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    static string tempReg;
  47 //
  48 // accel, decel, climb_rate, descent_rate, takeoff_speed, climb_speed,
  49 // cruise_speed, descent_speed, land_speed
  50 //
  51 const FGAIAircraft::PERF_STRUCT FGAIAircraft::settings[] = {
  52     // light aircraft
  53     {2.0, 2.0,  450.0, 1000.0,  70.0,  80.0, 100.0,  80.0,  60.0},
  54     // ww2_fighter
  55     {4.0, 2.0, 3000.0, 1500.0, 110.0, 180.0, 250.0, 200.0, 100.0},
  56     // jet_transport
  57     {5.0, 2.0, 3000.0, 1500.0, 140.0, 300.0, 430.0, 300.0, 130.0},
  58     // jet_fighter
  59     {7.0, 3.0, 4000.0, 2000.0, 150.0, 350.0, 500.0, 350.0, 150.0},
  60     // tanker
  61     {5.0, 2.0, 3000.0, 1500.0, 140.0, 300.0, 430.0, 300.0, 130.0},
  62     // ufo (extreme accel/decel)
  63     {30.0, 30.0, 6000.0, 6000.0, 150.0, 300.0, 430.0, 300.0, 130.0}
  64 };
  65
  66
  67 FGAIAircraft::FGAIAircraft(FGAISchedule *ref) :
  68     FGAIBase(otAircraft)
  69 {
  70     trafficRef = ref;
  71     if (trafficRef)
  72         groundOffset = trafficRef->getGroundOffset();
  73     else
  74         groundOffset = 0;
  75
  76     fp = 0;
  77     dt_count = 0;
  78     dt_elev_count = 0;
  79     use_perf_vs = true;
  80     isTanker = false;
  81
  82     // set heading and altitude locks
  83     hdg_lock = false;
  84     alt_lock = false;
  85     roll = 0;
  86     headingChangeRate = 0.0;
  87 }
  88
  89
  90 FGAIAircraft::~FGAIAircraft() {
  91     //delete fp;
  92 }
  93
  94
  95 void FGAIAircraft::readFromScenario(SGPropertyNode* scFileNode) {
  96     if (!scFileNode)
  97         return;
  98
  99     FGAIBase::readFromScenario(scFileNode);
 100
 101     setPerformance(scFileNode->getStringValue("class", "jet_transport"));
 102     setFlightPlan(scFileNode->getStringValue("flightplan"),
 103                   scFileNode->getBoolValue("repeat", false));
 104     setCallSign(scFileNode->getStringValue("callsign"));
 105     setTACANChannelID(scFileNode->getStringValue("TACAN-channel-ID"));
 106 }
 107
 108
 109 bool FGAIAircraft::init() {
 110     //refuel_node = fgGetNode("systems/refuel/contact", true);
 111     return FGAIBase::init();
 112 }
 113
 114
 115 void FGAIAircraft::bind() {
 116     FGAIBase::bind();
 117
 118     props->tie("controls/gear/gear-down",
 119                SGRawValueMethods<FGAIAircraft,bool>(*this,
 120                                               &FGAIAircraft::_getGearDown));
 121     props->tie("refuel/contact", SGRawValuePointer<bool>(&contact));
 122     props->setStringValue("callsign", callsign.c_str());
 123     props->setStringValue("navaids/tacan/channel-ID", TACAN_channel_id.c_str());
 124     props->setBoolValue("tanker",isTanker);
 125 }
 126
 127
 128 void FGAIAircraft::unbind() {
 129     FGAIBase::unbind();
 130
 131     props->untie("controls/gear/gear-down");
 132     props->untie("refuel/contact");
 133 }
 134
 135
 136 void FGAIAircraft::update(double dt) {
 137     FGAIBase::update(dt);
 138     Run(dt);
 139     Transform();
 140 }
 141
 142
 143 void FGAIAircraft::setPerformance(const std::string& acclass) {
 144     if (acclass == "light") {
 145         SetPerformance(&FGAIAircraft::settings[FGAIAircraft::LIGHT]);
 146     } else if (acclass == "ww2_fighter") {
 147         SetPerformance(&FGAIAircraft::settings[FGAIAircraft::WW2_FIGHTER]);
 148     } else if (acclass == "jet_transport") {
 149         SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_TRANSPORT]);
 150     } else if (acclass == "jet_fighter") {
 151         SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_FIGHTER]);
 152     } else if (acclass == "tanker") {
 153         SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_TRANSPORT]);
 154         SetTanker(true);
 155     } else if (acclass == "ufo") {
 156         SetPerformance(&FGAIAircraft::settings[FGAIAircraft::UFO]);
 157     } else {
 158         SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_TRANSPORT]);
 159     }
 160 }
 161
 162
 163 void FGAIAircraft::SetPerformance(const PERF_STRUCT *ps) {
 164
 165    performance = ps;
 166 }
 167
 168
 169 void FGAIAircraft::Run(double dt) {
 170
 171     FGAIAircraft::dt = dt;
 172
 173     if (fp) {
 174         time_t now = time(NULL) + fgGetLong("/sim/time/warp");
 175         ProcessFlightPlan(dt, now);
 176         if (now < fp->getStartTime()) {
 177             // Do execute Ground elev for inactive aircraft, so they
 178             // Are repositioned to the correct ground altitude when the user flies within visibility range.
 179             if (no_roll) {
 180                 Transform();       // make sure aip is initialized.
 181                 getGroundElev(dt); // make sure it's exectuted first time around, so force a large dt value
 182                 //getGroundElev(dt); // Need to do this twice.
 183                 //cerr << trafficRef->getRegistration() << " Setting altitude to " << tgt_altitude;
 184                 doGroundAltitude();
 185                 //cerr << " Actual altitude " << altitude << endl;
 186                 // Transform();
 187                 pos.setElevationFt(altitude_ft);
 188             }
 189             return;
 190         }
 191     } else {
 192         // no flight plan, update target heading, speed, and altitude
 193         // from control properties.  These default to the initial
 194         // settings in the config file, but can be changed "on the
 195         // fly".
 196
 197         string lat_mode = props->getStringValue("controls/flight/lateral-mode");
 198         if ( lat_mode == "roll" ) {
 199             double angle
 200                 = props->getDoubleValue("controls/flight/target-roll" );
 201             RollTo( angle );
 202         } else {
 203              double angle
 204                 = props->getDoubleValue("controls/flight/target-hdg" );
 205             TurnTo( angle );
 206         }
 207
 208         string lon_mode
 209             = props->getStringValue("controls/flight/longitude-mode");
 210         if ( lon_mode == "alt" ) {
 211             double alt = props->getDoubleValue("controls/flight/target-alt" );
 212             ClimbTo( alt );
 213         } else {
 214             double angle
 215                 = props->getDoubleValue("controls/flight/target-pitch" );
 216             PitchTo( angle );
 217         }
 218
 219         AccelTo( props->getDoubleValue("controls/flight/target-spd" ) );
 220     }
 221
 222     double turn_radius_ft;
 223     double turn_circum_ft;
 224     double speed_north_deg_sec;
 225     double speed_east_deg_sec;
 226     double dist_covered_ft;
 227     double alpha;
 228
 229     // adjust speed
 230     double speed_diff; //= tgt_speed - speed;
 231     if (!no_roll) {
 232         speed_diff = tgt_speed - speed;
 233     } else {
 234         speed_diff = groundTargetSpeed - speed;
 235     }
 236     if (speed_diff > 0.0) {
 237         speed += performance->accel * dt;
 238         if ( speed > tgt_speed ) speed = tgt_speed; // don't overshoot
 239     } else if (speed_diff < 0.0) {
 240         if (no_roll) {
 241             // on ground (aircraft can't roll)
 242             speed -= performance->decel * dt * 3;
 243         } else {
 244             speed -= performance->decel * dt;
 245         }
 246         if ( speed < tgt_speed ) speed = tgt_speed; // don't overshoot
 247     }
 248
 249     // convert speed to degrees per second
 250     speed_north_deg_sec = cos( hdg * SGD_DEGREES_TO_RADIANS )
 251                           * speed * 1.686 / ft_per_deg_lat;
 252     speed_east_deg_sec  = sin( hdg * SGD_DEGREES_TO_RADIANS )
 253                           * speed * 1.686 / ft_per_deg_lon;
 254
 255     // set new position
 256     pos.setLatitudeDeg( pos.getLatitudeDeg() + speed_north_deg_sec * dt);
 257     pos.setLongitudeDeg( pos.getLongitudeDeg() + speed_east_deg_sec * dt);
 258
 259     /* printf("%.7f %0.4f %.7f %.5f %.7f %.7f %.8f %.8f %.9f %.9f\n",
 260            dt, hdg, speed, ft_per_deg_lat,
 261            cos( hdg * SGD_DEGREES_TO_RADIANS ),
 262            speed * 1.686 / ft_per_deg_lat,
 263            speed_north_deg_sec, speed_east_deg_sec,
 264            pos.getLatitudeDeg(), pos.getLongitudeDeg()); */
 265
 266     //if (!(finite(pos.lat()) && finite(pos.lon())))
 267     //  {
 268     //    cerr << "Position is not finite" << endl;
 269     //    cerr << "speed = " << speed << endl;
 270     //    cerr << "dt" << dt << endl;
 271     //    cerr << "heading " << hdg << endl;
 272     //    cerr << "speed east " << speed_east_deg_sec << endl;
 273     //    cerr << "speed nrth " << speed_north_deg_sec << endl;
 274     //    cerr << "deg_lat    " << ft_per_deg_lat << endl;
 275     //    cerr << "deg_lon    " << ft_per_deg_lon << endl;
 276     //  }
 277
 278     // adjust heading based on current bank angle
 279     if (roll == 0.0)
 280         roll = 0.01;
 281
 282     if (roll != 0.0) {
 283         // double turnConstant;
 284         //if (no_roll)
 285         //  turnConstant = 0.0088362;
 286         //else
 287         //  turnConstant = 0.088362;
 288         // If on ground, calculate heading change directly
 289         if (no_roll) {
 290             double headingDiff = fabs(hdg-tgt_heading);
 291
 292             if (headingDiff > 180)
 293                 headingDiff = fabs(headingDiff - 360);
 294
 295             groundTargetSpeed = tgt_speed - (tgt_speed * (headingDiff/45));
 296             if (sign(groundTargetSpeed) != sign(tgt_speed))
 297                 groundTargetSpeed = 0.21 * sign(tgt_speed); // to prevent speed getting stuck in 'negative' mode
 298
 299             if (headingDiff > 30.0) {
 300                 headingChangeRate += dt * sign(roll); // invert if pushed backward
 301                 // Print some debug statements to find out why aircraft may get stuck
 302                 // forever turning
 303                 //if (trafficRef->getDepartureAirport()->getId() == string("EHAM")) {
 304                 //    cerr << "Turning : " << trafficRef->getRegistration()
 305                 //    cerr <<  " Speed = " << speed << " Heading " << hdg
 306                 //         << " Target Heading " << tgt_heading
 307                 //         << " Lead Distance " <<  fp->getLeadDistance()
 308                 //         << " Distance to go "
 309                 //         << fp->getDistanceToGo(pos.lat(), pos.lon(), fp->getCurrentWaypoint())
 310                 //         << "waypoint name " << fp->getCurrentWaypoint()->name
 311                 //         << endl;
 312                 //}
 313                 if (headingChangeRate > 30)
 314                     headingChangeRate = 30;
 315                 else if (headingChangeRate < -30)
 316                     headingChangeRate = -30;
 317
 318             } else {
 319                 if (fabs(headingChangeRate) > headingDiff)
 320                     headingChangeRate = headingDiff*sign(roll);
 321                 else
 322                     headingChangeRate += dt * sign(roll);
 323             }
 324             hdg += headingChangeRate * dt;
 325             //cerr << "On ground. Heading: " << hdg << ". Target Heading: " << tgt_heading
 326             //     << ". Target speed: " << groundTargetSpeed << ". heading change rate"
 327             //     << headingChangeRate << endl;
 328
 329         } else {
 330             if (fabs(speed) > 1.0) {
 331                 turn_radius_ft = 0.088362 * speed * speed
 332                         / tan( fabs(roll) / SG_RADIANS_TO_DEGREES );
 333             } else {
 334                 turn_radius_ft = 1.0; // Check if turn_radius_ft == 0; this might lead to a division by 0.
 335             }
 336             turn_circum_ft = SGD_2PI * turn_radius_ft;
 337             dist_covered_ft = speed * 1.686 * dt;
 338             alpha = dist_covered_ft / turn_circum_ft * 360.0;
 339             hdg += alpha * sign(roll);
 340         }
 341         while ( hdg > 360.0 ) {
 342             hdg -= 360.0;
 343             spinCounter++;
 344         }
 345         while ( hdg < 0.0) {
 346             hdg += 360.0;
 347             spinCounter--;
 348         }
 349     }
 350
 351
 352     // adjust target bank angle if heading lock engaged
 353     if (hdg_lock) {
 354         double bank_sense = 0.0;
 355         double diff = fabs(hdg - tgt_heading);
 356         if (diff > 180)
 357             diff = fabs(diff - 360);
 358
 359         double sum = hdg + diff;
 360         if (sum > 360.0)
 361             sum -= 360.0;
 362         if (fabs(sum - tgt_heading) < 1.0) {
 363             bank_sense = 1.0;   // right turn
 364         } else {
 365             bank_sense = -1.0;  // left turn
 366         }
 367         if (diff < 30) {
 368             tgt_roll = diff * bank_sense;
 369         } else {
 370             tgt_roll = 30.0 * bank_sense;
 371         }
 372         if ((fabs((double) spinCounter) > 1) && (diff > 30)) {
 373             tgt_speed *= 0.999; // Ugly hack: If aircraft get stuck, they will continually spin around.
 374             // The only way to resolve this is to make them slow down.
 375             //if (tempReg.empty())
 376             //  tempReg = trafficRef->getRegistration();
 377             //if (trafficRef->getRegistration() == tempReg) {
 378             //    cerr << trafficRef->getRegistration()
 379             //         << " appears to be spinning: " << spinCounter << endl
 380             //         << " speed          " << speed << endl
 381             //         << " heading        " << hdg << endl
 382             //         << " lead distance  " << fp->getLeadDistance() << endl
 383             //         << " waypoint       " << fp->getCurrentWaypoint()->name
 384             //         << " target heading " << tgt_heading << endl
 385             //         << " lead in angle  " << fp->getLeadInAngle()<< endl
 386             //         << " roll           " << roll << endl
 387             //         << " target_roll    " << tgt_roll << endl;
 388             //}
 389         }
 390     }
 391
 392     // adjust bank angle, use 9 degrees per second
 393     double bank_diff = tgt_roll - roll;
 394     if (fabs(bank_diff) > 0.2) {
 395         if (bank_diff > 0.0)
 396             roll += 9.0 * dt;
 397
 398         if (bank_diff < 0.0)
 399             roll -= 9.0 * dt;
 400         //while (roll > 180) roll -= 360;
 401         //while (roll < 180) roll += 360;
 402     }
 403
 404     // adjust altitude (meters) based on current vertical speed (fpm)
 405     altitude_ft += vs / 60.0 * dt;
 406     pos.setElevationFt(altitude_ft);
 407
 408     // adjust target Altitude, based on ground elevation when on ground
 409     if (no_roll) {
 410         getGroundElev(dt);
 411         doGroundAltitude();
 412     } else {
 413         // find target vertical speed if altitude lock engaged
 414         if (alt_lock && use_perf_vs) {
 415             if (altitude_ft < tgt_altitude_ft) {
 416                 tgt_vs = tgt_altitude_ft - altitude_ft;
 417                 if (tgt_vs > performance->climb_rate)
 418                     tgt_vs = performance->climb_rate;
 419             } else {
 420                 tgt_vs = tgt_altitude_ft - altitude_ft;
 421                 if (tgt_vs  < (-performance->descent_rate))
 422                     tgt_vs = -performance->descent_rate;
 423             }
 424         }
 425
 426         if (alt_lock && !use_perf_vs) {
 427             double max_vs = 4*(tgt_altitude_ft - altitude_ft);
 428             double min_vs = 100;
 429             if (tgt_altitude_ft < altitude_ft)
 430                 min_vs = -100.0;
 431             if ((fabs(tgt_altitude_ft - altitude_ft) < 1500.0)
 432                     && (fabs(max_vs) < fabs(tgt_vs)))
 433                 tgt_vs = max_vs;
 434
 435             if (fabs(tgt_vs) < fabs(min_vs))
 436                 tgt_vs = min_vs;
 437         }
 438     }
 439     // adjust vertical speed
 440     double vs_diff = tgt_vs - vs;
 441     if (fabs(vs_diff) > 10.0) {
 442         if (vs_diff > 0.0) {
 443             vs += 900.0 * dt;
 444
 445             if (vs > tgt_vs)
 446                 vs = tgt_vs;
 447         } else {
 448             vs -= 400.0 * dt;
 449
 450            if (vs < tgt_vs)
 451                vs = tgt_vs;
 452         }
 453     }
 454
 455     // match pitch angle to vertical speed
 456     if (vs > 0) {
 457         pitch = vs * 0.005;
 458     } else {
 459         pitch = vs * 0.002;
 460     }
 461
 462     //###########################//
 463     // do calculations for radar //
 464     //###########################//
 465     double range_ft2 = UpdateRadar(manager);
 466
 467     //************************************//
 468     // Tanker code                        //
 469     //************************************//
 470
 471     if ( isTanker) {
 472         if ( (range_ft2 < 250.0 * 250.0) && (y_shift > 0.0)
 473                 && (elevation > 0.0) ) {
 474             //refuel_node->setBoolValue(true);
 475             contact = true;
 476         } else {
 477             //refuel_node->setBoolValue(false);
 478             contact = false;
 479         }
 480     } else {
 481         contact = false;
 482     }
 483 }
 484
 485
 486 void FGAIAircraft::AccelTo(double speed) {
 487     tgt_speed = speed;
 488 }
 489
 490
 491 void FGAIAircraft::PitchTo(double angle) {
 492     tgt_pitch = angle;
 493     alt_lock = false;
 494 }
 495
 496
 497 void FGAIAircraft::RollTo(double angle) {
 498     tgt_roll = angle;
 499     hdg_lock = false;
 500 }
 501
 502
 503 void FGAIAircraft::YawTo(double angle) {
 504     tgt_yaw = angle;
 505 }
 506
 507
 508 void FGAIAircraft::ClimbTo(double alt_ft ) {
 509     tgt_altitude_ft = alt_ft;
 510     alt_lock = true;
 511 }
 512
 513
 514 void FGAIAircraft::TurnTo(double heading) {
 515     tgt_heading = heading;
 516     hdg_lock = true;
 517 }
 518
 519
 520 double FGAIAircraft::sign(double x) {
 521     if ( x < 0.0 )
 522         return -1.0;
 523     else
 524         return 1.0;
 525 }
 526
 527
 528 void FGAIAircraft::setFlightPlan(const std::string& flightplan, bool repeat) {
 529     if (!flightplan.empty()) {
 530         FGAIFlightPlan* fp = new FGAIFlightPlan(flightplan);
 531         fp->setRepeat(repeat);
 532         SetFlightPlan(fp);
 533     }
 534 }
 535
 536
 537 void FGAIAircraft::SetFlightPlan(FGAIFlightPlan *f) {
 538     delete fp;
 539     fp = f;
 540 }
 541
 542
 543 void FGAIAircraft::ProcessFlightPlan( double dt, time_t now ) {
 544     bool eraseWaypoints;
 545     if (trafficRef) {
 546 //      FGAirport *arr;
 547 //      FGAirport *dep;
 548         eraseWaypoints = true;
 549 //      cerr << trafficRef->getRegistration();
 550 //      cerr << "Departure airport " << endl;
 551 //      dep = trafficRef->getDepartureAirport();
 552 //      if (dep)
 553 //          cerr << dep->getId() << endl;
 554 //      cerr << "Arrival   airport " << endl;
 555 //      arr = trafficRef->getArrivalAirport();
 556 //      if (arr)
 557 //          cerr << arr->getId() <<endl << endl;;
 558     } else
 559         eraseWaypoints = false;
 560
 561     //cerr << "Processing Flightplan" << endl;
 562     FGAIFlightPlan::waypoint* prev = 0; // the one behind you
 563     FGAIFlightPlan::waypoint* curr = 0; // the one ahead
 564     FGAIFlightPlan::waypoint* next = 0; // the next plus 1
 565     prev = fp->getPreviousWaypoint();
 566     curr = fp->getCurrentWaypoint();
 567     next = fp->getNextWaypoint();
 568     dt_count += dt;
 569
 570     if (!prev) {  //beginning of flightplan, do this initialization once
 571         //setBank(0.0);
 572         spinCounter = 0;
 573         tempReg = "";
 574         //prev_dist_to_go = HUGE;
 575         //cerr << "Before increment " << curr-> name << endl;
 576         fp->IncrementWaypoint(eraseWaypoints);
 577         //prev = fp->getPreviousWaypoint(); //first waypoint
 578         //curr = fp->getCurrentWaypoint();  //second waypoint
 579         //next = fp->getNextWaypoint();     //third waypoint (might not exist!)
 580         //cerr << "After increment " << prev-> name << endl;
 581         if (!(fp->getNextWaypoint()) && trafficRef)
 582             loadNextLeg();
 583
 584         //cerr << "After load " << prev-> name << endl;
 585         prev = fp->getPreviousWaypoint(); //first waypoint
 586         curr = fp->getCurrentWaypoint();  //second waypoint
 587         next = fp->getNextWaypoint();     //third waypoint (might not exist!)
 588         //cerr << "After load " << prev-> name << endl;
 589         setLatitude(prev->latitude);
 590         setLongitude(prev->longitude);
 591         setSpeed(prev->speed);
 592         setAltitude(prev->altitude);
 593
 594         if (prev->speed > 0.0)
 595             setHeading(fp->getBearing(prev->latitude, prev->longitude, curr));
 596         else
 597             setHeading(fp->getBearing(curr->latitude, curr->longitude, prev));
 598
 599         // If next doesn't exist, as in incrementally created flightplans for
 600         // AI/Trafficmanager created plans,
 601         // Make sure lead distance is initialized otherwise
 602         if (next)
 603             fp->setLeadDistance(speed, hdg, curr, next);
 604
 605         if (curr->crossat > -1000.0) { //use a calculated descent/climb rate
 606             use_perf_vs = false;
 607             tgt_vs = (curr->crossat - prev->altitude)
 608                     / (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr)
 609                     / 6076.0 / prev->speed*60.0);
 610             tgt_altitude_ft = curr->crossat;
 611         } else {
 612             use_perf_vs = true;
 613             tgt_altitude_ft = prev->altitude;
 614         }
 615         alt_lock = hdg_lock = true;
 616         no_roll = prev->on_ground;
 617         if (no_roll) {
 618             Transform();         // make sure aip is initialized.
 619             getGroundElev(60.1); // make sure it's exectuted first time around, so force a large dt value
 620             //getGroundElev(60.1); // Need to do this twice.
 621             //cerr << trafficRef->getRegistration() << " Setting altitude to " << tgt_altitude << endl;
 622             doGroundAltitude(); //(tgt_altitude);
 623         }
 624         prevSpeed = 0;
 625         //cout << "First waypoint:  " << prev->name << endl;
 626         //cout << "  Target speed:    " << tgt_speed << endl;
 627         //cout << "  Target altitude: " << tgt_altitude << endl;
 628         //cout << "  Target heading:  " << tgt_heading << endl << endl;
 629         //cerr << "Done Flightplan init" << endl;
 630         return;
 631     } // end of initialization
 632
 633     // let's only process the flight plan every 100 ms.
 634     if ((dt_count < 0.1) || (now < fp->getStartTime())) {
 635         //cerr  << "done fp dt" << endl;
 636         return;
 637     } else {
 638         dt_count = 0;
 639     }
 640     // check to see if we've reached the lead point for our next turn
 641     double dist_to_go = fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
 642
 643     //cerr << "2" << endl;
 644     double lead_dist = fp->getLeadDistance();
 645     //cerr << " Distance : " << dist_to_go << ": Lead distance " << lead_dist << endl;
 646     // experimental: Use fabs, because speed can be negative (I hope) during push_back.
 647
 648     if (lead_dist < fabs(2*speed)) {
 649         lead_dist = fabs(2*speed);  //don't skip over the waypoint
 650         //cerr << "Extending lead distance to " << lead_dist << endl;
 651     }
 652 //  FGAirport * apt = trafficRef->getDepartureAirport();
 653 //  if ((dist_to_go > prev_dist_to_go) && trafficRef && apt) {
 654 //      if (apt->getId() == string("EHAM"))
 655 //          cerr << "Alert: " << trafficRef->getRegistration() << " is moving away from waypoint " << curr->name  << endl
 656 //               << "Target heading : " << tgt_heading << "act heading " << hdg << " Tgt speed : " << tgt_speed << endl
 657 //               << "Lead distance : " << lead_dist  << endl
 658 //               << "Distance to go: " << dist_to_go << endl;
 659 //  }
 660
 661     prev_dist_to_go = dist_to_go;
 662     //cerr << "2" << endl;
 663     //if (no_roll)
 664     //  lead_dist = 10.0;
 665     //cout << "Leg : " << (fp->getLeg()-1) << ". dist_to_go: " << dist_to_go << ",  lead_dist: "
 666     //     << lead_dist << ", tgt_speed " << tgt_speed << ", tgt_heading " << tgt_heading
 667     //     << " speed " << speed << " hdg " << hdg << ". Altitude "  << altitude << " TAget alt :"
 668     //     << tgt_altitude << endl;
 669
 670     if ( dist_to_go < lead_dist ) {
 671         //prev_dist_to_go = HUGE;
 672         // For traffic manager generated aircraft:
 673         // check if the aircraft flies of of user range. And adjust the
 674         // Current waypoint's elevation according to Terrain Elevation
 675         if (curr->finished) {  //end of the flight plan
 676             if (fp->getRepeat())
 677                 fp->restart();
 678             else
 679                 setDie(true);
 680
 681             //cerr << "Done die end of fp" << endl;
 682             return;
 683         }
 684
 685         // we've reached the lead-point for the waypoint ahead
 686         //cerr << "4" << endl;
 687         //cerr << "Situation after lead point" << endl;
 688         //cerr << "Prviious: " << prev->name << endl;
 689         //cerr << "Current : " << curr->name << endl;
 690         //cerr << "Next    : " << next->name << endl;
 691         if (next) {
 692             tgt_heading = fp->getBearing(curr, next);
 693             spinCounter = 0;
 694         }
 695
 696         fp->IncrementWaypoint(eraseWaypoints);
 697         if (!(fp->getNextWaypoint()) && trafficRef)
 698             loadNextLeg();
 699
 700         prev = fp->getPreviousWaypoint();
 701         curr = fp->getCurrentWaypoint();
 702         next = fp->getNextWaypoint();
 703
 704         // Now that we have incremented the waypoints, excute some traffic manager specific code
 705         // based on the name of the waypoint we just passed.
 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                 //cerr << "done fp die out of range" << endl;
 716                 return;
 717             }
 718
 719             FGAirport * dep = trafficRef->getDepartureAirport();
 720             FGAirport * arr = trafficRef->getArrivalAirport();
 721             // At parking the beginning of the airport
 722             if (!( dep && arr)) {
 723                 setDie(true);
 724                 return;
 725             }
 726
 727             //if ((dep->getId() == string("EHAM") || (arr->getId() == string("EHAM")))) {
 728             //    cerr << trafficRef->getRegistration()
 729             //         << " Enroute from " << dep->getId()
 730             //         << " to "           << arr->getId()
 731             //         << " just crossed " << prev->name
 732             //         << " Assigned rwy     " << fp->getRunwayId()
 733             //         << " " << fp->getRunway() << endl;
 734             // }
 735             //if ((dep->getId() == string("EHAM")) && (prev->name == "park2")) {
 736             //    cerr << "Schiphol ground "
 737             //         << trafficRef->getCallSign();
 738             //    if (trafficRef->getHeavy())
 739             //        cerr << "Heavy";
 740             //    cerr << ", is type "
 741             //         << trafficRef->getAircraft()
 742             //         << " ready to go. IFR to "
 743             //         << arr->getId() <<endl;
 744             // }
 745
 746             if (prev->name == "park2")
 747                 dep->getDynamics()->releaseParking(fp->getGate());
 748
 749             // Some debug messages, specific to testing the Logical networks.
 750             // if ((arr->getId() == string("EHAM")) && (prev->name  == "Center")) {
 751             //     cerr << "Schiphol ground "
 752             //          << trafficRef->getRegistration() << " "
 753             //          << trafficRef->getCallSign();
 754             //     if (trafficRef->getHeavy())
 755             //         cerr << "Heavy";
 756             //     cerr << ", arriving from " << dep->getName() ;
 757             //     cerr << " landed runway "
 758             //          << fp->getRunway()
 759             //          << " request taxi to gate "
 760             //          << arr->getDynamics()->getParkingName(fp->getGate())
 761             //          << endl;
 762             // }
 763             if (prev->name == "END")
 764                 fp->setTime(trafficRef->getDepartureTime());
 765             //cerr << "5" << endl;
 766         }
 767
 768         if (next) {
 769             //cerr << "Current waypoint" << curr->name << endl;
 770             //cerr << "Next waypoint" << next->name << endl;
 771             fp->setLeadDistance(speed, tgt_heading, curr, next);
 772         }
 773
 774         //cerr << "5.1" << endl;
 775         if (!(prev->on_ground)) { // only update the tgt altitude from flightplan if not on the ground
 776             tgt_altitude_ft = prev->altitude;
 777             if (curr->crossat > -1000.0) {
 778                 //cerr << "5.1a" << endl;
 779                 use_perf_vs = false;
 780                 tgt_vs = (curr->crossat - altitude_ft) / (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr)
 781                         / 6076.0 / speed*60.0);
 782                 //cerr << "5.1b" << endl;
 783                 tgt_altitude_ft = curr->crossat;
 784             } else {
 785                 //cerr << "5.1c" << endl;
 786                 use_perf_vs = true;
 787                 //cerr << "5.1d" << endl;
 788                 //cerr << "Setting target altitude : " <<tgt_altitude_ft << endl;
 789             }
 790         }
 791         //cerr << "6" << endl;
 792         tgt_speed = prev->speed;
 793         hdg_lock = alt_lock = true;
 794         no_roll = prev->on_ground;
 795         //cout << "Crossing waypoint: " << prev->name << endl;
 796         //cout << "  Target speed:    " << tgt_speed << endl;
 797         //cout << "  Target altitude: " << tgt_altitude_ft << endl;
 798         //cout << "  Target heading:  " << tgt_heading << endl << endl;
 799
 800     } else {
 801         double calc_bearing = fp->getBearing(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
 802         //cerr << "Bearing = " << calc_bearing << endl;
 803         if (speed < 0) {
 804             calc_bearing +=180;
 805             if (calc_bearing > 360)
 806                 calc_bearing -= 360;
 807         }
 808
 809         if (finite(calc_bearing)) {
 810             double hdg_error = calc_bearing - tgt_heading;
 811             if (fabs(hdg_error) > 1.0) {
 812                 TurnTo( calc_bearing );
 813             }
 814
 815         } else {
 816             cerr << "calc_bearing is not a finite number : "
 817                  << "Speed " << speed
 818                  << "pos : " << pos.getLatitudeDeg() << ", " << pos.getLongitudeDeg()
 819                  << "waypoint " << curr->latitude << ", " << curr->longitude << endl;
 820             cerr << "waypoint name " << curr->name;
 821             exit(1);  // FIXME
 822         }
 823
 824         double speed_diff = speed - prevSpeed;
 825         // Update the lead distance calculation if speed has changed sufficiently
 826         // to prevent spinning (hopefully);
 827         if (fabs(speed_diff) > 10) {
 828             prevSpeed = speed;
 829             fp->setLeadDistance(speed, tgt_heading, curr, next);
 830         }
 831
 832         //cerr << "Done Processing FlightPlan"<< endl;
 833     }
 834 }
 835
 836
 837 bool FGAIAircraft::_getGearDown() const {
 838     return ((props->getFloatValue("position/altitude-agl-ft") < 900.0)
 839             && (props->getFloatValue("velocities/airspeed-kt")
 840             < performance->land_speed*1.25));
 841 }
 842
 843
 844 void FGAIAircraft::loadNextLeg() {
 845     //delete fp;
 846     //time_t now = time(NULL) + fgGetLong("/sim/time/warp");
 847
 848     //FGAIModelEntity entity;
 849     //entity.m_class = "jet_transport";
 850     //entity.path = modelPath.c_str();
 851     //entity.flightplan = "none";
 852     //entity.latitude = _getLatitude();
 853     //entity.longitude = _getLongitude();
 854     //entity.altitude = trafficRef->getCruiseAlt() * 100; // convert from FL to feet
 855     //entity.speed = 450; // HACK ALERT
 856     //entity.fp = new FGAIFlightPlan(&entity, courseToDest, i->getDepartureTime(), dep, arr);
 857     int leg;
 858     if ((leg = fp->getLeg())  == 10) {
 859         trafficRef->next();
 860         leg = 1;
 861         fp->setLeg(leg);
 862         //cerr << "Resetting leg : " << leg << endl;
 863     }
 864     //leg++;
 865     //fp->setLeg(leg);
 866     //cerr << "Creating leg number : " << leg << endl;
 867     FGAirport *dep = trafficRef->getDepartureAirport();
 868     FGAirport *arr = trafficRef->getArrivalAirport();
 869     if (!(dep && arr)) {
 870         setDie(true);
 871         //cerr << "Failed to get airport in AIAircraft::ProcessFlightplan()" << endl;
 872         //if (dep)
 873         //  cerr << "Departure " << dep->getId() << endl;
 874         //if (arr)
 875         //  cerr << "Arrival   " << arr->getId() << endl;
 876
 877     } else {
 878         double cruiseAlt = trafficRef->getCruiseAlt() * 100;
 879         //cerr << "Creating new leg using " << cruiseAlt << " as cruise altitude."<< endl;
 880
 881         fp->create (dep,
 882                     arr,
 883                     leg,
 884                     cruiseAlt, //(trafficRef->getCruiseAlt() * 100), // convert from FL to feet
 885                     trafficRef->getSpeed(),
 886                     _getLatitude(),
 887                     _getLongitude(),
 888                     false,
 889                     trafficRef->getRadius(),
 890                     trafficRef->getFlightType(),
 891                     acType,
 892                     company);
 893         //prev = fp->getPreviousWaypoint();
 894         //curr = fp->getCurrentWaypoint();
 895         //next = fp->getNextWaypoint();
 896         //cerr << "25" << endl;
 897         //if (next)
 898         //        {
 899         //  //cerr << "Next waypoint" << next->name << endl;
 900         //          fp->setLeadDistance(speed, tgt_heading, curr, next);
 901         //        }
 902         //cerr << "25.1" << endl;
 903         //if (curr->crossat > -1000.0) {
 904         //        //cerr << "25.1a" << endl;
 905         //        use_perf_vs = false;
 906         //
 907         //        tgt_vs = (curr->crossat - altitude_ft)/
 908         //          (fp->getDistanceToGo(pos.lat(), pos.lon(), curr)/6076.0/speed*60.0);
 909         //        //cerr << "25.1b" << endl;
 910         //        tgt_altitude_ft = curr->crossat;
 911         //} else {
 912         //        //cerr << "25.1c" << endl;
 913         //        use_perf_vs = true;
 914         //        //cerr << "25.1d" << endl;
 915         //        tgt_altitude_ft = prev->altitude;
 916         //        //cerr << "Setting target altitude : " <<tgt_altitude_ft << endl;
 917         // }
 918         //cerr << "26" << endl;
 919         //tgt_speed = prev->speed;
 920         //hdg_lock = alt_lock = true;
 921         //no_roll = prev->on_ground;
 922     }
 923     //else
 924     //{
 925     //delete entity.fp;
 926     //entity.fp = new FGAIFlightPlan(&entity,
 927     //                                 999,  // A hack
 928     //                                 trafficRef->getDepartureTime(),
 929     //                                 trafficRef->getDepartureAirport(),
 930     //                                 trafficRef->getArrivalAirport(),
 931     //                                 false,
 932     //                                 acType,
 933     //                                 company);
 934     //SetFlightPlan(entity.fp);
 935 }
 936
 937
 938 // Note: This code is copied from David Luff's AILocalTraffic
 939 // Warning - ground elev determination is CPU intensive
 940 // Either this function or the logic of how often it is called
 941 // will almost certainly change.
 942
 943 void FGAIAircraft::getGroundElev(double dt) {
 944     dt_elev_count += dt;
 945
 946     // Update minimally every three secs, but add some randomness
 947     // to prevent all IA objects doing this in synchrony
 948     if (dt_elev_count < (3.0) + (rand() % 10))
 949         return;
 950     else
 951        dt_elev_count = 0;
 952
 953     // Only do the proper hitlist stuff if we are within visible range of the viewer.
 954     if (!invisible) {
 955         double visibility_meters = fgGetDouble("/environment/visibility-m");
 956
 957         FGViewer* vw = globals->get_current_view();
 958         double course, distance;
 959
 960         SGWayPoint current(pos.getLongitudeDeg(), pos.getLatitudeDeg(), 0);
 961         SGWayPoint view (vw->getLongitude_deg(), vw->getLatitude_deg(), 0);
 962         view.CourseAndDistance(current, &course, &distance);
 963         if(distance > visibility_meters) {
 964             //aip.getSGLocation()->set_cur_elev_m(aptElev);
 965             return;
 966         }
 967
 968         // FIXME: make sure the pos.lat/pos.lon values are in degrees ...
 969         double range = 500.0;
 970         if (!globals->get_tile_mgr()->scenery_available(pos.getLatitudeDeg(), pos.getLongitudeDeg(), range)) {
 971             // Try to shedule tiles for that position.
 972             globals->get_tile_mgr()->update( aip.getSGLocation(), range );
 973         }
 974
 975         // FIXME: make sure the pos.lat/pos.lon values are in degrees ...
 976         double alt;
 977         if (globals->get_scenery()->get_elevation_m(pos.getLatitudeDeg(), pos.getLongitudeDeg(), 20000.0, alt, 0))
 978             tgt_altitude_ft = alt * SG_METER_TO_FEET;
 979
 980         //cerr << "Target altitude : " << tgt_altitude_ft << endl;
 981         // if (globals->get_scenery()->get_elevation_m(pos.lat(), pos.lon(),
 982         //                                            20000.0, alt))
 983         //    tgt_altitude_ft = alt * SG_METER_TO_FEET;
 984         //cerr << "Target altitude : " << tgt_altitude_ft << endl;
 985     }
 986 }
 987
 988
 989 void FGAIAircraft::setCallSign(const string& s) {
 990     callsign = s;
 991 }
 992
 993
 994 void FGAIAircraft::setTACANChannelID(const string& id) {
 995     TACAN_channel_id = id;
 996 }
 997
 998
 999 void FGAIAircraft::doGroundAltitude() {
1000    if (fabs(altitude_ft - (tgt_altitude_ft+groundOffset)) > 1000.0)
1001        altitude_ft = (tgt_altitude_ft + groundOffset);
1002    else
1003       altitude_ft += 0.1 * ((tgt_altitude_ft+groundOffset) - altitude_ft);
1004 }
1005