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 };
  63
  64
  65 FGAIAircraft::FGAIAircraft(FGAISchedule *ref) :
  66     FGAIBase(otAircraft)
  67 {
  68     trafficRef = ref;
  69     if (trafficRef)
  70         groundOffset = trafficRef->getGroundOffset();
  71     else
  72         groundOffset = 0;
  73
  74     fp = 0;
  75     dt_count = 0;
  76     dt_elev_count = 0;
  77     use_perf_vs = true;
  78     isTanker = false;
  79
  80     // set heading and altitude locks
  81     hdg_lock = false;
  82     alt_lock = false;
  83     roll = 0;
  84     headingChangeRate = 0.0;
  85 }
  86
  87
  88 FGAIAircraft::~FGAIAircraft() {
  89     //delete fp;
  90 }
  91
  92
  93 void FGAIAircraft::readFromScenario(SGPropertyNode* scFileNode) {
  94     if (!scFileNode)
  95         return;
  96
  97     FGAIBase::readFromScenario(scFileNode);
  98
  99     setPerformance(scFileNode->getStringValue("class", "jet_transport"));
 100     setFlightPlan(scFileNode->getStringValue("flightplan"),
 101                   scFileNode->getBoolValue("repeat", false));
 102     setCallSign(scFileNode->getStringValue("callsign"));
 103     setTACANChannelID(scFileNode->getStringValue("TACAN-channel-ID"));
 104 }
 105
 106
 107 bool FGAIAircraft::init() {
 108     //refuel_node = fgGetNode("systems/refuel/contact", true);
 109     return FGAIBase::init();
 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("refuel/contact", SGRawValuePointer<bool>(&contact));
 120     props->setStringValue("callsign", callsign.c_str());
 121     props->setStringValue("navaids/tacan/channel-ID", TACAN_channel_id.c_str());
 122     props->setBoolValue("tanker",isTanker);
 123 }
 124
 125
 126 void FGAIAircraft::unbind() {
 127     FGAIBase::unbind();
 128
 129     props->untie("controls/gear/gear-down");
 130     props->untie("refuel/contact");
 131 }
 132
 133
 134 void FGAIAircraft::update(double dt) {
 135     FGAIBase::update(dt);
 136     Run(dt);
 137     Transform();
 138 }
 139
 140
 141 void FGAIAircraft::setPerformance(const std::string& acclass) {
 142     if (acclass == "light") {
 143         SetPerformance(&FGAIAircraft::settings[FGAIAircraft::LIGHT]);
 144     } else if (acclass == "ww2_fighter") {
 145         SetPerformance(&FGAIAircraft::settings[FGAIAircraft::WW2_FIGHTER]);
 146     } else if (acclass == "jet_transport") {
 147         SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_TRANSPORT]);
 148     } else if (acclass == "jet_fighter") {
 149         SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_FIGHTER]);
 150     } else if (acclass == "tanker") {
 151         SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_TRANSPORT]);
 152         SetTanker(true);
 153     } else {
 154         SetPerformance(&FGAIAircraft::settings[FGAIAircraft::JET_TRANSPORT]);
 155     }
 156 }
 157
 158
 159 void FGAIAircraft::SetPerformance(const PERF_STRUCT *ps) {
 160
 161    performance = ps;
 162 }
 163
 164
 165 void FGAIAircraft::Run(double dt) {
 166
 167     FGAIAircraft::dt = dt;
 168
 169     if (fp) {
 170         time_t now = time(NULL) + fgGetLong("/sim/time/warp");
 171         ProcessFlightPlan(dt, now);
 172         if (now < fp->getStartTime()) {
 173             // Do execute Ground elev for inactive aircraft, so they
 174             // Are repositioned to the correct ground altitude when the user flies within visibility range.
 175             if (no_roll) {
 176                 Transform();       // make sure aip is initialized.
 177                 getGroundElev(dt); // make sure it's exectuted first time around, so force a large dt value
 178                 //getGroundElev(dt); // Need to do this twice.
 179                 //cerr << trafficRef->getRegistration() << " Setting altitude to " << tgt_altitude;
 180                 doGroundAltitude();
 181                 //cerr << " Actual altitude " << altitude << endl;
 182                 // Transform();
 183                 pos.setelev(altitude * SG_FEET_TO_METER);
 184             }
 185             return;
 186         }
 187     }
 188
 189     double turn_radius_ft;
 190     double turn_circum_ft;
 191     double speed_north_deg_sec;
 192     double speed_east_deg_sec;
 193     double dist_covered_ft;
 194     double alpha;
 195
 196     // adjust speed
 197     double speed_diff; //= tgt_speed - speed;
 198     if (!no_roll) {
 199         speed_diff = tgt_speed - speed;
 200     } else {
 201         speed_diff = groundTargetSpeed - speed;
 202     }
 203     if (fabs(speed_diff) > 0.2) {
 204         if (speed_diff > 0.0)
 205             speed += performance->accel * dt;
 206         if (speed_diff < 0.0) {
 207             if (no_roll) { // was (!no_roll) but seems more logical this way (ground brakes).
 208                 speed -= performance->decel * dt * 3;
 209             } else {
 210                 speed -= performance->decel * dt;
 211             }
 212         }
 213     }
 214
 215     // convert speed to degrees per second
 216     speed_north_deg_sec = cos( hdg / SG_RADIANS_TO_DEGREES )
 217                           * speed * 1.686 / ft_per_deg_lat;
 218     speed_east_deg_sec  = sin( hdg / SG_RADIANS_TO_DEGREES )
 219                           * speed * 1.686 / ft_per_deg_lon;
 220
 221     // set new position
 222     pos.setlat( pos.lat() + speed_north_deg_sec * dt);
 223     pos.setlon( pos.lon() + speed_east_deg_sec * dt);
 224     //if (!(finite(pos.lat()) && finite(pos.lon())))
 225     //  {
 226     //    cerr << "Position is not finite" << endl;
 227     //    cerr << "speed = " << speed << endl;
 228     //    cerr << "dt" << dt << endl;
 229     //    cerr << "heading " << hdg << endl;
 230     //    cerr << "speed east " << speed_east_deg_sec << endl;
 231     //    cerr << "speed nrth " << speed_north_deg_sec << endl;
 232     //    cerr << "deg_lat    " << ft_per_deg_lat << endl;
 233     //    cerr << "deg_lon    " << ft_per_deg_lon << endl;
 234     //  }
 235
 236     // adjust heading based on current bank angle
 237     if (roll == 0.0)
 238         roll = 0.01;
 239
 240     if (roll != 0.0) {
 241         // double turnConstant;
 242         //if (no_roll)
 243         //  turnConstant = 0.0088362;
 244         //else
 245         //  turnConstant = 0.088362;
 246         // If on ground, calculate heading change directly
 247         if (no_roll) {
 248             double headingDiff = fabs(hdg-tgt_heading);
 249
 250             if (headingDiff > 180)
 251                 headingDiff = fabs(headingDiff - 360);
 252
 253             groundTargetSpeed = tgt_speed - (tgt_speed * (headingDiff/45));
 254             if (sign(groundTargetSpeed) != sign(tgt_speed))
 255                 groundTargetSpeed = 0.21 * sign(tgt_speed); // to prevent speed getting stuck in 'negative' mode
 256
 257             if (headingDiff > 30.0) {
 258                 headingChangeRate += dt * sign(roll); // invert if pushed backward
 259                 // Print some debug statements to find out why aircraft may get stuck
 260                 // forever turning
 261                 //if (trafficRef->getDepartureAirport()->getId() == string("EHAM")) {
 262                 //    cerr << "Turning : " << trafficRef->getRegistration()
 263                 //    cerr <<  " Speed = " << speed << " Heading " << hdg
 264                 //         << " Target Heading " << tgt_heading
 265                 //         << " Lead Distance " <<  fp->getLeadDistance()
 266                 //         << " Distance to go "
 267                 //         << fp->getDistanceToGo(pos.lat(), pos.lon(), fp->getCurrentWaypoint())
 268                 //         << "waypoint name " << fp->getCurrentWaypoint()->name
 269                 //         << endl;
 270                 //}
 271                 if (headingChangeRate > 30)
 272                     headingChangeRate = 30;
 273                 else if (headingChangeRate < -30)
 274                     headingChangeRate = -30;
 275
 276             } else {
 277                 if (fabs(headingChangeRate) > headingDiff)
 278                     headingChangeRate = headingDiff*sign(roll);
 279                 else
 280                     headingChangeRate += dt * sign(roll);
 281             }
 282             hdg += headingChangeRate * dt;
 283             //cerr << "On ground. Heading: " << hdg << ". Target Heading: " << tgt_heading
 284             //     << ". Target speed: " << groundTargetSpeed << ". heading change rate"
 285             //     << headingChangeRate << endl;
 286
 287         } else {
 288             if (fabs(speed) > 1.0) {
 289                 turn_radius_ft = 0.088362 * speed * speed
 290                         / tan( fabs(roll) / SG_RADIANS_TO_DEGREES );
 291             } else {
 292                 turn_radius_ft = 1.0; // Check if turn_radius_ft == 0; this might lead to a division by 0.
 293             }
 294             turn_circum_ft = SGD_2PI * turn_radius_ft;
 295             dist_covered_ft = speed * 1.686 * dt;
 296             alpha = dist_covered_ft / turn_circum_ft * 360.0;
 297             hdg += alpha * sign(roll);
 298         }
 299         while ( hdg > 360.0 ) {
 300             hdg -= 360.0;
 301             spinCounter++;
 302         }
 303         while ( hdg < 0.0) {
 304             hdg += 360.0;
 305             spinCounter--;
 306         }
 307     }
 308
 309
 310     // adjust target bank angle if heading lock engaged
 311     if (hdg_lock) {
 312         double bank_sense = 0.0;
 313         double diff = fabs(hdg - tgt_heading);
 314         if (diff > 180)
 315             diff = fabs(diff - 360);
 316
 317         double sum = hdg + diff;
 318         if (sum > 360.0)
 319             sum -= 360.0;
 320         if (fabs(sum - tgt_heading) < 1.0) {
 321             bank_sense = 1.0;   // right turn
 322         } else {
 323             bank_sense = -1.0;  // left turn
 324         }
 325         if (diff < 30) {
 326             tgt_roll = diff * bank_sense;
 327         } else {
 328             tgt_roll = 30.0 * bank_sense;
 329         }
 330         if ((fabs((double) spinCounter) > 1) && (diff > 30)) {
 331             tgt_speed *= 0.999; // Ugly hack: If aircraft get stuck, they will continually spin around.
 332             // The only way to resolve this is to make them slow down.
 333             //if (tempReg.empty())
 334             //  tempReg = trafficRef->getRegistration();
 335             //if (trafficRef->getRegistration() == tempReg) {
 336             //    cerr << trafficRef->getRegistration()
 337             //         << " appears to be spinning: " << spinCounter << endl
 338             //         << " speed          " << speed << endl
 339             //         << " heading        " << hdg << endl
 340             //         << " lead distance  " << fp->getLeadDistance() << endl
 341             //         << " waypoint       " << fp->getCurrentWaypoint()->name
 342             //         << " target heading " << tgt_heading << endl
 343             //         << " lead in angle  " << fp->getLeadInAngle()<< endl
 344             //         << " roll           " << roll << endl
 345             //         << " target_roll    " << tgt_roll << endl;
 346             //}
 347         }
 348     }
 349
 350     // adjust bank angle, use 9 degrees per second
 351     double bank_diff = tgt_roll - roll;
 352     if (fabs(bank_diff) > 0.2) {
 353         if (bank_diff > 0.0)
 354             roll += 9.0 * dt;
 355
 356         if (bank_diff < 0.0)
 357             roll -= 9.0 * dt;
 358         //while (roll > 180) roll -= 360;
 359         //while (roll < 180) roll += 360;
 360     }
 361
 362     // adjust altitude (meters) based on current vertical speed (fpm)
 363     altitude += vs / 60.0 * dt;
 364     pos.setelev(altitude * SG_FEET_TO_METER);
 365     double altitude_ft = altitude;
 366
 367     // adjust target Altitude, based on ground elevation when on ground
 368     if (no_roll) {
 369         getGroundElev(dt);
 370         doGroundAltitude();
 371     } else {
 372         // find target vertical speed if altitude lock engaged
 373         if (alt_lock && use_perf_vs) {
 374             if (altitude_ft < tgt_altitude) {
 375                 tgt_vs = tgt_altitude - altitude_ft;
 376                 if (tgt_vs > performance->climb_rate)
 377                     tgt_vs = performance->climb_rate;
 378             } else {
 379                 tgt_vs = tgt_altitude - altitude_ft;
 380                 if (tgt_vs  < (-performance->descent_rate))
 381                     tgt_vs = -performance->descent_rate;
 382             }
 383         }
 384
 385         if (alt_lock && !use_perf_vs) {
 386             double max_vs = 4*(tgt_altitude - altitude);
 387             double min_vs = 100;
 388             if (tgt_altitude < altitude)
 389                 min_vs = -100.0;
 390             if ((fabs(tgt_altitude - altitude) < 1500.0)
 391                     && (fabs(max_vs) < fabs(tgt_vs)))
 392                 tgt_vs = max_vs;
 393
 394             if (fabs(tgt_vs) < fabs(min_vs))
 395                 tgt_vs = min_vs;
 396         }
 397     }
 398     // adjust vertical speed
 399     double vs_diff = tgt_vs - vs;
 400     if (fabs(vs_diff) > 10.0) {
 401         if (vs_diff > 0.0) {
 402             vs += 900.0 * dt;
 403
 404             if (vs > tgt_vs)
 405                 vs = tgt_vs;
 406         } else {
 407             vs -= 400.0 * dt;
 408
 409            if (vs < tgt_vs)
 410                vs = tgt_vs;
 411         }
 412     }
 413
 414     // match pitch angle to vertical speed
 415     if (vs > 0) {
 416         pitch = vs * 0.005;
 417     } else {
 418         pitch = vs * 0.002;
 419     }
 420
 421     //###########################//
 422     // do calculations for radar //
 423     //###########################//
 424     double range_ft2 = UpdateRadar(manager);
 425
 426     //************************************//
 427     // Tanker code                        //
 428     //************************************//
 429
 430     if ( isTanker) {
 431         if ( (range_ft2 < 250.0 * 250.0) && (y_shift > 0.0)
 432                 && (elevation > 0.0) ) {
 433             //refuel_node->setBoolValue(true);
 434             contact = true;
 435         } else {
 436             //refuel_node->setBoolValue(false);
 437             contact = false;
 438         }
 439     } else {
 440         contact = false;
 441     }
 442 }
 443
 444
 445 void FGAIAircraft::AccelTo(double speed) {
 446     tgt_speed = speed;
 447 }
 448
 449
 450 void FGAIAircraft::PitchTo(double angle) {
 451     tgt_pitch = angle;
 452     alt_lock = false;
 453 }
 454
 455
 456 void FGAIAircraft::RollTo(double angle) {
 457     tgt_roll = angle;
 458     hdg_lock = false;
 459 }
 460
 461
 462 void FGAIAircraft::YawTo(double angle) {
 463     tgt_yaw = angle;
 464 }
 465
 466
 467 void FGAIAircraft::ClimbTo(double altitude) {
 468     tgt_altitude = altitude;
 469     alt_lock = true;
 470 }
 471
 472
 473 void FGAIAircraft::TurnTo(double heading) {
 474     tgt_heading = heading;
 475     hdg_lock = true;
 476 }
 477
 478
 479 double FGAIAircraft::sign(double x) {
 480     if ( x < 0.0 )
 481         return -1.0;
 482     else
 483         return 1.0;
 484 }
 485
 486
 487 void FGAIAircraft::setFlightPlan(const std::string& flightplan, bool repeat) {
 488     if (!flightplan.empty()) {
 489         FGAIFlightPlan* fp = new FGAIFlightPlan(flightplan);
 490         fp->setRepeat(repeat);
 491         SetFlightPlan(fp);
 492     }
 493 }
 494
 495
 496 void FGAIAircraft::SetFlightPlan(FGAIFlightPlan *f) {
 497     delete fp;
 498     fp = f;
 499 }
 500
 501
 502 void FGAIAircraft::ProcessFlightPlan( double dt, time_t now ) {
 503     bool eraseWaypoints;
 504     if (trafficRef) {
 505 //      FGAirport *arr;
 506 //      FGAirport *dep;
 507         eraseWaypoints = true;
 508 //      cerr << trafficRef->getRegistration();
 509 //      cerr << "Departure airport " << endl;
 510 //      dep = trafficRef->getDepartureAirport();
 511 //      if (dep)
 512 //          cerr << dep->getId() << endl;
 513 //      cerr << "Arrival   airport " << endl;
 514 //      arr = trafficRef->getArrivalAirport();
 515 //      if (arr)
 516 //          cerr << arr->getId() <<endl << endl;;
 517     } else
 518         eraseWaypoints = false;
 519
 520     //cerr << "Processing Flightplan" << endl;
 521     FGAIFlightPlan::waypoint* prev = 0; // the one behind you
 522     FGAIFlightPlan::waypoint* curr = 0; // the one ahead
 523     FGAIFlightPlan::waypoint* next = 0; // the next plus 1
 524     prev = fp->getPreviousWaypoint();
 525     curr = fp->getCurrentWaypoint();
 526     next = fp->getNextWaypoint();
 527     dt_count += dt;
 528
 529     if (!prev) {  //beginning of flightplan, do this initialization once
 530         //setBank(0.0);
 531         spinCounter = 0;
 532         tempReg = "";
 533         //prev_dist_to_go = HUGE;
 534         //cerr << "Before increment " << curr-> name << endl;
 535         fp->IncrementWaypoint(eraseWaypoints);
 536         //prev = fp->getPreviousWaypoint(); //first waypoint
 537         //curr = fp->getCurrentWaypoint();  //second waypoint
 538         //next = fp->getNextWaypoint();     //third waypoint (might not exist!)
 539         //cerr << "After increment " << prev-> name << endl;
 540         if (!(fp->getNextWaypoint()) && trafficRef)
 541             loadNextLeg();
 542
 543         //cerr << "After load " << prev-> name << endl;
 544         prev = fp->getPreviousWaypoint(); //first waypoint
 545         curr = fp->getCurrentWaypoint();  //second waypoint
 546         next = fp->getNextWaypoint();     //third waypoint (might not exist!)
 547         //cerr << "After load " << prev-> name << endl;
 548         setLatitude(prev->latitude);
 549         setLongitude(prev->longitude);
 550         setSpeed(prev->speed);
 551         setAltitude(prev->altitude);
 552
 553         if (prev->speed > 0.0)
 554             setHeading(fp->getBearing(prev->latitude, prev->longitude, curr));
 555         else
 556             setHeading(fp->getBearing(curr->latitude, curr->longitude, prev));
 557
 558         // If next doesn't exist, as in incrementally created flightplans for
 559         // AI/Trafficmanager created plans,
 560         // Make sure lead distance is initialized otherwise
 561         if (next)
 562             fp->setLeadDistance(speed, hdg, curr, next);
 563
 564         if (curr->crossat > -1000.0) { //use a calculated descent/climb rate
 565             use_perf_vs = false;
 566             tgt_vs = (curr->crossat - prev->altitude)
 567                     / (fp->getDistanceToGo(pos.lat(), pos.lon(), curr)
 568                     / 6076.0 / prev->speed*60.0);
 569             tgt_altitude = curr->crossat;
 570         } else {
 571             use_perf_vs = true;
 572             tgt_altitude = prev->altitude;
 573         }
 574         alt_lock = hdg_lock = true;
 575         no_roll = prev->on_ground;
 576         if (no_roll) {
 577             Transform();         // make sure aip is initialized.
 578             getGroundElev(60.1); // make sure it's exectuted first time around, so force a large dt value
 579             //getGroundElev(60.1); // Need to do this twice.
 580             //cerr << trafficRef->getRegistration() << " Setting altitude to " << tgt_altitude << endl;
 581             doGroundAltitude(); //(tgt_altitude);
 582         }
 583         prevSpeed = 0;
 584         //cout << "First waypoint:  " << prev->name << endl;
 585         //cout << "  Target speed:    " << tgt_speed << endl;
 586         //cout << "  Target altitude: " << tgt_altitude << endl;
 587         //cout << "  Target heading:  " << tgt_heading << endl << endl;
 588         //cerr << "Done Flightplan init" << endl;
 589         return;
 590     } // end of initialization
 591
 592     // let's only process the flight plan every 100 ms.
 593     if ((dt_count < 0.1) || (now < fp->getStartTime())) {
 594         //cerr  << "done fp dt" << endl;
 595         return;
 596     } else {
 597         dt_count = 0;
 598     }
 599     // check to see if we've reached the lead point for our next turn
 600     double dist_to_go = fp->getDistanceToGo(pos.lat(), pos.lon(), curr);
 601
 602     //cerr << "2" << endl;
 603     double lead_dist = fp->getLeadDistance();
 604     //cerr << " Distance : " << dist_to_go << ": Lead distance " << lead_dist << endl;
 605     // experimental: Use fabs, because speed can be negative (I hope) during push_back.
 606
 607     if (lead_dist < fabs(2*speed)) {
 608         lead_dist = fabs(2*speed);  //don't skip over the waypoint
 609         //cerr << "Extending lead distance to " << lead_dist << endl;
 610     }
 611 //  FGAirport * apt = trafficRef->getDepartureAirport();
 612 //  if ((dist_to_go > prev_dist_to_go) && trafficRef && apt) {
 613 //      if (apt->getId() == string("EHAM"))
 614 //          cerr << "Alert: " << trafficRef->getRegistration() << " is moving away from waypoint " << curr->name  << endl
 615 //               << "Target heading : " << tgt_heading << "act heading " << hdg << " Tgt speed : " << tgt_speed << endl
 616 //               << "Lead distance : " << lead_dist  << endl
 617 //               << "Distance to go: " << dist_to_go << endl;
 618 //  }
 619
 620     prev_dist_to_go = dist_to_go;
 621     //cerr << "2" << endl;
 622     //if (no_roll)
 623     //  lead_dist = 10.0;
 624     //cout << "Leg : " << (fp->getLeg()-1) << ". dist_to_go: " << dist_to_go << ",  lead_dist: "
 625     //     << lead_dist << ", tgt_speed " << tgt_speed << ", tgt_heading " << tgt_heading
 626     //     << " speed " << speed << " hdg " << hdg << ". Altitude "  << altitude << " TAget alt :"
 627     //     << tgt_altitude << endl;
 628
 629     if ( dist_to_go < lead_dist ) {
 630         //prev_dist_to_go = HUGE;
 631         // For traffic manager generated aircraft:
 632         // check if the aircraft flies of of user range. And adjust the
 633         // Current waypoint's elevation according to Terrain Elevation
 634         if (curr->finished) {  //end of the flight plan
 635             if (fp->getRepeat())
 636                 fp->restart();
 637             else
 638                 setDie(true);
 639
 640             //cerr << "Done die end of fp" << endl;
 641             return;
 642         }
 643
 644         // we've reached the lead-point for the waypoint ahead
 645         //cerr << "4" << endl;
 646         //cerr << "Situation after lead point" << endl;
 647         //cerr << "Prviious: " << prev->name << endl;
 648         //cerr << "Current : " << curr->name << endl;
 649         //cerr << "Next    : " << next->name << endl;
 650         if (next) {
 651             tgt_heading = fp->getBearing(curr, next);
 652             spinCounter = 0;
 653         }
 654
 655         fp->IncrementWaypoint(eraseWaypoints);
 656         if (!(fp->getNextWaypoint()) && trafficRef)
 657             loadNextLeg();
 658
 659         prev = fp->getPreviousWaypoint();
 660         curr = fp->getCurrentWaypoint();
 661         next = fp->getNextWaypoint();
 662
 663         // Now that we have incremented the waypoints, excute some traffic manager specific code
 664         // based on the name of the waypoint we just passed.
 665         if (trafficRef) {
 666             double userLatitude  = fgGetDouble("/position/latitude-deg");
 667             double userLongitude = fgGetDouble("/position/longitude-deg");
 668             double course, distance;
 669             SGWayPoint current (pos.lon(), pos.lat(), 0);
 670             SGWayPoint user (userLongitude, userLatitude, 0);
 671             user.CourseAndDistance(current, &course, &distance);
 672             if ((distance * SG_METER_TO_NM) > TRAFFICTOAIDIST) {
 673                 setDie(true);
 674                 //cerr << "done fp die out of range" << endl;
 675                 return;
 676             }
 677
 678             FGAirport * dep = trafficRef->getDepartureAirport();
 679             FGAirport * arr = trafficRef->getArrivalAirport();
 680             // At parking the beginning of the airport
 681             if (!( dep && arr)) {
 682                 setDie(true);
 683                 return;
 684             }
 685
 686             //if ((dep->getId() == string("EHAM") || (arr->getId() == string("EHAM")))) {
 687             //    cerr << trafficRef->getRegistration()
 688             //         << " Enroute from " << dep->getId()
 689             //         << " to "           << arr->getId()
 690             //         << " just crossed " << prev->name
 691             //         << " Assigned rwy     " << fp->getRunwayId()
 692             //         << " " << fp->getRunway() << endl;
 693             // }
 694             //if ((dep->getId() == string("EHAM")) && (prev->name == "park2")) {
 695             //    cerr << "Schiphol ground "
 696             //         << trafficRef->getCallSign();
 697             //    if (trafficRef->getHeavy())
 698             //        cerr << "Heavy";
 699             //    cerr << ", is type "
 700             //         << trafficRef->getAircraft()
 701             //         << " ready to go. IFR to "
 702             //         << arr->getId() <<endl;
 703             // }
 704
 705             if (prev->name == "park2")
 706                 dep->getDynamics()->releaseParking(fp->getGate());
 707
 708             // Some debug messages, specific to testing the Logical networks.
 709             // if ((arr->getId() == string("EHAM")) && (prev->name  == "Center")) {
 710             //     cerr << "Schiphol ground "
 711             //          << trafficRef->getRegistration() << " "
 712             //          << trafficRef->getCallSign();
 713             //     if (trafficRef->getHeavy())
 714             //         cerr << "Heavy";
 715             //     cerr << ", arriving from " << dep->getName() ;
 716             //     cerr << " landed runway "
 717             //          << fp->getRunway()
 718             //          << " request taxi to gate "
 719             //          << arr->getDynamics()->getParkingName(fp->getGate())
 720             //          << endl;
 721             // }
 722             if (prev->name == "END")
 723                 fp->setTime(trafficRef->getDepartureTime());
 724             //cerr << "5" << endl;
 725         }
 726
 727         if (next) {
 728             //cerr << "Current waypoint" << curr->name << endl;
 729             //cerr << "Next waypoint" << next->name << endl;
 730             fp->setLeadDistance(speed, tgt_heading, curr, next);
 731         }
 732
 733         //cerr << "5.1" << endl;
 734         if (!(prev->on_ground)) { // only update the tgt altitude from flightplan if not on the ground
 735             tgt_altitude = prev->altitude;
 736             if (curr->crossat > -1000.0) {
 737                 //cerr << "5.1a" << endl;
 738                 use_perf_vs = false;
 739                 tgt_vs = (curr->crossat - altitude) / (fp->getDistanceToGo(pos.lat(), pos.lon(), curr)
 740                         / 6076.0 / speed*60.0);
 741                 //cerr << "5.1b" << endl;
 742                 tgt_altitude = curr->crossat;
 743             } else {
 744                 //cerr << "5.1c" << endl;
 745                 use_perf_vs = true;
 746                 //cerr << "5.1d" << endl;
 747                 //cerr << "Setting target altitude : " <<tgt_altitude << endl;
 748             }
 749         }
 750         //cerr << "6" << endl;
 751         tgt_speed = prev->speed;
 752         hdg_lock = alt_lock = true;
 753         no_roll = prev->on_ground;
 754         //cout << "Crossing waypoint: " << prev->name << endl;
 755         //cout << "  Target speed:    " << tgt_speed << endl;
 756         //cout << "  Target altitude: " << tgt_altitude << endl;
 757         //cout << "  Target heading:  " << tgt_heading << endl << endl;
 758
 759     } else {
 760         double calc_bearing = fp->getBearing(pos.lat(), pos.lon(), curr);
 761         //cerr << "Bearing = " << calc_bearing << endl;
 762         if (speed < 0) {
 763             calc_bearing +=180;
 764             if (calc_bearing > 360)
 765                 calc_bearing -= 360;
 766         }
 767
 768         if (finite(calc_bearing)) {
 769             double hdg_error = calc_bearing - tgt_heading;
 770             if (fabs(hdg_error) > 1.0) {
 771                 TurnTo( calc_bearing );
 772             }
 773
 774         } else {
 775             cerr << "calc_bearing is not a finite number : "
 776                  << "Speed " << speed
 777                  << "pos : " << pos.lat() << ", " << pos.lon()
 778                  << "waypoint " << curr->latitude << ", " << curr->longitude << endl;
 779             cerr << "waypoint name " << curr->name;
 780             exit(1);  // FIXME
 781         }
 782
 783         double speed_diff = speed - prevSpeed;
 784         // Update the lead distance calculation if speed has changed sufficiently
 785         // to prevent spinning (hopefully);
 786         if (fabs(speed_diff) > 10) {
 787             prevSpeed = speed;
 788             fp->setLeadDistance(speed, tgt_heading, curr, next);
 789         }
 790
 791         //cerr << "Done Processing FlightPlan"<< endl;
 792     }
 793 }
 794
 795
 796 bool FGAIAircraft::_getGearDown() const {
 797     return ((props->getFloatValue("position/altitude-agl-ft") < 900.0)
 798             && (props->getFloatValue("velocities/airspeed-kt")
 799             < performance->land_speed*1.25));
 800 }
 801
 802
 803 void FGAIAircraft::loadNextLeg() {
 804     //delete fp;
 805     //time_t now = time(NULL) + fgGetLong("/sim/time/warp");
 806
 807     //FGAIModelEntity entity;
 808     //entity.m_class = "jet_transport";
 809     //entity.path = modelPath.c_str();
 810     //entity.flightplan = "none";
 811     //entity.latitude = _getLatitude();
 812     //entity.longitude = _getLongitude();
 813     //entity.altitude = trafficRef->getCruiseAlt() * 100; // convert from FL to feet
 814     //entity.speed = 450; // HACK ALERT
 815     //entity.fp = new FGAIFlightPlan(&entity, courseToDest, i->getDepartureTime(), dep, arr);
 816     int leg;
 817     if ((leg = fp->getLeg())  == 10) {
 818         trafficRef->next();
 819         leg = 1;
 820         fp->setLeg(leg);
 821         //cerr << "Resetting leg : " << leg << endl;
 822     }
 823     //leg++;
 824     //fp->setLeg(leg);
 825     //cerr << "Creating leg number : " << leg << endl;
 826     FGAirport *dep = trafficRef->getDepartureAirport();
 827     FGAirport *arr = trafficRef->getArrivalAirport();
 828     if (!(dep && arr)) {
 829         setDie(true);
 830         //cerr << "Failed to get airport in AIAircraft::ProcessFlightplan()" << endl;
 831         //if (dep)
 832         //  cerr << "Departure " << dep->getId() << endl;
 833         //if (arr)
 834         //  cerr << "Arrival   " << arr->getId() << endl;
 835
 836     } else {
 837         double cruiseAlt = trafficRef->getCruiseAlt() * 100;
 838         //cerr << "Creating new leg using " << cruiseAlt << " as cruise altitude."<< endl;
 839
 840         fp->create (dep,
 841                     arr,
 842                     leg,
 843                     cruiseAlt, //(trafficRef->getCruiseAlt() * 100), // convert from FL to feet
 844                     trafficRef->getSpeed(),
 845                     _getLatitude(),
 846                     _getLongitude(),
 847                     false,
 848                     trafficRef->getRadius(),
 849                     trafficRef->getFlightType(),
 850                     acType,
 851                     company);
 852         //prev = fp->getPreviousWaypoint();
 853         //curr = fp->getCurrentWaypoint();
 854         //next = fp->getNextWaypoint();
 855         //cerr << "25" << endl;
 856         //if (next)
 857         //        {
 858         //  //cerr << "Next waypoint" << next->name << endl;
 859         //          fp->setLeadDistance(speed, tgt_heading, curr, next);
 860         //        }
 861         //cerr << "25.1" << endl;
 862         //if (curr->crossat > -1000.0) {
 863         //        //cerr << "25.1a" << endl;
 864         //        use_perf_vs = false;
 865         //
 866         //        tgt_vs = (curr->crossat - altitude)/
 867         //          (fp->getDistanceToGo(pos.lat(), pos.lon(), curr)/6076.0/speed*60.0);
 868         //        //cerr << "25.1b" << endl;
 869         //        tgt_altitude = curr->crossat;
 870         //} else {
 871         //        //cerr << "25.1c" << endl;
 872         //        use_perf_vs = true;
 873         //        //cerr << "25.1d" << endl;
 874         //        tgt_altitude = prev->altitude;
 875         //        //cerr << "Setting target altitude : " <<tgt_altitude << endl;
 876         // }
 877         //cerr << "26" << endl;
 878         //tgt_speed = prev->speed;
 879         //hdg_lock = alt_lock = true;
 880         //no_roll = prev->on_ground;
 881     }
 882     //else
 883     //{
 884     //delete entity.fp;
 885     //entity.fp = new FGAIFlightPlan(&entity,
 886     //                                 999,  // A hack
 887     //                                 trafficRef->getDepartureTime(),
 888     //                                 trafficRef->getDepartureAirport(),
 889     //                                 trafficRef->getArrivalAirport(),
 890     //                                 false,
 891     //                                 acType,
 892     //                                 company);
 893     //SetFlightPlan(entity.fp);
 894 }
 895
 896
 897 // Note: This code is copied from David Luff's AILocalTraffic
 898 // Warning - ground elev determination is CPU intensive
 899 // Either this function or the logic of how often it is called
 900 // will almost certainly change.
 901
 902 void FGAIAircraft::getGroundElev(double dt) {
 903     dt_elev_count += dt;
 904
 905     // Update minimally every three secs, but add some randomness
 906     // to prevent all IA objects doing this in synchrony
 907     if (dt_elev_count < (3.0) + (rand() % 10))
 908         return;
 909     else
 910        dt_elev_count = 0;
 911
 912     // It would be nice if we could set the correct tile center here in order to get a correct
 913     // answer with one call to the function, but what I tried in the two commented-out lines
 914     // below only intermittently worked, and I haven't quite groked why yet.
 915     //SGBucket buck(pos.lon(), pos.lat());
 916     //aip.getSGLocation()->set_tile_center(Point3D(buck.get_center_lon(), buck.get_center_lat(), 0.0));
 917
 918     // Only do the proper hitlist stuff if we are within visible range of the viewer.
 919     if (!invisible) {
 920         double visibility_meters = fgGetDouble("/environment/visibility-m");
 921
 922         FGViewer* vw = globals->get_current_view();
 923         double course, distance;
 924
 925         //Point3D currView(vw->getLongitude_deg(),
 926         //                 vw->getLatitude_deg(), 0.0);
 927         SGWayPoint current (pos.lon(), pos.lat(), 0);
 928         SGWayPoint view (vw->getLongitude_deg(), vw->getLatitude_deg(), 0);
 929         view.CourseAndDistance(current, &course, &distance);
 930         if(distance > visibility_meters) {
 931             //aip.getSGLocation()->set_cur_elev_m(aptElev);
 932             return;
 933         }
 934
 935         // FIXME: make sure the pos.lat/pos.lon values are in degrees ...
 936         double range = 500.0;
 937         if (!globals->get_tile_mgr()->scenery_available(pos.lat(), pos.lon(), range)) {
 938             // Try to shedule tiles for that position.
 939             globals->get_tile_mgr()->update( aip.getSGLocation(), range );
 940         }
 941
 942         // FIXME: make sure the pos.lat/pos.lon values are in degrees ...
 943         double alt;
 944         if (globals->get_scenery()->get_elevation_m(pos.lat(), pos.lon(), 20000.0, alt))
 945             tgt_altitude = alt * SG_METER_TO_FEET;
 946
 947         //cerr << "Target altitude : " << tgt_altitude << endl;
 948         // if (globals->get_scenery()->get_elevation_m(pos.lat(), pos.lon(),
 949         //                                            20000.0, alt))
 950         //    tgt_altitude = alt * SG_METER_TO_FEET;
 951         //cerr << "Target altitude : " << tgt_altitude << endl;
 952     }
 953 }
 954
 955
 956 void FGAIAircraft::setCallSign(const string& s) {
 957     callsign = s;
 958 }
 959
 960
 961 void FGAIAircraft::setTACANChannelID(const string& id) {
 962     TACAN_channel_id = id;
 963 }
 964
 965
 966 void FGAIAircraft::doGroundAltitude() {
 967    if (fabs(altitude - (tgt_altitude+groundOffset)) > 1000.0)
 968        altitude = (tgt_altitude + groundOffset);
 969    else
 970       altitude += 0.1 * ((tgt_altitude+groundOffset) - altitude);
 971 }
 972