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231 lines
12 KiB
C++
231 lines
12 KiB
C++
// SPDX-FileCopyrightText: Copyright (C) 2014 swift Project Community / Contributors
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// SPDX-License-Identifier: GPL-3.0-or-later OR LicenseRef-swift-pilot-client-1
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#include "blackmisc/simulation/interpolatorlinear.h"
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#include "blackmisc/simulation/interpolatorfunctions.h"
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#include "blackmisc/aviation/aircraftsituationlist.h"
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#include "blackmisc/aviation/altitude.h"
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#include "blackmisc/geo/coordinategeodetic.h"
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#include "blackmisc/pq/length.h"
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#include "blackmisc/pq/physicalquantity.h"
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#include "blackmisc/logmessage.h"
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#include "blackmisc/mixin/mixincompare.h"
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#include "blackmisc/verify.h"
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#include "blackmisc/range.h"
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#include "blackmisc/sequence.h"
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#include "blackmisc/statusmessage.h"
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#include "blackconfig/buildconfig.h"
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#include <QDateTime>
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#include <QList>
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#include <array>
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using namespace BlackConfig;
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using namespace BlackMisc::Aviation;
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using namespace BlackMisc::Geo;
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using namespace BlackMisc::Math;
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using namespace BlackMisc::PhysicalQuantities;
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using namespace BlackMisc::Simulation;
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namespace BlackMisc::Simulation
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{
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CInterpolatorLinear::CInterpolant::CInterpolant(const CAircraftSituation &startSituation) : IInterpolant(1, CInterpolatorPbh(0, startSituation, startSituation)),
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m_startSituation(startSituation)
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{}
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CInterpolatorLinear::CInterpolant::CInterpolant(const CAircraftSituation &startSituation, const CInterpolatorPbh &pbh) : IInterpolant(1, pbh),
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m_startSituation(startSituation)
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{}
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CInterpolatorLinear::CInterpolant::CInterpolant(const CAircraftSituation &startSituation, const CAircraftSituation &endSituation, double timeFraction, qint64 interpolatedTime) : IInterpolant(interpolatedTime, 2),
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m_startSituation(startSituation), m_endSituation(endSituation),
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m_simulationTimeFraction(timeFraction)
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{
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m_pbh = CInterpolatorPbh(m_simulationTimeFraction, startSituation, endSituation);
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}
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void CInterpolatorLinear::anchor()
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{}
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CAircraftSituation CInterpolatorLinear::CInterpolant::interpolatePositionAndAltitude(const CAircraftSituation &situation, bool interpolateGndFactor) const
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{
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const std::array<double, 3> startVec(m_startSituation.getPosition().normalVectorDouble());
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const std::array<double, 3> endVec(m_endSituation.getPosition().normalVectorDouble());
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if (CBuildConfig::isLocalDeveloperDebugBuild())
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{
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BLACK_VERIFY_X(CAircraftSituation::isValidVector(startVec), Q_FUNC_INFO, "Invalid start vector");
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BLACK_VERIFY_X(CAircraftSituation::isValidVector(endVec), Q_FUNC_INFO, "Invalid end vector");
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BLACK_VERIFY_X(isAcceptableTimeFraction(m_simulationTimeFraction), Q_FUNC_INFO, "Invalid fraction");
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}
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// Interpolate position: pos = (posB - posA) * t + posA
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CCoordinateGeodetic interpolatedPosition;
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const double tf = clampValidTimeFraction(m_simulationTimeFraction);
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interpolatedPosition.setNormalVector((endVec[0] - startVec[0]) * tf + startVec[0],
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(endVec[1] - startVec[1]) * tf + startVec[1],
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(endVec[2] - startVec[2]) * tf + startVec[2]);
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if (CBuildConfig::isLocalDeveloperDebugBuild())
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{
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BLACK_VERIFY_X(interpolatedPosition.isValidVectorRange(), Q_FUNC_INFO, "Invalid vector");
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}
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// Interpolate altitude: Alt = (AltB - AltA) * t + AltA
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// avoid underflow below ground elevation by using getCorrectedAltitude
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const CAltitude oldAlt(m_startSituation.getCorrectedAltitude());
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const CAltitude newAlt(m_endSituation.getCorrectedAltitude());
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Q_ASSERT_X(oldAlt.getReferenceDatum() == CAltitude::MeanSeaLevel && oldAlt.getReferenceDatum() == newAlt.getReferenceDatum(), Q_FUNC_INFO, "mismatch in reference"); // otherwise no calculation is possible
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const CAltitude altitude((newAlt - oldAlt) * tf + oldAlt,
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oldAlt.getReferenceDatum());
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CAircraftSituation interpolatedSituation(situation);
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interpolatedSituation.setPosition(interpolatedPosition);
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interpolatedSituation.setAltitude(altitude);
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interpolatedSituation.setMSecsSinceEpoch(this->getInterpolatedTime());
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if (interpolateGndFactor)
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{
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const double startGroundFactor = m_startSituation.getOnGroundFactor();
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const double endGroundFactor = m_endSituation.getOnGroundFactor();
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if (CAircraftSituation::isGfEqualAirborne(startGroundFactor, endGroundFactor))
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{
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interpolatedSituation.setOnGround(false);
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}
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else if (CAircraftSituation::isGfEqualOnGround(startGroundFactor, endGroundFactor))
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{
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interpolatedSituation.setOnGround(true);
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}
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else
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{
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const double interpolatedGroundFactor = (endGroundFactor - startGroundFactor) * tf + startGroundFactor;
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interpolatedSituation.setOnGroundFactor(interpolatedGroundFactor);
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interpolatedSituation.setOnGroundFromGroundFactorFromInterpolation(groundInterpolationFactor());
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}
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}
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return interpolatedSituation;
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}
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CInterpolatorLinear::CInterpolant CInterpolatorLinear::getInterpolant(SituationLog &log)
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{
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// set default situations
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CAircraftSituation startSituation = m_interpolant.getStartSituation();
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CAircraftSituation endSituation = m_interpolant.getEndSituation();
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Q_ASSERT_X(endSituation.getAdjustedMSecsSinceEpoch() >= startSituation.getAdjustedMSecsSinceEpoch(), Q_FUNC_INFO, "Wrong order");
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const bool updated = m_situationsLastModifiedUsed < m_situationsLastModified;
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const bool newSplit = endSituation.getAdjustedMSecsSinceEpoch() < m_currentTimeMsSinceEpoch;
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const bool recalculate = updated || newSplit;
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if (recalculate)
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{
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m_situationsLastModifiedUsed = m_situationsLastModified;
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// find the first situation earlier than the current time
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const auto pivot = std::partition_point(m_currentSituations.begin(), m_currentSituations.end(), [=](auto &&s) { return s.getAdjustedMSecsSinceEpoch() > m_currentTimeMsSinceEpoch; });
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const auto situationsNewer = makeRange(m_currentSituations.begin(), pivot);
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const auto situationsOlder = makeRange(pivot, m_currentSituations.end());
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// latest first, now 00:20 split time
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// time pos
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// 00:25 10 newer
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// 00:20 11 newer
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// <----- split
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// 00:15 12 older
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// 00:10 13 older
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// 00:05 14 older
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// The first condition covers a situation, when there are no before / after situations.
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// We just place at the last position until we get before / after situations
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if (situationsOlder.isEmpty() || situationsNewer.isEmpty())
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{
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// no before situations
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if (situationsOlder.isEmpty())
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{
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const CAircraftSituation currentSituation(*(situationsNewer.end() - 1)); // oldest newest
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m_currentInterpolationStatus.setInterpolatedAndCheckSituation(false, currentSituation);
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m_interpolant = { currentSituation };
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return m_interpolant;
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}
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// only one before situation
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if (situationsOlder.size() < 2)
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{
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const CAircraftSituation currentSituation(situationsOlder.front()); // latest oldest
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m_currentInterpolationStatus.setInterpolatedAndCheckSituation(false, currentSituation);
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m_interpolant = { currentSituation };
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return m_interpolant;
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}
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// extrapolate from two before situations
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startSituation = *(situationsOlder.begin() + 1); // before newest
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endSituation = situationsOlder.front(); // newest
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}
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else
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{
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startSituation = situationsOlder.front(); // first oldest (aka newest oldest)
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endSituation = *(situationsNewer.end() - 1); // latest newest (aka oldest of newer block)
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Q_ASSERT(startSituation.getAdjustedMSecsSinceEpoch() < endSituation.getAdjustedMSecsSinceEpoch());
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}
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// adjust ground if required
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if (!startSituation.canLikelySkipNearGroundInterpolation() && !startSituation.hasGroundElevation())
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{
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const CElevationPlane planeOld = this->findClosestElevationWithinRange(startSituation, CElevationPlane::singlePointRadius());
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startSituation.setGroundElevationChecked(planeOld, CAircraftSituation::FromCache);
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}
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if (!endSituation.canLikelySkipNearGroundInterpolation() && !endSituation.hasGroundElevation())
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{
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const CElevationPlane planeNew = this->findClosestElevationWithinRange(endSituation, CElevationPlane::singlePointRadius());
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endSituation.setGroundElevationChecked(planeNew, CAircraftSituation::FromCache);
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}
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} // modified situations
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CAircraftSituation currentSituation(startSituation); // also sets ground elevation if available
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// Time between start and end packet
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const qint64 sampleDeltaTimeMs = endSituation.getAdjustedMSecsSinceEpoch() - startSituation.getAdjustedMSecsSinceEpoch();
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Q_ASSERT_X(sampleDeltaTimeMs >= 0, Q_FUNC_INFO, "Negative delta time");
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log.interpolator = 'l';
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// Fraction of the deltaTime, ideally [0.0 - 1.0]
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// < 0 should not happen due to the split, > 1 can happen if new values are delayed beyond split time
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// 1) values > 1 mean extrapolation
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// 2) values > 2 mean no new situations coming in
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const double distanceToSplitTimeMs = endSituation.getAdjustedMSecsSinceEpoch() - m_currentTimeMsSinceEpoch;
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double simulationTimeFraction = qMax(1.0 - (distanceToSplitTimeMs / sampleDeltaTimeMs), 0.0);
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if (simulationTimeFraction >= 1.0)
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{
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simulationTimeFraction = 1.0;
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if (qAbs(distanceToSplitTimeMs) > 100) { CLogMessage(this).debug(u"Distance to split: %1") << distanceToSplitTimeMs; }
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}
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const double deltaTimeFractionMs = sampleDeltaTimeMs * simulationTimeFraction;
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const qint64 interpolatedTime = startSituation.getMSecsSinceEpoch() + qRound(deltaTimeFractionMs);
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// Ref T297 adjust offset time, but this already the interpolated situation
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currentSituation.setTimeOffsetMs(startSituation.getTimeOffsetMs() + qRound((endSituation.getTimeOffsetMs() - startSituation.getTimeOffsetMs()) * simulationTimeFraction));
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currentSituation.setMSecsSinceEpoch(interpolatedTime);
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m_currentInterpolationStatus.setInterpolatedAndCheckSituation(true, currentSituation);
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if (this->doLogging())
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{
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log.tsCurrent = m_currentTimeMsSinceEpoch;
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log.deltaSampleTimesMs = sampleDeltaTimeMs;
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log.simTimeFraction = simulationTimeFraction;
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log.deltaSampleTimesMs = sampleDeltaTimeMs;
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log.tsInterpolated = interpolatedTime;
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log.interpolationSituations.clear();
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log.interpolationSituations.push_back(startSituation); // oldest at front
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log.interpolationSituations.push_back(endSituation); // latest at back
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log.interpolantRecalc = recalculate;
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}
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m_interpolant = { startSituation, endSituation, simulationTimeFraction, interpolatedTime };
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m_interpolant.setRecalculated(recalculate);
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return m_interpolant;
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}
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} // namespace
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