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flightgear/src/FDM/JSBSim/input_output/FGOutputSocket.cpp

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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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"
#include "input_output/FGXMLElement.h"
using namespace std;
namespace JSBSim {
IDENT(IdSrc,"$Id: FGOutputSocket.cpp,v 1.8 2014/01/13 10:46:00 ehofman Exp $");
IDENT(IdHdr,ID_OUTPUTSOCKET);
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS IMPLEMENTATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
FGOutputSocket::FGOutputSocket(FGFDMExec* fdmex) :
FGOutputType(fdmex),
socket(0)
{
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FGOutputSocket::~FGOutputSocket()
{
delete socket;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
void FGOutputSocket::SetOutputName(const string& fname)
{
// tokenize the output name
size_t dot_pos = fname.find(':', 0);
size_t slash_pos = fname.find('/', 0);
string name = fname.substr(0, dot_pos);
string proto = "TCP";
if(dot_pos + 1 < slash_pos)
proto = fname.substr(dot_pos + 1, slash_pos - dot_pos - 1);
string port = "1138";
if(slash_pos < string::npos)
port = fname.substr(slash_pos + 1, string::npos);
// set the model name
Name = name + ":" + port + "/" + proto;
// set the socket params
SockName = name;
SockPort = atoi(port.c_str());
if (proto == "UDP")
SockProtocol = FGfdmSocket::ptUDP;
else // Default to TCP
SockProtocol = FGfdmSocket::ptTCP;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
bool FGOutputSocket::Load(Element* el)
{
if (!FGOutputType::Load(el))
return false;
SetOutputName(el->GetAttributeValue("name") + ":" +
el->GetAttributeValue("protocol") + "/" +
el->GetAttributeValue("port"));
return true;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
bool FGOutputSocket::InitModel(void)
{
if (FGOutputType::InitModel()) {
delete socket;
socket = new FGfdmSocket(SockName, SockPort, SockProtocol);
if (socket == 0) return false;
if (!socket->GetConnectStatus()) return false;
PrintHeaders();
return true;
}
return false;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
void FGOutputSocket::PrintHeaders(void)
{
string scratch;
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++)
if (OutputCaptions[i].size() > 0) {
socket->Append(OutputCaptions[i]);
} else {
socket->Append(OutputProperties[i]->GetPrintableName());
}
}
socket->Send();
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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();
}
}
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