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 - curt@flightgear.org
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., 675 Mass Ave, Cambridge, MA 02139, USA.
24 #include <simgear/constants.h>
26 #include <FDM/flight.hxx>
27 #include <Main/fg_props.hxx>
28 #include <Network/native_ctrls.hxx>
29 #include <Network/native_fdm.hxx>
30 #include <Network/net_ctrls.hxx>
31 #include <Network/net_fdm.hxx>
35 const double FGReplay::st_list_time = 60.0; // 60 secs of high res data
36 const double FGReplay::mt_list_time = 600.0; // 10 mins of 1 fps data
37 const double FGReplay::lt_list_time = 3600.0; // 1 hr of 10 spf data
39 // short term sample rate is as every frame
40 const double FGReplay::mt_dt = 0.5; // medium term sample rate (sec)
41 const double FGReplay::lt_dt = 5.0; // long term sample rate (sec)
47 FGReplay::FGReplay() {
55 FGReplay::~FGReplay() {
56 // no dynamically allocated memory to free
61 * Initialize the data structures
64 void FGReplay::init() {
69 // Make sure all queues are flushed
70 while ( !short_term.empty() ) {
71 short_term.pop_front();
73 while ( !medium_term.empty() ) {
74 medium_term.pop_front();
76 while ( !medium_term.empty() ) {
77 medium_term.pop_front();
83 * Bind to the property tree
86 void FGReplay::bind() {
92 * Unbind from the property tree
95 void FGReplay::unbind() {
101 * Update the saved data
104 void FGReplay::update( double dt ) {
105 static SGPropertyNode *replay_master = fgGetNode( "/sim/freeze/replay" );
107 if ( replay_master->getBoolValue() ) {
108 // don't record the replay session
114 // build the replay record
116 FGProps2NetFDM( &f, false );
118 // sanity check, don't collect data if FDM data isn't good
119 if ( !cur_fdm_state->get_inited() ) {
124 FGProps2NetCtrls( &c, false, false );
127 r.sim_time = sim_time;
131 // update the short term list
132 short_term.push_back( r );
134 FGReplayData st_front = short_term.front();
135 if ( sim_time - st_front.sim_time > st_list_time ) {
136 while ( sim_time - st_front.sim_time > st_list_time ) {
137 st_front = short_term.front();
138 short_term.pop_front();
141 // update the medium term list
142 if ( sim_time - last_mt_time > mt_dt ) {
143 last_mt_time = sim_time;
144 medium_term.push_back( st_front );
146 FGReplayData mt_front = medium_term.front();
147 if ( sim_time - mt_front.sim_time > mt_list_time ) {
148 while ( sim_time - mt_front.sim_time > mt_list_time ) {
149 mt_front = medium_term.front();
150 medium_term.pop_front();
153 // update the long term list
154 if ( sim_time - last_lt_time > lt_dt ) {
155 last_lt_time = sim_time;
156 long_term.push_back( mt_front );
158 FGReplayData lt_front = long_term.front();
159 if ( sim_time - lt_front.sim_time > lt_list_time ) {
160 while ( sim_time - lt_front.sim_time > lt_list_time ) {
161 lt_front = long_term.front();
162 long_term.pop_front();
171 cout << "short term size = " << short_term.size()
172 << " time = " << sim_time - short_term.front().sim_time
174 cout << "medium term size = " << medium_term.size()
175 << " time = " << sim_time - medium_term.front().sim_time
177 cout << "long term size = " << long_term.size()
178 << " time = " << sim_time - long_term.front().sim_time
184 static double weight( double data1, double data2, double ratio,
185 bool rotational = false ) {
187 // special handling of rotational data
188 double tmp = data2 - data1;
189 if ( tmp > SGD_PI ) {
191 } else if ( tmp < -SGD_PI ) {
194 return data1 + tmp * ratio;
196 // normal "linear" data
197 return data1 + ( data2 - data1 ) * ratio;
202 * given two FGReplayData elements and a time, interpolate between them
204 static void update_fdm( FGReplayData frame ) {
205 FGNetFDM2Props( &frame.fdm, false );
206 FGNetCtrls2Props( &frame.ctrls, false, false );
210 * given two FGReplayData elements and a time, interpolate between them
212 static FGReplayData interpolate( double time, FGReplayData f1, FGReplayData f2 )
214 FGReplayData result = f1;
216 FGNetFDM fdm1 = f1.fdm;
217 FGNetFDM fdm2 = f2.fdm;
219 FGNetCtrls ctrls1 = f1.ctrls;
220 FGNetCtrls ctrls2 = f2.ctrls;
222 double ratio = (time - f1.sim_time) / (f2.sim_time - f1.sim_time);
224 // Interpolate FDM data
227 result.fdm.longitude = weight( fdm1.longitude, fdm2.longitude, ratio );
228 result.fdm.latitude = weight( fdm1.latitude, fdm2.latitude, ratio );
229 result.fdm.altitude = weight( fdm1.altitude, fdm2.altitude, ratio );
230 result.fdm.agl = weight( fdm1.agl, fdm2.agl, ratio );
231 result.fdm.phi = weight( fdm1.phi, fdm2.phi, ratio, true );
232 result.fdm.theta = weight( fdm1.theta, fdm2.theta, ratio, true );
233 result.fdm.psi = weight( fdm1.psi, fdm2.psi, ratio, true );
236 result.fdm.phidot = weight( fdm1.phidot, fdm2.phidot, ratio, true );
237 result.fdm.thetadot = weight( fdm1.thetadot, fdm2.thetadot, ratio, true );
238 result.fdm.psidot = weight( fdm1.psidot, fdm2.psidot, ratio, true );
239 result.fdm.vcas = weight( fdm1.vcas, fdm2.vcas, ratio );
240 result.fdm.climb_rate = weight( fdm1.climb_rate, fdm2.climb_rate, ratio );
241 result.fdm.v_north = weight( fdm1.v_north, fdm2.v_north, ratio );
242 result.fdm.v_east = weight( fdm1.v_east, fdm2.v_east, ratio );
243 result.fdm.v_down = weight( fdm1.v_down, fdm2.v_down, ratio );
245 result.fdm.v_wind_body_north
246 = weight( fdm1.v_wind_body_north, fdm2.v_wind_body_north, ratio );
247 result.fdm.v_wind_body_east
248 = weight( fdm1.v_wind_body_east, fdm2.v_wind_body_east, ratio );
249 result.fdm.v_wind_body_down
250 = weight( fdm1.v_wind_body_down, fdm2.v_wind_body_down, ratio );
253 result.fdm.stall_warning
254 = weight( fdm1.stall_warning, fdm2.stall_warning, ratio );
257 result.fdm.A_X_pilot = weight( fdm1.A_X_pilot, fdm2.A_X_pilot, ratio );
258 result.fdm.A_Y_pilot = weight( fdm1.A_Y_pilot, fdm2.A_Y_pilot, ratio );
259 result.fdm.A_Z_pilot = weight( fdm1.A_Z_pilot, fdm2.A_Z_pilot, ratio );
264 for ( i = 0; i < fdm1.num_engines; ++i ) {
265 result.fdm.eng_state[i] = fdm1.eng_state[i];
266 result.fdm.rpm[i] = weight( fdm1.rpm[i], fdm2.rpm[i], ratio );
267 result.fdm.fuel_flow[i]
268 = weight( fdm1.fuel_flow[i], fdm2.fuel_flow[i], ratio );
269 result.fdm.EGT[i] = weight( fdm1.EGT[i], fdm2.EGT[i], ratio );
270 result.fdm.oil_temp[i]
271 = weight( fdm1.oil_temp[i], fdm2.oil_temp[i], ratio );
272 result.fdm.oil_px[i] = weight( fdm1.oil_px[i], fdm2.oil_px[i], ratio );
276 for ( i = 0; i < fdm1.num_tanks; ++i ) {
277 result.fdm.fuel_quantity[i]
278 = weight( fdm1.fuel_quantity[i], fdm2.fuel_quantity[i], ratio );
282 for ( i = 0; i < fdm1.num_wheels; ++i ) {
283 result.fdm.wow[i] = weight( fdm1.wow[i], fdm2.wow[i], ratio );
284 result.fdm.gear_pos[i]
285 = weight( fdm1.gear_pos[i], fdm2.gear_pos[i], ratio );
286 result.fdm.gear_steer[i]
287 = weight( fdm1.gear_steer[i], fdm2.gear_steer[i], ratio );
288 result.fdm.gear_compression[i]
289 = weight( fdm1.gear_compression[i], fdm2.gear_compression[i],
294 result.fdm.cur_time = fdm1.cur_time;
295 result.fdm.warp = fdm1.warp;
296 result.fdm.visibility = weight( fdm1.visibility, fdm2.visibility, ratio );
298 // Control surface positions (normalized values)
299 result.fdm.elevator = weight( fdm1.elevator, fdm2.elevator, ratio );
300 result.fdm.flaps = weight( fdm1.flaps, fdm2.flaps, ratio );
301 result.fdm.left_aileron
302 = weight( fdm1.left_aileron, fdm2.left_aileron, ratio );
303 result.fdm.right_aileron
304 = weight( fdm1.right_aileron, fdm2.right_aileron, ratio );
305 result.fdm.rudder = weight( fdm1.rudder, fdm2.rudder, ratio );
306 result.fdm.speedbrake = weight( fdm1.speedbrake, fdm2.speedbrake, ratio );
307 result.fdm.spoilers = weight( fdm1.spoilers, fdm2.spoilers, ratio );
309 // Interpolate Control input data
312 result.ctrls.aileron = weight( ctrls1.aileron, ctrls2.aileron, ratio );
313 result.ctrls.elevator = weight( ctrls1.elevator, ctrls2.elevator, ratio );
314 result.ctrls.elevator_trim
315 = weight( ctrls1.elevator_trim, ctrls2.elevator_trim, ratio );
316 result.ctrls.rudder = weight( ctrls1.rudder, ctrls2.rudder, ratio );
317 result.ctrls.flaps = weight( ctrls1.flaps, ctrls2.flaps, ratio );
318 result.ctrls.flaps_power = ctrls1.flaps_power;
319 result.ctrls.flap_motor_ok = ctrls1.flap_motor_ok;
322 for ( i = 0; i < ctrls1.num_engines; ++i ) {
323 result.ctrls.magnetos[i] = ctrls1.magnetos[i];
324 result.ctrls.starter_power[i] = ctrls1.starter_power[i];
325 result.ctrls.throttle[i]
326 = weight( ctrls1.throttle[i], ctrls2.throttle[i], ratio );
327 result.ctrls.mixture[i]
328 = weight( ctrls1.mixture[i], ctrls2.mixture[i], ratio );
329 result.ctrls.fuel_pump_power[i] = ctrls1.fuel_pump_power[i];
330 result.ctrls.prop_advance[i]
331 = weight( ctrls1.prop_advance[i], ctrls2.prop_advance[i], ratio );
332 result.ctrls.engine_ok[i] = ctrls1.engine_ok[i];
333 result.ctrls.mag_left_ok[i] = ctrls1.mag_left_ok[i];
334 result.ctrls.mag_right_ok[i] = ctrls1.mag_right_ok[i];
335 result.ctrls.spark_plugs_ok[i] = ctrls1.spark_plugs_ok[i];
336 result.ctrls.oil_press_status[i] = ctrls1.oil_press_status[i];
337 result.ctrls.fuel_pump_ok[i] = ctrls1.fuel_pump_ok[i];
341 for ( i = 0; i < ctrls1.num_tanks; ++i ) {
342 result.ctrls.fuel_selector[i] = ctrls1.fuel_selector[i];
346 for ( i = 0; i < ctrls1.num_wheels; ++i ) {
347 result.ctrls.brake[i]
348 = weight( ctrls1.brake[i], ctrls2.brake[i], ratio );
352 result.ctrls.gear_handle = ctrls1.gear_handle;
355 result.ctrls.master_bat = ctrls1.master_bat;
356 result.ctrls.master_alt = ctrls1.master_alt;
357 result.ctrls.turbulence_norm = ctrls1.turbulence_norm;
359 // wind and turbulance
360 result.ctrls.wind_speed_kt
361 = weight( ctrls1.wind_speed_kt, ctrls2.wind_speed_kt, ratio );
362 result.ctrls.wind_dir_deg
363 = weight( ctrls1.wind_dir_deg, ctrls2.wind_dir_deg, ratio );
364 result.ctrls.turbulence_norm
365 = weight( ctrls1.turbulence_norm, ctrls2.turbulence_norm, ratio );
367 // other information about environment
368 result.ctrls.hground = weight( ctrls1.hground, ctrls2.hground, ratio );
369 result.ctrls.magvar = weight( ctrls1.magvar, ctrls2.magvar, ratio );
371 // simulation control
372 result.ctrls.speedup = ctrls1.speedup;
373 result.ctrls.freeze = ctrls1.freeze;
379 * interpolate a specific time from a specific list
381 static void interpolate( double time, const replay_list_type &list ) {
383 if ( list.size() == 0 ) {
386 } else if ( list.size() == 1 ) {
387 // handle list size == 1
388 update_fdm( list[0] );
392 unsigned int last = list.size() - 1;
393 unsigned int first = 0;
394 unsigned int mid = ( last + first ) / 2;
399 // cout << " " << first << " <=> " << last << endl;
400 if ( last == first ) {
402 } else if ( list[mid].sim_time < time && list[mid+1].sim_time < time ) {
405 mid = ( last + first ) / 2;
406 } else if ( list[mid].sim_time > time && list[mid+1].sim_time > time ) {
409 mid = ( last + first ) / 2;
415 FGReplayData result = interpolate( time, list[mid], list[mid+1] );
417 update_fdm( result );
422 * Replay a saved frame based on time, interpolate from the two
423 * nearest saved frames.
426 void FGReplay::replay( double time ) {
427 // cout << "replay: " << time << " ";
428 // find the two frames to interpolate between
431 if ( short_term.size() > 0 ) {
432 t1 = short_term.back().sim_time;
433 t2 = short_term.front().sim_time;
435 // replay the most recent frame
436 update_fdm( short_term.back() );
437 // cout << "first frame" << endl;
438 } else if ( time <= t1 && time >= t2 ) {
439 interpolate( time, short_term );
440 // cout << "from short term" << endl;
441 } else if ( medium_term.size() > 0 ) {
442 t1 = short_term.front().sim_time;
443 t2 = medium_term.back().sim_time;
444 if ( time <= t1 && time >= t2 ) {
445 FGReplayData result = interpolate( time,
447 short_term.front() );
448 update_fdm( result );
449 // cout << "from short/medium term" << endl;
451 t1 = medium_term.back().sim_time;
452 t2 = medium_term.front().sim_time;
453 if ( time <= t1 && time >= t2 ) {
454 interpolate( time, medium_term );
455 // cout << "from medium term" << endl;
456 } else if ( long_term.size() > 0 ) {
457 t1 = medium_term.front().sim_time;
458 t2 = long_term.back().sim_time;
459 if ( time <= t1 && time >= t2 ) {
460 FGReplayData result = interpolate( time,
462 medium_term.front());
463 update_fdm( result );
464 // cout << "from medium/long term" << endl;
466 t1 = long_term.back().sim_time;
467 t2 = long_term.front().sim_time;
468 if ( time <= t1 && time >= t2 ) {
469 interpolate( time, long_term );
470 // cout << "from long term" << endl;
472 // replay the oldest long term frame
473 update_fdm( long_term.front() );
474 // cout << "oldest long term frame" << endl;
478 // replay the oldest medium term frame
479 update_fdm( medium_term.front() );
480 // cout << "oldest medium term frame" << endl;
484 // replay the oldest short term frame
485 update_fdm( short_term.front() );
486 // cout << "oldest short term frame" << endl;
494 double FGReplay::get_start_time() {
495 if ( long_term.size() > 0 ) {
496 return long_term.front().sim_time;
497 } else if ( medium_term.size() > 0 ) {
498 return medium_term.front().sim_time;
499 } else if ( short_term.size() ) {
500 return short_term.front().sim_time;
506 double FGReplay::get_end_time() {
507 if ( short_term.size() ) {
508 return short_term.back().sim_time;