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refs #865, interpolator allows to log situations plus improvements found by logs

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* set timestamp for current situation
* assert if new timestamp > old timestamp
This commit is contained in:
Klaus Basan
2017-01-24 21:02:47 +01:00
committed by Mathew Sutcliffe
parent def51576de
commit 74a4570a40
1 changed files with 72 additions and 54 deletions
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62
src/blackmisc/simulation/interpolatorlinear.cpp
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@@ -40,9 +40,11 @@ namespace BlackMisc
{ {
namespace Simulation namespace Simulation
{ {
CAircraftSituation CInterpolatorLinear::getInterpolatedSituation(const CAircraftSituationList &situations, qint64 currentTimeMsSinceEpoc, const CInterpolationHints &hints, InterpolationStatus &status) const CAircraftSituation CInterpolatorLinear::getInterpolatedSituation(const CCallsign &callsign, const CAircraftSituationList &situations, qint64 currentTimeMsSinceEpoc, const CInterpolationHints &hints, InterpolationStatus &status) const
{ {
// has to be thread safe //
// function has to be thread safe
//
const CInterpolationAndRenderingSetup setup = this->getInterpolatorSetup(); const CInterpolationAndRenderingSetup setup = this->getInterpolatorSetup();
status.reset(); status.reset();
@@ -53,6 +55,7 @@ namespace BlackMisc
if (currentTimeMsSinceEpoc < 0) { currentTimeMsSinceEpoc = QDateTime::currentMSecsSinceEpoch(); } if (currentTimeMsSinceEpoc < 0) { currentTimeMsSinceEpoc = QDateTime::currentMSecsSinceEpoch(); }
// find the first situation not in the correct order, keep only the situations before that one // find the first situation not in the correct order, keep only the situations before that one
// any updates in wrong chronological order are discounted
const auto end = std::is_sorted_until(situations.begin(), situations.end(), [](auto && a, auto && b) { return b.getAdjustedMSecsSinceEpoch() < a.getAdjustedMSecsSinceEpoch(); }); const auto end = std::is_sorted_until(situations.begin(), situations.end(), [](auto && a, auto && b) { return b.getAdjustedMSecsSinceEpoch() < a.getAdjustedMSecsSinceEpoch(); });
const auto validSituations = makeRange(situations.begin(), end); const auto validSituations = makeRange(situations.begin(), end);
@@ -64,8 +67,8 @@ namespace BlackMisc
// interpolation situations // interpolation situations
CAircraftSituation oldSituation; CAircraftSituation oldSituation;
CAircraftSituation newSituation; CAircraftSituation newSituation;
status.setInterpolationSucceeded(true); const bool logInterpolation = setup.getLogCallsigns().contains(callsign);
status.setChangedPosition(true); //! \fixme efficiently determine whether the position has changed InterpolationLog log;
// latest first, now 00:20 split time // latest first, now 00:20 split time
// time pos // time pos
@@ -77,7 +80,7 @@ namespace BlackMisc
// 00:05 14 older // 00:05 14 older
// The first condition covers a situation, when there are no before / after situations. // The first condition covers a situation, when there are no before / after situations.
// We just place at he last position until we get before / after situations // We just place at the last position until we get before / after situations
if (situationsOlder.isEmpty() || situationsNewer.isEmpty()) if (situationsOlder.isEmpty() || situationsNewer.isEmpty())
{ {
// no before situations // no before situations
@@ -108,21 +111,22 @@ namespace BlackMisc
CCoordinateGeodetic currentPosition; CCoordinateGeodetic currentPosition;
// Time between start and end packet // Time between start and end packet
const double deltaTime = std::abs(oldSituation.getAdjustedMSecsSinceEpoch() - newSituation.getAdjustedMSecsSinceEpoch()); const double deltaTimeMs = newSituation.getAdjustedMSecsSinceEpoch() - oldSituation.getAdjustedMSecsSinceEpoch();
Q_ASSERT_X(deltaTimeMs >= 0, Q_FUNC_INFO, "Negative delta time");
log.deltaTimeMs = deltaTimeMs;
// Fraction of the deltaTime, ideally [0.0 - 1.0] // Fraction of the deltaTime, ideally [0.0 - 1.0]
// < 0 should not happen due to the split, > 1 can happen if new values are delayed beyond split time // < 0 should not happen due to the split, > 1 can happen if new values are delayed beyond split time
// 1) values > 1 mean extrapolation // 1) values > 1 mean extrapolation
// 2) values > 2 mean no new situations coming in // 2) values > 2 mean no new situations coming in
const double distanceToSplitTime = newSituation.getAdjustedMSecsSinceEpoch() - currentTimeMsSinceEpoc; const double distanceToSplitTimeMs = newSituation.getAdjustedMSecsSinceEpoch() - currentTimeMsSinceEpoc;
const double simulationTimeFraction = 1.0 - (distanceToSplitTime / deltaTime); const double simulationTimeFraction = 1.0 - (distanceToSplitTimeMs / deltaTimeMs);
if (simulationTimeFraction > 2.0) const double deltaTimeFractionMs = deltaTimeMs * simulationTimeFraction;
{ log.simulationTimeFraction = simulationTimeFraction;
if (setup.showInterpolatorDebugMessages()) log.deltaTimeFractionMs = deltaTimeFractionMs;
{
CLogMessage(this).warning("Extrapolation, fraction > 1: %1 for callsign: %2") << simulationTimeFraction << oldSituation.getCallsign(); currentSituation.setTimeOffsetMs(oldSituation.getTimeOffsetMs() + (newSituation.getTimeOffsetMs() - oldSituation.getTimeOffsetMs()) * simulationTimeFraction);
} currentSituation.setMSecsSinceEpoch(oldSituation.getMSecsSinceEpoch() + deltaTimeFractionMs);
}
const std::array<double, 3> oldVec(oldSituation.getPosition().normalVectorDouble()); const std::array<double, 3> oldVec(oldSituation.getPosition().normalVectorDouble());
const std::array<double, 3> newVec(newSituation.getPosition().normalVectorDouble()); const std::array<double, 3> newVec(newSituation.getPosition().normalVectorDouble());
@@ -137,7 +141,7 @@ namespace BlackMisc
// Interpolate altitude: Alt = (AltB - AltA) * t + AltA // Interpolate altitude: Alt = (AltB - AltA) * t + AltA
const CAltitude oldAlt(oldSituation.getCorrectedAltitude()); // avoid underflow below ground elevation const CAltitude oldAlt(oldSituation.getCorrectedAltitude()); // avoid underflow below ground elevation
const CAltitude newAlt(newSituation.getCorrectedAltitude()); const CAltitude newAlt(newSituation.getCorrectedAltitude());
Q_ASSERT_X(oldAlt.getReferenceDatum() == newAlt.getReferenceDatum(), Q_FUNC_INFO, "mismatch in reference"); // otherwise no calculation is possible Q_ASSERT_X(oldAlt.getReferenceDatum() == CAltitude::MeanSeaLevel && oldAlt.getReferenceDatum() == newAlt.getReferenceDatum(), Q_FUNC_INFO, "mismatch in reference"); // otherwise no calculation is possible
currentSituation.setAltitude(CAltitude((newAlt - oldAlt) currentSituation.setAltitude(CAltitude((newAlt - oldAlt)
* simulationTimeFraction * simulationTimeFraction
+ oldAlt, + oldAlt,
@@ -147,12 +151,13 @@ namespace BlackMisc
if (hints.hasAircraftParts()) if (hints.hasAircraftParts())
{ {
const double groundFactor = hints.getAircraftParts().isOnGroundInterpolated(); const double groundFactor = hints.getAircraftParts().isOnGroundInterpolated();
log.groundFactor = groundFactor;
if (groundFactor > 0.0) if (groundFactor > 0.0)
{ {
const CAltitude groundElevation = hints.getGroundElevation(currentSituation); const CAltitude groundElevation = hints.getGroundElevation(currentSituation);
Q_ASSERT_X(groundElevation.getReferenceDatum() == CAltitude::MeanSeaLevel, Q_FUNC_INFO, "Need MSL value");
if (!groundElevation.isNull()) if (!groundElevation.isNull())
{ {
Q_ASSERT_X(groundElevation.getReferenceDatum() == CAltitude::MeanSeaLevel, Q_FUNC_INFO, "Need MSL value");
currentSituation.setAltitude(CAltitude(currentSituation.getAltitude() * (1.0 - groundFactor) currentSituation.setAltitude(CAltitude(currentSituation.getAltitude() * (1.0 - groundFactor)
+ groundElevation * groundFactor, + groundElevation * groundFactor,
oldAlt.getReferenceDatum())); oldAlt.getReferenceDatum()));
@@ -167,12 +172,10 @@ namespace BlackMisc
IInterpolator::setGroundFlagFromInterpolator(hints, NoGroundFactor, currentSituation); IInterpolator::setGroundFlagFromInterpolator(hints, NoGroundFactor, currentSituation);
} }
if (!setup.isForcingFullInterpolation() && !hints.isVtolAircraft() && newVec == oldVec && oldAlt == newAlt) // full interpolation?
if (setup.isForcingFullInterpolation() || hints.isVtolAircraft() || newVec != oldVec || oldAlt != newAlt)
{ {
// stop interpolation here, does not work for VTOL aircraft. We need a flag for VTOL aircraft // HINT: VTOL aircraft can change pitch/bank without changing position, planes cannot
return currentSituation;
}
// Interpolate heading: HDG = (HdgB - HdgA) * t + HdgA // Interpolate heading: HDG = (HdgB - HdgA) * t + HdgA
const CHeading headingBegin = oldSituation.getHeading(); const CHeading headingBegin = oldSituation.getHeading();
CHeading headingEnd = newSituation.getHeading(); CHeading headingEnd = newSituation.getHeading();
@@ -207,6 +210,21 @@ namespace BlackMisc
currentSituation.setGroundSpeed((newSituation.getGroundSpeed() - oldSituation.getGroundSpeed()) currentSituation.setGroundSpeed((newSituation.getGroundSpeed() - oldSituation.getGroundSpeed())
* simulationTimeFraction * simulationTimeFraction
+ oldSituation.getGroundSpeed()); + oldSituation.getGroundSpeed());
status.setChangedPosition(true);
}
status.setInterpolationSucceeded(true);
if (logInterpolation)
{
log.timestamp = currentTimeMsSinceEpoc;
log.callsign = callsign;
log.vtolAircraft = hints.isVtolAircraft();
log.currentSituation = currentSituation;
log.oldSituation = oldSituation;
log.newSituation = newSituation;
this->logInterpolation(log);
}
return currentSituation; return currentSituation;
} }
} // namespace } // namespace