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MOOSE/Moose Development/Moose/Functional/FlightModelData.lua
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funkyfranky b795d2fd09 FMD
2019-05-09 16:27:54 +02:00

688 lines
21 KiB
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--- **Functional** - (R2.5) - Monitor and export flight model data.
--
-- Record flight data and export it to a csv file.
--
-- ## Recorded Data:
--
-- * Time,
-- * Altitude,
-- * Temperature,
-- * Pressure,
-- * Velocity (total and x,y,z components),
-- * Acceleration (total and x,y,z components),
-- * AoA,
-- * Pitch and pitch rate,
-- * Roll and roll rate,
-- * Yaw and yaw rate,
-- * Turn rate.
--
-- ===
--
-- ### Author: **funkyfranky**
-- @module Functional.FMData
-- @image Functional_Rat2.png
--- FMD class.
-- @type FMD
-- @field #string ClassName Name of the class.
-- @field #boolean Debug Debug mode. Messages to all about status.
-- @field #string lid Class id string for output to DCS log file.
-- @field #table players Player table.
-- @field #table menuadded Table of units where the F10 radio menu was added.
-- @field #string savepath Path to save data files.
-- @extends Core.Fsm#FSM
--- Be sure!
--
-- ===
--
-- ![Banner Image](..\Presentations\FMD\FMD_Main.png)
--
-- # The FMD Concept
--
-- This class can be used to record flight data such as velocity, acceleration, pitch, roll, yaw and turn rates. The output is written to a csv file for later analysis.
--
-- # Usage
--
-- The script is very easy to use. It only requires the line
--
-- fmd=FMD:New()
--
-- This will automatically start the FMD script.
--
-- Each player will get an entry "FMD" in the F-10 radio menu. There he can start or stop the data recording.
--
-- **IMPORTANT**
-- Due to a DCS bug, it is necessary that (in single player mode), player/clients have to **hit ESC twice** before entering an aircraft client slot.
-- Otherwise, the script will not load and now menus will be created for the player.
--
-- # Output
--
-- After the data recording is completed, the data is written to a csv file. The file name starts with **FMD** and contains the employed airframe plus a running number.
--
-- However, one must desanitize the **io** and **lfs** lines the DCS root directory. Otherwise, DCS will not allow data to be written to file.
--
-- @field #FMD
FMD = {
ClassName = "FMD",
Debug = false,
lid = nil,
players = {},
menuadded = {},
savepath = nil,
}
--- Player data table.
-- @type FMD.PlayerData
-- @field Core.Scheduler#SCHEDULER scheduler Scheduler
-- @field Wrapper.Unit#UNIT unit Player unit.
-- @field #string unitname Name of the unit.
-- @field Wrapper.Client#CLIENT client Player client.
-- @field #string actype Aircraft type.
-- @field #string name Player name.
-- @field #number dt Time step for data recording in seconds. Default 0.01 sec ==> 100 data points per second!
-- @field #number rd Recording duration in seconds.
-- @field #boolean recording If true, recording started.
-- @field #table data Data table.
-- @field #number SID Scheduler ID.
--- Data point table.
-- @type FMD.DataPoint
-- @field #number time Abs mission time.
-- @field #number T Temperature in degrees Celsius.
-- @field #number P Pressure.
-- @field #number Alt Altitude ASL in meters.
-- @field #number AoA Angle of Attack in degrees.
-- @field #number Pitch Pitch angle in degrees.
-- @field #number Roll Roll angle in degrees.
-- @field #number Yaw Yaw angle in degrees.
-- @field #number Climbrate Climb rate in m/s.
-- @field #number Vtot Total velocity in m/s.
-- @field DCS#Vec3 v Velocity vector. Components x,y,z in m/s.
-- @field DCS#Vec3 o Orientation vector. Components x,y,z in meters.
-- @field #number omega Angle velocity in m/s.
-- @field #number Hdg Heading in degrees.
-- @field #number Atot Total acceleration m/s^2.
-- @field DCS#Vec3 a Acceleration vector.
-- @field #number DRoll Roll speed in degrees/second.
-- @field #number DPitch Pitch speed in degrees/second.
-- @field #number DYaw Yaw speed in degrees/second.
--- Main group level radio menu: F10 Other/FMD.
-- @field #table MenuF10
FMD.MenuF10={}
--- FMD mission level F10 root menu.
-- @field #table MenuF10Root
FMD.MenuF10Root=nil
--- FMD script version.
-- @field #string version
FMD.version="0.1.0"
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
-- Constructor
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
--- Create a new FMD class object.
-- @param #FMD self
-- @return #FMD self.
function FMD:New()
-- Inherit everthing from FSM class.
local self=BASE:Inherit(self, FSM:New()) -- #FMD
-- Start State.
self:SetStartState("Stopped")
-- Log string.
self.lid="FMD | "
-- Add FSM transitions.
-- From State --> Event --> To State
self:AddTransition("Stopped", "Start", "Running") -- Start FMD script.
self:AddTransition("*", "Status", "*") -- Start FMD script.
-- Start FMD.
FMD:Start()
return self
end
--- On after Start event.
-- @param #FMD self
-- @param #string From From state.
-- @param #string Event Event.
-- @param #string To To state.
function FMD:onafterStart(From, Event, To)
-- Short info.
local text=string.format("Starting Flight Model Data script version %s", FMD.version)
self:I(self.lid..text)
-- Handle events.
self:HandleEvent(EVENTS.Birth)
end
--- On after Stop event.
-- @param #FMD self
-- @param #string From From state.
-- @param #string Event Event.
-- @param #string To To state.
function FMD:onafterStop(From, Event, To)
-- Short info.
local text=string.format("Stopping Flight Model Data script version %s", FMD.version)
self:I(self.lid..text)
-- Handle events.
self:UnHandleEvent(EVENTS.Birth)
end
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
-- Event Functions
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
--- FMD event handler for event birth.
-- @param #FMD self
-- @param Core.Event#EVENTDATA EventData
function FMD:OnEventBirth(EventData)
self:F3({eventbirth = EventData})
local _unitName=EventData.IniUnitName
local _unit, _playername=self:_GetPlayerUnitAndName(_unitName)
self:T2(self.lid.."BIRTH: unit = "..tostring(EventData.IniUnitName))
self:T2(self.lid.."BIRTH: group = "..tostring(EventData.IniGroupName))
self:T2(self.lid.."BIRTH: player = "..tostring(_playername))
if _unit and _playername then
local _uid=_unit:GetID()
local _group=_unit:GetGroup()
local _callsign=_unit:GetCallsign()
-- Debug output.
local text=string.format("Pilot %s, callsign %s entered unit %s of group %s.", _playername, _callsign, _unitName, _group:GetName())
self:T(self.lid..text)
MESSAGE:New(text, 5):ToAllIf(self.Debug)
-- Add Menu commands.
self:_AddF10Commands(_unitName)
-- Player data.
self.players[_playername]={}
local player=self.players[_playername] --#FMD.PlayerData
player.scheduler=SCHEDULER:New()
player.unit=_unit
player.unitname=_unitName
player.name=_playername
player.client=CLIENT:FindByName(_unitName, nil, true)
player.actype=_unit:GetTypeName()
player.dt=0.01
player.rd=30
player.recording=false
player.data={}
end
end
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
-- Data Functions
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
--- Get data of unit.
-- @param #FMD self
-- @param Wrapper.Unit#UNIT unit
-- @return #FMD.DataPoint Datapoint.
function FMD:_GetDataPoint(unit)
-- Current coordinate.
local coord=unit:GetCoordinate()
local dp={} --#FMD.DataPoint
dp.a={}
dp.Alt=coord.y
dp.AoA=unit:GetAoA()
dp.Atot=nil
dp.P=coord:GetPressure()
dp.Pitch=unit:GetPitch()
dp.Roll=unit:GetRoll()
dp.time=timer.getAbsTime()
dp.T=coord:GetTemperature()
dp.v=unit:GetVelocityVec3()
dp.Vtot=UTILS.VecNorm(dp.v)
dp.Yaw=unit:GetYaw()
dp.o=unit:GetOrientationX()
dp.Hdg=unit:GetHeading()
return dp
end
--- Get data of unit.
-- @param #FMD self
-- @param #FMD.PlayerData playerData Player data.
-- @return #FMD.DataPoint Datapoint.
function FMD:_Derivative(playerData)
local function numderiv(fpm,fpp,h)
return 0.5*(fpp-fpm)/h
end
local datapoints=playerData.data
--local dt=playerData.dt
for i=2,#datapoints-1 do
local dpm=datapoints[i-1] --#FMD.DataPoint
local dpp=datapoints[i+1] --#FMD.DataPoint
local dpi=datapoints[i] --#FMD.DataPoint
-- Time step.
local dt=0.5*(dpp.time-dpm.time)
dpi.Atot=numderiv(dpm.Vtot, dpp.Vtot, dt)
dpi.a.x=numderiv(dpm.v.x, dpp.v.x, dt)
dpi.a.y=numderiv(dpm.v.y, dpp.v.y, dt)
dpi.a.z=numderiv(dpm.v.z, dpp.v.z, dt)
dpi.DPitch=numderiv(dpm.Pitch, dpp.Pitch, dt)
dpi.DRoll=numderiv(dpm.Roll, dpp.Roll, dt)
dpi.DYaw=numderiv(dpm.Yaw, dpp.Yaw, dt)
local ang=UTILS.VecAngle(dpm.o, dpp.o)
dpi.omega=numderiv(0, ang, dt)
end
end
--- Record data
-- @param #FMD self
-- @param #FMD.PlayerData playerData Player data table.
function FMD:_RecordData(playerData)
-- Check if we are recording already.
if not playerData.recording then
-- Inform player.
local text=string.format("Data recording starts for %.1f sec.", playerData.rd)
MESSAGE:New(text, 3, "FMD"):ToClient(playerData.client)
-- Activate recording switch.
playerData.recording=true
end
-- Get data point.
local dp=self:_GetDataPoint(playerData.unit)
-- Add data point to player table.
table.insert(playerData.data, dp)
end
--- Save data.
-- @param #FMD self
-- @param #FMD.PlayerData playerData Player data table.
function FMD:_SaveData(playerData)
-- Nothing to save.
if playerData==nil or #playerData.data==0 or not io then
return
end
--- Function that saves data to file
local function _savefile(filename, data)
local f = assert(io.open(filename, "wb"))
f:write(data)
f:close()
end
-- Set path or default.
local path=self.savepath
if lfs then
path=path or lfs.writedir()
end
-- Create unused file name.
local filename=nil
for i=1,9999 do
-- Create file name.
filename=string.format("FMD-%s_%s-%04d.csv", playerData.name, playerData.actype, i)
-- Set path.
if path~=nil then
filename=path.."\\"..filename
end
-- Check if file exists.
local _exists=UTILS.FileExists(filename)
if not _exists then
break
end
end
-- Info
local text=string.format("Saving player %s flight data to file %s", playerData.name, filename)
self:I(self.lid..text)
-- Header line
local data="#Time,Altitude,Temperature,Pressure,Vtot,Vx,Vy,Vz,Atot,ax,ay,az,AoA,Pitch,dPitch/dt,Roll,dRoll/dt,Yaw,dYaw/dt\n"
local g0=playerData.data[1] --#FMD.DataPoint
local T0=g0.time
-- Calculate derivatives.
self:_Derivative(playerData)
for i=2,#playerData.data-1 do
local dp=playerData.data[i] --#FMD.DataPoint
-- Conversion m/s == Mach.
local ms2mach=0.00291545
local t=(dp.time-T0) or 0
local a=dp.Alt or 0
local b=dp.T or 0
local c=dp.P or 0
local d=dp.Vtot or 0
local e=dp.v.x or 0
local f=dp.v.y or 0
local g=dp.v.z or 0
local h=dp.Atot or 0
local i=dp.a.x or 0
local j=dp.a.y or 0
local k=dp.a.z or 0
local l=dp.AoA or 0
local m=dp.Pitch or 0
local n=dp.DPitch or 0
local o=dp.Roll or 0
local p=dp.DRoll or 0
local q=dp.Yaw or 0
local r=dp.DYaw or 0
local s=dp.omega or 0
-- Debug output.
self:T3(t)
self:T3(a)
self:T3(b)
self:T3(c)
self:T3(d)
self:T3(e)
self:T3(f)
self:T3(g)
self:T3(h)
self:T3(i)
self:T3(j)
self:T3(k)
self:T3(l)
self:T3(m)
self:T3(n)
self:T3(o)
self:T3(p)
self:T3(q)
self:T3(r)
self:T3(s)
-- t a b c d e f g h i j k l m n o p q r s
data=data..string.format("%.2f,%.2f,%.2f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f\n",
t, a, b, c, d, e, f, g, h, i, j, k, l, m, n, o, p, q, r, s)
end
-- Save file.
_savefile(filename, data)
-- Clear data.
playerData.data={}
end
-----------------------------------------------------------------------------------------------------------------------------------------------------------------------
-- RADIO MENU Functions
-----------------------------------------------------------------------------------------------------------------------------------------------------------------------
--- Add menu commands for player.
-- @param #FMD self
-- @param #string _unitName Name of player unit.
function FMD:_AddF10Commands(_unitName)
self:F(_unitName)
-- Get player unit and name.
local _unit, playername = self:_GetPlayerUnitAndName(_unitName)
-- Check for player unit.
if _unit and playername then
-- Get group and ID.
local group=_unit:GetGroup()
local gid=group:GetID()
if group and gid then
if not self.menuadded[gid] then
-- Enable switch so we don't do this twice.
self.menuadded[gid]=true
-- Set menu root path.
local _rootPath=nil
if FMD.MenuF10Root then
------------------------
-- MISSON LEVEL MENUE --
------------------------
-- F10/FMD/...
_rootPath=FMD.MenuF10Root
else
------------------------
-- GROUP LEVEL MENUES --
------------------------
-- Main F10 menu: F10/FMD/
if FMD.MenuF10[gid]==nil then
FMD.MenuF10[gid]=missionCommands.addSubMenuForGroup(gid, "FMD")
end
-- F10/FMD/...
_rootPath=FMD.MenuF10[gid]
end
--------------------------------
-- F10/F<X> FMD/F1 Time Interval
--------------------------------
local _timePath=missionCommands.addSubMenuForGroup(gid, "Time Interval", _rootPath)
-- F10/FMD/F1 Time Interval/
missionCommands.addCommandForGroup(gid, "Delta t=0.01 s", _timePath, self._SetTimeInterval, self, _unitName, 0.01)
missionCommands.addCommandForGroup(gid, "Delta t=0.1 s", _timePath, self._SetTimeInterval, self, _unitName, 0.1)
missionCommands.addCommandForGroup(gid, "Delta t=1.0 s", _timePath, self._SetTimeInterval, self, _unitName, 1.0)
missionCommands.addCommandForGroup(gid, "Delta t=10 s", _timePath, self._SetTimeInterval, self, _unitName, 10.0)
missionCommands.addCommandForGroup(gid, "Delta t=30 s", _timePath, self._SetTimeInterval, self, _unitName, 30.0)
missionCommands.addCommandForGroup(gid, "Delta t=60 s", _timePath, self._SetTimeInterval, self, _unitName, 60.0)
local _durPath=missionCommands.addSubMenuForGroup(gid, "Rec Duration", _rootPath)
-- F10/FMD/F1 Rec Duration/
missionCommands.addCommandForGroup(gid, "T=10 s", _timePath, self._SetRecDuration, self, _unitName, 10)
missionCommands.addCommandForGroup(gid, "T=30 s", _timePath, self._SetRecDuration, self, _unitName, 30)
missionCommands.addCommandForGroup(gid, "T=60 s", _timePath, self._SetRecDuration, self, _unitName, 60)
missionCommands.addCommandForGroup(gid, "T=5 min", _timePath, self._SetRecDuration, self, _unitName, 5*60)
missionCommands.addCommandForGroup(gid, "T=10 min", _timePath, self._SetRecDuration, self, _unitName, 10*60)
--------------------------------
-- F10/F<X> FMD/
--------------------------------
-- F10/FMD/Start Recording
missionCommands.addCommandForGroup(gid, "Start Recording", _rootPath, self._StartRecording, self, _unitName) -- F1
missionCommands.addCommandForGroup(gid, "Stop Recording", _rootPath, self._StopRecording, self, _unitName) -- F2
end
end
end
end
--- Set recording duration.
-- @param #FMD self
-- @param #string _unitName Name of player unit.
-- @param #number rd Recording duration in sec.
function FMD:_SetTimeInterval(_unitName, rd)
-- Get player unit and name.
local _unit, _playername = self:_GetPlayerUnitAndName(_unitName)
-- Check if we have a unit which is a player.
if _unit and _playername then
local playerData=self.players[_playername] --#FMD.PlayerData
if playerData then
-- Set dt.
playerData.rd=rd
-- Inform player.
local text=string.format("Data recording duration set to %.1f sec.", playerData.rd)
MESSAGE:New(text, 10, "FMD"):ToClient(playerData.client)
end
end
end
--- Set time interval for data recording.
-- @param #FMD self
-- @param #string _unitName Name of player unit.
-- @param #number dt Time interval in seconds.
function FMD:_SetTimeInterval(_unitName, dt)
-- Get player unit and name.
local _unit, _playername = self:_GetPlayerUnitAndName(_unitName)
-- Check if we have a unit which is a player.
if _unit and _playername then
local playerData=self.players[_playername] --#FMD.PlayerData
if playerData then
-- Set dt.
playerData.dt=dt
-- Inform player.
local text=string.format("Data recording time interval set to %.3f sec.", playerData.dt)
MESSAGE:New(text, 10, "FMD"):ToClient(playerData.client)
end
end
end
--- Start data recording.
-- @param #FMD self
-- @param #string _unitName Name of player unit.
function FMD:_StartRecording(_unitName)
-- Get player unit and name.
local _unit, _playername = self:_GetPlayerUnitAndName(_unitName)
-- Check if we have a unit which is a player.
if _unit and _playername then
local playerData=self.players[_playername] --#FMD.PlayerData
if playerData then
-- Delay before recording starts.
local delay=3
-- Inform player.
local text=string.format("Data recording will be started in %d seconds with %.3f sec timestep for %.1f sec.", delay, playerData.dt, playerData.rd)
MESSAGE:New(text, 3, "FMD"):ToClient(playerData.client)
-- Start scheduler.
playerData.SID=playerData.scheduler:Schedule(nil, self._RecordData, {self, playerData}, delay, playerData.dt, 0.0)
-- Stop scheduler once.
playerData.scheduler:ScheduleOnce(playerData.rd+delay, self._StopRecording, {self,_unitName})
end
end
end
--- Stop data recording.
-- @param #FMD self
-- @param #string _unitName Name of player unit.
function FMD:_StopRecording(_unitName)
-- Get player unit and name.
local _unit, _playername = self:_GetPlayerUnitAndName(_unitName)
-- Check if we have a unit which is a player.
if _unit and _playername then
local playerData=self.players[_playername] --#FMD.PlayerData
if playerData then
local ndata=#playerData.data
-- Inform player.
local text=string.format("Data recording stopped. Data points recorded: %d", ndata)
MESSAGE:New(text, 10, "FMD"):ToClient(playerData.client)
-- No recording switch.
playerData.recording=false
-- Stop scheduler.
playerData.scheduler:Stop(playerData.SID)
-- Save data.
self:_SaveData(playerData)
end
end
end
--- Returns the unit of a player and the player name. If the unit does not belong to a player, nil is returned.
-- @param #FMD self
-- @param #string _unitName Name of the player unit.
-- @return Wrapper.Unit#UNIT Unit of player or nil.
-- @return #string Name of the player or nil.
function FMD:_GetPlayerUnitAndName(_unitName)
self:F2(_unitName)
if _unitName ~= nil then
-- Get DCS unit from its name.
local DCSunit=Unit.getByName(_unitName)
if DCSunit then
local playername=DCSunit:getPlayerName()
local unit=UNIT:Find(DCSunit)
self:T2({DCSunit=DCSunit, unit=unit, playername=playername})
if DCSunit and unit and playername then
return unit, playername
end
end
end
-- Return nil if we could not find a player.
return nil,nil
end
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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