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/math/point3d.hxx>
  26 #include <simgear/route/waypoint.hxx>
  27 #include <Main/fg_props.hxx>
  28 #include <Main/globals.hxx>
  29 #include <Main/viewer.hxx>
  30 #include <Scenery/scenery.hxx>
  31 #include <Scenery/tilemgr.hxx>
  32
  33 #include <string>
  34 #include <math.h>
  35 #include <time.h>
  36 #ifdef _MSC_VER
  37 #  include <float.h>
  38 #  define finite _finite
  39 #elif defined(__sun) || defined(sgi)
  40 #  include <ieeefp.h>
  41 #endif
  42
  43 SG_USING_STD(string);
  44
  45 #include "AIAircraft.hxx"
  46 //#include <Airports/trafficcontroller.hxx>
  47    static string tempReg;
  48 //
  49 // accel, decel, climb_rate, descent_rate, takeoff_speed, climb_speed,
  50 // cruise_speed, descent_speed, land_speed
  51 //
  52 const FGAIAircraft::PERF_STRUCT FGAIAircraft::settings[] = {
  53     // light aircraft
  54     {2.0, 2.0,  450.0, 1000.0,  70.0,  80.0, 100.0,  80.0,  60.0},
  55     // ww2_fighter
  56     {4.0, 2.0, 3000.0, 1500.0, 110.0, 180.0, 250.0, 200.0, 100.0},
  57     // jet_transport
  58     {5.0, 2.0, 3000.0, 1500.0, 140.0, 300.0, 430.0, 300.0, 130.0},
  59     // jet_fighter
  60     {7.0, 3.0, 4000.0, 2000.0, 150.0, 350.0, 500.0, 350.0, 150.0},
  61     // tanker
  62     {5.0, 2.0, 3000.0, 1500.0, 140.0, 300.0, 430.0, 300.0, 130.0},
  63     // ufo (extreme accel/decel)
  64     {30.0, 30.0, 6000.0, 6000.0, 150.0, 300.0, 430.0, 300.0, 130.0}
  65 };
  66
  67
  68 FGAIAircraft::FGAIAircraft(FGAISchedule *ref) :
  69     FGAIBase(otAircraft)
  70 {
  71     trafficRef = ref;
  72     if (trafficRef)
  73         groundOffset = trafficRef->getGroundOffset();
  74     else
  75         groundOffset = 0;
  76
  77     fp = 0;
  78     controller = 0;
  79     prevController = 0;
  80     dt_count = 0;
  81     dt_elev_count = 0;
  82     use_perf_vs = true;
  83     isTanker = false;
  84
  85     no_roll = false;
  86     tgt_speed = 0;
  87     speed = 0;
  88     groundTargetSpeed = 0;
  89
  90     // set heading and altitude locks
  91     hdg_lock = false;
  92     alt_lock = false;
  93     roll = 0;
  94     headingChangeRate = 0.0;
  95
  96     holdPos = false;
  97 }
  98
  99
 100 FGAIAircraft::~FGAIAircraft() {
 101     //delete fp;
 102   if (controller)
 103     controller->signOff(getID());
 104 }
 105
 106
 107 void FGAIAircraft::readFromScenario(SGPropertyNode* scFileNode) {
 108     if (!scFileNode)
 109         return;
 110
 111     FGAIBase::readFromScenario(scFileNode);
 112
 113     setPerformance(scFileNode->getStringValue("class", "jet_transport"));
 114     setFlightPlan(scFileNode->getStringValue("flightplan"),
 115                   scFileNode->getBoolValue("repeat", false));
 116     setCallSign(scFileNode->getStringValue("callsign"));
 117     setTACANChannelID(scFileNode->getStringValue("TACAN-channel-ID"));
 118 }
 119
 120
 121 bool FGAIAircraft::init() {
 122     //refuel_node = fgGetNode("systems/refuel/contact", true);
 123     return FGAIBase::init();
 124 }
 125
 126
 127 void FGAIAircraft::bind() {
 128     FGAIBase::bind();
 129
 130     props->tie("controls/gear/gear-down",
 131                SGRawValueMethods<FGAIAircraft,bool>(*this,
 132                                               &FGAIAircraft::_getGearDown));
 133     props->tie("refuel/contact", SGRawValuePointer<bool>(&contact));
 134     props->setStringValue("callsign", callsign.c_str());
 135     props->setStringValue("navaids/tacan/channel-ID", TACAN_channel_id.c_str());
 136     props->setBoolValue("tanker",isTanker);
 137 }
 138
 139
 140 void FGAIAircraft::unbind() {
 141     FGAIBase::unbind();
 142
 143     props->untie("controls/gear/gear-down");
 144     props->untie("refuel/contact");
 145 }
 146
 147
 148 void FGAIAircraft::update(double dt) {
 149     FGAIBase::update(dt);
 150     Run(dt);
 151     Transform();
 152 }
 153
 154
 155 void FGAIAircraft::setPerformance(const std::string& acclass) {
 156     if (acclass == "light") {
 157         SetPerformance(&FGAIAircraft::settings[FGAIAircraft::LIGHT]);
 158     } else if (acclass == "ww2_fighter") {
 159         SetPerformance(&FGAIAircraft::settings[FGAIAircraft::WW2_FIGHTER]);
 160     } else if (acclass == "jet_transport") {
 161         SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_TRANSPORT]);
 162     } else if (acclass == "jet_fighter") {
 163         SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_FIGHTER]);
 164     } else if (acclass == "tanker") {
 165         SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_TRANSPORT]);
 166         SetTanker(true);
 167     } else if (acclass == "ufo") {
 168         SetPerformance(&FGAIAircraft::settings[FGAIAircraft::UFO]);
 169     } else {
 170         SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_TRANSPORT]);
 171     }
 172 }
 173
 174
 175 void FGAIAircraft::SetPerformance(const PERF_STRUCT *ps) {
 176
 177    performance = ps;
 178 }
 179
 180
 181 void FGAIAircraft::Run(double dt) {
 182
 183     FGAIAircraft::dt = dt;
 184
 185     if (fp) {
 186         time_t now = time(NULL) + fgGetLong("/sim/time/warp");
 187         ProcessFlightPlan(dt, now);
 188         if (now < fp->getStartTime()) {
 189             // Do execute Ground elev for inactive aircraft, so they
 190             // Are repositioned to the correct ground altitude when the user flies within visibility range.
 191             // In addition, check whether we are out of user range, so this aircraft
 192             // can be deleted.
 193             if (no_roll) {
 194                 Transform();       // make sure aip is initialized.
 195                 if (trafficRef) {
 196                   double userLatitude  = fgGetDouble("/position/latitude-deg");
 197                   double userLongitude = fgGetDouble("/position/longitude-deg");
 198                   double course, distance;
 199                   SGWayPoint current(pos.getLongitudeDeg(), pos.getLatitudeDeg(), 0);
 200                   SGWayPoint user (userLongitude, userLatitude, 0);
 201                   user.CourseAndDistance(current, &course, &distance);
 202                   if ((distance * SG_METER_TO_NM) > TRAFFICTOAIDIST) {
 203                     setDie(true);
 204                     return;
 205                   }
 206                   getGroundElev(dt); // make sure it's exectuted first time around, so force a large dt value
 207                   //getGroundElev(dt); // Need to do this twice.
 208                   //cerr << trafficRef->getRegistration() << " Setting altitude to " << tgt_altitude;
 209                   doGroundAltitude();
 210                   //cerr << " Actual altitude " << altitude << endl;
 211                   // Transform();
 212                   pos.setElevationFt(altitude_ft);
 213                 }
 214             }
 215             return;
 216         }
 217     } else {
 218         // no flight plan, update target heading, speed, and altitude
 219         // from control properties.  These default to the initial
 220         // settings in the config file, but can be changed "on the
 221         // fly".
 222         string lat_mode = props->getStringValue("controls/flight/lateral-mode");
 223         if ( lat_mode == "roll" ) {
 224             double angle
 225                 = props->getDoubleValue("controls/flight/target-roll" );
 226             RollTo( angle );
 227         } else {
 228              double angle
 229                 = props->getDoubleValue("controls/flight/target-hdg" );
 230             TurnTo( angle );
 231         }
 232
 233         string lon_mode
 234             = props->getStringValue("controls/flight/longitude-mode");
 235         if ( lon_mode == "alt" ) {
 236             double alt = props->getDoubleValue("controls/flight/target-alt" );
 237             ClimbTo( alt );
 238         } else {
 239             double angle
 240                 = props->getDoubleValue("controls/flight/target-pitch" );
 241             PitchTo( angle );
 242         }
 243
 244         AccelTo( props->getDoubleValue("controls/flight/target-spd" ) );
 245     }
 246     if (controller)
 247       {
 248         controller->update(getID(),
 249                            pos.getLatitudeDeg(),
 250                            pos.getLongitudeDeg(),
 251                            hdg,
 252                            speed,
 253                            altitude_ft, dt);
 254         processATC(controller->getInstruction(getID()));
 255       }
 256
 257     double turn_radius_ft;
 258     double turn_circum_ft;
 259     double speed_north_deg_sec;
 260     double speed_east_deg_sec;
 261     double dist_covered_ft;
 262     double alpha;
 263
 264     // adjust speed
 265     double speed_diff; //= tgt_speed - speed;
 266     if (!no_roll) {
 267         speed_diff = tgt_speed - speed;
 268     } else {
 269         speed_diff = groundTargetSpeed - speed;
 270     }
 271
 272     if (speed_diff > 0.0) {
 273         speed += performance->accel * dt;
 274         if (no_roll) { // apply overshoot correction
 275           if ( speed > groundTargetSpeed ) speed = groundTargetSpeed;
 276         }else {
 277           if ( speed > tgt_speed ) speed = tgt_speed;
 278         }
 279     } else if (speed_diff < 0.0) {
 280         if (no_roll) {
 281             // on ground (aircraft can't roll)
 282             // deceleration performance is better due to wheel brakes.
 283             speed -= performance->decel * dt * 3;
 284         } else {
 285             speed -= performance->decel * dt;
 286         }
 287         if (no_roll) { // apply overshoot correction
 288         if (speed < groundTargetSpeed ) speed = groundTargetSpeed;
 289         } else {
 290           if ( speed < tgt_speed ) speed = tgt_speed;
 291         }
 292     }
 293
 294
 295     // convert speed to degrees per second
 296     speed_north_deg_sec = cos( hdg * SGD_DEGREES_TO_RADIANS )
 297                           * speed * 1.686 / ft_per_deg_lat;
 298     speed_east_deg_sec  = sin( hdg * SGD_DEGREES_TO_RADIANS )
 299                           * speed * 1.686 / ft_per_deg_lon;
 300
 301     // set new position
 302     pos.setLatitudeDeg( pos.getLatitudeDeg() + speed_north_deg_sec * dt);
 303     pos.setLongitudeDeg( pos.getLongitudeDeg() + speed_east_deg_sec * dt);
 304
 305     /* printf("%.7f %0.4f %.7f %.5f %.7f %.7f %.8f %.8f %.9f %.9f\n",
 306            dt, hdg, speed, ft_per_deg_lat,
 307            cos( hdg * SGD_DEGREES_TO_RADIANS ),
 308            speed * 1.686 / ft_per_deg_lat,
 309            speed_north_deg_sec, speed_east_deg_sec,
 310            pos.getLatitudeDeg(), pos.getLongitudeDeg()); */
 311
 312     //if (!(finite(pos.lat()) && finite(pos.lon())))
 313     //  {
 314     //    cerr << "Position is not finite" << endl;
 315     //    cerr << "speed = " << speed << endl;
 316     //    cerr << "dt" << dt << endl;
 317     //    cerr << "heading " << hdg << endl;
 318     //    cerr << "speed east " << speed_east_deg_sec << endl;
 319     //    cerr << "speed nrth " << speed_north_deg_sec << endl;
 320     //    cerr << "deg_lat    " << ft_per_deg_lat << endl;
 321     //    cerr << "deg_lon    " << ft_per_deg_lon << endl;
 322     //  }
 323
 324     // adjust heading based on current bank angle
 325     if (roll == 0.0)
 326         roll = 0.01;
 327
 328     if (roll != 0.0) {
 329         // double turnConstant;
 330         //if (no_roll)
 331         //  turnConstant = 0.0088362;
 332         //else
 333         //  turnConstant = 0.088362;
 334         // If on ground, calculate heading change directly
 335         if (no_roll) {
 336             double headingDiff = fabs(hdg-tgt_heading);
 337
 338             if (headingDiff > 180)
 339                 headingDiff = fabs(headingDiff - 360);
 340
 341             groundTargetSpeed = tgt_speed - (tgt_speed * (headingDiff/45));
 342             if (sign(groundTargetSpeed) != sign(tgt_speed))
 343                 groundTargetSpeed = 0.21 * sign(tgt_speed); // to prevent speed getting stuck in 'negative' mode
 344
 345             if (headingDiff > 30.0) {
 346                 headingChangeRate += dt * sign(roll); // invert if pushed backward
 347                 // Print some debug statements to find out why aircraft may get stuck
 348                 // forever turning
 349                 //if (trafficRef->getDepartureAirport()->getId() == string("EHAM")) {
 350                 //    cerr << "Turning : " << trafficRef->getRegistration()
 351                 //    cerr <<  " Speed = " << speed << " Heading " << hdg
 352                 //         << " Target Heading " << tgt_heading
 353                 //         << " Lead Distance " <<  fp->getLeadDistance()
 354                 //         << " Distance to go "
 355                 //         << fp->getDistanceToGo(pos.lat(), pos.lon(), fp->getCurrentWaypoint())
 356                 //         << "waypoint name " << fp->getCurrentWaypoint()->name
 357                 //         << endl;
 358                 //}
 359                 if (headingChangeRate > 30)
 360                     headingChangeRate = 30;
 361                 else if (headingChangeRate < -30)
 362                     headingChangeRate = -30;
 363
 364             } else {
 365                 if (fabs(headingChangeRate) > headingDiff)
 366                     headingChangeRate = headingDiff*sign(roll);
 367                 else
 368                     headingChangeRate += dt * sign(roll);
 369             }
 370             hdg += headingChangeRate * dt;
 371             //cerr << "On ground. Heading: " << hdg << ". Target Heading: " << tgt_heading
 372             //     << ". Target speed: " << groundTargetSpeed << ". heading change rate"
 373             //     << headingChangeRate << endl;
 374
 375         } else {
 376             if (fabs(speed) > 1.0) {
 377                 turn_radius_ft = 0.088362 * speed * speed
 378                         / tan( fabs(roll) / SG_RADIANS_TO_DEGREES );
 379             } else {
 380                 turn_radius_ft = 1.0; // Check if turn_radius_ft == 0; this might lead to a division by 0.
 381             }
 382             turn_circum_ft = SGD_2PI * turn_radius_ft;
 383             dist_covered_ft = speed * 1.686 * dt;
 384             alpha = dist_covered_ft / turn_circum_ft * 360.0;
 385             hdg += alpha * sign(roll);
 386         }
 387         while ( hdg > 360.0 ) {
 388             hdg -= 360.0;
 389             spinCounter++;
 390         }
 391         while ( hdg < 0.0) {
 392             hdg += 360.0;
 393             spinCounter--;
 394         }
 395     }
 396
 397
 398     // adjust target bank angle if heading lock engaged
 399     if (hdg_lock) {
 400         double bank_sense = 0.0;
 401         double diff = fabs(hdg - tgt_heading);
 402         if (diff > 180)
 403             diff = fabs(diff - 360);
 404
 405         double sum = hdg + diff;
 406         if (sum > 360.0)
 407             sum -= 360.0;
 408         if (fabs(sum - tgt_heading) < 1.0) {
 409             bank_sense = 1.0;   // right turn
 410         } else {
 411             bank_sense = -1.0;  // left turn
 412         }
 413         if (diff < 30) {
 414             tgt_roll = diff * bank_sense;
 415         } else {
 416             tgt_roll = 30.0 * bank_sense;
 417         }
 418         if ((fabs((double) spinCounter) > 1) && (diff > 30)) {
 419             tgt_speed *= 0.999; // Ugly hack: If aircraft get stuck, they will continually spin around.
 420             // The only way to resolve this is to make them slow down.
 421             //if (tempReg.empty())
 422             //  tempReg = trafficRef->getRegistration();
 423             //if (trafficRef->getRegistration() == tempReg) {
 424             //    cerr << trafficRef->getRegistration()
 425             //         << " appears to be spinning: " << spinCounter << endl
 426             //         << " speed          " << speed << endl
 427             //         << " heading        " << hdg << endl
 428             //         << " lead distance  " << fp->getLeadDistance() << endl
 429             //         << " waypoint       " << fp->getCurrentWaypoint()->name
 430             //         << " target heading " << tgt_heading << endl
 431             //         << " lead in angle  " << fp->getLeadInAngle()<< endl
 432             //         << " roll           " << roll << endl
 433             //         << " target_roll    " << tgt_roll << endl;
 434             //}
 435         }
 436     }
 437
 438     // adjust bank angle, use 9 degrees per second
 439     double bank_diff = tgt_roll - roll;
 440     if (fabs(bank_diff) > 0.2) {
 441         if (bank_diff > 0.0)
 442             roll += 9.0 * dt;
 443
 444         if (bank_diff < 0.0)
 445             roll -= 9.0 * dt;
 446         //while (roll > 180) roll -= 360;
 447         //while (roll < 180) roll += 360;
 448     }
 449
 450     // adjust altitude (meters) based on current vertical speed (fpm)
 451     altitude_ft += vs / 60.0 * dt;
 452     pos.setElevationFt(altitude_ft);
 453
 454     // adjust target Altitude, based on ground elevation when on ground
 455     if (no_roll) {
 456         getGroundElev(dt);
 457         doGroundAltitude();
 458     } else {
 459         // find target vertical speed if altitude lock engaged
 460         if (alt_lock && use_perf_vs) {
 461             if (altitude_ft < tgt_altitude_ft) {
 462                 tgt_vs = tgt_altitude_ft - altitude_ft;
 463                 if (tgt_vs > performance->climb_rate)
 464                     tgt_vs = performance->climb_rate;
 465             } else {
 466                 tgt_vs = tgt_altitude_ft - altitude_ft;
 467                 if (tgt_vs  < (-performance->descent_rate))
 468                     tgt_vs = -performance->descent_rate;
 469             }
 470         }
 471
 472         if (alt_lock && !use_perf_vs) {
 473             double max_vs = 4*(tgt_altitude_ft - altitude_ft);
 474             double min_vs = 100;
 475             if (tgt_altitude_ft < altitude_ft)
 476                 min_vs = -100.0;
 477             if ((fabs(tgt_altitude_ft - altitude_ft) < 1500.0)
 478                     && (fabs(max_vs) < fabs(tgt_vs)))
 479                 tgt_vs = max_vs;
 480
 481             if (fabs(tgt_vs) < fabs(min_vs))
 482                 tgt_vs = min_vs;
 483         }
 484     }
 485     // adjust vertical speed
 486     double vs_diff = tgt_vs - vs;
 487     if (fabs(vs_diff) > 10.0) {
 488         if (vs_diff > 0.0) {
 489             vs += (performance->climb_rate / 3.0) * dt;
 490
 491             if (vs > tgt_vs)
 492                 vs = tgt_vs;
 493         } else {
 494             vs -= (performance->descent_rate / 3.0) * dt;
 495
 496            if (vs < tgt_vs)
 497                vs = tgt_vs;
 498         }
 499     }
 500
 501     // match pitch angle to vertical speed
 502     if (vs > 0) {
 503         pitch = vs * 0.005;
 504     } else {
 505         pitch = vs * 0.002;
 506     }
 507
 508     //###########################//
 509     // do calculations for radar //
 510     //###########################//
 511     double range_ft2 = UpdateRadar(manager);
 512
 513     //************************************//
 514     // Tanker code                        //
 515     //************************************//
 516
 517     if ( isTanker) {
 518         if ( (range_ft2 < 250.0 * 250.0) && (y_shift > 0.0)
 519                 && (elevation > 0.0) ) {
 520             //refuel_node->setBoolValue(true);
 521             contact = true;
 522         } else {
 523             //refuel_node->setBoolValue(false);
 524             contact = false;
 525         }
 526     } else {
 527         contact = false;
 528     }
 529 }
 530
 531
 532 void FGAIAircraft::AccelTo(double speed) {
 533     tgt_speed = speed;
 534 }
 535
 536
 537 void FGAIAircraft::PitchTo(double angle) {
 538     tgt_pitch = angle;
 539     alt_lock = false;
 540 }
 541
 542
 543 void FGAIAircraft::RollTo(double angle) {
 544     tgt_roll = angle;
 545     hdg_lock = false;
 546 }
 547
 548
 549 void FGAIAircraft::YawTo(double angle) {
 550     tgt_yaw = angle;
 551 }
 552
 553
 554 void FGAIAircraft::ClimbTo(double alt_ft ) {
 555     tgt_altitude_ft = alt_ft;
 556     alt_lock = true;
 557 }
 558
 559
 560 void FGAIAircraft::TurnTo(double heading) {
 561     tgt_heading = heading;
 562     hdg_lock = true;
 563 }
 564
 565
 566 double FGAIAircraft::sign(double x) {
 567     if ( x < 0.0 )
 568         return -1.0;
 569     else
 570         return 1.0;
 571 }
 572
 573
 574 void FGAIAircraft::setFlightPlan(const std::string& flightplan, bool repeat) {
 575     if (!flightplan.empty()) {
 576         FGAIFlightPlan* fp = new FGAIFlightPlan(flightplan);
 577         fp->setRepeat(repeat);
 578         SetFlightPlan(fp);
 579     }
 580 }
 581
 582
 583 void FGAIAircraft::SetFlightPlan(FGAIFlightPlan *f) {
 584     delete fp;
 585     fp = f;
 586 }
 587
 588
 589 void FGAIAircraft::ProcessFlightPlan( double dt, time_t now ) {
 590     bool eraseWaypoints;
 591     if (trafficRef) {
 592         eraseWaypoints = true;
 593     } else
 594         eraseWaypoints = false;
 595
 596
 597     FGAIFlightPlan::waypoint* prev = 0; // the one behind you
 598     FGAIFlightPlan::waypoint* curr = 0; // the one ahead
 599     FGAIFlightPlan::waypoint* next = 0; // the next plus 1
 600     prev = fp->getPreviousWaypoint();
 601     curr = fp->getCurrentWaypoint();
 602     next = fp->getNextWaypoint();
 603     dt_count += dt;
 604
 605     ///////////////////////////////////////////////////////////////////////////
 606     // Initialize the flightplan
 607     //////////////////////////////////////////////////////////////////////////
 608     if (!prev) {
 609
 610       spinCounter = 0;
 611       tempReg = "";
 612       fp->IncrementWaypoint(eraseWaypoints);
 613       if (!(fp->getNextWaypoint()) && trafficRef)
 614         loadNextLeg();
 615
 616       prev = fp->getPreviousWaypoint(); //first waypoint
 617       curr = fp->getCurrentWaypoint();  //second waypoint
 618       next = fp->getNextWaypoint();     //third waypoint (might not exist!)
 619
 620       setLatitude(prev->latitude);
 621       setLongitude(prev->longitude);
 622       setSpeed(prev->speed);
 623       setAltitude(prev->altitude);
 624
 625       if (prev->speed > 0.0)
 626         setHeading(fp->getBearing(prev->latitude, prev->longitude, curr));
 627       else
 628         setHeading(fp->getBearing(curr->latitude, curr->longitude, prev));
 629
 630       // If next doesn't exist, as in incrementally created flightplans for
 631       // AI/Trafficmanager created plans,
 632       // Make sure lead distance is initialized otherwise
 633       if (next)
 634         fp->setLeadDistance(speed, hdg, curr, next);
 635
 636       if (curr->crossat > -1000.0) { //use a calculated descent/climb rate
 637         use_perf_vs = false;
 638         tgt_vs = (curr->crossat - prev->altitude)
 639           / (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr)
 640              / 6076.0 / prev->speed*60.0);
 641         tgt_altitude_ft = curr->crossat;
 642       } else {
 643         use_perf_vs = true;
 644         tgt_altitude_ft = prev->altitude;
 645       }
 646       alt_lock = hdg_lock = true;
 647       no_roll = prev->on_ground;
 648       if (no_roll) {
 649         Transform();         // make sure aip is initialized.
 650         getGroundElev(60.1); // make sure it's exectuted first time around, so force a large dt value
 651         doGroundAltitude();
 652       }
 653       // Make sure to announce the aircraft's position
 654       announcePositionToController();
 655       prevSpeed = 0;
 656       return;
 657     } // end of initialization
 658
 659     ///////////////////////////////////////////////////////////////////////////
 660     // Check Execution time (currently once every 100 ms
 661     ///////////////////////////////////////////////////////////////////////////
 662     if ((dt_count < 0.1) || (now < fp->getStartTime())) {
 663       //cerr  << "done fp dt" << endl;
 664       return;
 665     } else {
 666       dt_count = 0;
 667     }
 668     // check to see if we've reached the lead point for our next turn
 669     double dist_to_go = fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
 670
 671     //cerr << "2" << endl;
 672     double lead_dist = fp->getLeadDistance();
 673     //cerr << " Distance : " << dist_to_go << ": Lead distance " << lead_dist << endl;
 674     // experimental: Use fabs, because speed can be negative (I hope) during push_back.
 675
 676     if (lead_dist < fabs(2*speed)) {
 677         lead_dist = fabs(2*speed);  //don't skip over the waypoint
 678         //cerr << "Extending lead distance to " << lead_dist << endl;
 679     }
 680
 681     //prev_dist_to_go = dist_to_go;
 682
 683     if ( dist_to_go < lead_dist ) {
 684         if (curr->finished) {  //end of the flight plan
 685             if (fp->getRepeat())
 686                 fp->restart();
 687             else
 688                 setDie(true);
 689             return;
 690         }
 691
 692         if (next) {
 693             tgt_heading = fp->getBearing(curr, next);
 694             spinCounter = 0;
 695         }
 696
 697         fp->IncrementWaypoint(eraseWaypoints);
 698         if (!(fp->getNextWaypoint()) && trafficRef)
 699             loadNextLeg();
 700
 701         prev = fp->getPreviousWaypoint();
 702         curr = fp->getCurrentWaypoint();
 703         next = fp->getNextWaypoint();
 704
 705         // Now that we have incremented the waypoints, excute some traffic manager specific code
 706         if (trafficRef) {
 707             double userLatitude  = fgGetDouble("/position/latitude-deg");
 708             double userLongitude = fgGetDouble("/position/longitude-deg");
 709             double course, distance;
 710             SGWayPoint current(pos.getLongitudeDeg(), pos.getLatitudeDeg(), 0);
 711             SGWayPoint user (userLongitude, userLatitude, 0);
 712             user.CourseAndDistance(current, &course, &distance);
 713             if ((distance * SG_METER_TO_NM) > TRAFFICTOAIDIST) {
 714                 setDie(true);
 715                 return;
 716             }
 717
 718             FGAirport * dep = trafficRef->getDepartureAirport();
 719             FGAirport * arr = trafficRef->getArrivalAirport();
 720             if (!( dep && arr)) {
 721                 setDie(true);
 722                 return;
 723             }
 724             // This waypoint marks the fact that the aircraft has passed the initial taxi
 725             // departure waypoint, so it can release the parking.
 726             if (prev->name == "park2")
 727                 dep->getDynamics()->releaseParking(fp->getGate());
 728             // This is the last taxi waypoint, and marks the the end of the flight plan
 729             // so, the schedule should update and wait for the next departure time.
 730             if (prev->name == "END") {
 731               // make sure to wait at least 20 minutes at parking to prevent "nervous" taxi behavior
 732               // delayed aircraft.
 733               time_t nextDeparture = trafficRef->getDepartureTime();
 734               if (nextDeparture < (now+1200)) {
 735                 nextDeparture = now + 1200;
 736               }
 737               fp->setTime(trafficRef->getDepartureTime());
 738             }
 739             announcePositionToController();
 740
 741         }
 742
 743         if (next) {
 744             //cerr << "Current waypoint" << curr->name << endl;
 745             //cerr << "Next waypoint" << next->name << endl;
 746             fp->setLeadDistance(speed, tgt_heading, curr, next);
 747         }
 748
 749         //cerr << "5.1" << endl;
 750         if (!(prev->on_ground)) { // only update the tgt altitude from flightplan if not on the ground
 751             tgt_altitude_ft = prev->altitude;
 752             if (curr->crossat > -1000.0) {
 753                 //cerr << "5.1a" << endl;
 754                 use_perf_vs = false;
 755                 tgt_vs = (curr->crossat - altitude_ft) / (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr)
 756                         / 6076.0 / speed*60.0);
 757                 //cerr << "5.1b" << endl;
 758                 tgt_altitude_ft = curr->crossat;
 759             } else {
 760                 //cerr << "5.1c" << endl;
 761                 use_perf_vs = true;
 762                 //cerr << "5.1d" << endl;
 763                 //cerr << "Setting target altitude : " <<tgt_altitude_ft << endl;
 764             }
 765         }
 766         //cerr << "6" << endl;
 767         tgt_speed = prev->speed;
 768         hdg_lock = alt_lock = true;
 769         no_roll = prev->on_ground;
 770         //cout << "Crossing waypoint: " << prev->name << endl;
 771         //cout << "  Target speed:    " << tgt_speed << endl;
 772         //cout << "  Target altitude: " << tgt_altitude_ft << endl;
 773         //cout << "  Target heading:  " << tgt_heading << endl << endl;
 774
 775     } else {
 776         double calc_bearing = fp->getBearing(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
 777         //cerr << "Bearing = " << calc_bearing << endl;
 778         if (speed < 0) {
 779             calc_bearing +=180;
 780             if (calc_bearing > 360)
 781                 calc_bearing -= 360;
 782         }
 783
 784         if (finite(calc_bearing)) {
 785             double hdg_error = calc_bearing - tgt_heading;
 786             if (fabs(hdg_error) > 1.0) {
 787                 TurnTo( calc_bearing );
 788             }
 789
 790         } else {
 791             cerr << "calc_bearing is not a finite number : "
 792                  << "Speed " << speed
 793                  << "pos : " << pos.getLatitudeDeg() << ", " << pos.getLongitudeDeg()
 794                  << "waypoint " << curr->latitude << ", " << curr->longitude << endl;
 795             cerr << "waypoint name " << curr->name;
 796             exit(1);  // FIXME
 797         }
 798
 799         double speed_diff = speed - prevSpeed;
 800         // Update the lead distance calculation if speed has changed sufficiently
 801         // to prevent spinning (hopefully);
 802         if (fabs(speed_diff) > 10) {
 803             prevSpeed = speed;
 804             fp->setLeadDistance(speed, tgt_heading, curr, next);
 805         }
 806
 807         //cerr << "Done Processing FlightPlan"<< endl;
 808     }
 809 }
 810
 811 void FGAIAircraft::initializeFlightPlan()
 812 {
 813
 814 }
 815
 816
 817 bool FGAIAircraft::_getGearDown() const {
 818     return ((props->getFloatValue("position/altitude-agl-ft") < 900.0)
 819             && (props->getFloatValue("velocities/airspeed-kt")
 820             < performance->land_speed*1.25));
 821 }
 822
 823
 824 void FGAIAircraft::loadNextLeg() {
 825     //delete fp;
 826     //time_t now = time(NULL) + fgGetLong("/sim/time/warp");
 827
 828     //FGAIModelEntity entity;
 829     //entity.m_class = "jet_transport";
 830     //entity.path = modelPath.c_str();
 831     //entity.flightplan = "none";
 832     //entity.latitude = _getLatitude();
 833     //entity.longitude = _getLongitude();
 834     //entity.altitude = trafficRef->getCruiseAlt() * 100; // convert from FL to feet
 835     //entity.speed = 450; // HACK ALERT
 836     //entity.fp = new FGAIFlightPlan(&entity, courseToDest, i->getDepartureTime(), dep, arr);
 837     int leg;
 838     if ((leg = fp->getLeg())  == 10) {
 839         trafficRef->next();
 840         leg = 1;
 841         fp->setLeg(leg);
 842         //cerr << "Resetting leg : " << leg << endl;
 843     }
 844     //leg++;
 845     //fp->setLeg(leg);
 846     //cerr << "Creating leg number : " << leg << endl;
 847     FGAirport *dep = trafficRef->getDepartureAirport();
 848     FGAirport *arr = trafficRef->getArrivalAirport();
 849     if (!(dep && arr)) {
 850         setDie(true);
 851         //cerr << "Failed to get airport in AIAircraft::ProcessFlightplan()" << endl;
 852         //if (dep)
 853         //  cerr << "Departure " << dep->getId() << endl;
 854         //if (arr)
 855         //  cerr << "Arrival   " << arr->getId() << endl;
 856
 857     } else {
 858         double cruiseAlt = trafficRef->getCruiseAlt() * 100;
 859         //cerr << "Creating new leg using " << cruiseAlt << " as cruise altitude."<< endl;
 860
 861         fp->create (dep,
 862                     arr,
 863                     leg,
 864                     cruiseAlt, //(trafficRef->getCruiseAlt() * 100), // convert from FL to feet
 865                     trafficRef->getSpeed(),
 866                     _getLatitude(),
 867                     _getLongitude(),
 868                     false,
 869                     trafficRef->getRadius(),
 870                     trafficRef->getFlightType(),
 871                     acType,
 872                     company);
 873         //prev = fp->getPreviousWaypoint();
 874         //curr = fp->getCurrentWaypoint();
 875         //next = fp->getNextWaypoint();
 876         //cerr << "25" << endl;
 877         //if (next)
 878         //        {
 879         //  //cerr << "Next waypoint" << next->name << endl;
 880         //          fp->setLeadDistance(speed, tgt_heading, curr, next);
 881         //        }
 882         //cerr << "25.1" << endl;
 883         //if (curr->crossat > -1000.0) {
 884         //        //cerr << "25.1a" << endl;
 885         //        use_perf_vs = false;
 886         //
 887         //        tgt_vs = (curr->crossat - altitude_ft)/
 888         //          (fp->getDistanceToGo(pos.lat(), pos.lon(), curr)/6076.0/speed*60.0);
 889         //        //cerr << "25.1b" << endl;
 890         //        tgt_altitude_ft = curr->crossat;
 891         //} else {
 892         //        //cerr << "25.1c" << endl;
 893         //        use_perf_vs = true;
 894         //        //cerr << "25.1d" << endl;
 895         //        tgt_altitude_ft = prev->altitude;
 896         //        //cerr << "Setting target altitude : " <<tgt_altitude_ft << endl;
 897         // }
 898         //cerr << "26" << endl;
 899         //tgt_speed = prev->speed;
 900         //hdg_lock = alt_lock = true;
 901         //no_roll = prev->on_ground;
 902     }
 903     //else
 904     //{
 905     //delete entity.fp;
 906     //entity.fp = new FGAIFlightPlan(&entity,
 907     //                                 999,  // A hack
 908     //                                 trafficRef->getDepartureTime(),
 909     //                                 trafficRef->getDepartureAirport(),
 910     //                                 trafficRef->getArrivalAirport(),
 911     //                                 false,
 912     //                                 acType,
 913     //                                 company);
 914     //SetFlightPlan(entity.fp);
 915 }
 916
 917
 918 // Note: This code is copied from David Luff's AILocalTraffic
 919 // Warning - ground elev determination is CPU intensive
 920 // Either this function or the logic of how often it is called
 921 // will almost certainly change.
 922
 923 void FGAIAircraft::getGroundElev(double dt) {
 924     dt_elev_count += dt;
 925
 926     // Update minimally every three secs, but add some randomness
 927     // to prevent all IA objects doing this in synchrony
 928     if (dt_elev_count < (3.0) + (rand() % 10))
 929         return;
 930     else
 931        dt_elev_count = 0;
 932
 933     // Only do the proper hitlist stuff if we are within visible range of the viewer.
 934     if (!invisible) {
 935         double visibility_meters = fgGetDouble("/environment/visibility-m");
 936
 937         FGViewer* vw = globals->get_current_view();
 938         double course, distance;
 939
 940         SGWayPoint current(pos.getLongitudeDeg(), pos.getLatitudeDeg(), 0);
 941         SGWayPoint view (vw->getLongitude_deg(), vw->getLatitude_deg(), 0);
 942         view.CourseAndDistance(current, &course, &distance);
 943         if(distance > visibility_meters) {
 944             //aip.getSGLocation()->set_cur_elev_m(aptElev);
 945             return;
 946         }
 947
 948         // FIXME: make sure the pos.lat/pos.lon values are in degrees ...
 949         double range = 500.0;
 950         if (!globals->get_tile_mgr()->scenery_available(pos.getLatitudeDeg(), pos.getLongitudeDeg(), range)) {
 951             // Try to shedule tiles for that position.
 952             globals->get_tile_mgr()->update( aip.getSGLocation(), range );
 953         }
 954
 955         // FIXME: make sure the pos.lat/pos.lon values are in degrees ...
 956         double alt;
 957         if (globals->get_scenery()->get_elevation_m(pos.getLatitudeDeg(), pos.getLongitudeDeg(), 20000.0, alt, 0))
 958             tgt_altitude_ft = alt * SG_METER_TO_FEET;
 959
 960         //cerr << "Target altitude : " << tgt_altitude_ft << endl;
 961         // if (globals->get_scenery()->get_elevation_m(pos.lat(), pos.lon(),
 962         //                                            20000.0, alt))
 963         //    tgt_altitude_ft = alt * SG_METER_TO_FEET;
 964         //cerr << "Target altitude : " << tgt_altitude_ft << endl;
 965     }
 966 }
 967
 968
 969 void FGAIAircraft::setCallSign(const string& s) {
 970     callsign = s;
 971 }
 972
 973
 974 void FGAIAircraft::setTACANChannelID(const string& id) {
 975     TACAN_channel_id = id;
 976 }
 977
 978
 979 void FGAIAircraft::doGroundAltitude() {
 980    if (fabs(altitude_ft - (tgt_altitude_ft+groundOffset)) > 1000.0)
 981        altitude_ft = (tgt_altitude_ft + groundOffset);
 982    else
 983       altitude_ft += 0.1 * ((tgt_altitude_ft+groundOffset) - altitude_ft);
 984 }
 985
 986
 987 void FGAIAircraft::announcePositionToController()
 988 {
 989   if (trafficRef) {
 990     //FGTaxiRoute *taxiRoute = fp->getTaxiRoute();
 991
 992     int leg = fp->getLeg();
 993
 994     //if (fp->getCurrentWaypoint()->routeIndex != 0) {
 995       //char buffer[10];
 996       //snprintf (buffer, 10, "%d", node);
 997       // Note that leg was been incremented after creating the current leg, so we should use
 998       // leg numbers here that are one higher than the number that is used to create the leg
 999       //
1000       switch (leg) {
1001       case 3: // Taxiing to runway
1002         if (trafficRef->getDepartureAirport()->getDynamics()->getGroundNetwork()->exists())
1003           controller = trafficRef->getDepartureAirport()->getDynamics()->getGroundNetwork();
1004         break;
1005       case 4: //Take off tower controller
1006         if (trafficRef->getDepartureAirport()->getDynamics())
1007           {
1008             controller = trafficRef->getDepartureAirport()->getDynamics()->getTowerController();
1009             //if (trafficRef->getDepartureAirport()->getId() == "EHAM") {
1010             //cerr << trafficRef->getCallSign() << " at runway " << fp->getRunway() << "Ready for departure "
1011             //   << trafficRef->getFlightType() << " to " << trafficRef->getArrivalAirport()->getId() << endl;
1012             //  if (controller == 0) {
1013             //cerr << "Error in assigning controller at " << trafficRef->getDepartureAirport()->getId() << endl;
1014                 //}
1015
1016           }
1017         else {
1018           cerr << "Error: Could not find Dynamics at airport : " << trafficRef->getDepartureAirport()->getId() << endl;
1019         }
1020         break;
1021       case 9: // Taxiing for parking
1022         if (trafficRef->getArrivalAirport()->getDynamics()->getGroundNetwork()->exists())
1023           controller = trafficRef->getArrivalAirport()->getDynamics()->getGroundNetwork();
1024         break;
1025       default:
1026         controller = 0;
1027         break;
1028       }
1029
1030     if ((controller != prevController) && (prevController != 0)) {
1031       prevController->signOff(getID());
1032       string callsign =  trafficRef->getCallSign();
1033       if ( trafficRef->getHeavy())
1034         callsign += "Heavy";
1035       switch (leg) {
1036       case 3:
1037         //cerr << callsign << " ready to taxi to runway " << fp->getRunway() << endl;
1038         break;
1039       case 4:
1040         //cerr << callsign << " at runway " << fp->getRunway() << "Ready for take-off. "
1041         //     << trafficRef->getFlightRules() << " to " << trafficRef->getArrivalAirport()->getId()
1042         //     << "(" << trafficRef->getArrivalAirport()->getName() << ")."<< endl;
1043         break;
1044       }
1045     }
1046     prevController = controller;
1047     if (controller) {
1048       controller->announcePosition(getID(), fp, fp->getCurrentWaypoint()->routeIndex,
1049                            _getLatitude(), _getLongitude(), hdg, speed, altitude_ft,
1050                                    trafficRef->getRadius(), leg, trafficRef->getCallSign());
1051     }
1052   }
1053 }
1054
1055
1056 void FGAIAircraft::processATC(FGATCInstruction instruction)
1057 {
1058   //cerr << "Processing ATC instruction (not Implimented yet)" << endl;
1059   if (instruction.getHoldPattern   ()) {
1060   }
1061
1062   // Hold Position
1063   if (instruction.getHoldPosition  ()) {
1064     if (!holdPos) {
1065       //if (trafficRef)
1066       //cerr << trafficRef->getCallSign() << "Holding Position " << endl;
1067       holdPos = true;
1068     }
1069     AccelTo(0.0);
1070   } else {
1071     if (holdPos) {
1072       //if (trafficRef)
1073       //        cerr << trafficRef->getCallSign() << " Resuming Taxi " << endl;
1074       holdPos = false;
1075     }
1076     // Change speed Instruction. This can only be excecuted when there is no
1077     // Hold position instruction.
1078     if (instruction.getChangeSpeed   ()) {
1079       //  if (trafficRef)
1080       //cerr << trafficRef->getCallSign() << " Changing Speed " << endl;
1081       AccelTo(instruction.getSpeed());
1082     }else {
1083       if (fp) AccelTo(fp->getPreviousWaypoint()->speed);
1084     }
1085   }
1086   if (instruction.getChangeHeading ()) {
1087     hdg_lock = false;
1088     TurnTo(instruction.getHeading());
1089   } else {
1090     if (fp) {hdg_lock = true;}
1091   }
1092   if (instruction.getChangeAltitude()) {
1093   }
1094
1095 }