flightrecorder.cxx

Go to the documentation of this file.

/*
 * SPDX-FileName: flightrecorder.cxx
 * SPDX-FileCopyrightText: Copyright (C) 2011 Thorsten Brehm - brehmt (at) gmail com
 * SPDX-License-Identifier: GPL-2.0-or-later
 */
 
#ifdef HAVE_CONFIG_H
#include "config.h"
#endif
 
#include <assert.h>
#include <stdio.h>
#include <string.h>
 
#include <Main/fg_props.hxx>
#include <MultiPlayer/mpmessages.hxx>
#include <MultiPlayer/multiplaymgr.hxx>
#include <simgear/debug/logstream.hxx>
#include <simgear/math/SGMath.hxx>
#include <simgear/misc/ResourceManager.hxx>
#include <simgear/misc/strutils.hxx>
#include <simgear/props/props_io.hxx>
#include <simgear/structure/exception.hxx>
 
#include "flightrecorder.hxx"
 
using namespace FlightRecorder;
using std::string;
 
 
// Appends raw data to <out>.
static void s_Append(std::vector<char>& out, const void* data, size_t data_len)
{
    size_t pos = out.size();
    out.resize(pos + data_len);
    memcpy(&out[pos], data, data_len);
}
 
// Appends int16 number to <out>.
static void s_AppendNumber(std::vector<char>& out, int16_t number)
{
    s_Append(out, &number, sizeof(number));
}
 
// Appends string to <out> as int16 length followed by chars.
static void s_AppendString(std::vector<char>& out, const std::string& s)
{
    s_AppendNumber(out, s.size());
    s_Append(out, s.c_str(), s.size());
}
 
// Updates property <b> so that it is identical to property <a> and writes
// information on all differences (creation, value changes and deletion) to
// <out>.
//
// We call ourselves recursively for child nodes.
//
// We are careful to preserve indices.
//
// We treat all property values as text.
//
static void s_RecordPropertyDiffs(
    std::vector<char>& out,
    SGPropertyNode* a,
    SGPropertyNode* b,
    const std::vector<const char*>* path_exclude_prefixes)
{
    assert(a);
    assert(b);
    assert(a->getNameString() == b->getNameString());
    assert(a->getPath() == b->getPath());
    assert(a->getIndex() == b->getIndex());
 
    if (path_exclude_prefixes) {
        for (const char* path_exclude_prefix : *path_exclude_prefixes) {
            if (simgear::strutils::starts_with(a->getPath(true /*simplify*/), path_exclude_prefix)) {
                SG_LOG(SG_SYSTEMS, SG_BULK, "Ignoring: " << a->getPath(true /*simplify*/));
                return;
            }
        }
    }
    // If values differ, write a's value to out and change b's value to a's value.
    const std::string a_value = a->getStringValue();
    const std::string b_value = b->getStringValue();
    if (a_value != b_value) {
        // Values are different so write out node <a> and update b.
        SG_LOG(SG_SYSTEMS, SG_DEBUG, "recording property change:" << a->getPath() << ": " << b->getStringValue() << " => " << a->getStringValue());
        s_AppendString(out, a->getPath(true /*simplify*/));
        s_AppendString(out, a->getStringValue());
        b->setStringValue(a_value);
    }
 
    // Look at all child nodes of <b>, removing any that are not in <a>.
    int bn = b->nChildren();
    for (int i = 0; i < bn; ++i) {
        SGPropertyNode* bc = b->getChild(i);
        SGPropertyNode* ac = a->getChild(bc->getNameString(), bc->getIndex(), false /*create*/);
        if (!ac) {
            // Child node is in b but not in a; we write out special
            // information about the deleted node and remove from b.
            s_AppendString(out, "");
            s_AppendString(out, bc->getPath(true /*simplify*/));
            b->removeChild(bc);
        }
    }
 
    // Look at all child nodes of <a>, copying across to <b> as required.
    //
    int an = a->nChildren();
    for (int i = 0; i < an; ++i) {
        SGPropertyNode* ac = a->getChild(i);
        SGPropertyNode* bc = b->getChild(ac->getNameString(), ac->getIndex(), true /*create*/);
        // Recurse.
        s_RecordPropertyDiffs(out, ac, bc, path_exclude_prefixes);
    }
}
 
 
// Takes care of writing extra-properties to FGReplayData if we are doing a
// Continuous recording with extra-properties.
//
// We write different properties depending on properties such as
// /sim/replay/record-main-view.
//
struct RecordExtraProperties {
    RecordExtraProperties()
        : m_record_extra_properties(fgGetNode("/sim/replay/record-extra-properties", true /*create*/)),
          m_record_main_window(fgGetNode("/sim/replay/record-main-window", true /*create*/)),
          m_record_main_view(fgGetNode("/sim/replay/record-main-view", true /*create*/)),
          m_record_extra_properties_paths(fgGetNode("/sim/replay/record-extra-properties-paths", true /*create*/))
    {
    }
 
    // Added info about property changes to *ReplayData if we are recording
    // them.
    //
    void capture(SGPropertyNode_ptr RecordExtraPropertiesReference, FGReplayData* ReplayData)
    {
        if (m_record_extra_properties->getBoolValue()) {
            // Record extra properties specified in
            // /sim/replay/record-extra-properties-paths/path[].
            //
            auto paths = m_record_extra_properties_paths->getChildren("path");
            for (SGPropertyNode* n : paths) {
                // We don't try to handle indices or deletion for top-level
                // property node.
                //
                std::string path = n->getStringValue();
                SGPropertyNode* a = globals->get_props()->getNode(path, false /*create*/);
                if (!a) {
                    SG_LOG(SG_SYSTEMS, SG_ALERT, "property does not exist: " << path);
                    continue;
                }
                SGPropertyNode* b = RecordExtraPropertiesReference->getNode(path, true /*create*/);
                s_RecordPropertyDiffs(ReplayData->extra_properties, a, b, NULL /*path_exclude_prefixes*/);
            }
        }
 
        if (m_record_main_window->getBoolValue()) {
            // Record size/position of main window.
            //
            static std::vector<const char*> s_paths = {
                "sim/startup/xpos",
                "sim/startup/ypos",
                "sim/startup/xsize",
                "sim/startup/ysize"};
            for (const char* path : s_paths) {
                SGPropertyNode* a = globals->get_props()->getNode(path, true /*create*/);
                SGPropertyNode* b = RecordExtraPropertiesReference->getNode(path, true /*create*/);
                s_RecordPropertyDiffs(ReplayData->extra_properties, a, b, NULL /*path_exclude_prefixes*/);
            }
        }
 
        if (m_record_main_view->getBoolValue()) {
            // Record main window view.
            //
            static std::vector<const char*> s_excludes = {
                "/sim/current-view/debug/",
                "/sim/current-view/raw-orientation",
                "/sim/current-view/viewer-"};
            const char* path = "sim/current-view";
            SGPropertyNode* a = globals->get_props()->getNode(path, true /*create*/);
            SGPropertyNode* b = RecordExtraPropertiesReference->getNode(path, true /*create*/);
            s_RecordPropertyDiffs(ReplayData->extra_properties, a, b, &s_excludes);
        }
    }
 
private:
    SGPropertyNode_ptr m_record_extra_properties;
    SGPropertyNode_ptr m_record_main_window;
    SGPropertyNode_ptr m_record_main_view;
    SGPropertyNode_ptr m_record_extra_properties_paths;
};
 
static std::shared_ptr<RecordExtraProperties> s_record_extra_properties;
 
 
FGFlightRecorder::FGFlightRecorder(const char* pConfigName) : m_RecorderNode(fgGetNode("/sim/flight-recorder", true)),
                                                              m_ReplayMultiplayer(fgGetNode("/sim/replay/multiplayer", true)),
                                                              m_ReplayExtraProperties(fgGetNode("/sim/replay/replay-extra-properties", true)),
                                                              m_ReplayMainView(fgGetNode("/sim/replay/replay-main-view", true)),
                                                              m_ReplayMainWindowPosition(fgGetNode("/sim/replay/replay-main-window-position", true)),
                                                              m_ReplayMainWindowSize(fgGetNode("/sim/replay/replay-main-window-size", true)),
                                                              m_RecordContinuous(fgGetNode("/sim/replay/record-continuous", true)),
                                                              m_RecordExtraProperties(fgGetNode("/sim/replay/record-extra-properties", true)),
                                                              m_LogRawSpeed(fgGetNode("/sim/replay/log-raw-speed", true)),
                                                              m_TotalRecordSize(0),
                                                              m_ConfigName(pConfigName),
                                                              m_usingDefaultConfig(false),
                                                              m_MultiplayMgr(globals->get_subsystem<FGMultiplayMgr>())
{
}
 
FGFlightRecorder::~FGFlightRecorder()
{
    s_record_extra_properties.reset();
}
 
void FGFlightRecorder::reinit()
{
    m_ConfigNode = 0;
    m_usingDefaultConfig = false;
 
    SGPropertyNode_ptr ConfigNode;
    int Selected = m_RecorderNode->getIntValue(m_ConfigName, 0);
    SG_LOG(SG_SYSTEMS, SG_INFO, "FlightRecorder: Recorder configuration #" << std::to_string(Selected));
    if (Selected >= 0)
        ConfigNode = m_RecorderNode->getChild("config", Selected);
 
    if (!ConfigNode.valid())
        ConfigNode = getDefault();
 
    reinit(ConfigNode);
}
 
void FGFlightRecorder::reinit(SGPropertyNode_ptr ConfigNode)
{
    m_TotalRecordSize = 0;
 
    m_CaptureDouble.clear();
    m_CaptureFloat.clear();
    m_CaptureInteger.clear();
    m_CaptureInt16.clear();
    m_CaptureInt8.clear();
    m_CaptureBool.clear();
 
    m_ConfigNode = ConfigNode;
 
    if (!m_ConfigNode.valid()) {
        SG_LOG(SG_SYSTEMS, SG_ALERT, "FlightRecorder: Configuration is invalid. Flight recorder disabled.");
    } else {
        // set name of active flight recorder type
        const std::string pRecorderName =
            m_ConfigNode->getStringValue("name",
                                         "aircraft-specific flight recorder");
        SG_LOG(SG_SYSTEMS, SG_INFO, "FlightRecorder: Using custom recorder configuration: " << pRecorderName);
        m_RecorderNode->setStringValue("active-config-name", pRecorderName);
 
        // get signals
        initSignalList("double", m_CaptureDouble, m_ConfigNode);
        initSignalList("float", m_CaptureFloat, m_ConfigNode);
        initSignalList("int", m_CaptureInteger, m_ConfigNode);
        initSignalList("int16", m_CaptureInt16, m_ConfigNode);
        initSignalList("int8", m_CaptureInt8, m_ConfigNode);
        initSignalList("bool", m_CaptureBool, m_ConfigNode);
    }
 
    // calculate size of a single record
    m_TotalRecordSize = sizeof(double) * 1 /* sim time */ +
                        sizeof(double) * m_CaptureDouble.size() +
                        sizeof(float) * m_CaptureFloat.size() +
                        sizeof(int) * m_CaptureInteger.size() +
                        sizeof(short int) * m_CaptureInt16.size() +
                        sizeof(signed char) * m_CaptureInt8.size() +
                        sizeof(unsigned char) * ((m_CaptureBool.size() + 7) / 8); // 8 bools per byte
 
    // expose size of actual flight recorder record
    m_RecorderNode->setIntValue("record-size", m_TotalRecordSize);
    SG_LOG(SG_SYSTEMS, SG_INFO, "FlightRecorder: record size is " << m_TotalRecordSize << " bytes");
 
    s_record_extra_properties.reset(new RecordExtraProperties);
}

bool FGFlightRecorder::haveProperty(FlightRecorder::TSignalList& SignalList, const SGPropertyNode* pProperty)
{
    unsigned int Count = SignalList.size();
    for (unsigned int i = 0; i < Count; i++) {
        if (SignalList[i].Signal.get() == pProperty) {
            return true;
        }
    }
    return false;
}

bool FGFlightRecorder::haveProperty(const SGPropertyNode* pProperty)
{
    if (haveProperty(m_CaptureDouble, pProperty))
        return true;
    if (haveProperty(m_CaptureFloat, pProperty))
        return true;
    if (haveProperty(m_CaptureInteger, pProperty))
        return true;
    if (haveProperty(m_CaptureInt16, pProperty))
        return true;
    if (haveProperty(m_CaptureInt8, pProperty))
        return true;
    if (haveProperty(m_CaptureBool, pProperty))
        return true;
    return false;
}

SGPropertyNode_ptr
FGFlightRecorder::getDefault()
{
    SGPropertyNode_ptr ConfigNode;
 
    // set name of active flight recorder type
    SG_LOG(SG_SYSTEMS, SG_INFO, "FlightRecorder: No custom configuration. Loading generic default recorder.");
 
    const std::string Path = m_RecorderNode->getStringValue("default-config", "");
    if (Path.empty()) {
        SG_LOG(SG_SYSTEMS, SG_ALERT, "FlightRecorder: No default flight recorder specified! Check defaults.xml!");
    } else {
        SGPath path = globals->resolve_aircraft_path(Path);
        if (path.isNull()) {
            SG_LOG(SG_SYSTEMS, SG_ALERT, "FlightRecorder: Cannot find file '" << Path << "'.");
        } else {
            try {
                readProperties(path, m_RecorderNode->getChild("config", 0, true), 0);
                ConfigNode = m_RecorderNode->getChild("config", 0, false);
            } catch (sg_io_exception& e) {
                SG_LOG(SG_SYSTEMS, SG_ALERT, "FlightRecorder: Error reading file '" << Path << ": " << e.getFormattedMessage());
            }
        }
    }
 
    m_usingDefaultConfig = true;
    return ConfigNode;
}

void FGFlightRecorder::initSignalList(const char* pSignalType, TSignalList& SignalList, SGPropertyNode_ptr BaseNode)
{
    // clear old signals
    SignalList.clear();
 
    processSignalList(pSignalType, SignalList, BaseNode);
 
    SG_LOG(SG_SYSTEMS, SG_DEBUG, "FlightRecorder: " << SignalList.size() << " signals of type " << pSignalType);
}

void FGFlightRecorder::processSignalList(const char* pSignalType, TSignalList& SignalList, SGPropertyNode_ptr SignalListNode,
                                         string PropPrefix, int Count)
{
    // get the list of signal sources (property paths) for this signal type
    SGPropertyNode_ptr SignalNode;
    int Index = 0;
 
    Count = SignalListNode->getIntValue("count", Count);
    PropPrefix = simgear::strutils::strip(SignalListNode->getStringValue("prefix", PropPrefix.c_str()));
    if ((!PropPrefix.empty()) && (PropPrefix[PropPrefix.size() - 1] != '/'))
        PropPrefix += "/";
 
    do {
        SignalNode = SignalListNode->getChild("signal", Index, false);
        if (SignalNode.valid() &&
            (std::string(pSignalType) == SignalNode->getStringValue("type", "float"))) {
            string PropertyPath = SignalNode->getStringValue("property", "");
            if (!PropertyPath.empty()) {
                PropertyPath = PropPrefix + PropertyPath;
                const std::string pInterpolation = SignalNode->getStringValue("interpolation", "linear");
 
                // Check if current signal has a "%i" place holder. Otherwise count is 1.
                string::size_type IndexPos = PropertyPath.find("%i");
                int SignalCount = Count;
                if (IndexPos == string::npos)
                    SignalCount = 1;
 
                for (int IndexValue = 0; IndexValue < SignalCount; IndexValue++) {
                    string PPath = PropertyPath;
                    if (IndexPos != string::npos) {
                        char strbuf[20];
                        snprintf(strbuf, 20, "%d", IndexValue);
                        PPath = PPath.replace(IndexPos, 2, strbuf);
                    }
                    TCapture Capture;
                    Capture.Signal = fgGetNode(PPath.c_str(), false);
                    if (!Capture.Signal.valid()) {
                        // JMT - only warn if using a custom config, not the default one. Since the generic config of
                        // course requests many props, but we do want this warning for custom configs tailored to the
                        // aircraft model.
                        if (!m_usingDefaultConfig) {
                            // warn user: we're maybe going to record useless data
                            // Or maybe the data is only initialized later. Warn anyway, so we can catch useless data.
                            SG_LOG(SG_SYSTEMS, SG_INFO, "FlightRecorder: Recording non-existent property '" << PPath << "'.");
                        }
 
                        Capture.Signal = fgGetNode(PPath.c_str(), true);
                    }
 
                    if (pInterpolation == "discrete")
                        Capture.Interpolation = discrete;
                    else if ((pInterpolation == "angular") ||
                             (pInterpolation == "angular-rad"))
                        Capture.Interpolation = angular_rad;
                    else if (pInterpolation == "angular-deg")
                        Capture.Interpolation = angular_deg;
                    else if (pInterpolation == "linear")
                        Capture.Interpolation = linear;
                    else {
                        SG_LOG(SG_SYSTEMS, SG_ALERT, "FlightRecorder: Unsupported interpolation type '" << pInterpolation << "' of signal '" << PPath << "'");
                        Capture.Interpolation = linear;
                    }
                    if (haveProperty(Capture.Signal)) {
                        SG_LOG(SG_SYSTEMS, SG_ALERT, "FlightRecorder: Property '" << PPath << "' specified multiple times. Check flight recorder configuration.");
                    } else
                        SignalList.push_back(Capture);
                }
            }
        }
        Index++;
    } while (SignalNode.valid());
 
    // allow recursive definition of signal lists
    simgear::PropertyList Nodes = SignalListNode->getChildren("signals");
    for (unsigned int i = 0; i < Nodes.size(); i++) {
        processSignalList(pSignalType, SignalList, Nodes[i], PropPrefix, Count);
    }
}

FGReplayData*
FGFlightRecorder::capture(double SimTime, FGReplayData* ReplayData)
{
    if (!ReplayData) {
        ReplayData = new FGReplayData;
        if (!ReplayData)
            return NULL;
    }
 
    // When replaying, we are able to carry recording live multiplayer
    // information. To make this work we need to record a stationary
    // user aircraft, with information from the last live user aircraft
    // FGReplayData. So we store the last live user aircraft information in
    // this static vector.
    //
    static std::vector<char> s_recent_raw_data;
 
    int in_replay = fgGetInt("/sim/replay/replay-state");
 
    ReplayData->sim_time = SimTime;
 
    if (in_replay && !s_recent_raw_data.empty()) {
        // Record the fixed position of live user aircraft at the point at
        // which we started replay.
        //
        ReplayData->raw_data = s_recent_raw_data;
    } else {
        // Find live information about the user aircraft.
        //
        int Offset = 0;
        ReplayData->raw_data.resize(m_TotalRecordSize);
        char* pBuffer = &ReplayData->raw_data.front();
 
        // 64bit aligned data first!
        {
            // capture doubles
            double* pDoubles = (double*)&pBuffer[Offset];
            unsigned int SignalCount = m_CaptureDouble.size();
            for (unsigned int i = 0; i < SignalCount; i++) {
                pDoubles[i] = m_CaptureDouble[i].Signal->getDoubleValue();
            }
            Offset += SignalCount * sizeof(double);
        }
 
        // 32bit aligned data comes second...
        {
            // capture floats
            float* pFloats = (float*)&pBuffer[Offset];
            unsigned int SignalCount = m_CaptureFloat.size();
            for (unsigned int i = 0; i < SignalCount; i++) {
                pFloats[i] = m_CaptureFloat[i].Signal->getFloatValue();
            }
            Offset += SignalCount * sizeof(float);
        }
 
        {
            // capture integers (32bit aligned)
            int* pInt = (int*)&pBuffer[Offset];
            unsigned int SignalCount = m_CaptureInteger.size();
            for (unsigned int i = 0; i < SignalCount; i++) {
                pInt[i] = m_CaptureInteger[i].Signal->getIntValue();
            }
            Offset += SignalCount * sizeof(int);
        }
 
        // 16bit aligned data is next...
        {
            // capture 16bit short integers
            short int* pShortInt = (short int*)&pBuffer[Offset];
            unsigned int SignalCount = m_CaptureInt16.size();
            for (unsigned int i = 0; i < SignalCount; i++) {
                pShortInt[i] = (short int)m_CaptureInt16[i].Signal->getIntValue();
            }
            Offset += SignalCount * sizeof(short int);
        }
 
        // finally: byte aligned data is last...
        {
            // capture 8bit chars
            signed char* pChar = (signed char*)&pBuffer[Offset];
            unsigned int SignalCount = m_CaptureInt8.size();
            for (unsigned int i = 0; i < SignalCount; i++) {
                pChar[i] = (signed char)m_CaptureInt8[i].Signal->getIntValue();
            }
            Offset += SignalCount * sizeof(signed char);
        }
 
        {
            // capture 1bit booleans (8bit aligned)
            unsigned char* pFlags = (unsigned char*)&pBuffer[Offset];
            unsigned int SignalCount = m_CaptureBool.size();
            int Size = (SignalCount + 7) / 8;
            Offset += Size;
            memset(pFlags, 0, Size);
            for (unsigned int i = 0; i < SignalCount; i++) {
                if (m_CaptureBool[i].Signal->getBoolValue())
                    pFlags[i >> 3] |= 1 << (i & 7);
            }
        }
 
        assert(Offset + sizeof(double) == m_TotalRecordSize);
 
        // Update s_recent_raw_data so that we will be able to carry recording
        // while replaying.
        //
        s_recent_raw_data = ReplayData->raw_data;
    }
 
    // If m_ReplayMultiplayer is true, move all recent
    // multiplayer messages from m_MultiplayMgr into
    // ReplayData->multiplayer_messages. Otherwise clear m_MultiplayMgr's
    // list of recent messages.
    //
    ReplayData->multiplayer_messages.clear();
    bool replayMultiplayer = m_ReplayMultiplayer->getBoolValue();
    for (;;) {
        auto multiplayerMessage = m_MultiplayMgr->popMessageHistory();
        if (!multiplayerMessage) {
            break;
        }
        if (replayMultiplayer) {
            // Attempt to ignore chat messages. Unfortunately it seems
            // that CHAT_MSG_ID is unused, and instead chat messages are
            // included in POS_DATA_ID messages as sim/multiplay/chat in
            // src/MultiPlayer/multiplaymgr.cxx's sIdPropertyList.
            //
            auto message_header = reinterpret_cast<const T_MsgHdr*>(&multiplayerMessage->front());
            xdr_data_t message_id = message_header->MsgId;
            if (message_id == CHAT_MSG_ID) {
                SG_LOG(SG_GENERAL, SG_ALERT, "Not recording chat message: " << std::string(reinterpret_cast<const T_ChatMsg*>(message_header + 1)->Text, message_header->MsgLen - sizeof(*message_header)));
            } else {
                ReplayData->multiplayer_messages.push_back(multiplayerMessage);
            }
        }
    }
 
    // Add extra properties if we are doing continuous recording.
    //
    if (m_RecordContinuous->getBoolValue()) {
        if (!m_RecordExtraPropertiesReference) {
            SG_LOG(SG_SYSTEMS, SG_DEBUG, "m_RecordPropertiesReference is null");
            m_RecordExtraPropertiesReference = new SGPropertyNode;
        }
        s_record_extra_properties->capture(m_RecordExtraPropertiesReference, ReplayData);
    }
 
    ReplayData->UpdateStats();
 
    // Note that if we are replaying, <ReplayData> will contain the last live
    // position of the live user aircraft, plus any multiplayer packets that
    // have arrived recently.  If there were no recent multiplayer packets,
    // then there's no actually no need to record anything (unless we're at the
    // start of recording).
    //
    // But for now at least, we don't try to optimize the recording like that.
    //
 
    return ReplayData;
}

static double
weighting(TInterpolation interpolation, double ratio, double v1, double v2)
{
    switch (interpolation) {
    case linear:
        return v1 + ratio * (v2 - v1);
 
    case angular_deg: {
        // special handling of angular data
        double tmp = v2 - v1;
        if (tmp > 180)
            tmp -= 360;
        else if (tmp < -180)
            tmp += 360;
        return v1 + tmp * ratio;
    }
 
    case angular_rad: {
        // special handling of angular data
        double tmp = v2 - v1;
        if (tmp > SGD_PI)
            tmp -= SGD_2PI;
        else if (tmp < -SGD_PI)
            tmp += SGD_2PI;
        return v1 + tmp * ratio;
    }
 
    case discrete:
        // fall through
    default:
        return v2;
    }
}
 
void FGFlightRecorder::resetExtraProperties()
{
    SG_LOG(SG_SYSTEMS, SG_DEBUG, "Clearing m_RecordExtraPropertiesReference");
    m_RecordExtraPropertiesReference = nullptr;
}
 
// Converts string to int, ignoring errors and doing nothing if out-para <out>
// is null.
static void setInt(const std::string& value, int* out)
{
    if (!out) return;
    try {
        *out = std::stoi(value);
    } catch (std::exception& e) {
        SG_LOG(SG_SYSTEMS, SG_ALERT, "Ignoring failed conversion of '" << value << "' to int: " << e.what());
    }
}
 
/* Converts string to double, writing to out-para <out> and setting <ok> to
true. If conversion fails or fails to use the entire input string, sets ok to
false. */
static void string_to_double(const std::string& s, double& out, bool& ok)
{
    errno = 0;
    char* end;
    out = strtod(s.c_str(), &end);
    if (errno || !end || *end != 0) {
        ok = false;
        return;
    }
    ok = true;
}
 
/* Updates property <path> to <value_next_string>. If property is also in
<frame_prev> and values look like floating point, we interpolate using <ratio>.
*/
static void replayProperty(
    const std::string& path,
    const std::string& value_next_string,
    const FGReplayData* frame_prev,
    double ratio)
{
    SGPropertyNode* p = globals->get_props()->getNode(path, true /*create*/);
    bool done = false;
    if (frame_prev) {
        /* Check whether <path> is in frame_prev's list of property changes. */
        SG_LOG(SG_SYSTEMS, SG_DEBUG, "p && _pLastBuffer");
        auto p_prev_it = frame_prev->replay_extra_property_changes.find(path);
        if (p_prev_it != frame_prev->replay_extra_property_changes.end()) {
            /* Property <path> is also in frame_prev. */
            SG_LOG(SG_SYSTEMS, SG_DEBUG, "property in frame_prev and frame_next:"
                                             << " " << path);
            const std::string& value_prev_string = p_prev_it->second;
            bool value_prev_ok;
            bool value_next_ok;
            double value_prev;
            double value_next;
            string_to_double(value_prev_string, value_prev, value_prev_ok);
            string_to_double(value_next_string, value_next, value_next_ok);
            if (value_prev_ok && value_next_ok) {
                /* Both values look like floating point so we interpolate. */
                SG_LOG(SG_SYSTEMS, SG_DEBUG, "property is fp");
                TInterpolation interpolation = TInterpolation::linear;
                if (simgear::strutils::ends_with(path, "-deg")) {
                    interpolation = TInterpolation::angular_deg;
                } else if (simgear::strutils::ends_with(path, "-rad")) {
                    interpolation = TInterpolation::angular_rad;
                }
                SG_LOG(SG_SYSTEMS, SG_DEBUG, "calling weighting() ratio=" << ratio);
                double value_interpolated = weighting(
                    interpolation,
                    ratio,
                    value_prev,
                    value_next);
                SG_LOG(SG_GENERAL, SG_DEBUG, "Interpolating " << path << ": [" << value_prev << " .. " << value_next << "] => " << value_interpolated);
                globals->get_props()->setDoubleValue(path, value_interpolated);
                done = true;
            }
        }
    }
    if (!done) p->setStringValue(path, value_next_string);
}

void FGFlightRecorder::replay(double SimTime, const FGReplayData* _pNextBuffer,
                              const FGReplayData* _pLastBuffer,
                              int* main_window_xpos,
                              int* main_window_ypos,
                              int* main_window_xsize,
                              int* main_window_ysize)
{
    const char* pLastBuffer = (_pLastBuffer && !_pLastBuffer->raw_data.empty()) ? &_pLastBuffer->raw_data.front() : nullptr;
    const char* pBuffer = (_pNextBuffer && !_pNextBuffer->raw_data.empty()) ? &_pNextBuffer->raw_data.front() : nullptr;
    double ratio = 1.0;
    if (pBuffer) {
        /* Replay signals. */
        int Offset = 0;
        if (pLastBuffer) {
            double NextSimTime = _pNextBuffer->sim_time;
            double LastSimTime = _pLastBuffer->sim_time;
            double Numerator = SimTime - LastSimTime;
            double dt = NextSimTime - LastSimTime;
            // avoid divide by zero and other quirks
            if ((Numerator > 0.0) && (dt != 0.0)) {
                ratio = Numerator / dt;
                if (ratio > 1.0)
                    ratio = 1.0;
            }
        }
 
        // 64bit aligned data first!
        {
            // restore doubles
            const double* pDoubles = (const double*)&pBuffer[Offset];
            const double* pLastDoubles = (const double*)&pLastBuffer[Offset];
            unsigned int SignalCount = m_CaptureDouble.size();
 
            for (unsigned int i = 0; i < SignalCount; i++) {
                double v = pDoubles[i];
                if (pLastBuffer) {
                    v = weighting(m_CaptureDouble[i].Interpolation, ratio,
                                  pLastDoubles[i], v);
                }
                m_CaptureDouble[i].Signal->setDoubleValue(v);
            }
 
            if (m_LogRawSpeed->getBoolValue() && _pNextBuffer && pLastBuffer) {
                // Log raw speed values to
                // /sim/replay/log-raw-speed-values/value[]. This is used by
                // scripts/python/recordreplay.py --test-motion.
                //
                SGGeod pos_geod = SGGeod::fromDegFt(
                    fgGetDouble("/position/longitude-deg"),
                    fgGetDouble("/position/latitude-deg"),
                    fgGetDouble("/position/altitude-ft"));
                SGVec3d pos = SGVec3d::fromGeod(pos_geod);
                static SGVec3d pos_prev;
                static double t_prev = -1;
                double t = SimTime;
                double dt = t - t_prev;
                if (t_prev != -1 && dt > 0) {
                    double distance = length(pos - pos_prev);
                    double speed = dt ? distance / dt : -1;
                    SG_LOG(SG_GENERAL, SG_DEBUG, ""
                                                     << " User aircraft:"
                                                     << " pLastBuffer=" << ((void*)pLastBuffer) << " t_prev=" << std::setprecision(10) << t_prev << " t=" << std::setprecision(10) << t << " dt=" << dt << " distance=" << distance << " speed=" << speed);
                    SGPropertyNode* n = fgGetNode("/sim/replay/log-raw-speed-values", true /*create*/);
                    n->addChild("value")->setDoubleValue(speed);
                }
                pos_prev = pos;
                t_prev = t;
            }
 
            Offset += SignalCount * sizeof(double);
        }
 
        // 32bit aligned data comes second...
        {
            // restore floats
            const float* pFloats = (const float*)&pBuffer[Offset];
            const float* pLastFloats = (const float*)&pLastBuffer[Offset];
            unsigned int SignalCount = m_CaptureFloat.size();
            for (unsigned int i = 0; i < SignalCount; i++) {
                float v = pFloats[i];
                if (pLastBuffer) {
                    v = weighting(m_CaptureFloat[i].Interpolation, ratio,
                                  pLastFloats[i], v);
                }
                m_CaptureFloat[i].Signal->setDoubleValue(v); //setFloatValue
            }
            Offset += SignalCount * sizeof(float);
        }
 
        {
            // restore integers (32bit aligned)
            const int* pInt = (const int*)&pBuffer[Offset];
            unsigned int SignalCount = m_CaptureInteger.size();
            for (unsigned int i = 0; i < SignalCount; i++) {
                m_CaptureInteger[i].Signal->setIntValue(pInt[i]);
            }
            Offset += SignalCount * sizeof(int);
        }
 
        // 16bit aligned data is next...
        {
            // restore 16bit short integers
            const short int* pShortInt = (const short int*)&pBuffer[Offset];
            unsigned int SignalCount = m_CaptureInt16.size();
            for (unsigned int i = 0; i < SignalCount; i++) {
                m_CaptureInt16[i].Signal->setIntValue(pShortInt[i]);
            }
            Offset += SignalCount * sizeof(short int);
        }
 
        // finally: byte aligned data is last...
        {
            // restore 8bit chars
            const signed char* pChar = (const signed char*)&pBuffer[Offset];
            unsigned int SignalCount = m_CaptureInt8.size();
            for (unsigned int i = 0; i < SignalCount; i++) {
                m_CaptureInt8[i].Signal->setIntValue(pChar[i]);
            }
            Offset += SignalCount * sizeof(signed char);
        }
 
        {
            // restore 1bit booleans (8bit aligned)
            const unsigned char* pFlags = (const unsigned char*)&pBuffer[Offset];
            unsigned int SignalCount = m_CaptureBool.size();
            int Size = (SignalCount + 7) / 8;
            Offset += Size;
            for (unsigned int i = 0; i < SignalCount; i++) {
                m_CaptureBool[i].Signal->setBoolValue(0 != (pFlags[i >> 3] & (1 << (i & 7))));
            }
        }
    }
 
    // Replay any multiplayer messages.
    for (auto multiplayer_message : _pNextBuffer->multiplayer_messages) {
        SG_LOG(SG_SYSTEMS, SG_DEBUG, "Pushing multiplayer message to multiplay manager");
        m_MultiplayMgr->pushMessageHistory(multiplayer_message);
    }
 
    // Replay extra property changes.
    //
    bool replay_extra_properties = m_ReplayExtraProperties->getBoolValue();
    bool replay_main_view = m_ReplayMainView->getBoolValue();
    bool replay_main_window_position = m_ReplayMainWindowPosition->getBoolValue();
    bool replay_main_window_size = m_ReplayMainWindowSize->getBoolValue();
 
    if (replay_extra_properties) {
        for (auto extra_property_removed_path : _pNextBuffer->replay_extra_property_removals) {
            SG_LOG(SG_SYSTEMS, SG_DEBUG, "replaying extra property removal: " << extra_property_removed_path);
            globals->get_props()->removeChild(extra_property_removed_path);
        }
    }
 
    // Apply any changes to /sim/current-view/view-number* first. This is a
    // hack to avoid problems where setting view-number appears to make the
    // view code change other things such as pitch-offset-deg internally. So if
    // the recorded property changes list view-number after pitch-offset-deg,
    // we will end up overwriting the recorded change to pitch-offset-deg.
    //
    // The ultimate cause of this problem is that pitch-offset-deg is a tied
    // property so when recording we don't always pick up all changes.
    //
    if (replay_main_view) {
        for (auto prop_change : _pNextBuffer->replay_extra_property_changes) {
            const std::string& path = prop_change.first;
            const std::string& value = prop_change.second;
            if (simgear::strutils::starts_with(path, "/sim/current-view/view-number")) {
                SG_LOG(SG_SYSTEMS, SG_DEBUG, "SimTime=" << SimTime << " replaying view " << path << "=" << value);
                globals->get_props()->setStringValue(path, value);
            }
        }
    }
 
    for (auto prop_change : _pNextBuffer->replay_extra_property_changes) {
        const std::string& path = prop_change.first;
        const std::string& value = prop_change.second;
 
        if (0) {
        } else if (path == "/sim/startup/xpos") {
            if (replay_main_window_position) setInt(value, main_window_xpos);
        } else if (path == "/sim/startup/ypos") {
            if (replay_main_window_position) setInt(value, main_window_ypos);
        } else if (path == "/sim/startup/xsize") {
            if (replay_main_window_size) setInt(value, main_window_xsize);
        } else if (path == "/sim/startup/ysize") {
            if (replay_main_window_size) setInt(value, main_window_ysize);
        } else if (simgear::strutils::starts_with(path, "/sim/current-view/")) {
            if (replay_main_view) {
                SG_LOG(SG_SYSTEMS, SG_DEBUG, "SimTime=" << SimTime << " replaying view change: " << path << "=" << value);
                /* Interpolate floating point values if possible. */
                replayProperty(path, value, _pLastBuffer, ratio);
            }
        } else if (replay_extra_properties) {
            SG_LOG(SG_SYSTEMS, SG_DEBUG, "SimTime=" << SimTime << " replaying extra_property change: " << path << "=" << value);
            SGPropertyNode* p = globals->get_props()->getNode(path, true /*create*/);
            bool done = false;
            if (p && _pLastBuffer) {
                SG_LOG(SG_SYSTEMS, SG_DEBUG, "p && _pLastBuffer");
                auto p_prev_it = _pLastBuffer->replay_extra_property_changes.find(path);
                if (p_prev_it != _pLastBuffer->replay_extra_property_changes.end()) {
                    /* Property <path> is in both _pLastBuffer and
                    _pNextBuffer, so if it is floating point, we will
                    interpolate. */
                    SG_LOG(SG_SYSTEMS, SG_DEBUG, "property in _pLastBuffer and _pNextBuffer:"
                                                     << " " << path);
                    const std::string& valus_prev = p_prev_it->second;
                    size_t value_prev_len;
                    size_t value_next_len;
                    double value_prev = std::stod(valus_prev, &value_prev_len);
                    double value_next = std::stod(value, &value_next_len);
                    if (value_prev_len == valus_prev.size() && value_next_len == value.size()) {
                        /* Both values look like floating point so we will
                        interpolate. */
                        SG_LOG(SG_SYSTEMS, SG_DEBUG, "property is fp");
                        TInterpolation interpolation = TInterpolation::linear;
                        if (simgear::strutils::ends_with(path, "-deg")) {
                            interpolation = TInterpolation::angular_deg;
                        } else if (simgear::strutils::ends_with(path, "-rad")) {
                            interpolation = TInterpolation::angular_rad;
                        }
                        SG_LOG(SG_SYSTEMS, SG_DEBUG, "calling weighting()");
                        double value_interpolated = weighting(
                            interpolation,
                            ratio,
                            value_prev,
                            value_next);
                        SG_LOG(SG_GENERAL, SG_DEBUG, "Interpolating " << path << ": [" << value_prev << " .. " << value_next << "] => " << value_interpolated);
                        globals->get_props()->setDoubleValue(path, value_interpolated);
                        done = true;
                    }
                }
            }
            if (!done) p->setStringValue(path, value);
        }
    }
}
 
int FGFlightRecorder::getConfig(SGPropertyNode* root, const char* typeStr, const FlightRecorder::TSignalList& SignalList)
{
    static const char* InterpolationTypes[] = {"discrete", "linear", "angular-rad", "angular-deg"};
    size_t SignalCount = SignalList.size();
    SGPropertyNode* Signals = root->getNode("signals", true);
    for (size_t i = 0; i < SignalCount; i++) {
        SGPropertyNode* SignalProp = Signals->addChild("signal");
        SignalProp->setStringValue("type", typeStr);
        SignalProp->setStringValue("interpolation", InterpolationTypes[SignalList[i].Interpolation]);
        SignalProp->setStringValue("property", SignalList[i].Signal->getPath());
    }
    SG_LOG(SG_SYSTEMS, SG_DEBUG, "FlightRecorder: Have " << SignalCount << " signals of type " << typeStr);
    root->setIntValue(typeStr, SignalCount);
    return SignalCount;
}
 
void FGFlightRecorder::getConfig(SGPropertyNode* root)
{
    root->setStringValue("name", m_RecorderNode->getStringValue("active-config-name", ""));
    int SignalCount = 0;
    SignalCount += getConfig(root, "double", m_CaptureDouble);
    SignalCount += getConfig(root, "float", m_CaptureFloat);
    SignalCount += getConfig(root, "int", m_CaptureInteger);
    SignalCount += getConfig(root, "int16", m_CaptureInt16);
    SignalCount += getConfig(root, "int8", m_CaptureInt8);
    SignalCount += getConfig(root, "bool", m_CaptureBool);
 
    root->setIntValue("recorder/record-size", getRecordSize());
    root->setIntValue("recorder/signal-count", SignalCount);
}