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