512 lines
17 KiB
C++
512 lines
17 KiB
C++
// replay.cxx - a system to record and replay FlightGear flights
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//
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// Written by Curtis Olson, started Juley 2003.
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//
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// Copyright (C) 2003 Curtis L. Olson - curt@flightgear.org
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//
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// This program is free software; you can redistribute it and/or
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// modify it under the terms of the GNU General Public License as
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// published by the Free Software Foundation; either version 2 of the
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// License, or (at your option) any later version.
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//
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// This program is distributed in the hope that it will be useful, but
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// WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// General Public License for more details.
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//
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// You should have received a copy of the GNU General Public License
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// along with this program; if not, write to the Free Software
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// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
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//
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// $Id$
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#include <simgear/constants.h>
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#include <FDM/flight.hxx>
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#include <Main/fg_props.hxx>
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#include <Network/native_ctrls.hxx>
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#include <Network/native_fdm.hxx>
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#include <Network/net_ctrls.hxx>
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#include <Network/net_fdm.hxx>
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#include "replay.hxx"
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const double FGReplay::st_list_time = 60.0; // 60 secs of high res data
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const double FGReplay::mt_list_time = 600.0; // 10 mins of 1 fps data
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const double FGReplay::lt_list_time = 3600.0; // 1 hr of 10 spf data
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// short term sample rate is as every frame
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const double FGReplay::mt_dt = 0.5; // medium term sample rate (sec)
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const double FGReplay::lt_dt = 5.0; // long term sample rate (sec)
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/**
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* Constructor
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*/
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FGReplay::FGReplay() {
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}
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/**
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* Destructor
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*/
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FGReplay::~FGReplay() {
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// no dynamically allocated memory to free
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}
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/**
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* Initialize the data structures
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*/
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void FGReplay::init() {
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sim_time = 0.0;
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last_mt_time = 0.0;
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last_lt_time = 0.0;
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// Make sure all queues are flushed
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while ( !short_term.empty() ) {
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short_term.pop_front();
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}
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while ( !medium_term.empty() ) {
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medium_term.pop_front();
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}
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while ( !medium_term.empty() ) {
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medium_term.pop_front();
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}
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}
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/**
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* Bind to the property tree
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*/
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void FGReplay::bind() {
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// nothing to bind
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}
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/**
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* Unbind from the property tree
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*/
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void FGReplay::unbind() {
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// nothing to unbind
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}
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/**
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* Update the saved data
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*/
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void FGReplay::update( double dt ) {
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static SGPropertyNode *replay_master = fgGetNode( "/sim/freeze/replay" );
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if ( replay_master->getBoolValue() ) {
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// don't record the replay session
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return;
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}
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sim_time += dt;
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// build the replay record
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FGNetFDM f;
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FGProps2NetFDM( &f, false );
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// sanity check, don't collect data if FDM data isn't good
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if ( !cur_fdm_state->get_inited() ) {
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return;
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}
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FGNetCtrls c;
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FGProps2NetCtrls( &c, false, false );
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FGReplayData r;
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r.sim_time = sim_time;
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r.ctrls = c;
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r.fdm = f;
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// update the short term list
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short_term.push_back( r );
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FGReplayData st_front = short_term.front();
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if ( sim_time - st_front.sim_time > st_list_time ) {
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while ( sim_time - st_front.sim_time > st_list_time ) {
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st_front = short_term.front();
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short_term.pop_front();
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}
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// update the medium term list
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if ( sim_time - last_mt_time > mt_dt ) {
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last_mt_time = sim_time;
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medium_term.push_back( st_front );
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FGReplayData mt_front = medium_term.front();
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if ( sim_time - mt_front.sim_time > mt_list_time ) {
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while ( sim_time - mt_front.sim_time > mt_list_time ) {
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mt_front = medium_term.front();
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medium_term.pop_front();
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}
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// update the long term list
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if ( sim_time - last_lt_time > lt_dt ) {
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last_lt_time = sim_time;
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long_term.push_back( mt_front );
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FGReplayData lt_front = long_term.front();
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if ( sim_time - lt_front.sim_time > lt_list_time ) {
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while ( sim_time - lt_front.sim_time > lt_list_time ) {
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lt_front = long_term.front();
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long_term.pop_front();
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}
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}
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}
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}
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}
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}
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#if 0
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cout << "short term size = " << short_term.size()
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<< " time = " << sim_time - short_term.front().sim_time
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<< endl;
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cout << "medium term size = " << medium_term.size()
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<< " time = " << sim_time - medium_term.front().sim_time
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<< endl;
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cout << "long term size = " << long_term.size()
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<< " time = " << sim_time - long_term.front().sim_time
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<< endl;
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#endif
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}
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static double weight( double data1, double data2, double ratio,
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bool rotational = false ) {
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if ( rotational ) {
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// special handling of rotational data
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double tmp = data2 - data1;
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if ( tmp > SGD_PI ) {
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tmp -= SGD_2PI;
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} else if ( tmp < -SGD_PI ) {
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tmp += SGD_2PI;
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}
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return data1 + tmp * ratio;
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} else {
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// normal "linear" data
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return data1 + ( data2 - data1 ) * ratio;
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}
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}
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/**
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* given two FGReplayData elements and a time, interpolate between them
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*/
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static void update_fdm( FGReplayData frame ) {
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FGNetFDM2Props( &frame.fdm, false );
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FGNetCtrls2Props( &frame.ctrls, false, false );
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}
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/**
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* given two FGReplayData elements and a time, interpolate between them
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*/
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static FGReplayData interpolate( double time, FGReplayData f1, FGReplayData f2 )
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{
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FGReplayData result = f1;
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FGNetFDM fdm1 = f1.fdm;
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FGNetFDM fdm2 = f2.fdm;
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FGNetCtrls ctrls1 = f1.ctrls;
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FGNetCtrls ctrls2 = f2.ctrls;
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double ratio = (time - f1.sim_time) / (f2.sim_time - f1.sim_time);
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// Interpolate FDM data
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// Positions
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result.fdm.longitude = weight( fdm1.longitude, fdm2.longitude, ratio );
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result.fdm.latitude = weight( fdm1.latitude, fdm2.latitude, ratio );
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result.fdm.altitude = weight( fdm1.altitude, fdm2.altitude, ratio );
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result.fdm.agl = weight( fdm1.agl, fdm2.agl, ratio );
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result.fdm.phi = weight( fdm1.phi, fdm2.phi, ratio, true );
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result.fdm.theta = weight( fdm1.theta, fdm2.theta, ratio, true );
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result.fdm.psi = weight( fdm1.psi, fdm2.psi, ratio, true );
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// Velocities
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result.fdm.phidot = weight( fdm1.phidot, fdm2.phidot, ratio, true );
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result.fdm.thetadot = weight( fdm1.thetadot, fdm2.thetadot, ratio, true );
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result.fdm.psidot = weight( fdm1.psidot, fdm2.psidot, ratio, true );
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result.fdm.vcas = weight( fdm1.vcas, fdm2.vcas, ratio );
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result.fdm.climb_rate = weight( fdm1.climb_rate, fdm2.climb_rate, ratio );
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result.fdm.v_north = weight( fdm1.v_north, fdm2.v_north, ratio );
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result.fdm.v_east = weight( fdm1.v_east, fdm2.v_east, ratio );
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result.fdm.v_down = weight( fdm1.v_down, fdm2.v_down, ratio );
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result.fdm.v_wind_body_north
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= weight( fdm1.v_wind_body_north, fdm2.v_wind_body_north, ratio );
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result.fdm.v_wind_body_east
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= weight( fdm1.v_wind_body_east, fdm2.v_wind_body_east, ratio );
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result.fdm.v_wind_body_down
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= weight( fdm1.v_wind_body_down, fdm2.v_wind_body_down, ratio );
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// Stall
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result.fdm.stall_warning
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= weight( fdm1.stall_warning, fdm2.stall_warning, ratio );
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// Accelerations
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result.fdm.A_X_pilot = weight( fdm1.A_X_pilot, fdm2.A_X_pilot, ratio );
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result.fdm.A_Y_pilot = weight( fdm1.A_Y_pilot, fdm2.A_Y_pilot, ratio );
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result.fdm.A_Z_pilot = weight( fdm1.A_Z_pilot, fdm2.A_Z_pilot, ratio );
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int i;
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// Engine status
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for ( i = 0; i < fdm1.num_engines; ++i ) {
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result.fdm.eng_state[i] = fdm1.eng_state[i];
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result.fdm.rpm[i] = weight( fdm1.rpm[i], fdm2.rpm[i], ratio );
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result.fdm.fuel_flow[i]
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= weight( fdm1.fuel_flow[i], fdm2.fuel_flow[i], ratio );
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result.fdm.EGT[i] = weight( fdm1.EGT[i], fdm2.EGT[i], ratio );
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result.fdm.oil_temp[i]
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= weight( fdm1.oil_temp[i], fdm2.oil_temp[i], ratio );
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result.fdm.oil_px[i] = weight( fdm1.oil_px[i], fdm2.oil_px[i], ratio );
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}
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// Consumables
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for ( i = 0; i < fdm1.num_tanks; ++i ) {
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result.fdm.fuel_quantity[i]
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= weight( fdm1.fuel_quantity[i], fdm2.fuel_quantity[i], ratio );
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}
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// Gear status
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for ( i = 0; i < fdm1.num_wheels; ++i ) {
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result.fdm.wow[i] = weight( fdm1.wow[i], fdm2.wow[i], ratio );
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result.fdm.gear_pos[i]
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= weight( fdm1.gear_pos[i], fdm2.gear_pos[i], ratio );
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result.fdm.gear_steer[i]
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= weight( fdm1.gear_steer[i], fdm2.gear_steer[i], ratio );
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result.fdm.gear_compression[i]
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= weight( fdm1.gear_compression[i], fdm2.gear_compression[i],
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ratio );
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}
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// Environment
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result.fdm.cur_time = fdm1.cur_time;
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result.fdm.warp = fdm1.warp;
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result.fdm.visibility = weight( fdm1.visibility, fdm2.visibility, ratio );
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// Control surface positions (normalized values)
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result.fdm.elevator = weight( fdm1.elevator, fdm2.elevator, ratio );
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result.fdm.flaps = weight( fdm1.flaps, fdm2.flaps, ratio );
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result.fdm.left_aileron
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= weight( fdm1.left_aileron, fdm2.left_aileron, ratio );
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result.fdm.right_aileron
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= weight( fdm1.right_aileron, fdm2.right_aileron, ratio );
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result.fdm.rudder = weight( fdm1.rudder, fdm2.rudder, ratio );
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result.fdm.speedbrake = weight( fdm1.speedbrake, fdm2.speedbrake, ratio );
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result.fdm.spoilers = weight( fdm1.spoilers, fdm2.spoilers, ratio );
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// Interpolate Control input data
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// Aero controls
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result.ctrls.aileron = weight( ctrls1.aileron, ctrls2.aileron, ratio );
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result.ctrls.elevator = weight( ctrls1.elevator, ctrls2.elevator, ratio );
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result.ctrls.elevator_trim
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= weight( ctrls1.elevator_trim, ctrls2.elevator_trim, ratio );
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result.ctrls.rudder = weight( ctrls1.rudder, ctrls2.rudder, ratio );
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result.ctrls.flaps = weight( ctrls1.flaps, ctrls2.flaps, ratio );
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result.ctrls.flaps_power = ctrls1.flaps_power;
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result.ctrls.flap_motor_ok = ctrls1.flap_motor_ok;
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// Engine controls
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for ( i = 0; i < ctrls1.num_engines; ++i ) {
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result.ctrls.magnetos[i] = ctrls1.magnetos[i];
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result.ctrls.starter_power[i] = ctrls1.starter_power[i];
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result.ctrls.throttle[i]
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= weight( ctrls1.throttle[i], ctrls2.throttle[i], ratio );
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result.ctrls.mixture[i]
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= weight( ctrls1.mixture[i], ctrls2.mixture[i], ratio );
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result.ctrls.fuel_pump_power[i] = ctrls1.fuel_pump_power[i];
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result.ctrls.prop_advance[i]
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= weight( ctrls1.prop_advance[i], ctrls2.prop_advance[i], ratio );
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result.ctrls.engine_ok[i] = ctrls1.engine_ok[i];
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result.ctrls.mag_left_ok[i] = ctrls1.mag_left_ok[i];
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result.ctrls.mag_right_ok[i] = ctrls1.mag_right_ok[i];
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result.ctrls.spark_plugs_ok[i] = ctrls1.spark_plugs_ok[i];
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result.ctrls.oil_press_status[i] = ctrls1.oil_press_status[i];
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result.ctrls.fuel_pump_ok[i] = ctrls1.fuel_pump_ok[i];
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}
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// Fuel management
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for ( i = 0; i < ctrls1.num_tanks; ++i ) {
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result.ctrls.fuel_selector[i] = ctrls1.fuel_selector[i];
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}
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// Brake controls
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for ( i = 0; i < ctrls1.num_wheels; ++i ) {
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result.ctrls.brake[i]
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= weight( ctrls1.brake[i], ctrls2.brake[i], ratio );
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}
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// Landing Gear
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result.ctrls.gear_handle = ctrls1.gear_handle;
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// Switches
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result.ctrls.master_bat = ctrls1.master_bat;
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result.ctrls.master_alt = ctrls1.master_alt;
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result.ctrls.turbulence_norm = ctrls1.turbulence_norm;
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// wind and turbulance
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result.ctrls.wind_speed_kt
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= weight( ctrls1.wind_speed_kt, ctrls2.wind_speed_kt, ratio );
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result.ctrls.wind_dir_deg
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= weight( ctrls1.wind_dir_deg, ctrls2.wind_dir_deg, ratio );
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result.ctrls.turbulence_norm
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= weight( ctrls1.turbulence_norm, ctrls2.turbulence_norm, ratio );
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// other information about environment
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result.ctrls.hground = weight( ctrls1.hground, ctrls2.hground, ratio );
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result.ctrls.magvar = weight( ctrls1.magvar, ctrls2.magvar, ratio );
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// simulation control
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result.ctrls.speedup = ctrls1.speedup;
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result.ctrls.freeze = ctrls1.freeze;
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return result;
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}
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/**
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* interpolate a specific time from a specific list
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*/
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static void interpolate( double time, const replay_list_type &list ) {
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// sanity checking
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if ( list.size() == 0 ) {
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// handle empty list
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return;
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} else if ( list.size() == 1 ) {
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// handle list size == 1
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update_fdm( list[0] );
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return;
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}
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unsigned int last = list.size() - 1;
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unsigned int first = 0;
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unsigned int mid = ( last + first ) / 2;
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bool done = false;
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while ( !done ) {
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// cout << " " << first << " <=> " << last << endl;
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if ( last == first ) {
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done = true;
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} else if ( list[mid].sim_time < time && list[mid+1].sim_time < time ) {
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// too low
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first = mid;
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mid = ( last + first ) / 2;
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} else if ( list[mid].sim_time > time && list[mid+1].sim_time > time ) {
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// too high
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last = mid;
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mid = ( last + first ) / 2;
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} else {
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done = true;
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}
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}
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FGReplayData result = interpolate( time, list[mid], list[mid+1] );
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update_fdm( result );
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}
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/**
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* Replay a saved frame based on time, interpolate from the two
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* nearest saved frames.
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*/
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void FGReplay::replay( double time ) {
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// cout << "replay: " << time << " ";
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// find the two frames to interpolate between
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double t1, t2;
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if ( short_term.size() > 0 ) {
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t1 = short_term.back().sim_time;
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t2 = short_term.front().sim_time;
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if ( time > t1 ) {
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// replay the most recent frame
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update_fdm( short_term.back() );
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// cout << "first frame" << endl;
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} else if ( time <= t1 && time >= t2 ) {
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interpolate( time, short_term );
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// cout << "from short term" << endl;
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} else if ( medium_term.size() > 0 ) {
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t1 = short_term.front().sim_time;
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t2 = medium_term.back().sim_time;
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if ( time <= t1 && time >= t2 ) {
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FGReplayData result = interpolate( time,
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medium_term.back(),
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short_term.front() );
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update_fdm( result );
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// cout << "from short/medium term" << endl;
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} else {
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t1 = medium_term.back().sim_time;
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t2 = medium_term.front().sim_time;
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if ( time <= t1 && time >= t2 ) {
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interpolate( time, medium_term );
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// cout << "from medium term" << endl;
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} else if ( long_term.size() > 0 ) {
|
|
t1 = medium_term.front().sim_time;
|
|
t2 = long_term.back().sim_time;
|
|
if ( time <= t1 && time >= t2 ) {
|
|
FGReplayData result = interpolate( time,
|
|
long_term.back(),
|
|
medium_term.front());
|
|
update_fdm( result );
|
|
// cout << "from medium/long term" << endl;
|
|
} else {
|
|
t1 = long_term.back().sim_time;
|
|
t2 = long_term.front().sim_time;
|
|
if ( time <= t1 && time >= t2 ) {
|
|
interpolate( time, long_term );
|
|
// cout << "from long term" << endl;
|
|
} else {
|
|
// replay the oldest long term frame
|
|
update_fdm( long_term.front() );
|
|
// cout << "oldest long term frame" << endl;
|
|
}
|
|
}
|
|
} else {
|
|
// replay the oldest medium term frame
|
|
update_fdm( medium_term.front() );
|
|
// cout << "oldest medium term frame" << endl;
|
|
}
|
|
}
|
|
} else {
|
|
// replay the oldest short term frame
|
|
update_fdm( short_term.front() );
|
|
// cout << "oldest short term frame" << endl;
|
|
}
|
|
} else {
|
|
// nothing to replay
|
|
}
|
|
}
|
|
|
|
|
|
double FGReplay::get_start_time() {
|
|
if ( long_term.size() > 0 ) {
|
|
return long_term.front().sim_time;
|
|
} else if ( medium_term.size() > 0 ) {
|
|
return medium_term.front().sim_time;
|
|
} else if ( short_term.size() ) {
|
|
return short_term.front().sim_time;
|
|
} else {
|
|
return 0.0;
|
|
}
|
|
}
|
|
|
|
double FGReplay::get_end_time() {
|
|
if ( short_term.size() ) {
|
|
return short_term.back().sim_time;
|
|
} else {
|
|
return 0.0;
|
|
}
|
|
}
|