimeter;
- outstream << "F_{Drag} (lbs)" + delimeter + "F_{Side} (lbs)" + delimeter + "F_{Lift} (lbs)" + delimeter;
- outstream << "L/D" + delimeter;
- outstream << "F_{Aero x} (lbs)" + delimeter + "F_{Aero y} (lbs)" + delimeter + "F_{Aero z} (lbs)" + delimeter;
- outstream << "F_{Prop x} (lbs)" + delimeter + "F_{Prop y} (lbs)" + delimeter + "F_{Prop z} (lbs)" + delimeter;
- outstream << "F_{Gear x} (lbs)" + delimeter + "F_{Gear y} (lbs)" + delimeter + "F_{Gear z} (lbs)" + delimeter;
- outstream << "F_{Ext x} (lbs)" + delimeter + "F_{Ext y} (lbs)" + delimeter + "F_{Ext z} (lbs)" + delimeter;
- outstream << "F_{Buoyant x} (lbs)" + delimeter + "F_{Buoyant y} (lbs)" + delimeter + "F_{Buoyant z} (lbs)" + delimeter;
- outstream << "F_{Total x} (lbs)" + delimeter + "F_{Total y} (lbs)" + delimeter + "F_{Total z} (lbs)";
- }
- if (SubSystems & ssMoments) {
- outstream << delimeter;
- outstream << "L_{Aero} (ft-lbs)" + delimeter + "M_{Aero} ( ft-lbs)" + delimeter + "N_{Aero} (ft-lbs)" + delimeter;
- outstream << "L_{Prop} (ft-lbs)" + delimeter + "M_{Prop} (ft-lbs)" + delimeter + "N_{Prop} (ft-lbs)" + delimeter;
- outstream << "L_{Gear} (ft-lbs)" + delimeter + "M_{Gear} (ft-lbs)" + delimeter + "N_{Gear} (ft-lbs)" + delimeter;
- outstream << "L_{ext} (ft-lbs)" + delimeter + "M_{ext} (ft-lbs)" + delimeter + "N_{ext} (ft-lbs)" + delimeter;
- outstream << "L_{Buoyant} (ft-lbs)" + delimeter + "M_{Buoyant} (ft-lbs)" + delimeter + "N_{Buoyant} (ft-lbs)" + delimeter;
- outstream << "L_{Total} (ft-lbs)" + delimeter + "M_{Total} (ft-lbs)" + delimeter + "N_{Total} (ft-lbs)";
- }
- if (SubSystems & ssAtmosphere) {
- outstream << delimeter;
- outstream << "Rho (slugs/ft^3)" + delimeter;
- outstream << "Absolute Viscosity" + delimeter;
- outstream << "Kinematic Viscosity" + delimeter;
- outstream << "Temperature (R)" + delimeter;
- outstream << "P_{SL} (psf)" + delimeter;
- outstream << "P_{Ambient} (psf)" + delimeter;
- outstream << "Turbulence Magnitude (ft/sec)" + delimeter;
- outstream << "Turbulence X Direction (rad)" + delimeter + "Turbulence Y Direction (rad)" + delimeter + "Turbulence Z Direction (rad)" + delimeter;
- outstream << "Wind V_{North} (ft/s)" + delimeter + "Wind V_{East} (ft/s)" + delimeter + "Wind V_{Down} (ft/s)";
- }
- if (SubSystems & ssMassProps) {
- outstream << delimeter;
- outstream << "I_{xx}" + delimeter;
- outstream << "I_{xy}" + delimeter;
- outstream << "I_{xz}" + delimeter;
- outstream << "I_{yx}" + delimeter;
- outstream << "I_{yy}" + delimeter;
- outstream << "I_{yz}" + delimeter;
- outstream << "I_{zx}" + delimeter;
- outstream << "I_{zy}" + delimeter;
- outstream << "I_{zz}" + delimeter;
- outstream << "Mass" + delimeter;
- outstream << "X_{cg}" + delimeter + "Y_{cg}" + delimeter + "Z_{cg}";
- }
- if (SubSystems & ssPropagate) {
- outstream << delimeter;
- outstream << "Altitude ASL (ft)" + delimeter;
- outstream << "Altitude AGL (ft)" + delimeter;
- outstream << "Phi (deg)" + delimeter + "Theta (deg)" + delimeter + "Psi (deg)" + delimeter;
- outstream << "Alpha (deg)" + delimeter;
- outstream << "Beta (deg)" + delimeter;
- outstream << "Latitude (deg)" + delimeter;
- outstream << "Longitude (deg)" + delimeter;
- outstream << "ECEF X (ft)" + delimeter + "ECEF Y (ft)" + delimeter + "ECEF Z (ft)" + delimeter;
- outstream << "EPA (deg)" + delimeter;
- outstream << "Distance AGL (ft)" + delimeter;
- outstream << "Terrain Elevation (ft)";
- }
- if (SubSystems & ssCoefficients) {
- scratch = Aerodynamics->GetCoefficientStrings(delimeter);
- if (scratch.length() != 0) outstream << delimeter << scratch;
- }
- if (SubSystems & ssFCS) {
- scratch = FCS->GetComponentStrings(delimeter);
- if (scratch.length() != 0) outstream << delimeter << scratch;
- }
- if (SubSystems & ssGroundReactions) {
- outstream << delimeter;
- outstream << GroundReactions->GetGroundReactionStrings(delimeter);
- }
- if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
- outstream << delimeter;
- outstream << Propulsion->GetPropulsionStrings(delimeter);
- }
- if (OutputProperties.size() > 0) {
- for (unsigned int i=0;i<OutputProperties.size();i++) {
- outstream << delimeter << OutputProperties[i]->GetPrintableName();
- }
- }
- outstream << endl;
- dFirstPass = false;
- }
- outstream << State->Getsim_time();
- if (SubSystems & ssSimulation) {
- }
- if (SubSystems & ssAerosurfaces) {
- outstream << delimeter;
- outstream << FCS->GetDaCmd() << delimeter;
- outstream << FCS->GetDeCmd() << delimeter;
- outstream << FCS->GetDrCmd() << delimeter;
- outstream << FCS->GetDfCmd() << delimeter;
- outstream << FCS->GetDaLPos(ofDeg) << delimeter;
- outstream << FCS->GetDaRPos(ofDeg) << delimeter;
- outstream << FCS->GetDePos(ofDeg) << delimeter;
- outstream << FCS->GetDrPos(ofDeg) << delimeter;
- outstream << FCS->GetDfPos(ofDeg);
- }
- if (SubSystems & ssRates) {
- outstream << delimeter;
- outstream << (radtodeg*Propagate->GetPQR()).Dump(delimeter) << delimeter;
- outstream << (radtodeg*Propagate->GetPQRdot()).Dump(delimeter);
- }
- if (SubSystems & ssVelocities) {
- outstream << delimeter;
- outstream << Auxiliary->Getqbar() << delimeter;
- outstream << Auxiliary->GetReynoldsNumber() << delimeter;
- outstream << setprecision(12) << Auxiliary->GetVt() << delimeter;
- outstream << Propagate->GetInertialVelocityMagnitude() << delimeter;
- outstream << setprecision(12) << Propagate->GetUVW().Dump(delimeter) << delimeter;
- outstream << Auxiliary->GetAeroUVW().Dump(delimeter) << delimeter;
- outstream << Propagate->GetVel().Dump(delimeter);
- outstream.precision(10);
- }
- if (SubSystems & ssForces) {
- outstream << delimeter;
- outstream << Aerodynamics->GetvFw() << delimeter;
- outstream << Aerodynamics->GetLoD() << delimeter;
- outstream << Aerodynamics->GetForces() << delimeter;
- outstream << Propulsion->GetForces() << delimeter;
- outstream << GroundReactions->GetForces() << delimeter;
- outstream << ExternalReactions->GetForces() << delimeter;
- outstream << BuoyantForces->GetForces() << delimeter;
- outstream << Aircraft->GetForces().Dump(delimeter);
- }
- if (SubSystems & ssMoments) {
- outstream << delimeter;
- outstream << Aerodynamics->GetMoments() << delimeter;
- outstream << Propulsion->GetMoments() << delimeter;
- outstream << GroundReactions->GetMoments() << delimeter;
- outstream << ExternalReactions->GetMoments() << delimeter;
- outstream << BuoyantForces->GetMoments() << delimeter;
- outstream << Aircraft->GetMoments().Dump(delimeter);
- }
- if (SubSystems & ssAtmosphere) {
- outstream << delimeter;
- outstream << Atmosphere->GetDensity() << delimeter;
- outstream << Atmosphere->GetAbsoluteViscosity() << delimeter;
- outstream << Atmosphere->GetKinematicViscosity() << delimeter;
- outstream << Atmosphere->GetTemperature() << delimeter;
- outstream << Atmosphere->GetPressureSL() << delimeter;
- outstream << Atmosphere->GetPressure() << delimeter;
- outstream << Atmosphere->GetTurbMagnitude() << delimeter;
- outstream << Atmosphere->GetTurbDirection().Dump(delimeter) << delimeter;
- outstream << Atmosphere->GetTotalWindNED().Dump(delimeter);
- }
- if (SubSystems & ssMassProps) {
- outstream << delimeter;
- outstream << MassBalance->GetJ() << delimeter;
- outstream << MassBalance->GetMass() << delimeter;
- outstream << MassBalance->GetXYZcg();
- }
- if (SubSystems & ssPropagate) {
- outstream.precision(14);
- outstream << delimeter;
- outstream << Propagate->GetAltitudeASL() << delimeter;
- outstream << Propagate->GetDistanceAGL() << delimeter;
- outstream << (radtodeg*Propagate->GetEuler()).Dump(delimeter) << delimeter;
- outstream << Auxiliary->Getalpha(inDegrees) << delimeter;
- outstream << Auxiliary->Getbeta(inDegrees) << delimeter;
- outstream << Propagate->GetLocation().GetLatitudeDeg() << delimeter;
- outstream << Propagate->GetLocation().GetLongitudeDeg() << delimeter;
- outstream.precision(18);
- outstream << ((FGColumnVector3)Propagate->GetLocation()).Dump(delimeter) << delimeter;
- outstream.precision(14);
- outstream << Inertial->GetEarthPositionAngleDeg() << delimeter;
- outstream << Propagate->GetDistanceAGL() << delimeter;
- outstream << Propagate->GetTerrainElevation();
- outstream.precision(10);
- }
- if (SubSystems & ssCoefficients) {
- scratch = Aerodynamics->GetCoefficientValues(delimeter);
- if (scratch.length() != 0) outstream << delimeter << scratch;
- }
- if (SubSystems & ssFCS) {
- scratch = FCS->GetComponentValues(delimeter);
- if (scratch.length() != 0) outstream << delimeter << scratch;
- }
- if (SubSystems & ssGroundReactions) {
- outstream << delimeter;
- outstream << GroundReactions->GetGroundReactionValues(delimeter);
- }
- if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
- outstream << delimeter;
- outstream << Propulsion->GetPropulsionValues(delimeter);
- }
- outstream.precision(18);
- for (unsigned int i=0;i<OutputProperties.size();i++) {
- outstream << delimeter << OutputProperties[i]->getDoubleValue();
- }
- outstream.precision(10);
- outstream << endl;
- outstream.flush();
- }
- //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
- void FGOutput::SocketDataFill(FGNetFDM* net)
- {
- unsigned int i;
- // Version
- net->version = FG_NET_FDM_VERSION;
- // Positions
- net->longitude = Propagate->GetLocation().GetLongitude(); // geodetic (radians)
- net->latitude = Propagate->GetLocation().GetLatitude(); // geodetic (radians)
- net->altitude = Propagate->GetAltitudeASL()*0.3048; // altitude, above sea level (meters)
- net->agl = (float)(Propagate->GetDistanceAGL()*0.3048); // altitude, above ground level (meters)
- net->phi = (float)(Propagate->GetEuler(ePhi)); // roll (radians)
- net->theta = (float)(Propagate->GetEuler(eTht)); // pitch (radians)
- net->psi = (float)(Propagate->GetEuler(ePsi)); // yaw or true heading (radians)
- net->alpha = (float)(Auxiliary->Getalpha()); // angle of attack (radians)
- net->beta = (float)(Auxiliary->Getbeta()); // side slip angle (radians)
- // Velocities
- net->phidot = (float)(Auxiliary->GetEulerRates(ePhi)); // roll rate (radians/sec)
- net->thetadot = (float)(Auxiliary->GetEulerRates(eTht)); // pitch rate (radians/sec)
- net->psidot = (float)(Auxiliary->GetEulerRates(ePsi)); // yaw rate (radians/sec)
- net->vcas = (float)(Auxiliary->GetVcalibratedFPS()); // VCAS, ft/sec
- net->climb_rate = (float)(Propagate->Gethdot()); // altitude rate, ft/sec
- net->v_north = (float)(Propagate->GetVel(eNorth)); // north vel in NED frame, fps
- net->v_east = (float)(Propagate->GetVel(eEast)); // east vel in NED frame, fps
- net->v_down = (float)(Propagate->GetVel(eDown)); // down vel in NED frame, fps
- //---ADD METHOD TO CALCULATE THESE TERMS---
- net->v_wind_body_north = (float)(Propagate->GetVel(eNorth)); // north vel in NED relative to airmass, fps
- net->v_wind_body_east = (float)(Propagate->GetVel(eEast)); // east vel in NED relative to airmass, fps
- net->v_wind_body_down = (float)(Propagate->GetVel(eDown)); // down vel in NED relative to airmass, fps
- // Accelerations
- net->A_X_pilot = (float)(Auxiliary->GetPilotAccel(1)); // X body accel, ft/s/s
- net->A_Y_pilot = (float)(Auxiliary->GetPilotAccel(2)); // Y body accel, ft/s/s
- net->A_Z_pilot = (float)(Auxiliary->GetPilotAccel(3)); // Z body accel, ft/s/s
- // Stall
- net->stall_warning = 0.0; // 0.0 - 1.0 indicating the amount of stall
- net->slip_deg = (float)(Auxiliary->Getbeta(inDegrees)); // slip ball deflection, deg
- // Engine status
- net->num_engines = Propulsion->GetNumEngines(); // Number of valid engines
- for (i=0; i<net->num_engines; i++) {
- if (Propulsion->GetEngine(i)->GetRunning())
- net->eng_state[i] = 2; // Engine state running
- else if (Propulsion->GetEngine(i)->GetCranking())
- net->eng_state[i] = 1; // Engine state cranking
- else
- net->eng_state[i] = 0; // Engine state off
- switch (Propulsion->GetEngine(i)->GetType()) {
- case (FGEngine::etRocket):
- break;
- case (FGEngine::etPiston):
- net->rpm[i] = (float)(((FGPiston *)Propulsion->GetEngine(i))->getRPM());
- net->fuel_flow[i] = (float)(((FGPiston *)Propulsion->GetEngine(i))->getFuelFlow_gph());
- net->fuel_px[i] = 0; // Fuel pressure, psi (N/A in current model)
- net->egt[i] = (float)(((FGPiston *)Propulsion->GetEngine(i))->GetEGT());
- net->cht[i] = (float)(((FGPiston *)Propulsion->GetEngine(i))->getCylinderHeadTemp_degF());
- net->mp_osi[i] = (float)(((FGPiston *)Propulsion->GetEngine(i))->getManifoldPressure_inHg());
- net->oil_temp[i] = (float)(((FGPiston *)Propulsion->GetEngine(i))->getOilTemp_degF());
- net->oil_px[i] = (float)(((FGPiston *)Propulsion->GetEngine(i))->getOilPressure_psi());
- net->tit[i] = 0; // Turbine Inlet Temperature (N/A for piston)
- break;
- case (FGEngine::etTurbine):
- break;
- case (FGEngine::etTurboprop):
- break;
- case (FGEngine::etElectric):
- break;
- case (FGEngine::etUnknown):
- break;
- }
- }
- // Consumables
- net->num_tanks = Propulsion->GetNumTanks(); // Max number of fuel tanks
- for (i=0; i<net->num_tanks; i++) {
- net->fuel_quantity[i] = (float)(((FGTank *)Propulsion->GetTank(i))->GetContents());
- }
- // Gear status
- net->num_wheels = GroundReactions->GetNumGearUnits();
- for (i=0; i<net->num_wheels; i++) {
- net->wow[i] = GroundReactions->GetGearUnit(i)->GetWOW();
- if (GroundReactions->GetGearUnit(i)->GetGearUnitDown())
- net->gear_pos[i] = 1; //gear down, using FCS convention
- else
- net->gear_pos[i] = 0; //gear up, using FCS convention
- net->gear_steer[i] = (float)(GroundReactions->GetGearUnit(i)->GetSteerNorm());
- net->gear_compression[i] = (float)(GroundReactions->GetGearUnit(i)->GetCompLen());
- }
- // Environment
- net->cur_time = (long int)1234567890; // Friday, Feb 13, 2009, 23:31:30 UTC (not processed by FGFS anyway)
- net->warp = 0; // offset in seconds to unix time
- net->visibility = 25000.0; // visibility in meters (for env. effects)
- // Control surface positions (normalized values)
- net->elevator = (float)(FCS->GetDePos(ofNorm)); // Norm Elevator Pos, --
- net->elevator_trim_tab = (float)(FCS->GetPitchTrimCmd()); // Norm Elev Trim Tab Pos, --
- net->left_flap = (float)(FCS->GetDfPos(ofNorm)); // Norm Flap Pos, --
- net->right_flap = (float)(FCS->GetDfPos(ofNorm)); // Norm Flap Pos, --
- net->left_aileron = (float)(FCS->GetDaLPos(ofNorm)); // Norm L Aileron Pos, --
- net->right_aileron = (float)(FCS->GetDaRPos(ofNorm)); // Norm R Aileron Pos, --
- net->rudder = (float)(FCS->GetDrPos(ofNorm)); // Norm Rudder Pos, --
- net->nose_wheel = (float)(FCS->GetDrPos(ofNorm)); // *** FIX *** Using Rudder Pos for NWS, --
- net->speedbrake = (float)(FCS->GetDsbPos(ofNorm)); // Norm Speedbrake Pos, --
- net->spoilers = (float)(FCS->GetDspPos(ofNorm)); // Norm Spoiler Pos, --
- // Convert the net buffer to network format
- if ( isLittleEndian ) {
- net->version = htonl(net->version);
- htond(net->longitude);
- htond(net->latitude);
- htond(net->altitude);
- htonf(net->agl);
- htonf(net->phi);
- htonf(net->theta);
- htonf(net->psi);
- htonf(net->alpha);
- htonf(net->beta);
- htonf(net->phidot);
- htonf(net->thetadot);
- htonf(net->psidot);
- htonf(net->vcas);
- htonf(net->climb_rate);
- htonf(net->v_north);
- htonf(net->v_east);
- htonf(net->v_down);
- htonf(net->v_wind_body_north);
- htonf(net->v_wind_body_east);
- htonf(net->v_wind_body_down);
- htonf(net->A_X_pilot);
- htonf(net->A_Y_pilot);
- htonf(net->A_Z_pilot);
- htonf(net->stall_warning);
- htonf(net->slip_deg);
- for (i=0; i<net->num_engines; ++i ) {
- net->eng_state[i] = htonl(net->eng_state[i]);
- htonf(net->rpm[i]);
- htonf(net->fuel_flow[i]);
- htonf(net->fuel_px[i]);
- htonf(net->egt[i]);
- htonf(net->cht[i]);
- htonf(net->mp_osi[i]);
- htonf(net->tit[i]);
- htonf(net->oil_temp[i]);
- htonf(net->oil_px[i]);
- }
- net->num_engines = htonl(net->num_engines);
- for (i=0; i<net->num_tanks; ++i ) {
- htonf(net->fuel_quantity[i]);
- }
- net->num_tanks = htonl(net->num_tanks);
- for (i=0; i<net->num_wheels; ++i ) {
- net->wow[i] = htonl(net->wow[i]);
- htonf(net->gear_pos[i]);
- htonf(net->gear_steer[i]);
- htonf(net->gear_compression[i]);
- }
- net->num_wheels = htonl(net->num_wheels);
- net->cur_time = htonl( net->cur_time );
- net->warp = htonl( net->warp );
- htonf(net->visibility);
- htonf(net->elevator);
- htonf(net->elevator_trim_tab);
- htonf(net->left_flap);
- htonf(net->right_flap);
- htonf(net->left_aileron);
- htonf(net->right_aileron);
- htonf(net->rudder);
- htonf(net->nose_wheel);
- htonf(net->speedbrake);
- htonf(net->spoilers);
- }
- }
- //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
- void FGOutput::FlightGearSocketOutput(void)
- {
- int length = sizeof(fgSockBuf);
- if (flightGearSocket == NULL) return;
- if (!flightGearSocket->GetConnectStatus()) return;
- SocketDataFill(&fgSockBuf);
- flightGearSocket->Send((char *)&fgSockBuf, length);
- }
- //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
- void FGOutput::SocketOutput(void)
- {
- string asciiData, scratch;
- if (socket == NULL) return;
- if (!socket->GetConnectStatus()) return;
- socket->Clear();
- if (sFirstPass) {
- 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 & ssCoefficients) {
- scratch = Aerodynamics->GetCoefficientStrings(",");
- 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());
- }
- }
- sFirstPass = false;
- socket->Send();
- }
- socket->Clear();
- socket->Append(State->Getsim_time());
- 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*Propagate->GetPQRdot(eP));
- socket->Append(radtodeg*Propagate->GetPQRdot(eQ));
- socket->Append(radtodeg*Propagate->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(Atmosphere->GetTurbMagnitude());
- socket->Append(Atmosphere->GetTurbDirection().Dump(","));
- socket->Append(Atmosphere->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 & ssCoefficients) {
- scratch = Aerodynamics->GetCoefficientValues(",");
- 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 FGOutput::SocketStatusOutput(string out_str)
- {
- string asciiData;
- if (socket == NULL) return;
- socket->Clear();
- asciiData = string("<STATUS>") + out_str;
- socket->Append(asciiData.c_str());
- socket->Send();
- }
- //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
- bool FGOutput::Load(Element* element)
- {
- string type="", parameter="";
- string name="";
- string protocol="tcp";
- int OutRate = 0;
- string property;
- unsigned int port;
- Element *property_element;
- string separator = "/";
- if (!DirectivesFile.empty()) { // A directives filename from the command line overrides
- output_file_name = DirectivesFile; // one found in the config file.
- document = LoadXMLDocument(output_file_name);
- } else if (!element->GetAttributeValue("file").empty()) {
- output_file_name = element->GetAttributeValue("file");
- document = LoadXMLDocument(output_file_name);
- } else {
- document = element;
- }
- name = document->GetAttributeValue("name");
- type = document->GetAttributeValue("type");
- SetType(type);
- if (!document->GetAttributeValue("port").empty() && type == string("SOCKET")) {
- port = atoi(document->GetAttributeValue("port").c_str());
- socket = new FGfdmSocket(name, port);
- } else if (!document->GetAttributeValue("port").empty() && type == string("FLIGHTGEAR")) {
- port = atoi(document->GetAttributeValue("port").c_str());
- if (!document->GetAttributeValue("protocol").empty())
- protocol = document->GetAttributeValue("protocol");
- if (protocol == "udp")
- flightGearSocket = new FGfdmSocket(name, port, FGfdmSocket::ptUDP); // create udp socket
- else
- flightGearSocket = new FGfdmSocket(name, port, FGfdmSocket::ptTCP); // create tcp socket (default)
- } else {
- BaseFilename = Filename = name;
- }
- if (!document->GetAttributeValue("rate").empty()) {
- OutRate = (int)document->GetAttributeValueAsNumber("rate");
- } else {
- OutRate = 1;
- }
- if (document->FindElementValue("simulation") == string("ON"))
- SubSystems += ssSimulation;
- if (document->FindElementValue("aerosurfaces") == string("ON"))
- SubSystems += ssAerosurfaces;
- if (document->FindElementValue("rates") == string("ON"))
- SubSystems += ssRates;
- if (document->FindElementValue("velocities") == string("ON"))
- SubSystems += ssVelocities;
- if (document->FindElementValue("forces") == string("ON"))
- SubSystems += ssForces;
- if (document->FindElementValue("moments") == string("ON"))
- SubSystems += ssMoments;
- if (document->FindElementValue("atmosphere") == string("ON"))
- SubSystems += ssAtmosphere;
- if (document->FindElementValue("massprops") == string("ON"))
- SubSystems += ssMassProps;
- if (document->FindElementValue("position") == string("ON"))
- SubSystems += ssPropagate;
- if (document->FindElementValue("coefficients") == string("ON"))
- SubSystems += ssCoefficients;
- if (document->FindElementValue("ground_reactions") == string("ON"))
- SubSystems += ssGroundReactions;
- if (document->FindElementValue("fcs") == string("ON"))
- SubSystems += ssFCS;
- if (document->FindElementValue("propulsion") == string("ON"))
- SubSystems += ssPropulsion;
- property_element = document->FindElement("property");
- while (property_element) {
- string property_str = property_element->GetDataLine();
- FGPropertyManager* node = PropertyManager->GetNode(property_str);
- if (!node) {
- cerr << fgred << highint << endl << " No property by the name "
- << property_str << " has been defined. This property will " << endl
- << " not be logged. You should check your configuration file."
- << reset << endl;
- } else {
- OutputProperties.push_back(node);
- }
- property_element = document->FindNextElement("property");
- }
- SetRate(OutRate);
- Debug(2);
- return true;
- }
- //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
- void FGOutput::SetRate(int rtHz)
- {
- rtHz = rtHz>1000?1000:(rtHz<0?0:rtHz);
- if (rtHz > 0) {
- rate = (int)(0.5 + 1.0/(State->Getdt()*rtHz));
- Enable();
- } else {
- rate = 1;
- Disable();
- }
- }
- //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
- // The bitmasked value choices are as follows:
- // unset: In this case (the default) JSBSim would only print
- // out the normally expected messages, essentially echoing
- // the config files as they are read. If the environment
- // variable is not set, debug_lvl is set to 1 internally
- // 0: This requests JSBSim not to output any messages
- // whatsoever.
- // 1: This value explicity requests the normal JSBSim
- // startup messages
- // 2: This value asks for a message to be printed out when
- // a class is instantiated
- // 4: When this value is set, a message is displayed when a
- // FGModel object executes its Run() method
- // 8: When this value is set, various runtime state variables
- // are printed out periodically
- // 16: When set various parameters are sanity checked and
- // a message is printed out when they go out of bounds
- void FGOutput::Debug(int from)
- {
- string scratch="";
- if (debug_lvl <= 0) return;
- if (debug_lvl & 1) { // Standard console startup message output
- if (from == 0) { // Constructor
- }
- if (from == 2) {
- if (output_file_name.empty())
- cout << " " << "Output parameters read inline" << endl;
- else
- cout << " Output parameters read from file: " << output_file_name << endl;
- if (Filename == "cout" || Filename == "COUT") {
- scratch = " Log output goes to screen console";
- } else if (!Filename.empty()) {
- scratch = " Log output goes to file: " + Filename;
- }
- switch (Type) {
- case otCSV:
- cout << scratch << " in CSV format output at rate " << 1/(State->Getdt()*rate) << " Hz" << endl;
- break;
- case otNone:
- cout << " No log output" << endl;
- break;
- }
- if (SubSystems & ssSimulation) cout << " Simulation parameters logged" << endl;
- if (SubSystems & ssAerosurfaces) cout << " Aerosurface parameters logged" << endl;
- if (SubSystems & ssRates) cout << " Rate parameters logged" << endl;
- if (SubSystems & ssVelocities) cout << " Velocity parameters logged" << endl;
- if (SubSystems & ssForces) cout << " Force parameters logged" << endl;
- if (SubSystems & ssMoments) cout << " Moments parameters logged" << endl;
- if (SubSystems & ssAtmosphere) cout << " Atmosphere parameters logged" << endl;
- if (SubSystems & ssMassProps) cout << " Mass parameters logged" << endl;
- if (SubSystems & ssCoefficients) cout << " Coefficient parameters logged" << endl;
- if (SubSystems & ssPropagate) cout << " Propagate parameters logged" << endl;
- if (SubSystems & ssGroundReactions) cout << " Ground parameters logged" << endl;
- if (SubSystems & ssFCS) cout << " FCS parameters logged" << endl;
- if (SubSystems & ssPropulsion) cout << " Propulsion parameters logged" << endl;
- if (OutputProperties.size() > 0) cout << " Properties logged:" << endl;
- for (unsigned int i=0;i<OutputProperties.size();i++) {
- cout << " - " << OutputProperties[i]->GetName() << endl;
- }
- }
- }
- if (debug_lvl & 2 ) { // Instantiation/Destruction notification
- if (from == 0) cout << "Instantiated: FGOutput" << endl;
- if (from == 1) cout << "Destroyed: FGOutput" << endl;
- }
- if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
- }
- if (debug_lvl & 8 ) { // Runtime state variables
- }
- if (debug_lvl & 16) { // Sanity checking
- }
- if (debug_lvl & 64) {
- if (from == 0) { // Constructor
- cout << IdSrc << endl;
- cout << IdHdr << endl;
- }
- }
- }
- }