JSBSim Flight Dynamics Model 1.2.2 (22 Mar 2025)
An Open Source Flight Dynamics and Control Software Library in C++
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FGOutputSocket.cpp
1/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
2
3 Module: FGOutputSocket.cpp
4 Author: Bertrand Coconnier
5 Date started: 09/10/11
6 Purpose: Manage output of sim parameters to a socket
7 Called by: FGOutput
8
9 ------------- Copyright (C) 2011 Bertrand Coconnier -------------
10
11 This program is free software; you can redistribute it and/or modify it under
12 the terms of the GNU Lesser General Public License as published by the Free Software
13 Foundation; either version 2 of the License, or (at your option) any later
14 version.
15
16 This program is distributed in the hope that it will be useful, but WITHOUT
17 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
18 FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
19 details.
20
21 You should have received a copy of the GNU Lesser General Public License along with
22 this program; if not, write to the Free Software Foundation, Inc., 59 Temple
23 Place - Suite 330, Boston, MA 02111-1307, USA.
24
25 Further information about the GNU Lesser General Public License can also be found on
26 the world wide web at http://www.gnu.org.
27
28FUNCTIONAL DESCRIPTION
29--------------------------------------------------------------------------------
30This is the place where you create output routines to dump data for perusal
31later.
32
33HISTORY
34--------------------------------------------------------------------------------
3509/10/11 BC Created
36
37%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
38INCLUDES
39%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
40
41#include <cstring>
42#include <cstdlib>
43
44#include "FGOutputSocket.h"
45#include "FGFDMExec.h"
46#include "models/FGAerodynamics.h"
47#include "models/FGAccelerations.h"
48#include "models/FGAircraft.h"
49#include "models/FGAtmosphere.h"
50#include "models/FGAuxiliary.h"
51#include "models/FGPropulsion.h"
52#include "models/FGMassBalance.h"
53#include "models/FGPropagate.h"
54#include "models/FGGroundReactions.h"
55#include "models/FGFCS.h"
56#include "models/atmosphere/FGWinds.h"
57#include "input_output/FGXMLElement.h"
58#include "math/FGPropertyValue.h"
59#include "input_output/string_utilities.h"
60
61using namespace std;
62
63namespace JSBSim {
64
65/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
66CLASS IMPLEMENTATION
67%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
68
69FGOutputSocket::FGOutputSocket(FGFDMExec* fdmex) :
70 FGOutputType(fdmex),
71 socket(0)
72{
73}
74
75//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
76
77FGOutputSocket::~FGOutputSocket()
78{
79 delete socket;
80}
81
82//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
83
84void FGOutputSocket::SetOutputName(const string& fname)
85{
86 // tokenize the output name
87 size_t dot_pos = fname.find(':', 0);
88 size_t slash_pos = fname.find('/', 0);
89
90 string name = fname.substr(0, dot_pos);
91
92 string proto = "TCP";
93 if(dot_pos + 1 < slash_pos)
94 proto = fname.substr(dot_pos + 1, slash_pos - dot_pos - 1);
95
96 string port = "1138";
97 if(slash_pos < string::npos)
98 port = fname.substr(slash_pos + 1, string::npos);
99
100 // set the model name
101 Name = name + ":" + port + "/" + proto;
102
103 // set the socket params
104 SockName = name;
105
106 SockPort = atoi(port.c_str());
107
108 if (to_upper(proto) == "UDP")
109 SockProtocol = FGfdmSocket::ptUDP;
110 else // Default to TCP
111 SockProtocol = FGfdmSocket::ptTCP;
112}
113
114//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
115
116bool FGOutputSocket::Load(Element* el)
117{
118 if (!FGOutputType::Load(el))
119 return false;
120
121 SetOutputName(el->GetAttributeValue("name") + ":" +
122 el->GetAttributeValue("protocol") + "/" +
123 el->GetAttributeValue("port"));
124
125 // Check if output precision for doubles has been specified, default to 7 if not
126 if(el->HasAttribute("precision"))
127 precision = (int)el->GetAttributeValueAsNumber("precision");
128 else
129 precision = 7;
130
131 return true;
132}
133
134//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
135
136bool FGOutputSocket::InitModel(void)
137{
138 if (FGOutputType::InitModel()) {
139 delete socket;
140 socket = new FGfdmSocket(SockName, SockPort, SockProtocol, precision);
141
142 if (socket == 0) return false;
143 if (!socket->GetConnectStatus()) return false;
144
145 PrintHeaders();
146
147 return true;
148 }
149
150 return false;
151}
152
153//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
154
155void FGOutputSocket::PrintHeaders(void)
156{
157 string scratch;
158
159 socket->Clear();
160 socket->Clear("<LABELS>");
161 socket->Append("Time");
162
163 if (SubSystems & ssAerosurfaces) {
164 socket->Append("Aileron Command");
165 socket->Append("Elevator Command");
166 socket->Append("Rudder Command");
167 socket->Append("Flap Command");
168 socket->Append("Left Aileron Position");
169 socket->Append("Right Aileron Position");
170 socket->Append("Elevator Position");
171 socket->Append("Rudder Position");
172 socket->Append("Flap Position");
173 }
174
175 if (SubSystems & ssRates) {
176 socket->Append("P");
177 socket->Append("Q");
178 socket->Append("R");
179 socket->Append("PDot");
180 socket->Append("QDot");
181 socket->Append("RDot");
182 }
183
184 if (SubSystems & ssVelocities) {
185 socket->Append("QBar");
186 socket->Append("Vtotal");
187 socket->Append("UBody");
188 socket->Append("VBody");
189 socket->Append("WBody");
190 socket->Append("UAero");
191 socket->Append("VAero");
192 socket->Append("WAero");
193 socket->Append("Vn");
194 socket->Append("Ve");
195 socket->Append("Vd");
196 }
197
198 if (SubSystems & ssForces) {
199 socket->Append("F_Drag");
200 socket->Append("F_Side");
201 socket->Append("F_Lift");
202 socket->Append("LoD");
203 socket->Append("Fx");
204 socket->Append("Fy");
205 socket->Append("Fz");
206 }
207
208 if (SubSystems & ssMoments) {
209 socket->Append("L");
210 socket->Append("M");
211 socket->Append("N");
212 }
213
214 if (SubSystems & ssAtmosphere) {
215 socket->Append("Rho");
216 socket->Append("SL pressure");
217 socket->Append("Ambient pressure");
218 socket->Append("Turbulence Magnitude");
219 socket->Append("Turbulence Direction");
220 socket->Append("NWind");
221 socket->Append("EWind");
222 socket->Append("DWind");
223 }
224
225 if (SubSystems & ssMassProps) {
226 socket->Append("Ixx");
227 socket->Append("Ixy");
228 socket->Append("Ixz");
229 socket->Append("Iyx");
230 socket->Append("Iyy");
231 socket->Append("Iyz");
232 socket->Append("Izx");
233 socket->Append("Izy");
234 socket->Append("Izz");
235 socket->Append("Mass");
236 socket->Append("Xcg");
237 socket->Append("Ycg");
238 socket->Append("Zcg");
239 }
240
241 if (SubSystems & ssPropagate) {
242 socket->Append("Altitude");
243 socket->Append("Phi (deg)");
244 socket->Append("Tht (deg)");
245 socket->Append("Psi (deg)");
246 socket->Append("Alpha (deg)");
247 socket->Append("Beta (deg)");
248 socket->Append("Latitude (deg)");
249 socket->Append("Longitude (deg)");
250 }
251
252 if (SubSystems & ssAeroFunctions) {
253 scratch = Aerodynamics->GetAeroFunctionStrings(",");
254 if (scratch.length() != 0) socket->Append(scratch);
255 }
256
257 if (SubSystems & ssFCS) {
258 scratch = FCS->GetComponentStrings(",");
259 if (scratch.length() != 0) socket->Append(scratch);
260 }
261
262 if (SubSystems & ssGroundReactions)
263 socket->Append(GroundReactions->GetGroundReactionStrings(","));
264
265 if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0)
266 socket->Append(Propulsion->GetPropulsionStrings(","));
267
268 for (unsigned int i=0;i<OutputParameters.size();++i) {
269 if (!OutputCaptions[i].empty())
270 socket->Append(OutputCaptions[i]);
271 else
272 socket->Append(OutputParameters[i]->GetPrintableName());
273 }
274
275 socket->Send();
276}
277
278//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
279
280void FGOutputSocket::Print(void)
281{
282 string asciiData, scratch;
283
284 if (socket == 0) return;
285 if (!socket->GetConnectStatus()) return;
286
287 socket->Clear();
288 socket->Append(FDMExec->GetSimTime());
289
290 if (SubSystems & ssAerosurfaces) {
291 socket->Append(FCS->GetDaCmd());
292 socket->Append(FCS->GetDeCmd());
293 socket->Append(FCS->GetDrCmd());
294 socket->Append(FCS->GetDfCmd());
295 socket->Append(FCS->GetDaLPos());
296 socket->Append(FCS->GetDaRPos());
297 socket->Append(FCS->GetDePos());
298 socket->Append(FCS->GetDrPos());
299 socket->Append(FCS->GetDfPos());
300 }
301 if (SubSystems & ssRates) {
302 socket->Append(radtodeg*Propagate->GetPQR(eP));
303 socket->Append(radtodeg*Propagate->GetPQR(eQ));
304 socket->Append(radtodeg*Propagate->GetPQR(eR));
305 socket->Append(radtodeg*Accelerations->GetPQRdot(eP));
306 socket->Append(radtodeg*Accelerations->GetPQRdot(eQ));
307 socket->Append(radtodeg*Accelerations->GetPQRdot(eR));
308 }
309 if (SubSystems & ssVelocities) {
310 socket->Append(Auxiliary->Getqbar());
311 socket->Append(Auxiliary->GetVt());
312 socket->Append(Propagate->GetUVW(eU));
313 socket->Append(Propagate->GetUVW(eV));
314 socket->Append(Propagate->GetUVW(eW));
315 socket->Append(Auxiliary->GetAeroUVW(eU));
316 socket->Append(Auxiliary->GetAeroUVW(eV));
317 socket->Append(Auxiliary->GetAeroUVW(eW));
318 socket->Append(Propagate->GetVel(eNorth));
319 socket->Append(Propagate->GetVel(eEast));
320 socket->Append(Propagate->GetVel(eDown));
321 }
322 if (SubSystems & ssForces) {
323 socket->Append(Aerodynamics->GetvFw()(eDrag));
324 socket->Append(Aerodynamics->GetvFw()(eSide));
325 socket->Append(Aerodynamics->GetvFw()(eLift));
326 socket->Append(Aerodynamics->GetLoD());
327 socket->Append(Aircraft->GetForces(eX));
328 socket->Append(Aircraft->GetForces(eY));
329 socket->Append(Aircraft->GetForces(eZ));
330 }
331 if (SubSystems & ssMoments) {
332 socket->Append(Aircraft->GetMoments(eL));
333 socket->Append(Aircraft->GetMoments(eM));
334 socket->Append(Aircraft->GetMoments(eN));
335 }
336 if (SubSystems & ssAtmosphere) {
337 const auto Atmosphere = FDMExec->GetAtmosphere();
338 socket->Append(Atmosphere->GetDensity());
339 socket->Append(Atmosphere->GetPressureSL());
340 socket->Append(Atmosphere->GetPressure());
341 socket->Append(Winds->GetTurbMagnitude());
342 socket->Append(Winds->GetTurbDirection());
343 socket->Append(Winds->GetTotalWindNED().Dump(","));
344 }
345 if (SubSystems & ssMassProps) {
346 socket->Append(MassBalance->GetJ()(1,1));
347 socket->Append(MassBalance->GetJ()(1,2));
348 socket->Append(MassBalance->GetJ()(1,3));
349 socket->Append(MassBalance->GetJ()(2,1));
350 socket->Append(MassBalance->GetJ()(2,2));
351 socket->Append(MassBalance->GetJ()(2,3));
352 socket->Append(MassBalance->GetJ()(3,1));
353 socket->Append(MassBalance->GetJ()(3,2));
354 socket->Append(MassBalance->GetJ()(3,3));
355 socket->Append(MassBalance->GetMass());
356 socket->Append(MassBalance->GetXYZcg()(eX));
357 socket->Append(MassBalance->GetXYZcg()(eY));
358 socket->Append(MassBalance->GetXYZcg()(eZ));
359 }
360 if (SubSystems & ssPropagate) {
361 socket->Append(Propagate->GetAltitudeASL());
362 socket->Append(radtodeg*Propagate->GetEuler(ePhi));
363 socket->Append(radtodeg*Propagate->GetEuler(eTht));
364 socket->Append(radtodeg*Propagate->GetEuler(ePsi));
365 socket->Append(Auxiliary->Getalpha(inDegrees));
366 socket->Append(Auxiliary->Getbeta(inDegrees));
367 socket->Append(Propagate->GetLocation().GetLatitudeDeg());
368 socket->Append(Propagate->GetLocation().GetLongitudeDeg());
369 }
370 if (SubSystems & ssAeroFunctions) {
371 scratch = Aerodynamics->GetAeroFunctionValues(",");
372 if (scratch.length() != 0) socket->Append(scratch);
373 }
374 if (SubSystems & ssFCS) {
375 scratch = FCS->GetComponentValues(",");
376 if (scratch.length() != 0) socket->Append(scratch);
377 }
378 if (SubSystems & ssGroundReactions) {
379 socket->Append(GroundReactions->GetGroundReactionValues(","));
380 }
381 if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
382 socket->Append(Propulsion->GetPropulsionValues(","));
383 }
384
385 for (unsigned int i=0;i<OutputParameters.size();++i) {
386 socket->Append(OutputParameters[i]->GetValue());
387 }
388
389 socket->Send();
390}
391
392//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
393
394void FGOutputSocket::SocketStatusOutput(const string& out_str)
395{
396 string asciiData;
397
398 if (socket == 0) return;
399
400 socket->Clear();
401 asciiData = string("<STATUS>") + out_str;
402 socket->Append(asciiData.c_str());
403 socket->Send();
404}
405}
JSBSim::Element::GetAttributeValueAsNumber
double GetAttributeValueAsNumber(const std::string &key)
Retrieves an attribute value as a double precision real number.
Definition FGXMLElement.cpp:286
JSBSim::Element::GetAttributeValue
std::string GetAttributeValue(const std::string &key)
Retrieves an attribute.
Definition FGXMLElement.cpp:267
JSBSim::Element::HasAttribute
bool HasAttribute(const std::string &key)
Determines if an element has the supplied attribute.
Definition FGXMLElement.h:155
JSBSim::FGFDMExec
Encapsulates the JSBSim simulation executive.
Definition FGFDMExec.h:184
JSBSim::FGFDMExec::GetSimTime
double GetSimTime(void) const
Returns the cumulative simulation time in seconds.
Definition FGFDMExec.h:549
JSBSim::FGOutputSocket::Load
bool Load(Element *el) override
Init the output directives from an XML file.
Definition FGOutputSocket.cpp:116
JSBSim::FGOutputSocket::Print
void Print(void) override
Generates the output.
Definition FGOutputSocket.cpp:280
JSBSim::FGOutputSocket::SetOutputName
void SetOutputName(const std::string &name) override
Overwrites the name identifier under which the output will be logged.
Definition FGOutputSocket.cpp:84
JSBSim::FGOutputSocket::~FGOutputSocket
~FGOutputSocket() override
Destructor.
Definition FGOutputSocket.cpp:77
JSBSim::FGOutputSocket::SocketStatusOutput
void SocketStatusOutput(const std::string &out_str)
Outputs a status thru the socket.
Definition FGOutputSocket.cpp:394
JSBSim::FGOutputSocket::InitModel
bool InitModel(void) override
Initializes the instance.
Definition FGOutputSocket.cpp:136
JSBSim::FGOutputSocket::FGOutputSocket
FGOutputSocket(FGFDMExec *fdmex)
Constructor.
Definition FGOutputSocket.cpp:69
JSBSim::FGOutputType
Abstract class to provide functions generic to all the output directives.
Definition FGOutputType.h:92
JSBSim::FGOutputType::Load
bool Load(Element *el) override
Init the output directives from an XML file (implement the FGModel interface).
Definition FGOutputType.cpp:101
JSBSim::FGOutputType::InitModel
bool InitModel(void) override
Init the output model according to its configitation.
Definition FGOutputType.cpp:177
JSBSim::FGOutputType::ssPropulsion
@ ssPropulsion
Subsystem: Propulsion (= 4096)
Definition FGOutputType.h:191
JSBSim::FGOutputType::ssForces
@ ssForces
Subsystem: Forces (= 16)
Definition FGOutputType.h:183
JSBSim::FGOutputType::ssAtmosphere
@ ssAtmosphere
Subsystem: Atmosphere (= 64)
Definition FGOutputType.h:185
JSBSim::FGOutputType::ssPropagate
@ ssPropagate
Subsystem: Propagate (= 512)
Definition FGOutputType.h:188
JSBSim::FGOutputType::ssGroundReactions
@ ssGroundReactions
Subsystem: Ground Reactions (= 1024)
Definition FGOutputType.h:189
JSBSim::FGOutputType::ssFCS
@ ssFCS
Subsystem: FCS (= 2048)
Definition FGOutputType.h:190
JSBSim::FGOutputType::ssMoments
@ ssMoments
Subsystem: Moments (= 32)
Definition FGOutputType.h:184
JSBSim::FGOutputType::ssRates
@ ssRates
Subsystem: Body rates (= 4)
Definition FGOutputType.h:181
JSBSim::FGOutputType::ssVelocities
@ ssVelocities
Subsystem: Velocities (= 8)
Definition FGOutputType.h:182
JSBSim::FGOutputType::ssAerosurfaces
@ ssAerosurfaces
Subsystem: Aerosurfaces (= 2)
Definition FGOutputType.h:180
JSBSim::FGOutputType::ssMassProps
@ ssMassProps
Subsystem: Mass Properties (= 128)
Definition FGOutputType.h:186
JSBSim::FGOutputType::ssAeroFunctions
@ ssAeroFunctions
Subsystem: Coefficients (= 256)
Definition FGOutputType.h:187
JSBSim::FGfdmSocket
The FGfdmSocket class enables JSBSim to communicate via sockets.
Definition FGfdmSocket.h:75
JSBSim::FGfdmSocket::GetConnectStatus
bool GetConnectStatus(void)
Return the connection status of the socket.
Definition FGfdmSocket.h:171
JSBSim::FGfdmSocket::Clear
void Clear(void)
Clear the internal buffer.
Definition FGfdmSocket.cpp:351
JSBSim::FGfdmSocket::Append
void Append(const std::string &s)
Append the specified string to the internal buffer.
Definition FGfdmSocket.h:130
JSBSim::FGfdmSocket::Send
void Send(void)
Send the internal buffer over the socket connection.
Definition FGfdmSocket.cpp:390