src/AIModel/AIAircraft.cxx

   1 // FGAIAircraft - FGAIBase-derived class creates an AI airplane
   2 //
   3 // Written by David Culp, started October 2003.
   4 //
   5 // Copyright (C) 2003  David P. Culp - davidculp2@comcast.net
   6 //
   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.
  11 //
  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.
  16 //
  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., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
  20
  21 #ifdef HAVE_CONFIG_H
  22 #  include <config.h>
  23 #endif
  24
  25 #include <simgear/route/waypoint.hxx>
  26 #include <Main/fg_props.hxx>
  27 #include <Main/globals.hxx>
  28 #include <Main/viewer.hxx>
  29 #include <Scenery/scenery.hxx>
  30 #include <Scenery/tilemgr.hxx>
  31 #include <Airports/dynamics.hxx>
  32 #include <Airports/simple.hxx>
  33
  34 #include <string>
  35 #include <math.h>
  36 #include <time.h>
  37
  38 #ifdef _MSC_VER
  39 #  include <float.h>
  40 #  define finite _finite
  41 #elif defined(__sun) || defined(sgi)
  42 #  include <ieeefp.h>
  43 #endif
  44
  45 using std::string;
  46
  47 #include "AIAircraft.hxx"
  48 #include "performancedata.hxx"
  49 #include "performancedb.hxx"
  50
  51 //#include <Airports/trafficcontroller.hxx>
  52
  53 static string tempReg;
  54
  55 FGAIAircraft::FGAIAircraft(FGAISchedule *ref) : FGAIBase(otAircraft) {
  56     trafficRef = ref;
  57     if (trafficRef) {
  58         groundOffset = trafficRef->getGroundOffset();
  59         setCallSign(trafficRef->getCallSign());
  60     }
  61     else
  62         groundOffset = 0;
  63
  64     fp = 0;
  65     controller = 0;
  66     prevController = 0;
  67     dt_count = 0;
  68     dt_elev_count = 0;
  69     use_perf_vs = true;
  70
  71     no_roll = false;
  72     tgt_speed = 0;
  73     speed = 0;
  74     groundTargetSpeed = 0;
  75
  76     // set heading and altitude locks
  77     hdg_lock = false;
  78     alt_lock = false;
  79     roll = 0;
  80     headingChangeRate = 0.0;
  81     headingError = 0;
  82     minBearing = 360;
  83     speedFraction =1.0;
  84
  85     holdPos = false;
  86     needsTaxiClearance = false;
  87     _needsGroundElevation = true;
  88
  89     _performance = 0; //TODO initialize to JET_TRANSPORT from PerformanceDB
  90     dt = 0;
  91 }
  92
  93
  94 FGAIAircraft::~FGAIAircraft() {
  95     //delete fp;
  96     if (controller)
  97         controller->signOff(getID());
  98 }
  99
 100
 101 void FGAIAircraft::readFromScenario(SGPropertyNode* scFileNode) {
 102     if (!scFileNode)
 103         return;
 104
 105     FGAIBase::readFromScenario(scFileNode);
 106
 107     setPerformance(scFileNode->getStringValue("class", "jet_transport"));
 108     setFlightPlan(scFileNode->getStringValue("flightplan"),
 109                   scFileNode->getBoolValue("repeat", false));
 110     setCallSign(scFileNode->getStringValue("callsign"));
 111 }
 112
 113
 114 void FGAIAircraft::bind() {
 115     FGAIBase::bind();
 116
 117     props->tie("controls/gear/gear-down",
 118                SGRawValueMethods<FGAIAircraft,bool>(*this,
 119                                                     &FGAIAircraft::_getGearDown));
 120     props->tie("transponder-id",
 121                SGRawValueMethods<FGAIAircraft,const char*>(*this,
 122                                                     &FGAIAircraft::_getTransponderCode));
 123 }
 124
 125
 126 void FGAIAircraft::unbind() {
 127     FGAIBase::unbind();
 128
 129     props->untie("controls/gear/gear-down");
 130     props->untie("transponder-id");
 131 }
 132
 133
 134 void FGAIAircraft::update(double dt) {
 135     FGAIBase::update(dt);
 136     Run(dt);
 137     Transform();
 138 }
 139
 140 void FGAIAircraft::setPerformance(const std::string& acclass) {
 141      static PerformanceDB perfdb; //TODO make it a global service
 142      setPerformance(perfdb.getDataFor(acclass));
 143   }
 144
 145
 146  void FGAIAircraft::setPerformance(PerformanceData *ps) {
 147      _performance = ps;
 148   }
 149
 150
 151  void FGAIAircraft::Run(double dt) {
 152       FGAIAircraft::dt = dt;
 153
 154      bool outOfSight = false,
 155         flightplanActive = true;
 156      updatePrimaryTargetValues(flightplanActive, outOfSight); // target hdg, alt, speed
 157      if (outOfSight) {
 158         return;
 159      }
 160
 161      if (!flightplanActive) {
 162         groundTargetSpeed = 0;
 163      }
 164
 165      handleATCRequests(); // ATC also has a word to say
 166      updateSecondaryTargetValues(); // target roll, vertical speed, pitch
 167      updateActualState();
 168      UpdateRadar(manager);
 169      checkVisibility();
 170   }
 171
 172 void FGAIAircraft::checkVisibility()
 173 {
 174   double visibility_meters = fgGetDouble("/environment/visibility-m");
 175   FGViewer* vw = globals->get_current_view();
 176   invisible = (SGGeodesy::distanceM(vw->getPosition(), pos) > visibility_meters);
 177 }
 178
 179
 180
 181 void FGAIAircraft::AccelTo(double speed) {
 182     tgt_speed = speed;
 183     if (!isStationary())
 184         _needsGroundElevation = true;
 185 }
 186
 187
 188 void FGAIAircraft::PitchTo(double angle) {
 189     tgt_pitch = angle;
 190     alt_lock = false;
 191 }
 192
 193
 194 void FGAIAircraft::RollTo(double angle) {
 195     tgt_roll = angle;
 196     hdg_lock = false;
 197 }
 198
 199
 200 void FGAIAircraft::YawTo(double angle) {
 201     tgt_yaw = angle;
 202 }
 203
 204
 205 void FGAIAircraft::ClimbTo(double alt_ft ) {
 206     tgt_altitude_ft = alt_ft;
 207     alt_lock = true;
 208 }
 209
 210
 211 void FGAIAircraft::TurnTo(double heading) {
 212     tgt_heading = heading;
 213     hdg_lock = true;
 214 }
 215
 216
 217 double FGAIAircraft::sign(double x) {
 218     if (x == 0.0)
 219         return x;
 220     else
 221         return x/fabs(x);
 222 }
 223
 224
 225 void FGAIAircraft::setFlightPlan(const std::string& flightplan, bool repeat) {
 226     if (!flightplan.empty()) {
 227         FGAIFlightPlan* fp = new FGAIFlightPlan(flightplan);
 228         fp->setRepeat(repeat);
 229         SetFlightPlan(fp);
 230     }
 231 }
 232
 233
 234 void FGAIAircraft::SetFlightPlan(FGAIFlightPlan *f) {
 235     delete fp;
 236     fp = f;
 237 }
 238
 239
 240 void FGAIAircraft::ProcessFlightPlan( double dt, time_t now ) {
 241
 242     // the one behind you
 243     FGAIFlightPlan::waypoint* prev = 0;
 244     // the one ahead
 245     FGAIFlightPlan::waypoint* curr = 0;
 246     // the next plus 1
 247     FGAIFlightPlan::waypoint* next = 0;
 248
 249     prev = fp->getPreviousWaypoint();
 250     curr = fp->getCurrentWaypoint();
 251     next = fp->getNextWaypoint();
 252
 253     dt_count += dt;
 254
 255     ///////////////////////////////////////////////////////////////////////////
 256     // Initialize the flightplan
 257     //////////////////////////////////////////////////////////////////////////
 258     if (!prev) {
 259         handleFirstWaypoint();
 260         return;
 261     }                            // end of initialization
 262     if (! fpExecutable(now))
 263           return;
 264     dt_count = 0;
 265
 266     double distanceToDescent;
 267     if(reachedEndOfCruise(distanceToDescent)) {
 268         if (!loadNextLeg(distanceToDescent)) {
 269             setDie(true);
 270             return;
 271         }
 272         prev = fp->getPreviousWaypoint();
 273         curr = fp->getCurrentWaypoint();
 274         next = fp->getNextWaypoint();
 275     }
 276     if (! leadPointReached(curr)) {
 277         controlHeading(curr);
 278         controlSpeed(curr, next);
 279     } else {
 280         if (curr->finished)      //end of the flight plan
 281         {
 282             if (fp->getRepeat())
 283                 fp->restart();
 284             else
 285                 setDie(true);
 286             return;
 287         }
 288
 289         if (next) {
 290             //TODO more intelligent method in AIFlightPlan, no need to send data it already has :-)
 291             tgt_heading = fp->getBearing(curr, next);
 292             spinCounter = 0;
 293         }
 294
 295         //TODO let the fp handle this (loading of next leg)
 296         fp->IncrementWaypoint( trafficRef != 0 );
 297         if  ( ((!(fp->getNextWaypoint()))) && (trafficRef != 0) )
 298             if (!loadNextLeg()) {
 299                 setDie(true);
 300                 return;
 301             }
 302
 303         prev = fp->getPreviousWaypoint();
 304         curr = fp->getCurrentWaypoint();
 305         next = fp->getNextWaypoint();
 306
 307         // Now that we have incremented the waypoints, excute some traffic manager specific code
 308         if (trafficRef) {
 309             //TODO isn't this best executed right at the beginning?
 310             if (! aiTrafficVisible()) {
 311                 setDie(true);
 312                 return;
 313             }
 314
 315             if (! handleAirportEndPoints(prev, now)) {
 316                 setDie(true);
 317                 return;
 318             }
 319
 320             announcePositionToController();
 321
 322         }
 323
 324         if (next) {
 325             fp->setLeadDistance(tgt_speed, tgt_heading, curr, next);
 326         }
 327
 328         if (!(prev->on_ground))  // only update the tgt altitude from flightplan if not on the ground
 329         {
 330             tgt_altitude_ft = prev->altitude;
 331             if (curr->crossat > -1000.0) {
 332                 use_perf_vs = false;
 333                 tgt_vs = (curr->crossat - altitude_ft) / (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr)
 334                          / 6076.0 / speed*60.0);
 335                 tgt_altitude_ft = curr->crossat;
 336             } else {
 337                 use_perf_vs = true;
 338             }
 339         }
 340         AccelTo(prev->speed);
 341         hdg_lock = alt_lock = true;
 342         no_roll = prev->on_ground;
 343     }
 344 }
 345
 346
 347 void FGAIAircraft::initializeFlightPlan() {
 348 }
 349
 350
 351 bool FGAIAircraft::_getGearDown() const {
 352     return _performance->gearExtensible(this);
 353 }
 354
 355
 356 const char * FGAIAircraft::_getTransponderCode() const {
 357   return transponderCode.c_str();
 358 }
 359
 360
 361 bool FGAIAircraft::loadNextLeg(double distance) {
 362
 363     int leg;
 364     if ((leg = fp->getLeg())  == 10) {
 365         if (!trafficRef->next()) {
 366             return false;
 367         }
 368         setCallSign(trafficRef->getCallSign());
 369         leg = 1;
 370         fp->setLeg(leg);
 371     }
 372
 373     FGAirport *dep = trafficRef->getDepartureAirport();
 374     FGAirport *arr = trafficRef->getArrivalAirport();
 375     if (!(dep && arr)) {
 376         setDie(true);
 377
 378     } else {
 379         double cruiseAlt = trafficRef->getCruiseAlt() * 100;
 380
 381         fp->create (this,
 382                     dep,
 383                     arr,
 384                     leg,
 385                     cruiseAlt,
 386                     trafficRef->getSpeed(),
 387                     _getLatitude(),
 388                     _getLongitude(),
 389                     false,
 390                     trafficRef->getRadius(),
 391                     trafficRef->getFlightType(),
 392                     acType,
 393                     company,
 394                     distance);
 395        //cerr << "created  leg " << leg << " for " << trafficRef->getCallSign() << endl;
 396     }
 397     return true;
 398 }
 399
 400
 401 // Note: This code is copied from David Luff's AILocalTraffic
 402 // Warning - ground elev determination is CPU intensive
 403 // Either this function or the logic of how often it is called
 404 // will almost certainly change.
 405
 406 void FGAIAircraft::getGroundElev(double dt) {
 407     dt_elev_count += dt;
 408
 409     if (!needGroundElevation())
 410         return;
 411     // Update minimally every three secs, but add some randomness
 412     // to prevent all AI objects doing this in synchrony
 413     if (dt_elev_count < (3.0) + (rand() % 10))
 414         return;
 415
 416     dt_elev_count = 0;
 417
 418     // Only do the proper hitlist stuff if we are within visible range of the viewer.
 419     if (!invisible) {
 420         double visibility_meters = fgGetDouble("/environment/visibility-m");
 421         FGViewer* vw = globals->get_current_view();
 422
 423         if (SGGeodesy::distanceM(vw->getPosition(), pos) > visibility_meters) {
 424             return;
 425         }
 426
 427         double range = 500.0;
 428         if (globals->get_tile_mgr()->schedule_scenery(pos, range, 5.0))
 429         {
 430             double alt;
 431             if (getGroundElevationM(SGGeod::fromGeodM(pos, 20000), alt, 0))
 432             {
 433                 tgt_altitude_ft = alt * SG_METER_TO_FEET;
 434                 if (isStationary())
 435                 {
 436                     // aircraft is stationary and we obtained altitude for this spot - we're done.
 437                     _needsGroundElevation = false;
 438                 }
 439             }
 440         }
 441     }
 442 }
 443
 444
 445 void FGAIAircraft::doGroundAltitude() {
 446     if ((fabs(altitude_ft - (tgt_altitude_ft+groundOffset)) > 1000.0)||
 447         (isStationary()))
 448         altitude_ft = (tgt_altitude_ft + groundOffset);
 449     else
 450         altitude_ft += 0.1 * ((tgt_altitude_ft+groundOffset) - altitude_ft);
 451     tgt_vs = 0;
 452 }
 453
 454
 455 void FGAIAircraft::announcePositionToController() {
 456     if (trafficRef) {
 457         int leg = fp->getLeg();
 458
 459         // Note that leg has been incremented after creating the current leg, so we should use
 460         // leg numbers here that are one higher than the number that is used to create the leg
 461         //
 462         switch (leg) {
 463           case 2:              // Startup and Push back
 464             if (trafficRef->getDepartureAirport()->getDynamics())
 465                 controller = trafficRef->getDepartureAirport()->getDynamics()->getStartupController();
 466             break;
 467         case 3:              // Taxiing to runway
 468             if (trafficRef->getDepartureAirport()->getDynamics()->getGroundNetwork()->exists())
 469                 controller = trafficRef->getDepartureAirport()->getDynamics()->getGroundNetwork();
 470             break;
 471         case 4:              //Take off tower controller
 472             if (trafficRef->getDepartureAirport()->getDynamics()) {
 473                 controller = trafficRef->getDepartureAirport()->getDynamics()->getTowerController();
 474             } else {
 475                 cerr << "Error: Could not find Dynamics at airport : " << trafficRef->getDepartureAirport()->getId() << endl;
 476             }
 477             break;
 478         case 7:
 479              if (trafficRef->getDepartureAirport()->getDynamics()) {
 480                  controller = trafficRef->getArrivalAirport()->getDynamics()->getApproachController();
 481               }
 482               break;
 483         case 9:              // Taxiing for parking
 484             if (trafficRef->getArrivalAirport()->getDynamics()->getGroundNetwork()->exists())
 485                 controller = trafficRef->getArrivalAirport()->getDynamics()->getGroundNetwork();
 486             break;
 487         default:
 488             controller = 0;
 489             break;
 490         }
 491
 492         if ((controller != prevController) && (prevController != 0)) {
 493             prevController->signOff(getID());
 494         }
 495         prevController = controller;
 496         if (controller) {
 497             controller->announcePosition(getID(), fp, fp->getCurrentWaypoint()->routeIndex,
 498                                          _getLatitude(), _getLongitude(), hdg, speed, altitude_ft,
 499                                          trafficRef->getRadius(), leg, this);
 500         }
 501     }
 502 }
 503
 504 // Process ATC instructions and report back
 505
 506 void FGAIAircraft::processATC(FGATCInstruction instruction) {
 507     if (instruction.getCheckForCircularWait()) {
 508         // This is not exactly an elegant solution,
 509         // but at least it gives me a chance to check
 510         // if circular waits are resolved.
 511         // For now, just take the offending aircraft
 512         // out of the scene
 513         setDie(true);
 514         // a more proper way should be - of course - to
 515         // let an offending aircraft take an evasive action
 516         // for instance taxi back a little bit.
 517     }
 518     //cerr << "Processing ATC instruction (not Implimented yet)" << endl;
 519     if (instruction.getHoldPattern   ()) {}
 520
 521     // Hold Position
 522     if (instruction.getHoldPosition  ()) {
 523         if (!holdPos) {
 524             holdPos = true;
 525         }
 526         AccelTo(0.0);
 527     } else {
 528         if (holdPos) {
 529             //if (trafficRef)
 530             //  cerr << trafficRef->getCallSign() << " Resuming Taxi." << endl;
 531             holdPos = false;
 532         }
 533         // Change speed Instruction. This can only be excecuted when there is no
 534         // Hold position instruction.
 535         if (instruction.getChangeSpeed   ()) {
 536             //  if (trafficRef)
 537             //cerr << trafficRef->getCallSign() << " Changing Speed " << endl;
 538             AccelTo(instruction.getSpeed());
 539         } else {
 540             if (fp) AccelTo(fp->getPreviousWaypoint()->speed);
 541         }
 542     }
 543     if (instruction.getChangeHeading ()) {
 544         hdg_lock = false;
 545         TurnTo(instruction.getHeading());
 546     } else {
 547         if (fp) {
 548             hdg_lock = true;
 549         }
 550     }
 551     if (instruction.getChangeAltitude()) {}
 552
 553 }
 554
 555
 556 void FGAIAircraft::handleFirstWaypoint() {
 557     bool eraseWaypoints;         //TODO YAGNI
 558     headingError = 0;
 559     if (trafficRef) {
 560         eraseWaypoints = true;
 561     } else {
 562         eraseWaypoints = false;
 563     }
 564
 565     FGAIFlightPlan::waypoint* prev = 0; // the one behind you
 566     FGAIFlightPlan::waypoint* curr = 0; // the one ahead
 567     FGAIFlightPlan::waypoint* next = 0;// the next plus 1
 568
 569     spinCounter = 0;
 570     tempReg = "";
 571
 572     //TODO fp should handle this
 573     fp->IncrementWaypoint(eraseWaypoints);
 574     if (!(fp->getNextWaypoint()) && trafficRef)
 575         if (!loadNextLeg()) {
 576             setDie(true);
 577             return;
 578         }
 579
 580     prev = fp->getPreviousWaypoint();   //first waypoint
 581     curr = fp->getCurrentWaypoint();    //second waypoint
 582     next = fp->getNextWaypoint();       //third waypoint (might not exist!)
 583
 584     setLatitude(prev->latitude);
 585     setLongitude(prev->longitude);
 586     setSpeed(prev->speed);
 587     setAltitude(prev->altitude);
 588
 589     if (prev->speed > 0.0)
 590         setHeading(fp->getBearing(prev->latitude, prev->longitude, curr));
 591     else
 592         setHeading(fp->getBearing(curr->latitude, curr->longitude, prev));
 593
 594     // If next doesn't exist, as in incrementally created flightplans for
 595     // AI/Trafficmanager created plans,
 596     // Make sure lead distance is initialized otherwise
 597     if (next)
 598         fp->setLeadDistance(speed, hdg, curr, next);
 599
 600     if (curr->crossat > -1000.0) //use a calculated descent/climb rate
 601     {
 602         use_perf_vs = false;
 603         tgt_vs = (curr->crossat - prev->altitude)
 604                  / (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr)
 605                     / 6076.0 / prev->speed*60.0);
 606         tgt_altitude_ft = curr->crossat;
 607     } else {
 608         use_perf_vs = true;
 609         tgt_altitude_ft = prev->altitude;
 610     }
 611     alt_lock = hdg_lock = true;
 612     no_roll = prev->on_ground;
 613     if (no_roll) {
 614         Transform();             // make sure aip is initialized.
 615         getGroundElev(60.1);     // make sure it's executed first time around, so force a large dt value
 616         doGroundAltitude();
 617         _needsGroundElevation = true; // check ground elevation again (maybe scenery wasn't available yet)
 618     }
 619     // Make sure to announce the aircraft's position
 620     announcePositionToController();
 621     prevSpeed = 0;
 622 }
 623
 624
 625 /**
 626  * Check Execution time (currently once every 100 ms)
 627  * Add a bit of randomization to prevent the execution of all flight plans
 628  * in synchrony, which can add significant periodic framerate flutter.
 629  *
 630  * @param now
 631  * @return
 632  */
 633 bool FGAIAircraft::fpExecutable(time_t now) {
 634     double rand_exec_time = (rand() % 100) / 100;
 635     return (dt_count > (0.1+rand_exec_time)) && (fp->isActive(now));
 636 }
 637
 638
 639 /**
 640  * Check to see if we've reached the lead point for our next turn
 641  *
 642  * @param curr
 643  * @return
 644  */
 645 bool FGAIAircraft::leadPointReached(FGAIFlightPlan::waypoint* curr) {
 646     double dist_to_go = fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
 647
 648     //cerr << "2" << endl;
 649     double lead_dist = fp->getLeadDistance();
 650     // experimental: Use fabs, because speed can be negative (I hope) during push_back.
 651
 652     if (lead_dist < fabs(2*speed)) {
 653       //don't skip over the waypoint
 654       lead_dist = fabs(2*speed);
 655       //cerr << "Extending lead distance to " << lead_dist << endl;
 656     }
 657
 658     //prev_dist_to_go = dist_to_go;
 659     //if (dist_to_go < lead_dist)
 660     //     cerr << trafficRef->getCallSign() << " Distance : "
 661     //          << dist_to_go << ": Lead distance "
 662     //          << lead_dist << " " << curr->name
 663     //          << " Ground target speed " << groundTargetSpeed << endl;
 664     double bearing = 0;
 665     if (speed > 50) { // don't do bearing calculations for ground traffic
 666        bearing = getBearing(fp->getBearing(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr));
 667        if (bearing < minBearing) {
 668             minBearing = bearing;
 669             if (minBearing < 10) {
 670                  minBearing = 10;
 671             }
 672             if ((minBearing < 360.0) && (minBearing > 10.0)) {
 673                 speedFraction = cos(minBearing *SG_DEGREES_TO_RADIANS);
 674             } else {
 675                 speedFraction = 1.0;
 676             }
 677        }
 678     }
 679     if (trafficRef) {
 680          //cerr << "Tracking callsign : \"" << fgGetString("/ai/track-callsign") << "\"" << endl;
 681 /*         if (trafficRef->getCallSign() == fgGetString("/ai/track-callsign")) {
 682               cerr << trafficRef->getCallSign() << " " << tgt_altitude_ft << " " << _getSpeed() << " "
 683                    << _getAltitude() << " "<< _getLatitude() << " " << _getLongitude() << " " << dist_to_go << " " << lead_dist << " " << curr->name << " " << vs << " " << tgt_vs << " " << bearing << " " << minBearing << " " << speedFraction << endl;
 684          }*/
 685      }
 686     if ((dist_to_go < lead_dist) || (bearing > (minBearing * 1.1))) {
 687         minBearing = 360;
 688         return true;
 689     } else {
 690         return false;
 691     }
 692 }
 693
 694
 695 bool FGAIAircraft::aiTrafficVisible() {
 696   SGGeod userPos(SGGeod::fromDeg(fgGetDouble("/position/longitude-deg"),
 697     fgGetDouble("/position/latitude-deg")));
 698
 699   return (SGGeodesy::distanceNm(userPos, pos) <= TRAFFICTOAIDISTTODIE);
 700 }
 701
 702
 703 /**
 704  * Handle release of parking gate, once were taxiing. Also ensure service time at the gate
 705  * in the case of an arrival.
 706  *
 707  * @param prev
 708  * @return
 709  */
 710
 711 //TODO the trafficRef is the right place for the method
 712 bool FGAIAircraft::handleAirportEndPoints(FGAIFlightPlan::waypoint* prev, time_t now) {
 713     // prepare routing from one airport to another
 714     FGAirport * dep = trafficRef->getDepartureAirport();
 715     FGAirport * arr = trafficRef->getArrivalAirport();
 716
 717     if (!( dep && arr))
 718         return false;
 719
 720     // This waypoint marks the fact that the aircraft has passed the initial taxi
 721     // departure waypoint, so it can release the parking.
 722     //cerr << trafficRef->getCallSign() << " has passed waypoint " << prev->name << " at speed " << speed << endl;
 723     if (prev->name == "PushBackPoint") {
 724         dep->getDynamics()->releaseParking(fp->getGate());
 725         AccelTo(0.0);
 726         setTaxiClearanceRequest(true);
 727     }
 728
 729     // This is the last taxi waypoint, and marks the the end of the flight plan
 730     // so, the schedule should update and wait for the next departure time.
 731     if (prev->name == "END") {
 732         time_t nextDeparture = trafficRef->getDepartureTime();
 733         // make sure to wait at least 20 minutes at parking to prevent "nervous" taxi behavior
 734         if (nextDeparture < (now+1200)) {
 735             nextDeparture = now + 1200;
 736         }
 737         fp->setTime(nextDeparture); // should be "next departure"
 738     }
 739
 740     return true;
 741 }
 742
 743
 744 /**
 745  * Check difference between target bearing and current heading and correct if necessary.
 746  *
 747  * @param curr
 748  */
 749 void FGAIAircraft::controlHeading(FGAIFlightPlan::waypoint* curr) {
 750     double calc_bearing = fp->getBearing(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
 751     //cerr << "Bearing = " << calc_bearing << endl;
 752     if (speed < 0) {
 753         calc_bearing +=180;
 754         if (calc_bearing > 360)
 755             calc_bearing -= 360;
 756     }
 757
 758     if (finite(calc_bearing)) {
 759         double hdg_error = calc_bearing - tgt_heading;
 760         if (fabs(hdg_error) > 0.01) {
 761             TurnTo( calc_bearing );
 762         }
 763
 764     } else {
 765         cerr << "calc_bearing is not a finite number : "
 766         << "Speed " << speed
 767         << "pos : " << pos.getLatitudeDeg() << ", " << pos.getLongitudeDeg()
 768         << "waypoint " << curr->latitude << ", " << curr->longitude << endl;
 769         cerr << "waypoint name " << curr->name;
 770         exit(1);                 // FIXME
 771     }
 772 }
 773
 774
 775 /**
 776  * Update the lead distance calculation if speed has changed sufficiently
 777  * to prevent spinning (hopefully);
 778  *
 779  * @param curr
 780  * @param next
 781  */
 782 void FGAIAircraft::controlSpeed(FGAIFlightPlan::waypoint* curr, FGAIFlightPlan::waypoint* next) {
 783     double speed_diff = speed - prevSpeed;
 784
 785     if (fabs(speed_diff) > 10) {
 786         prevSpeed = speed;
 787         if (next) {
 788             fp->setLeadDistance(speed, tgt_heading, curr, next);
 789         }
 790     }
 791 }
 792
 793
 794 /**
 795  * Update target values (heading, alt, speed) depending on flight plan or control properties
 796  */
 797 void FGAIAircraft::updatePrimaryTargetValues(bool& flightplanActive, bool& aiOutOfSight) {
 798     if (fp)                      // AI object has a flightplan
 799     {
 800         //TODO make this a function of AIBase
 801         time_t now = time(NULL) + fgGetLong("/sim/time/warp");
 802         //cerr << "UpateTArgetValues() " << endl;
 803         ProcessFlightPlan(dt, now);
 804
 805         // Do execute Ground elev for inactive aircraft, so they
 806         // Are repositioned to the correct ground altitude when the user flies within visibility range.
 807         // In addition, check whether we are out of user range, so this aircraft
 808         // can be deleted.
 809         if (onGround()) {
 810                 Transform();     // make sure aip is initialized.
 811                 getGroundElev(dt);
 812                 doGroundAltitude();
 813                 // Transform();
 814                 pos.setElevationFt(altitude_ft);
 815         }
 816         if (trafficRef) {
 817            //cerr << trafficRef->getRegistration() << " Setting altitude to " << altitude_ft;
 818             aiOutOfSight = !aiTrafficVisible();
 819             if (aiOutOfSight) {
 820                 setDie(true);
 821                 //cerr << trafficRef->getRegistration() << " is set to die " << endl;
 822                 aiOutOfSight = true;
 823                 return;
 824             }
 825         }
 826         timeElapsed = now - fp->getStartTime();
 827         flightplanActive = fp->isActive(now);
 828     } else {
 829         // no flight plan, update target heading, speed, and altitude
 830         // from control properties.  These default to the initial
 831         // settings in the config file, but can be changed "on the
 832         // fly".
 833         string lat_mode = props->getStringValue("controls/flight/lateral-mode");
 834         if ( lat_mode == "roll" ) {
 835             double angle
 836             = props->getDoubleValue("controls/flight/target-roll" );
 837             RollTo( angle );
 838         } else {
 839             double angle
 840             = props->getDoubleValue("controls/flight/target-hdg" );
 841             TurnTo( angle );
 842         }
 843
 844         string lon_mode
 845         = props->getStringValue("controls/flight/longitude-mode");
 846         if ( lon_mode == "alt" ) {
 847             double alt = props->getDoubleValue("controls/flight/target-alt" );
 848             ClimbTo( alt );
 849         } else {
 850             double angle
 851             = props->getDoubleValue("controls/flight/target-pitch" );
 852             PitchTo( angle );
 853         }
 854
 855         AccelTo( props->getDoubleValue("controls/flight/target-spd" ) );
 856     }
 857 }
 858
 859 void FGAIAircraft::updatePosition() {
 860     // convert speed to degrees per second
 861     double speed_north_deg_sec = cos( hdg * SGD_DEGREES_TO_RADIANS )
 862                                  * speed * 1.686 / ft_per_deg_lat;
 863     double speed_east_deg_sec  = sin( hdg * SGD_DEGREES_TO_RADIANS )
 864                                  * speed * 1.686 / ft_per_deg_lon;
 865
 866     // set new position
 867     pos.setLatitudeDeg( pos.getLatitudeDeg() + speed_north_deg_sec * dt);
 868     pos.setLongitudeDeg( pos.getLongitudeDeg() + speed_east_deg_sec * dt);
 869 }
 870
 871
 872 void FGAIAircraft::updateHeading() {
 873     // adjust heading based on current bank angle
 874     if (roll == 0.0)
 875         roll = 0.01;
 876
 877     if (roll != 0.0) {
 878         // double turnConstant;
 879         //if (no_roll)
 880         //  turnConstant = 0.0088362;
 881         //else
 882         //  turnConstant = 0.088362;
 883         // If on ground, calculate heading change directly
 884         if (onGround()) {
 885             double headingDiff = fabs(hdg-tgt_heading);
 886             double bank_sense = 0.0;
 887         /*
 888         double diff = fabs(hdg - tgt_heading);
 889         if (diff > 180)
 890             diff = fabs(diff - 360);
 891
 892         double sum = hdg + diff;
 893         if (sum > 360.0)
 894             sum -= 360.0;
 895         if (fabs(sum - tgt_heading) < 1.0) {
 896             bank_sense = 1.0;    // right turn
 897         } else {
 898             bank_sense = -1.0;   // left turn
 899         }*/
 900             if (headingDiff > 180)
 901                 headingDiff = fabs(headingDiff - 360);
 902             double sum = hdg + headingDiff;
 903             if (sum > 360.0)
 904                 sum -= 360.0;
 905             if (fabs(sum - tgt_heading) > 0.0001) {
 906                 bank_sense = -1.0;
 907             } else {
 908                 bank_sense = 1.0;
 909             }
 910             //if (trafficRef)
 911                 //cerr << trafficRef->getCallSign() << " Heading "
 912                 //     << hdg << ". Target " << tgt_heading <<  ". Diff " << fabs(sum - tgt_heading) << ". Speed " << speed << endl;
 913             //if (headingDiff > 60) {
 914             groundTargetSpeed = tgt_speed; // * cos(headingDiff * SG_DEGREES_TO_RADIANS);
 915                 //groundTargetSpeed = tgt_speed - tgt_speed * (headingDiff/180);
 916             //} else {
 917             //    groundTargetSpeed = tgt_speed;
 918             //}
 919             if (sign(groundTargetSpeed) != sign(tgt_speed))
 920                 groundTargetSpeed = 0.21 * sign(tgt_speed); // to prevent speed getting stuck in 'negative' mode
 921
 922             if (headingDiff > 30.0) {
 923                 // invert if pushed backward
 924                 headingChangeRate += 10.0 * dt * sign(roll);
 925
 926                 // Clamp the maximum steering rate to 30 degrees per second,
 927                 // But only do this when the heading error is decreasing.
 928                 if ((headingDiff < headingError)) {
 929                     if (headingChangeRate > 30)
 930                         headingChangeRate = 30;
 931                     else if (headingChangeRate < -30)
 932                         headingChangeRate = -30;
 933                 }
 934             } else {
 935                    if (fabs(headingChangeRate) > headingDiff)
 936                        headingChangeRate = headingDiff*sign(roll);
 937                    else
 938                        headingChangeRate += dt * sign(roll);
 939             }
 940
 941             hdg += headingChangeRate * dt * (fabs(speed) / 15);
 942             headingError = headingDiff;
 943         } else {
 944             if (fabs(speed) > 1.0) {
 945                 turn_radius_ft = 0.088362 * speed * speed
 946                                  / tan( fabs(roll) / SG_RADIANS_TO_DEGREES );
 947             } else {
 948                 // Check if turn_radius_ft == 0; this might lead to a division by 0.
 949                 turn_radius_ft = 1.0;
 950             }
 951             double turn_circum_ft = SGD_2PI * turn_radius_ft;
 952             double dist_covered_ft = speed * 1.686 * dt;
 953             double alpha = dist_covered_ft / turn_circum_ft * 360.0;
 954             hdg += alpha * sign(roll);
 955         }
 956         while ( hdg > 360.0 ) {
 957             hdg -= 360.0;
 958             spinCounter++;
 959         }
 960         while ( hdg < 0.0) {
 961             hdg += 360.0;
 962             spinCounter--;
 963         }
 964     }
 965 }
 966
 967
 968 void FGAIAircraft::updateBankAngleTarget() {
 969     // adjust target bank angle if heading lock engaged
 970     if (hdg_lock) {
 971         double bank_sense = 0.0;
 972         double diff = fabs(hdg - tgt_heading);
 973         if (diff > 180)
 974             diff = fabs(diff - 360);
 975
 976         double sum = hdg + diff;
 977         if (sum > 360.0)
 978             sum -= 360.0;
 979         if (fabs(sum - tgt_heading) < 1.0) {
 980             bank_sense = 1.0;    // right turn
 981         } else {
 982             bank_sense = -1.0;   // left turn
 983         }
 984         if (diff < _performance->maximumBankAngle()) {
 985             tgt_roll = diff * bank_sense;
 986         } else {
 987             tgt_roll = _performance->maximumBankAngle() * bank_sense;
 988         }
 989         if ((fabs((double) spinCounter) > 1) && (diff > _performance->maximumBankAngle())) {
 990             tgt_speed *= 0.999;  // Ugly hack: If aircraft get stuck, they will continually spin around.
 991             // The only way to resolve this is to make them slow down.
 992         }
 993     }
 994 }
 995
 996
 997 void FGAIAircraft::updateVerticalSpeedTarget() {
 998     // adjust target Altitude, based on ground elevation when on ground
 999     if (onGround()) {
1000         getGroundElev(dt);
1001         doGroundAltitude();
1002     } else if (alt_lock) {
1003         // find target vertical speed
1004         if (use_perf_vs) {
1005             if (altitude_ft < tgt_altitude_ft) {
1006                 tgt_vs = tgt_altitude_ft - altitude_ft;
1007                 if (tgt_vs > _performance->climbRate())
1008                     tgt_vs = _performance->climbRate();
1009             } else {
1010                 tgt_vs = tgt_altitude_ft - altitude_ft;
1011                 if (tgt_vs  < (-_performance->descentRate()))
1012                     tgt_vs = -_performance->descentRate();
1013             }
1014         } else {
1015             double max_vs = 4*(tgt_altitude_ft - altitude_ft);
1016             double min_vs = 100;
1017             if (tgt_altitude_ft < altitude_ft)
1018                 min_vs = -100.0;
1019             if ((fabs(tgt_altitude_ft - altitude_ft) < 1500.0)
1020                     && (fabs(max_vs) < fabs(tgt_vs)))
1021                 tgt_vs = max_vs;
1022
1023             if (fabs(tgt_vs) < fabs(min_vs))
1024                 tgt_vs = min_vs;
1025         }
1026     } //else
1027     //    tgt_vs = 0.0;
1028 }
1029
1030 void FGAIAircraft::updatePitchAngleTarget() {
1031     // if on ground and above vRotate -> initial rotation
1032     if (onGround() && (speed > _performance->vRotate()))
1033         tgt_pitch = 8.0; // some rough B737 value
1034
1035     //TODO pitch angle on approach and landing
1036
1037     // match pitch angle to vertical speed
1038     else if (tgt_vs > 0) {
1039         tgt_pitch = tgt_vs * 0.005;
1040     } else {
1041         tgt_pitch = tgt_vs * 0.002;
1042     }
1043 }
1044
1045 string FGAIAircraft::atGate() {
1046      string tmp("");
1047      if (fp->getLeg() < 3) {
1048          if (trafficRef) {
1049              if (fp->getGate() > 0) {
1050                  FGParking *park =
1051                      trafficRef->getDepartureAirport()->getDynamics()->getParking(fp->getGate());
1052                  tmp = park->getName();
1053              }
1054          }
1055      }
1056      return tmp;
1057 }
1058
1059 void FGAIAircraft::handleATCRequests() {
1060     //TODO implement NullController for having no ATC to save the conditionals
1061     if (controller) {
1062         controller->update(getID(),
1063                            pos.getLatitudeDeg(),
1064                            pos.getLongitudeDeg(),
1065                            hdg,
1066                            speed,
1067                            altitude_ft, dt);
1068         processATC(controller->getInstruction(getID()));
1069     }
1070 }
1071
1072 void FGAIAircraft::updateActualState() {
1073     //update current state
1074     //TODO have a single tgt_speed and check speed limit on ground on setting tgt_speed
1075     updatePosition();
1076
1077     if (onGround())
1078         speed = _performance->actualSpeed(this, groundTargetSpeed, dt);
1079     else
1080         speed = _performance->actualSpeed(this, (tgt_speed *speedFraction), dt);
1081
1082     updateHeading();
1083     roll = _performance->actualBankAngle(this, tgt_roll, dt);
1084
1085     // adjust altitude (meters) based on current vertical speed (fpm)
1086     altitude_ft += vs / 60.0 * dt;
1087     pos.setElevationFt(altitude_ft);
1088
1089     vs = _performance->actualVerticalSpeed(this, tgt_vs, dt);
1090     pitch = _performance->actualPitch(this, tgt_pitch, dt);
1091 }
1092
1093 void FGAIAircraft::updateSecondaryTargetValues() {
1094     // derived target state values
1095     updateBankAngleTarget();
1096     updateVerticalSpeedTarget();
1097     updatePitchAngleTarget();
1098
1099     //TODO calculate wind correction angle (tgt_yaw)
1100 }
1101
1102
1103 bool FGAIAircraft::reachedEndOfCruise(double &distance) {
1104     FGAIFlightPlan::waypoint* curr = fp->getCurrentWaypoint();
1105     if (curr->name == "BOD") {
1106         double dist = fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
1107         double descentSpeed = (getPerformance()->vDescent() * SG_NM_TO_METER) / 3600.0;     // convert from kts to meter/s
1108         double descentRate  = (getPerformance()->descentRate() * SG_FEET_TO_METER) / 60.0;  // convert from feet/min to meter/s
1109
1110         double verticalDistance  = ((altitude_ft - 2000.0) - trafficRef->getArrivalAirport()->getElevation()) *SG_FEET_TO_METER;
1111         double descentTimeNeeded = verticalDistance / descentRate;
1112         double distanceCovered   = descentSpeed * descentTimeNeeded;
1113
1114         //cerr << "Tracking  : " << fgGetString("/ai/track-callsign");
1115         if (trafficRef->getCallSign() == fgGetString("/ai/track-callsign")) {
1116             cerr << "Checking for end of cruise stage for :" << trafficRef->getCallSign() << endl;
1117             cerr << "Descent rate      : " << descentRate << endl;
1118             cerr << "Descent speed     : " << descentSpeed << endl;
1119             cerr << "VerticalDistance  : " << verticalDistance << ". Altitude : " << altitude_ft << ". Elevation " << trafficRef->getArrivalAirport()->getElevation() << endl;
1120             cerr << "DecentTimeNeeded  : " << descentTimeNeeded << endl;
1121             cerr << "DistanceCovered   : " << distanceCovered   << endl;
1122         }
1123         //cerr << "Distance = " << distance << endl;
1124         distance = distanceCovered;
1125         if (dist < distanceCovered) {
1126               if (trafficRef->getCallSign() == fgGetString("/ai/track-callsign")) {
1127                    //exit(1);
1128               }
1129               return true;
1130         } else {
1131               return false;
1132         }
1133     } else {
1134          return false;
1135     }
1136 }
1137
1138 void FGAIAircraft::resetPositionFromFlightPlan()
1139 {
1140     // the one behind you
1141     FGAIFlightPlan::waypoint* prev = 0;
1142     // the one ahead
1143     FGAIFlightPlan::waypoint* curr = 0;
1144     // the next plus 1
1145     FGAIFlightPlan::waypoint* next = 0;
1146
1147     prev = fp->getPreviousWaypoint();
1148     curr = fp->getCurrentWaypoint();
1149     next = fp->getNextWaypoint();
1150
1151     setLatitude(prev->latitude);
1152     setLongitude(prev->longitude);
1153     double tgt_heading = fp->getBearing(curr, next);
1154     setHeading(tgt_heading);
1155     setAltitude(prev->altitude);
1156     setSpeed(prev->speed);
1157 }
1158
1159 double FGAIAircraft::getBearing(double crse)
1160 {
1161   double hdgDiff = fabs(hdg-crse);
1162   if (hdgDiff > 180)
1163       hdgDiff = fabs(hdgDiff - 360);
1164   return hdgDiff;
1165 }
1166
1167 time_t FGAIAircraft::checkForArrivalTime(string wptName) {
1168      FGAIFlightPlan::waypoint* curr = 0;
1169      curr = fp->getCurrentWaypoint();
1170
1171      double tracklength = fp->checkTrackLength(wptName);
1172      if (tracklength > 0.1) {
1173           tracklength += fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
1174      } else {
1175          return 0;
1176      }
1177      time_t now = time(NULL) + fgGetLong("/sim/time/warp");
1178      time_t arrivalTime = fp->getArrivalTime();
1179
1180      time_t ete = tracklength / ((speed * SG_NM_TO_METER) / 3600.0);
1181      time_t secondsToGo = arrivalTime - now;
1182      if (trafficRef->getCallSign() == fgGetString("/ai/track-callsign")) {
1183           cerr << "Checking arrival time: ete " << ete << ". Time to go : " << secondsToGo << ". Track length = " << tracklength << endl;
1184      }
1185      return (ete - secondsToGo); // Positive when we're too slow...
1186 }