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