1 // replay.cxx - a system to record and replay FlightGear flights
3 // Written by Curtis Olson, started Juley 2003.
5 // Copyright (C) 2003 Curtis L. Olson - http://www.flightgear.org/~curt
7 // This program is free software; you can redistribute it and/or
8 // modify it under the terms of the GNU General Public License as
9 // published by the Free Software Foundation; either version 2 of the
10 // License, or (at your option) any later version.
12 // This program is distributed in the hope that it will be useful, but
13 // WITHOUT ANY WARRANTY; without even the implied warranty of
14 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
15 // General Public License for more details.
17 // You should have received a copy of the GNU General Public License
18 // along with this program; if not, write to the Free Software
19 // Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
27 #include <simgear/constants.h>
29 #include <FDM/flight.hxx>
30 #include <Main/fg_props.hxx>
31 #include <Network/native_ctrls.hxx>
32 #include <Network/native_fdm.hxx>
33 #include <Network/net_ctrls.hxx>
34 #include <Network/net_fdm.hxx>
38 const double FGReplay::st_list_time = 60.0; // 60 secs of high res data
39 const double FGReplay::mt_list_time = 600.0; // 10 mins of 1 fps data
40 const double FGReplay::lt_list_time = 3600.0; // 1 hr of 10 spf data
42 // short term sample rate is as every frame
43 const double FGReplay::mt_dt = 0.5; // medium term sample rate (sec)
44 const double FGReplay::lt_dt = 5.0; // long term sample rate (sec)
50 FGReplay::FGReplay() {
58 FGReplay::~FGReplay() {
59 while ( !short_term.empty() ) {
60 //cerr << "Deleting Short term" <<endl;
61 delete short_term.front();
62 short_term.pop_front();
64 while ( !medium_term.empty() ) {
65 //cerr << "Deleting Medium term" <<endl;
66 delete medium_term.front();
67 medium_term.pop_front();
69 while ( !long_term.empty() ) {
70 //cerr << "Deleting Long term" <<endl;
71 delete long_term.front();
72 long_term.pop_front();
74 while ( !recycler.empty() ) {
75 //cerr << "Deleting Recycler" <<endl;
76 delete recycler.front();
83 * Initialize the data structures
86 void FGReplay::init() {
91 // Make sure all queues are flushed
92 while ( !short_term.empty() ) {
93 delete short_term.front();
94 short_term.pop_front();
96 while ( !medium_term.empty() ) {
97 delete medium_term.front();
98 medium_term.pop_front();
100 while ( !long_term.empty() ) {
101 delete long_term.front();
102 long_term.pop_front();
104 while ( !recycler.empty() ) {
105 delete recycler.front();
106 recycler.pop_front();
108 // Create an estimated nr of required ReplayData objects
109 // 120 is an estimated maximum frame rate.
110 int estNrObjects = (int) ((st_list_time*120) + (mt_list_time*mt_dt) +
111 (lt_list_time*lt_dt));
112 for (int i = 0; i < estNrObjects; i++) {
113 recycler.push_back(new FGReplayData);
120 * Bind to the property tree
123 void FGReplay::bind() {
124 disable_replay = fgGetNode( "/sim/replay/disable", true );
129 * Unbind from the property tree
132 void FGReplay::unbind() {
138 * Update the saved data
141 void FGReplay::update( double dt ) {
144 static SGPropertyNode *replay_master
145 = fgGetNode( "/sim/freeze/replay-state", true );
147 if( disable_replay->getBoolValue() ) {
148 if ( sim_time != 0.0 ) {
149 // we were recording data
155 if ( replay_master->getIntValue() > 0 ) {
156 // don't record the replay session
159 //cerr << "Recording replay" << endl;
162 // build the replay record
164 //FGProps2NetFDM( &f, false );
166 // sanity check, don't collect data if FDM data isn't good
167 if ( !cur_fdm_state->get_inited() ) {
171 //FGProps2NetCtrls( &c, false, false );
172 //stamp("point_04ba");
174 //stamp("point_04bb");
175 if (!recycler.size()) {
177 r = new FGReplayData;
180 r = recycler.front();
181 recycler.pop_front();
182 //stamp("point_04be");
184 r->sim_time = sim_time;
186 //stamp("point_04e");
187 FGProps2NetFDM( &(r->fdm), false );
188 FGProps2NetCtrls( &(r->ctrls), false, false );
192 // update the short term list
194 short_term.push_back( r );
196 FGReplayData *st_front = short_term.front();
197 if ( sim_time - st_front->sim_time > st_list_time ) {
198 while ( sim_time - st_front->sim_time > st_list_time ) {
199 st_front = short_term.front();
200 recycler.push_back(st_front);
201 short_term.pop_front();
204 // update the medium term list
205 if ( sim_time - last_mt_time > mt_dt ) {
206 last_mt_time = sim_time;
207 st_front = short_term.front();
208 medium_term.push_back( st_front );
209 short_term.pop_front();
211 FGReplayData *mt_front = medium_term.front();
212 if ( sim_time - mt_front->sim_time > mt_list_time ) {
214 while ( sim_time - mt_front->sim_time > mt_list_time ) {
215 mt_front = medium_term.front();
216 recycler.push_back(mt_front);
217 medium_term.pop_front();
219 // update the long term list
220 if ( sim_time - last_lt_time > lt_dt ) {
221 last_lt_time = sim_time;
222 mt_front = medium_term.front();
223 long_term.push_back( mt_front );
224 medium_term.pop_front();
226 FGReplayData *lt_front = long_term.front();
227 if ( sim_time - lt_front->sim_time > lt_list_time ) {
229 while ( sim_time - lt_front->sim_time > lt_list_time ) {
230 lt_front = long_term.front();
231 recycler.push_back(lt_front);
232 long_term.pop_front();
241 cout << "short term size = " << short_term.size()
242 << " time = " << sim_time - short_term.front().sim_time
244 cout << "medium term size = " << medium_term.size()
245 << " time = " << sim_time - medium_term.front().sim_time
247 cout << "long term size = " << long_term.size()
248 << " time = " << sim_time - long_term.front().sim_time
251 //stamp("point_finished");
255 static double weight( double data1, double data2, double ratio,
256 bool rotational = false ) {
258 // special handling of rotational data
259 double tmp = data2 - data1;
260 if ( tmp > SGD_PI ) {
262 } else if ( tmp < -SGD_PI ) {
265 return data1 + tmp * ratio;
267 // normal "linear" data
268 return data1 + ( data2 - data1 ) * ratio;
273 * given two FGReplayData elements and a time, interpolate between them
275 static void update_fdm( FGReplayData frame ) {
276 FGNetFDM2Props( &frame.fdm, false );
277 FGNetCtrls2Props( &frame.ctrls, false, false );
281 * given two FGReplayData elements and a time, interpolate between them
283 static FGReplayData interpolate( double time, FGReplayData f1, FGReplayData f2 )
285 FGReplayData result = f1;
287 FGNetFDM fdm1 = f1.fdm;
288 FGNetFDM fdm2 = f2.fdm;
290 FGNetCtrls ctrls1 = f1.ctrls;
291 FGNetCtrls ctrls2 = f2.ctrls;
293 double ratio = (time - f1.sim_time) / (f2.sim_time - f1.sim_time);
295 // Interpolate FDM data
298 result.fdm.longitude = weight( fdm1.longitude, fdm2.longitude, ratio );
299 result.fdm.latitude = weight( fdm1.latitude, fdm2.latitude, ratio );
300 result.fdm.altitude = weight( fdm1.altitude, fdm2.altitude, ratio );
301 result.fdm.agl = weight( fdm1.agl, fdm2.agl, ratio );
302 result.fdm.phi = weight( fdm1.phi, fdm2.phi, ratio, true );
303 result.fdm.theta = weight( fdm1.theta, fdm2.theta, ratio, true );
304 result.fdm.psi = weight( fdm1.psi, fdm2.psi, ratio, true );
307 result.fdm.phidot = weight( fdm1.phidot, fdm2.phidot, ratio, true );
308 result.fdm.thetadot = weight( fdm1.thetadot, fdm2.thetadot, ratio, true );
309 result.fdm.psidot = weight( fdm1.psidot, fdm2.psidot, ratio, true );
310 result.fdm.vcas = weight( fdm1.vcas, fdm2.vcas, ratio );
311 result.fdm.climb_rate = weight( fdm1.climb_rate, fdm2.climb_rate, ratio );
312 result.fdm.v_north = weight( fdm1.v_north, fdm2.v_north, ratio );
313 result.fdm.v_east = weight( fdm1.v_east, fdm2.v_east, ratio );
314 result.fdm.v_down = weight( fdm1.v_down, fdm2.v_down, ratio );
316 result.fdm.v_wind_body_north
317 = weight( fdm1.v_wind_body_north, fdm2.v_wind_body_north, ratio );
318 result.fdm.v_wind_body_east
319 = weight( fdm1.v_wind_body_east, fdm2.v_wind_body_east, ratio );
320 result.fdm.v_wind_body_down
321 = weight( fdm1.v_wind_body_down, fdm2.v_wind_body_down, ratio );
324 result.fdm.stall_warning
325 = weight( fdm1.stall_warning, fdm2.stall_warning, ratio );
328 result.fdm.A_X_pilot = weight( fdm1.A_X_pilot, fdm2.A_X_pilot, ratio );
329 result.fdm.A_Y_pilot = weight( fdm1.A_Y_pilot, fdm2.A_Y_pilot, ratio );
330 result.fdm.A_Z_pilot = weight( fdm1.A_Z_pilot, fdm2.A_Z_pilot, ratio );
335 for ( i = 0; i < fdm1.num_engines; ++i ) {
336 result.fdm.eng_state[i] = fdm1.eng_state[i];
337 result.fdm.rpm[i] = weight( fdm1.rpm[i], fdm2.rpm[i], ratio );
338 result.fdm.fuel_flow[i]
339 = weight( fdm1.fuel_flow[i], fdm2.fuel_flow[i], ratio );
340 result.fdm.fuel_px[i]
341 = weight( fdm1.fuel_px[i], fdm2.fuel_px[i], ratio );
342 result.fdm.egt[i] = weight( fdm1.egt[i], fdm2.egt[i], ratio );
343 result.fdm.cht[i] = weight( fdm1.cht[i], fdm2.cht[i], ratio );
344 result.fdm.mp_osi[i] = weight( fdm1.mp_osi[i], fdm2.mp_osi[i], ratio );
345 result.fdm.tit[i] = weight( fdm1.tit[i], fdm2.tit[i], ratio );
346 result.fdm.oil_temp[i]
347 = weight( fdm1.oil_temp[i], fdm2.oil_temp[i], ratio );
348 result.fdm.oil_px[i] = weight( fdm1.oil_px[i], fdm2.oil_px[i], ratio );
352 for ( i = 0; i < fdm1.num_tanks; ++i ) {
353 result.fdm.fuel_quantity[i]
354 = weight( fdm1.fuel_quantity[i], fdm2.fuel_quantity[i], ratio );
358 for ( i = 0; i < fdm1.num_wheels; ++i ) {
359 result.fdm.wow[i] = (int)(weight( fdm1.wow[i], fdm2.wow[i], ratio ));
360 result.fdm.gear_pos[i]
361 = weight( fdm1.gear_pos[i], fdm2.gear_pos[i], ratio );
362 result.fdm.gear_steer[i]
363 = weight( fdm1.gear_steer[i], fdm2.gear_steer[i], ratio );
364 result.fdm.gear_compression[i]
365 = weight( fdm1.gear_compression[i], fdm2.gear_compression[i],
370 result.fdm.cur_time = fdm1.cur_time;
371 result.fdm.warp = fdm1.warp;
372 result.fdm.visibility = weight( fdm1.visibility, fdm2.visibility, ratio );
374 // Control surface positions (normalized values)
375 result.fdm.elevator = weight( fdm1.elevator, fdm2.elevator, ratio );
376 result.fdm.left_flap = weight( fdm1.left_flap, fdm2.left_flap, ratio );
377 result.fdm.right_flap = weight( fdm1.right_flap, fdm2.right_flap, ratio );
378 result.fdm.left_aileron
379 = weight( fdm1.left_aileron, fdm2.left_aileron, ratio );
380 result.fdm.right_aileron
381 = weight( fdm1.right_aileron, fdm2.right_aileron, ratio );
382 result.fdm.rudder = weight( fdm1.rudder, fdm2.rudder, ratio );
383 result.fdm.speedbrake = weight( fdm1.speedbrake, fdm2.speedbrake, ratio );
384 result.fdm.spoilers = weight( fdm1.spoilers, fdm2.spoilers, ratio );
386 // Interpolate Control input data
389 result.ctrls.aileron = weight( ctrls1.aileron, ctrls2.aileron, ratio );
390 result.ctrls.elevator = weight( ctrls1.elevator, ctrls2.elevator, ratio );
391 result.ctrls.rudder = weight( ctrls1.rudder, ctrls2.rudder, ratio );
392 result.ctrls.aileron_trim
393 = weight( ctrls1.aileron_trim, ctrls2.aileron_trim, ratio );
394 result.ctrls.elevator_trim
395 = weight( ctrls1.elevator_trim, ctrls2.elevator_trim, ratio );
396 result.ctrls.rudder_trim
397 = weight( ctrls1.rudder_trim, ctrls2.rudder_trim, ratio );
398 result.ctrls.flaps = weight( ctrls1.flaps, ctrls2.flaps, ratio );
399 result.ctrls.flaps_power = ctrls1.flaps_power;
400 result.ctrls.flap_motor_ok = ctrls1.flap_motor_ok;
403 for ( i = 0; i < ctrls1.num_engines; ++i ) {
404 result.ctrls.master_bat[i] = ctrls1.master_bat[i];
405 result.ctrls.master_alt[i] = ctrls1.master_alt[i];
406 result.ctrls.magnetos[i] = ctrls1.magnetos[i];
407 result.ctrls.starter_power[i] = ctrls1.starter_power[i];
408 result.ctrls.throttle[i]
409 = weight( ctrls1.throttle[i], ctrls2.throttle[i], ratio );
410 result.ctrls.mixture[i]
411 = weight( ctrls1.mixture[i], ctrls2.mixture[i], ratio );
412 result.ctrls.fuel_pump_power[i] = ctrls1.fuel_pump_power[i];
413 result.ctrls.prop_advance[i]
414 = weight( ctrls1.prop_advance[i], ctrls2.prop_advance[i], ratio );
415 result.ctrls.engine_ok[i] = ctrls1.engine_ok[i];
416 result.ctrls.mag_left_ok[i] = ctrls1.mag_left_ok[i];
417 result.ctrls.mag_right_ok[i] = ctrls1.mag_right_ok[i];
418 result.ctrls.spark_plugs_ok[i] = ctrls1.spark_plugs_ok[i];
419 result.ctrls.oil_press_status[i] = ctrls1.oil_press_status[i];
420 result.ctrls.fuel_pump_ok[i] = ctrls1.fuel_pump_ok[i];
424 for ( i = 0; i < ctrls1.num_tanks; ++i ) {
425 result.ctrls.fuel_selector[i] = ctrls1.fuel_selector[i];
429 result.ctrls.brake_left
430 = weight( ctrls1.brake_left, ctrls2.brake_left, ratio );
431 result.ctrls.brake_right
432 = weight( ctrls1.brake_right, ctrls2.brake_right, ratio );
433 result.ctrls.brake_parking
434 = weight( ctrls1.brake_parking, ctrls2.brake_parking, ratio );
437 result.ctrls.gear_handle = ctrls1.gear_handle;
440 result.ctrls.turbulence_norm = ctrls1.turbulence_norm;
442 // wind and turbulance
443 result.ctrls.wind_speed_kt
444 = weight( ctrls1.wind_speed_kt, ctrls2.wind_speed_kt, ratio );
445 result.ctrls.wind_dir_deg
446 = weight( ctrls1.wind_dir_deg, ctrls2.wind_dir_deg, ratio );
447 result.ctrls.turbulence_norm
448 = weight( ctrls1.turbulence_norm, ctrls2.turbulence_norm, ratio );
450 // other information about environment
451 result.ctrls.hground = weight( ctrls1.hground, ctrls2.hground, ratio );
452 result.ctrls.magvar = weight( ctrls1.magvar, ctrls2.magvar, ratio );
454 // simulation control
455 result.ctrls.speedup = ctrls1.speedup;
456 result.ctrls.freeze = ctrls1.freeze;
462 * interpolate a specific time from a specific list
464 static void interpolate( double time, const replay_list_type &list ) {
466 if ( list.size() == 0 ) {
469 } else if ( list.size() == 1 ) {
470 // handle list size == 1
471 update_fdm( (*list[0]) );
475 unsigned int last = list.size() - 1;
476 unsigned int first = 0;
477 unsigned int mid = ( last + first ) / 2;
482 // cout << " " << first << " <=> " << last << endl;
483 if ( last == first ) {
485 } else if ( list[mid]->sim_time < time && list[mid+1]->sim_time < time ) {
488 mid = ( last + first ) / 2;
489 } else if ( list[mid]->sim_time > time && list[mid+1]->sim_time > time ) {
492 mid = ( last + first ) / 2;
498 FGReplayData result = interpolate( time, (*list[mid]), (*list[mid+1]) );
500 update_fdm( result );
505 * Replay a saved frame based on time, interpolate from the two
506 * nearest saved frames.
509 void FGReplay::replay( double time ) {
510 // cout << "replay: " << time << " ";
511 // find the two frames to interpolate between
514 if ( short_term.size() > 0 ) {
515 t1 = short_term.back()->sim_time;
516 t2 = short_term.front()->sim_time;
518 // replay the most recent frame
519 update_fdm( (*short_term.back()) );
520 // cout << "first frame" << endl;
521 } else if ( time <= t1 && time >= t2 ) {
522 interpolate( time, short_term );
523 // cout << "from short term" << endl;
524 } else if ( medium_term.size() > 0 ) {
525 t1 = short_term.front()->sim_time;
526 t2 = medium_term.back()->sim_time;
527 if ( time <= t1 && time >= t2 ) {
528 FGReplayData result = interpolate( time,
529 (*medium_term.back()),
530 (*short_term.front()) );
531 update_fdm( result );
532 // cout << "from short/medium term" << endl;
534 t1 = medium_term.back()->sim_time;
535 t2 = medium_term.front()->sim_time;
536 if ( time <= t1 && time >= t2 ) {
537 interpolate( time, medium_term );
538 // cout << "from medium term" << endl;
539 } else if ( long_term.size() > 0 ) {
540 t1 = medium_term.front()->sim_time;
541 t2 = long_term.back()->sim_time;
542 if ( time <= t1 && time >= t2 ) {
543 FGReplayData result = interpolate( time,
545 (*medium_term.front()));
546 update_fdm( result );
547 // cout << "from medium/long term" << endl;
549 t1 = long_term.back()->sim_time;
550 t2 = long_term.front()->sim_time;
551 if ( time <= t1 && time >= t2 ) {
552 interpolate( time, long_term );
553 // cout << "from long term" << endl;
555 // replay the oldest long term frame
556 update_fdm( (*long_term.front()) );
557 // cout << "oldest long term frame" << endl;
561 // replay the oldest medium term frame
562 update_fdm( (*medium_term.front()) );
563 // cout << "oldest medium term frame" << endl;
567 // replay the oldest short term frame
568 update_fdm( (*short_term.front()) );
569 // cout << "oldest short term frame" << endl;
577 double FGReplay::get_start_time() {
578 if ( long_term.size() > 0 ) {
579 return (*long_term.front()).sim_time;
580 } else if ( medium_term.size() > 0 ) {
581 return (*medium_term.front()).sim_time;
582 } else if ( short_term.size() ) {
583 return (*short_term.front()).sim_time;
589 double FGReplay::get_end_time() {
590 if ( short_term.size() ) {
591 return (*short_term.back()).sim_time;