545 lines
16 KiB
C++
545 lines
16 KiB
C++
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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Module: FGOutput.cpp
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Author: Jon Berndt
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Date started: 12/02/98
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Purpose: Manage output of sim parameters to file or stdout
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Called by: FGSimExec
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------------- Copyright (C) 1999 Jon S. Berndt (jsb@hal-pc.org) -------------
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This program is free software; you can redistribute it and/or modify it under
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the terms of the GNU General Public License as published by the Free Software
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Foundation; either version 2 of the License, or (at your option) any later
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version.
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This program is distributed in the hope that it will be useful, but WITHOUT
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ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
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details.
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You should have received a copy of the GNU General Public License along with
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this program; if not, write to the Free Software Foundation, Inc., 59 Temple
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Place - Suite 330, Boston, MA 02111-1307, USA.
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Further information about the GNU General Public License can also be found on
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the world wide web at http://www.gnu.org.
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FUNCTIONAL DESCRIPTION
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--------------------------------------------------------------------------------
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This is the place where you create output routines to dump data for perusal
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later.
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HISTORY
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--------------------------------------------------------------------------------
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12/02/98 JSB Created
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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INCLUDES
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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#include "FGOutput.h"
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#include "FGState.h"
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#include "FGFDMExec.h"
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#include "FGAtmosphere.h"
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#include "FGFCS.h"
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#include "FGAerodynamics.h"
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#include "FGGroundReactions.h"
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#include "FGAircraft.h"
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#include "FGMassBalance.h"
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#include "FGTranslation.h"
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#include "FGRotation.h"
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#include "FGPosition.h"
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#include "FGAuxiliary.h"
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static const char *IdSrc = "$Id$";
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static const char *IdHdr = ID_OUTPUT;
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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CLASS IMPLEMENTATION
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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FGOutput::FGOutput(FGFDMExec* fdmex) : FGModel(fdmex)
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{
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Name = "FGOutput";
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sFirstPass = dFirstPass = true;
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socket = 0;
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Type = otNone;
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Filename = "JSBSim.out";
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SubSystems = 0;
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enabled = true;
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Debug(0);
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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FGOutput::~FGOutput()
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{
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if (socket) delete socket;
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Debug(1);
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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bool FGOutput::Run(void)
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{
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if (enabled) {
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if (!FGModel::Run()) {
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if (Type == otSocket) {
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SocketOutput();
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} else if (Type == otCSV) {
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DelimitedOutput(Filename);
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} else if (Type == otTerminal) {
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// Not done yet
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} else if (Type == otNone) {
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// Do nothing
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} else {
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// Not a valid type of output
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}
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} else {
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}
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}
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return false;
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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void FGOutput::SetType(string type)
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{
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if (type == "CSV") {
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Type = otCSV;
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} else if (type == "TABULAR") {
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Type = otTab;
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} else if (type == "SOCKET") {
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Type = otSocket;
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} else if (type == "TERMINAL") {
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Type = otTerminal;
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} else if (type != string("NONE")){
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Type = otUnknown;
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cerr << "Unknown type of output specified in config file" << endl;
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}
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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void FGOutput::DelimitedOutput(string fname)
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{
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streambuf* buffer;
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if (fname == "COUT" || fname == "cout") {
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buffer = cout.rdbuf();
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} else {
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datafile.open(fname.c_str());
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buffer = datafile.rdbuf();
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}
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ostream outstream(buffer);
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if (dFirstPass) {
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outstream << "Time";
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if (SubSystems & ssSimulation) {
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// Nothing here, yet
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}
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if (SubSystems & ssAerosurfaces) {
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outstream << ", ";
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outstream << "Aileron Cmd, ";
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outstream << "Elevator Cmd, ";
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outstream << "Rudder Cmd, ";
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outstream << "Flap Cmd, ";
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outstream << "Left Aileron Pos, ";
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outstream << "Right Aileron Pos, ";
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outstream << "Elevator Pos, ";
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outstream << "Rudder Pos, ";
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outstream << "Flap Pos";
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}
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if (SubSystems & ssRates) {
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outstream << ", ";
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outstream << "P, Q, R, ";
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outstream << "Pdot, Qdot, Rdot";
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}
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if (SubSystems & ssVelocities) {
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outstream << ", ";
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outstream << "QBar, ";
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outstream << "Vtotal, ";
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outstream << "UBody, VBody, WBody, ";
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outstream << "UAero, VAero, WAero, ";
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outstream << "Vn, Ve, Vd";
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}
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if (SubSystems & ssForces) {
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outstream << ", ";
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outstream << "Drag, Side, Lift, ";
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outstream << "L/D, ";
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outstream << "Xforce, Yforce, Zforce";
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}
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if (SubSystems & ssMoments) {
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outstream << ", ";
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outstream << "L, M, N";
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}
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if (SubSystems & ssAtmosphere) {
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outstream << ", ";
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outstream << "Rho, ";
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outstream << "NWind, EWind, DWind";
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}
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if (SubSystems & ssMassProps) {
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outstream << ", ";
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outstream << "Ixx, ";
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outstream << "Iyy, ";
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outstream << "Izz, ";
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outstream << "Ixz, ";
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outstream << "Mass, ";
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outstream << "Xcg, Ycg, Zcg";
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}
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if (SubSystems & ssPosition) {
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outstream << ", ";
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outstream << "Altitude, ";
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outstream << "Phi, Tht, Psi, ";
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outstream << "Alpha, ";
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outstream << "Beta, ";
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outstream << "Latitude, ";
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outstream << "Longitude, ";
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outstream << "Distance AGL, ";
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outstream << "Runway Radius";
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}
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if (SubSystems & ssCoefficients) {
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outstream << ", ";
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outstream << Aerodynamics->GetCoefficientStrings();
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}
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if (SubSystems & ssGroundReactions) {
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outstream << ", ";
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outstream << GroundReactions->GetGroundReactionStrings();
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}
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if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
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outstream << ", ";
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outstream << Propulsion->GetPropulsionStrings();
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}
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outstream << endl;
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dFirstPass = false;
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}
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outstream << State->Getsim_time();
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if (SubSystems & ssSimulation) {
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}
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if (SubSystems & ssAerosurfaces) {
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outstream << ", ";
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outstream << FCS->GetDaCmd() << ", ";
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outstream << FCS->GetDeCmd() << ", ";
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outstream << FCS->GetDrCmd() << ", ";
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outstream << FCS->GetDfCmd() << ", ";
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outstream << FCS->GetDaLPos() << ", ";
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outstream << FCS->GetDaRPos() << ", ";
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outstream << FCS->GetDePos() << ", ";
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outstream << FCS->GetDrPos() << ", ";
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outstream << FCS->GetDfPos();
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}
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if (SubSystems & ssRates) {
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outstream << ", ";
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outstream << Rotation->GetPQR() << ", ";
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outstream << Rotation->GetPQRdot();
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}
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if (SubSystems & ssVelocities) {
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outstream << ", ";
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outstream << Translation->Getqbar() << ", ";
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outstream << Translation->GetVt() << ", ";
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outstream << Translation->GetUVW() << ", ";
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outstream << Translation->GetAeroUVW() << ", ";
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outstream << Position->GetVel();
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}
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if (SubSystems & ssForces) {
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outstream << ", ";
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outstream << Aerodynamics->GetvFs() << ", ";
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outstream << Aerodynamics->GetLoD() << ", ";
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outstream << Aircraft->GetForces();
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}
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if (SubSystems & ssMoments) {
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outstream << ", ";
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outstream << Aircraft->GetMoments();
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}
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if (SubSystems & ssAtmosphere) {
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outstream << ", ";
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outstream << Atmosphere->GetDensity() << ", ";
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outstream << Atmosphere->GetWindNED();
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}
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if (SubSystems & ssMassProps) {
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outstream << ", ";
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outstream << MassBalance->GetIxx() << ", ";
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outstream << MassBalance->GetIyy() << ", ";
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outstream << MassBalance->GetIzz() << ", ";
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outstream << MassBalance->GetIxz() << ", ";
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outstream << MassBalance->GetMass() << ", ";
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outstream << MassBalance->GetXYZcg();
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}
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if (SubSystems & ssPosition) {
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outstream << ", ";
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outstream << Position->Geth() << ", ";
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outstream << Rotation->GetEuler() << ", ";
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outstream << Translation->Getalpha() << ", ";
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outstream << Translation->Getbeta() << ", ";
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outstream << Position->GetLatitude() << ", ";
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outstream << Position->GetLongitude() << ", ";
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outstream << Position->GetDistanceAGL() << ", ";
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outstream << Position->GetRunwayRadius();
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}
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if (SubSystems & ssCoefficients) {
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outstream << ", ";
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outstream << Aerodynamics->GetCoefficientValues();
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}
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if (SubSystems & ssGroundReactions) {
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outstream << ", ";
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outstream << GroundReactions->GetGroundReactionValues();
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}
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if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
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outstream << ", ";
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outstream << Propulsion->GetPropulsionValues();
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}
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outstream << endl;
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outstream.flush();
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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void FGOutput::SocketOutput(void)
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{
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string asciiData;
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if (socket == NULL) return;
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if (!socket->GetConnectStatus()) return;
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socket->Clear();
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if (sFirstPass) {
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socket->Append("<LABELS>");
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socket->Append("Time");
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socket->Append("Altitude");
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socket->Append("Phi");
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socket->Append("Tht");
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socket->Append("Psi");
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socket->Append("Rho");
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socket->Append("Vtotal");
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socket->Append("UBody");
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socket->Append("VBody");
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socket->Append("WBody");
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socket->Append("UAero");
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socket->Append("VAero");
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socket->Append("WAero");
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socket->Append("Vn");
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socket->Append("Ve");
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socket->Append("Vd");
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socket->Append("Udot");
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socket->Append("Vdot");
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socket->Append("Wdot");
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socket->Append("P");
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socket->Append("Q");
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socket->Append("R");
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socket->Append("PDot");
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socket->Append("QDot");
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socket->Append("RDot");
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socket->Append("Fx");
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socket->Append("Fy");
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socket->Append("Fz");
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socket->Append("Latitude");
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socket->Append("Longitude");
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socket->Append("QBar");
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socket->Append("Alpha");
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socket->Append("L");
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socket->Append("M");
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socket->Append("N");
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socket->Append("Throttle Position");
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socket->Append("Left Aileron Position");
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socket->Append("Right Aileron Position");
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socket->Append("Elevator Position");
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socket->Append("Rudder Position");
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sFirstPass = false;
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socket->Send();
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}
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socket->Clear();
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socket->Append(State->Getsim_time());
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socket->Append(Position->Geth());
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socket->Append(Rotation->Getphi());
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socket->Append(Rotation->Gettht());
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socket->Append(Rotation->Getpsi());
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socket->Append(Atmosphere->GetDensity());
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socket->Append(Translation->GetVt());
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socket->Append(Translation->GetUVW(eU));
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socket->Append(Translation->GetUVW(eV));
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socket->Append(Translation->GetUVW(eW));
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socket->Append(Translation->GetAeroUVW(eU));
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socket->Append(Translation->GetAeroUVW(eV));
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socket->Append(Translation->GetAeroUVW(eW));
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socket->Append(Position->GetVn());
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socket->Append(Position->GetVe());
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socket->Append(Position->GetVd());
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socket->Append(Translation->GetUVWdot(eU));
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socket->Append(Translation->GetUVWdot(eV));
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socket->Append(Translation->GetUVWdot(eW));
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socket->Append(Rotation->GetPQR(eP));
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socket->Append(Rotation->GetPQR(eQ));
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socket->Append(Rotation->GetPQR(eR));
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socket->Append(Rotation->GetPQRdot(eP));
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socket->Append(Rotation->GetPQRdot(eQ));
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socket->Append(Rotation->GetPQRdot(eR));
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socket->Append(Aircraft->GetForces(eX));
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socket->Append(Aircraft->GetForces(eY));
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socket->Append(Aircraft->GetForces(eZ));
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socket->Append(Position->GetLatitude());
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socket->Append(Position->GetLongitude());
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socket->Append(Translation->Getqbar());
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socket->Append(Translation->Getalpha());
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socket->Append(Aircraft->GetMoments(eL));
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socket->Append(Aircraft->GetMoments(eM));
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socket->Append(Aircraft->GetMoments(eN));
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socket->Append(FCS->GetThrottlePos(0));
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socket->Append(FCS->GetDaLPos());
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socket->Append(FCS->GetDaRPos());
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socket->Append(FCS->GetDePos());
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socket->Append(FCS->GetDrPos());
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socket->Send();
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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void FGOutput::SocketStatusOutput(string out_str)
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{
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string asciiData;
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if (socket == NULL) return;
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socket->Clear();
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asciiData = string("<STATUS>") + out_str;
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socket->Append(asciiData.c_str());
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socket->Send();
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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bool FGOutput::Load(FGConfigFile* AC_cfg)
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{
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string token, parameter;
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int OutRate = 0;
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token = AC_cfg->GetValue("NAME");
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Output->SetFilename(token);
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token = AC_cfg->GetValue("TYPE");
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Output->SetType(token);
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#if defined( FG_WITH_JSBSIM_SOCKET ) || !defined( FGFS )
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if (token == "SOCKET") {
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socket = new FGfdmSocket("localhost",1138);
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}
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#endif
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AC_cfg->GetNextConfigLine();
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while ((token = AC_cfg->GetValue()) != string("/OUTPUT")) {
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*AC_cfg >> parameter;
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if (parameter == "RATE_IN_HZ") *AC_cfg >> OutRate;
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if (parameter == "SIMULATION") {
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*AC_cfg >> parameter;
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if (parameter == "ON") SubSystems += ssSimulation;
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}
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if (parameter == "AEROSURFACES") {
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*AC_cfg >> parameter;
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if (parameter == "ON") SubSystems += ssAerosurfaces;
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}
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if (parameter == "RATES") {
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*AC_cfg >> parameter;
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if (parameter == "ON") SubSystems += ssRates;
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}
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if (parameter == "VELOCITIES") {
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*AC_cfg >> parameter;
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if (parameter == "ON") SubSystems += ssVelocities;
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}
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if (parameter == "FORCES") {
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*AC_cfg >> parameter;
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if (parameter == "ON") SubSystems += ssForces;
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}
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if (parameter == "MOMENTS") {
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*AC_cfg >> parameter;
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if (parameter == "ON") SubSystems += ssMoments;
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}
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if (parameter == "ATMOSPHERE") {
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*AC_cfg >> parameter;
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if (parameter == "ON") SubSystems += ssAtmosphere;
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}
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if (parameter == "MASSPROPS") {
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*AC_cfg >> parameter;
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if (parameter == "ON") SubSystems += ssMassProps;
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}
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if (parameter == "POSITION") {
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*AC_cfg >> parameter;
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if (parameter == "ON") SubSystems += ssPosition;
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}
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if (parameter == "COEFFICIENTS") {
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*AC_cfg >> parameter;
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if (parameter == "ON") SubSystems += ssCoefficients;
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}
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if (parameter == "GROUND_REACTIONS") {
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*AC_cfg >> parameter;
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if (parameter == "ON") SubSystems += ssGroundReactions;
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}
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if (parameter == "FCS") {
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*AC_cfg >> parameter;
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if (parameter == "ON") SubSystems += ssFCS;
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}
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if (parameter == "PROPULSION") {
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*AC_cfg >> parameter;
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if (parameter == "ON") SubSystems += ssPropulsion;
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}
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}
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OutRate = OutRate>120?120:(OutRate<0?0:OutRate);
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rate = (int)(0.5 + 1.0/(State->Getdt()*OutRate));
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return true;
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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// The bitmasked value choices are as follows:
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// unset: In this case (the default) JSBSim would only print
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// out the normally expected messages, essentially echoing
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// the config files as they are read. If the environment
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// variable is not set, debug_lvl is set to 1 internally
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// 0: This requests JSBSim not to output any messages
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// whatsoever.
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// 1: This value explicity requests the normal JSBSim
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// startup messages
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// 2: This value asks for a message to be printed out when
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// a class is instantiated
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// 4: When this value is set, a message is displayed when a
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// FGModel object executes its Run() method
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// 8: When this value is set, various runtime state variables
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// are printed out periodically
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// 16: When set various parameters are sanity checked and
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// a message is printed out when they go out of bounds
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void FGOutput::Debug(int from)
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{
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if (debug_lvl <= 0) return;
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if (debug_lvl & 1) { // Standard console startup message output
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if (from == 0) { // Constructor
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}
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}
|
|
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;
|
|
}
|
|
}
|
|
}
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|
|