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()->schedule_scenery(pos, range, 5.0))
 424         {
 425             double alt;
 426             if (getGroundElevationM(SGGeod::fromGeodM(pos, 20000), alt, 0))
 427                 tgt_altitude_ft = alt * SG_METER_TO_FEET;
 428         }
 429     }
 430 }
 431
 432
 433 void FGAIAircraft::doGroundAltitude() {
 434     if (fabs(altitude_ft - (tgt_altitude_ft+groundOffset)) > 1000.0)
 435         altitude_ft = (tgt_altitude_ft + groundOffset);
 436     else
 437         altitude_ft += 0.1 * ((tgt_altitude_ft+groundOffset) - altitude_ft);
 438     tgt_vs = 0;
 439 }
 440
 441
 442 void FGAIAircraft::announcePositionToController() {
 443     if (trafficRef) {
 444         int leg = fp->getLeg();
 445
 446         // Note that leg has been incremented after creating the current leg, so we should use
 447         // leg numbers here that are one higher than the number that is used to create the leg
 448         //
 449         switch (leg) {
 450           case 2:              // Startup and Push back
 451             if (trafficRef->getDepartureAirport()->getDynamics())
 452                 controller = trafficRef->getDepartureAirport()->getDynamics()->getStartupController();
 453             break;
 454         case 3:              // Taxiing to runway
 455             if (trafficRef->getDepartureAirport()->getDynamics()->getGroundNetwork()->exists())
 456                 controller = trafficRef->getDepartureAirport()->getDynamics()->getGroundNetwork();
 457             break;
 458         case 4:              //Take off tower controller
 459             if (trafficRef->getDepartureAirport()->getDynamics()) {
 460                 controller = trafficRef->getDepartureAirport()->getDynamics()->getTowerController();
 461             } else {
 462                 cerr << "Error: Could not find Dynamics at airport : " << trafficRef->getDepartureAirport()->getId() << endl;
 463             }
 464             break;
 465         case 7:
 466              if (trafficRef->getDepartureAirport()->getDynamics()) {
 467                  controller = trafficRef->getArrivalAirport()->getDynamics()->getApproachController();
 468               }
 469               break;
 470         case 9:              // Taxiing for parking
 471             if (trafficRef->getArrivalAirport()->getDynamics()->getGroundNetwork()->exists())
 472                 controller = trafficRef->getArrivalAirport()->getDynamics()->getGroundNetwork();
 473             break;
 474         default:
 475             controller = 0;
 476             break;
 477         }
 478
 479         if ((controller != prevController) && (prevController != 0)) {
 480             prevController->signOff(getID());
 481         }
 482         prevController = controller;
 483         if (controller) {
 484             controller->announcePosition(getID(), fp, fp->getCurrentWaypoint()->routeIndex,
 485                                          _getLatitude(), _getLongitude(), hdg, speed, altitude_ft,
 486                                          trafficRef->getRadius(), leg, this);
 487         }
 488     }
 489 }
 490
 491 // Process ATC instructions and report back
 492
 493 void FGAIAircraft::processATC(FGATCInstruction instruction) {
 494     if (instruction.getCheckForCircularWait()) {
 495         // This is not exactly an elegant solution,
 496         // but at least it gives me a chance to check
 497         // if circular waits are resolved.
 498         // For now, just take the offending aircraft
 499         // out of the scene
 500         setDie(true);
 501         // a more proper way should be - of course - to
 502         // let an offending aircraft take an evasive action
 503         // for instance taxi back a little bit.
 504     }
 505     //cerr << "Processing ATC instruction (not Implimented yet)" << endl;
 506     if (instruction.getHoldPattern   ()) {}
 507
 508     // Hold Position
 509     if (instruction.getHoldPosition  ()) {
 510         if (!holdPos) {
 511             holdPos = true;
 512         }
 513         AccelTo(0.0);
 514     } else {
 515         if (holdPos) {
 516             //if (trafficRef)
 517             //  cerr << trafficRef->getCallSign() << " Resuming Taxi." << endl;
 518             holdPos = false;
 519         }
 520         // Change speed Instruction. This can only be excecuted when there is no
 521         // Hold position instruction.
 522         if (instruction.getChangeSpeed   ()) {
 523             //  if (trafficRef)
 524             //cerr << trafficRef->getCallSign() << " Changing Speed " << endl;
 525             AccelTo(instruction.getSpeed());
 526         } else {
 527             if (fp) AccelTo(fp->getPreviousWaypoint()->speed);
 528         }
 529     }
 530     if (instruction.getChangeHeading ()) {
 531         hdg_lock = false;
 532         TurnTo(instruction.getHeading());
 533     } else {
 534         if (fp) {
 535             hdg_lock = true;
 536         }
 537     }
 538     if (instruction.getChangeAltitude()) {}
 539
 540 }
 541
 542
 543 void FGAIAircraft::handleFirstWaypoint() {
 544     bool eraseWaypoints;         //TODO YAGNI
 545     headingError = 0;
 546     if (trafficRef) {
 547         eraseWaypoints = true;
 548     } else {
 549         eraseWaypoints = false;
 550     }
 551
 552     FGAIFlightPlan::waypoint* prev = 0; // the one behind you
 553     FGAIFlightPlan::waypoint* curr = 0; // the one ahead
 554     FGAIFlightPlan::waypoint* next = 0;// the next plus 1
 555
 556     spinCounter = 0;
 557     tempReg = "";
 558
 559     //TODO fp should handle this
 560     fp->IncrementWaypoint(eraseWaypoints);
 561     if (!(fp->getNextWaypoint()) && trafficRef)
 562         if (!loadNextLeg()) {
 563             setDie(true);
 564             return;
 565         }
 566
 567     prev = fp->getPreviousWaypoint();   //first waypoint
 568     curr = fp->getCurrentWaypoint();    //second waypoint
 569     next = fp->getNextWaypoint();       //third waypoint (might not exist!)
 570
 571     setLatitude(prev->latitude);
 572     setLongitude(prev->longitude);
 573     setSpeed(prev->speed);
 574     setAltitude(prev->altitude);
 575
 576     if (prev->speed > 0.0)
 577         setHeading(fp->getBearing(prev->latitude, prev->longitude, curr));
 578     else
 579         setHeading(fp->getBearing(curr->latitude, curr->longitude, prev));
 580
 581     // If next doesn't exist, as in incrementally created flightplans for
 582     // AI/Trafficmanager created plans,
 583     // Make sure lead distance is initialized otherwise
 584     if (next)
 585         fp->setLeadDistance(speed, hdg, curr, next);
 586
 587     if (curr->crossat > -1000.0) //use a calculated descent/climb rate
 588     {
 589         use_perf_vs = false;
 590         tgt_vs = (curr->crossat - prev->altitude)
 591                  / (fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr)
 592                     / 6076.0 / prev->speed*60.0);
 593         tgt_altitude_ft = curr->crossat;
 594     } else {
 595         use_perf_vs = true;
 596         tgt_altitude_ft = prev->altitude;
 597     }
 598     alt_lock = hdg_lock = true;
 599     no_roll = prev->on_ground;
 600     if (no_roll) {
 601         Transform();             // make sure aip is initialized.
 602         getGroundElev(60.1);     // make sure it's executed first time around, so force a large dt value
 603         doGroundAltitude();
 604     }
 605     // Make sure to announce the aircraft's position
 606     announcePositionToController();
 607     prevSpeed = 0;
 608 }
 609
 610
 611 /**
 612  * Check Execution time (currently once every 100 ms)
 613  * Add a bit of randomization to prevent the execution of all flight plans
 614  * in synchrony, which can add significant periodic framerate flutter.
 615  *
 616  * @param now
 617  * @return
 618  */
 619 bool FGAIAircraft::fpExecutable(time_t now) {
 620     double rand_exec_time = (rand() % 100) / 100;
 621     return (dt_count > (0.1+rand_exec_time)) && (fp->isActive(now));
 622 }
 623
 624
 625 /**
 626  * Check to see if we've reached the lead point for our next turn
 627  *
 628  * @param curr
 629  * @return
 630  */
 631 bool FGAIAircraft::leadPointReached(FGAIFlightPlan::waypoint* curr) {
 632     double dist_to_go = fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
 633
 634     //cerr << "2" << endl;
 635     double lead_dist = fp->getLeadDistance();
 636     // experimental: Use fabs, because speed can be negative (I hope) during push_back.
 637
 638     if (lead_dist < fabs(2*speed)) {
 639       //don't skip over the waypoint
 640       lead_dist = fabs(2*speed);
 641       //cerr << "Extending lead distance to " << lead_dist << endl;
 642     }
 643
 644     //prev_dist_to_go = dist_to_go;
 645     //if (dist_to_go < lead_dist)
 646     //     cerr << trafficRef->getCallSign() << " Distance : "
 647     //          << dist_to_go << ": Lead distance "
 648     //          << lead_dist << " " << curr->name
 649     //          << " Ground target speed " << groundTargetSpeed << endl;
 650     double bearing = 0;
 651     if (speed > 50) { // don't do bearing calculations for ground traffic
 652        bearing = getBearing(fp->getBearing(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr));
 653        if (bearing < minBearing) {
 654             minBearing = bearing;
 655             if (minBearing < 10) {
 656                  minBearing = 10;
 657             }
 658             if ((minBearing < 360.0) && (minBearing > 10.0)) {
 659                 speedFraction = cos(minBearing *SG_DEGREES_TO_RADIANS);
 660             } else {
 661                 speedFraction = 1.0;
 662             }
 663        }
 664     }
 665     if (trafficRef) {
 666          //cerr << "Tracking callsign : \"" << fgGetString("/ai/track-callsign") << "\"" << endl;
 667 /*         if (trafficRef->getCallSign() == fgGetString("/ai/track-callsign")) {
 668               cerr << trafficRef->getCallSign() << " " << tgt_altitude_ft << " " << _getSpeed() << " "
 669                    << _getAltitude() << " "<< _getLatitude() << " " << _getLongitude() << " " << dist_to_go << " " << lead_dist << " " << curr->name << " " << vs << " " << tgt_vs << " " << bearing << " " << minBearing << " " << speedFraction << endl;
 670          }*/
 671      }
 672     if ((dist_to_go < lead_dist) || (bearing > (minBearing * 1.1))) {
 673         minBearing = 360;
 674         return true;
 675     } else {
 676         return false;
 677     }
 678 }
 679
 680
 681 bool FGAIAircraft::aiTrafficVisible() {
 682   SGGeod userPos(SGGeod::fromDeg(fgGetDouble("/position/longitude-deg"),
 683     fgGetDouble("/position/latitude-deg")));
 684
 685   return (SGGeodesy::distanceNm(userPos, pos) <= TRAFFICTOAIDISTTODIE);
 686 }
 687
 688
 689 /**
 690  * Handle release of parking gate, once were taxiing. Also ensure service time at the gate
 691  * in the case of an arrival.
 692  *
 693  * @param prev
 694  * @return
 695  */
 696
 697 //TODO the trafficRef is the right place for the method
 698 bool FGAIAircraft::handleAirportEndPoints(FGAIFlightPlan::waypoint* prev, time_t now) {
 699     // prepare routing from one airport to another
 700     FGAirport * dep = trafficRef->getDepartureAirport();
 701     FGAirport * arr = trafficRef->getArrivalAirport();
 702
 703     if (!( dep && arr))
 704         return false;
 705
 706     // This waypoint marks the fact that the aircraft has passed the initial taxi
 707     // departure waypoint, so it can release the parking.
 708     //cerr << trafficRef->getCallSign() << " has passed waypoint " << prev->name << " at speed " << speed << endl;
 709     if (prev->name == "PushBackPoint") {
 710         dep->getDynamics()->releaseParking(fp->getGate());
 711         AccelTo(0.0);
 712         setTaxiClearanceRequest(true);
 713     }
 714
 715     // This is the last taxi waypoint, and marks the the end of the flight plan
 716     // so, the schedule should update and wait for the next departure time.
 717     if (prev->name == "END") {
 718         time_t nextDeparture = trafficRef->getDepartureTime();
 719         // make sure to wait at least 20 minutes at parking to prevent "nervous" taxi behavior
 720         if (nextDeparture < (now+1200)) {
 721             nextDeparture = now + 1200;
 722         }
 723         fp->setTime(nextDeparture); // should be "next departure"
 724     }
 725
 726     return true;
 727 }
 728
 729
 730 /**
 731  * Check difference between target bearing and current heading and correct if necessary.
 732  *
 733  * @param curr
 734  */
 735 void FGAIAircraft::controlHeading(FGAIFlightPlan::waypoint* curr) {
 736     double calc_bearing = fp->getBearing(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
 737     //cerr << "Bearing = " << calc_bearing << endl;
 738     if (speed < 0) {
 739         calc_bearing +=180;
 740         if (calc_bearing > 360)
 741             calc_bearing -= 360;
 742     }
 743
 744     if (finite(calc_bearing)) {
 745         double hdg_error = calc_bearing - tgt_heading;
 746         if (fabs(hdg_error) > 0.01) {
 747             TurnTo( calc_bearing );
 748         }
 749
 750     } else {
 751         cerr << "calc_bearing is not a finite number : "
 752         << "Speed " << speed
 753         << "pos : " << pos.getLatitudeDeg() << ", " << pos.getLongitudeDeg()
 754         << "waypoint " << curr->latitude << ", " << curr->longitude << endl;
 755         cerr << "waypoint name " << curr->name;
 756         exit(1);                 // FIXME
 757     }
 758 }
 759
 760
 761 /**
 762  * Update the lead distance calculation if speed has changed sufficiently
 763  * to prevent spinning (hopefully);
 764  *
 765  * @param curr
 766  * @param next
 767  */
 768 void FGAIAircraft::controlSpeed(FGAIFlightPlan::waypoint* curr, FGAIFlightPlan::waypoint* next) {
 769     double speed_diff = speed - prevSpeed;
 770
 771     if (fabs(speed_diff) > 10) {
 772         prevSpeed = speed;
 773         if (next) {
 774             fp->setLeadDistance(speed, tgt_heading, curr, next);
 775         }
 776     }
 777 }
 778
 779
 780 /**
 781  * Update target values (heading, alt, speed) depending on flight plan or control properties
 782  */
 783 void FGAIAircraft::updatePrimaryTargetValues(bool& flightplanActive, bool& aiOutOfSight) {
 784     if (fp)                      // AI object has a flightplan
 785     {
 786         //TODO make this a function of AIBase
 787         time_t now = time(NULL) + fgGetLong("/sim/time/warp");
 788         //cerr << "UpateTArgetValues() " << endl;
 789         ProcessFlightPlan(dt, now);
 790
 791         // Do execute Ground elev for inactive aircraft, so they
 792         // Are repositioned to the correct ground altitude when the user flies within visibility range.
 793         // In addition, check whether we are out of user range, so this aircraft
 794         // can be deleted.
 795         if (onGround()) {
 796                 Transform();     // make sure aip is initialized.
 797                 getGroundElev(dt);
 798                 doGroundAltitude();
 799                 // Transform();
 800                 pos.setElevationFt(altitude_ft);
 801         }
 802         if (trafficRef) {
 803            //cerr << trafficRef->getRegistration() << " Setting altitude to " << altitude_ft;
 804             aiOutOfSight = !aiTrafficVisible();
 805             if (aiOutOfSight) {
 806                 setDie(true);
 807                 //cerr << trafficRef->getRegistration() << " is set to die " << endl;
 808                 aiOutOfSight = true;
 809                 return;
 810             }
 811         }
 812         timeElapsed = now - fp->getStartTime();
 813         flightplanActive = fp->isActive(now);
 814     } else {
 815         // no flight plan, update target heading, speed, and altitude
 816         // from control properties.  These default to the initial
 817         // settings in the config file, but can be changed "on the
 818         // fly".
 819         string lat_mode = props->getStringValue("controls/flight/lateral-mode");
 820         if ( lat_mode == "roll" ) {
 821             double angle
 822             = props->getDoubleValue("controls/flight/target-roll" );
 823             RollTo( angle );
 824         } else {
 825             double angle
 826             = props->getDoubleValue("controls/flight/target-hdg" );
 827             TurnTo( angle );
 828         }
 829
 830         string lon_mode
 831         = props->getStringValue("controls/flight/longitude-mode");
 832         if ( lon_mode == "alt" ) {
 833             double alt = props->getDoubleValue("controls/flight/target-alt" );
 834             ClimbTo( alt );
 835         } else {
 836             double angle
 837             = props->getDoubleValue("controls/flight/target-pitch" );
 838             PitchTo( angle );
 839         }
 840
 841         AccelTo( props->getDoubleValue("controls/flight/target-spd" ) );
 842     }
 843 }
 844
 845 void FGAIAircraft::updatePosition() {
 846     // convert speed to degrees per second
 847     double speed_north_deg_sec = cos( hdg * SGD_DEGREES_TO_RADIANS )
 848                                  * speed * 1.686 / ft_per_deg_lat;
 849     double speed_east_deg_sec  = sin( hdg * SGD_DEGREES_TO_RADIANS )
 850                                  * speed * 1.686 / ft_per_deg_lon;
 851
 852     // set new position
 853     pos.setLatitudeDeg( pos.getLatitudeDeg() + speed_north_deg_sec * dt);
 854     pos.setLongitudeDeg( pos.getLongitudeDeg() + speed_east_deg_sec * dt);
 855 }
 856
 857
 858 void FGAIAircraft::updateHeading() {
 859     // adjust heading based on current bank angle
 860     if (roll == 0.0)
 861         roll = 0.01;
 862
 863     if (roll != 0.0) {
 864         // double turnConstant;
 865         //if (no_roll)
 866         //  turnConstant = 0.0088362;
 867         //else
 868         //  turnConstant = 0.088362;
 869         // If on ground, calculate heading change directly
 870         if (onGround()) {
 871             double headingDiff = fabs(hdg-tgt_heading);
 872             double bank_sense = 0.0;
 873         /*
 874         double diff = fabs(hdg - tgt_heading);
 875         if (diff > 180)
 876             diff = fabs(diff - 360);
 877
 878         double sum = hdg + diff;
 879         if (sum > 360.0)
 880             sum -= 360.0;
 881         if (fabs(sum - tgt_heading) < 1.0) {
 882             bank_sense = 1.0;    // right turn
 883         } else {
 884             bank_sense = -1.0;   // left turn
 885         }*/
 886             if (headingDiff > 180)
 887                 headingDiff = fabs(headingDiff - 360);
 888             double sum = hdg + headingDiff;
 889             if (sum > 360.0)
 890                 sum -= 360.0;
 891             if (fabs(sum - tgt_heading) > 0.0001) {
 892                 bank_sense = -1.0;
 893             } else {
 894                 bank_sense = 1.0;
 895             }
 896             //if (trafficRef)
 897                 //cerr << trafficRef->getCallSign() << " Heading "
 898                 //     << hdg << ". Target " << tgt_heading <<  ". Diff " << fabs(sum - tgt_heading) << ". Speed " << speed << endl;
 899             //if (headingDiff > 60) {
 900             groundTargetSpeed = tgt_speed; // * cos(headingDiff * SG_DEGREES_TO_RADIANS);
 901                 //groundTargetSpeed = tgt_speed - tgt_speed * (headingDiff/180);
 902             //} else {
 903             //    groundTargetSpeed = tgt_speed;
 904             //}
 905             if (sign(groundTargetSpeed) != sign(tgt_speed))
 906                 groundTargetSpeed = 0.21 * sign(tgt_speed); // to prevent speed getting stuck in 'negative' mode
 907
 908             if (headingDiff > 30.0) {
 909                 // invert if pushed backward
 910                 headingChangeRate += 10.0 * dt * sign(roll);
 911
 912                 // Clamp the maximum steering rate to 30 degrees per second,
 913                 // But only do this when the heading error is decreasing.
 914                 if ((headingDiff < headingError)) {
 915                     if (headingChangeRate > 30)
 916                         headingChangeRate = 30;
 917                     else if (headingChangeRate < -30)
 918                         headingChangeRate = -30;
 919                 }
 920             } else {
 921                    if (fabs(headingChangeRate) > headingDiff)
 922                        headingChangeRate = headingDiff*sign(roll);
 923                    else
 924                        headingChangeRate += dt * sign(roll);
 925             }
 926
 927             hdg += headingChangeRate * dt * (fabs(speed) / 15);
 928             headingError = headingDiff;
 929         } else {
 930             if (fabs(speed) > 1.0) {
 931                 turn_radius_ft = 0.088362 * speed * speed
 932                                  / tan( fabs(roll) / SG_RADIANS_TO_DEGREES );
 933             } else {
 934                 // Check if turn_radius_ft == 0; this might lead to a division by 0.
 935                 turn_radius_ft = 1.0;
 936             }
 937             double turn_circum_ft = SGD_2PI * turn_radius_ft;
 938             double dist_covered_ft = speed * 1.686 * dt;
 939             double alpha = dist_covered_ft / turn_circum_ft * 360.0;
 940             hdg += alpha * sign(roll);
 941         }
 942         while ( hdg > 360.0 ) {
 943             hdg -= 360.0;
 944             spinCounter++;
 945         }
 946         while ( hdg < 0.0) {
 947             hdg += 360.0;
 948             spinCounter--;
 949         }
 950     }
 951 }
 952
 953
 954 void FGAIAircraft::updateBankAngleTarget() {
 955     // adjust target bank angle if heading lock engaged
 956     if (hdg_lock) {
 957         double bank_sense = 0.0;
 958         double diff = fabs(hdg - tgt_heading);
 959         if (diff > 180)
 960             diff = fabs(diff - 360);
 961
 962         double sum = hdg + diff;
 963         if (sum > 360.0)
 964             sum -= 360.0;
 965         if (fabs(sum - tgt_heading) < 1.0) {
 966             bank_sense = 1.0;    // right turn
 967         } else {
 968             bank_sense = -1.0;   // left turn
 969         }
 970         if (diff < _performance->maximumBankAngle()) {
 971             tgt_roll = diff * bank_sense;
 972         } else {
 973             tgt_roll = _performance->maximumBankAngle() * bank_sense;
 974         }
 975         if ((fabs((double) spinCounter) > 1) && (diff > _performance->maximumBankAngle())) {
 976             tgt_speed *= 0.999;  // Ugly hack: If aircraft get stuck, they will continually spin around.
 977             // The only way to resolve this is to make them slow down.
 978         }
 979     }
 980 }
 981
 982
 983 void FGAIAircraft::updateVerticalSpeedTarget() {
 984     // adjust target Altitude, based on ground elevation when on ground
 985     if (onGround()) {
 986         getGroundElev(dt);
 987         doGroundAltitude();
 988     } else if (alt_lock) {
 989         // find target vertical speed
 990         if (use_perf_vs) {
 991             if (altitude_ft < tgt_altitude_ft) {
 992                 tgt_vs = tgt_altitude_ft - altitude_ft;
 993                 if (tgt_vs > _performance->climbRate())
 994                     tgt_vs = _performance->climbRate();
 995             } else {
 996                 tgt_vs = tgt_altitude_ft - altitude_ft;
 997                 if (tgt_vs  < (-_performance->descentRate()))
 998                     tgt_vs = -_performance->descentRate();
 999             }
1000         } else {
1001             double max_vs = 4*(tgt_altitude_ft - altitude_ft);
1002             double min_vs = 100;
1003             if (tgt_altitude_ft < altitude_ft)
1004                 min_vs = -100.0;
1005             if ((fabs(tgt_altitude_ft - altitude_ft) < 1500.0)
1006                     && (fabs(max_vs) < fabs(tgt_vs)))
1007                 tgt_vs = max_vs;
1008
1009             if (fabs(tgt_vs) < fabs(min_vs))
1010                 tgt_vs = min_vs;
1011         }
1012     } //else
1013     //    tgt_vs = 0.0;
1014 }
1015
1016 void FGAIAircraft::updatePitchAngleTarget() {
1017     // if on ground and above vRotate -> initial rotation
1018     if (onGround() && (speed > _performance->vRotate()))
1019         tgt_pitch = 8.0; // some rough B737 value
1020
1021     //TODO pitch angle on approach and landing
1022
1023     // match pitch angle to vertical speed
1024     else if (tgt_vs > 0) {
1025         tgt_pitch = tgt_vs * 0.005;
1026     } else {
1027         tgt_pitch = tgt_vs * 0.002;
1028     }
1029 }
1030
1031 string FGAIAircraft::atGate() {
1032      string tmp("");
1033      if (fp->getLeg() < 3) {
1034          if (trafficRef) {
1035              if (fp->getGate() > 0) {
1036                  FGParking *park =
1037                      trafficRef->getDepartureAirport()->getDynamics()->getParking(fp->getGate());
1038                  tmp = park->getName();
1039              }
1040          }
1041      }
1042      return tmp;
1043 }
1044
1045 void FGAIAircraft::handleATCRequests() {
1046     //TODO implement NullController for having no ATC to save the conditionals
1047     if (controller) {
1048         controller->update(getID(),
1049                            pos.getLatitudeDeg(),
1050                            pos.getLongitudeDeg(),
1051                            hdg,
1052                            speed,
1053                            altitude_ft, dt);
1054         processATC(controller->getInstruction(getID()));
1055     }
1056 }
1057
1058 void FGAIAircraft::updateActualState() {
1059     //update current state
1060     //TODO have a single tgt_speed and check speed limit on ground on setting tgt_speed
1061     updatePosition();
1062
1063     if (onGround())
1064         speed = _performance->actualSpeed(this, groundTargetSpeed, dt);
1065     else
1066         speed = _performance->actualSpeed(this, (tgt_speed *speedFraction), dt);
1067
1068     updateHeading();
1069     roll = _performance->actualBankAngle(this, tgt_roll, dt);
1070
1071     // adjust altitude (meters) based on current vertical speed (fpm)
1072     altitude_ft += vs / 60.0 * dt;
1073     pos.setElevationFt(altitude_ft);
1074
1075     vs = _performance->actualVerticalSpeed(this, tgt_vs, dt);
1076     pitch = _performance->actualPitch(this, tgt_pitch, dt);
1077 }
1078
1079 void FGAIAircraft::updateSecondaryTargetValues() {
1080     // derived target state values
1081     updateBankAngleTarget();
1082     updateVerticalSpeedTarget();
1083     updatePitchAngleTarget();
1084
1085     //TODO calculate wind correction angle (tgt_yaw)
1086 }
1087
1088
1089 bool FGAIAircraft::reachedEndOfCruise(double &distance) {
1090     FGAIFlightPlan::waypoint* curr = fp->getCurrentWaypoint();
1091     if (curr->name == "BOD") {
1092         double dist = fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
1093         double descentSpeed = (getPerformance()->vDescent() * SG_NM_TO_METER) / 3600.0;     // convert from kts to meter/s
1094         double descentRate  = (getPerformance()->descentRate() * SG_FEET_TO_METER) / 60.0;  // convert from feet/min to meter/s
1095
1096         double verticalDistance  = ((altitude_ft - 2000.0) - trafficRef->getArrivalAirport()->getElevation()) *SG_FEET_TO_METER;
1097         double descentTimeNeeded = verticalDistance / descentRate;
1098         double distanceCovered   = descentSpeed * descentTimeNeeded;
1099
1100         //cerr << "Tracking  : " << fgGetString("/ai/track-callsign");
1101         if (trafficRef->getCallSign() == fgGetString("/ai/track-callsign")) {
1102             cerr << "Checking for end of cruise stage for :" << trafficRef->getCallSign() << endl;
1103             cerr << "Descent rate      : " << descentRate << endl;
1104             cerr << "Descent speed     : " << descentSpeed << endl;
1105             cerr << "VerticalDistance  : " << verticalDistance << ". Altitude : " << altitude_ft << ". Elevation " << trafficRef->getArrivalAirport()->getElevation() << endl;
1106             cerr << "DecentTimeNeeded  : " << descentTimeNeeded << endl;
1107             cerr << "DistanceCovered   : " << distanceCovered   << endl;
1108         }
1109         //cerr << "Distance = " << distance << endl;
1110         distance = distanceCovered;
1111         if (dist < distanceCovered) {
1112               if (trafficRef->getCallSign() == fgGetString("/ai/track-callsign")) {
1113                    //exit(1);
1114               }
1115               return true;
1116         } else {
1117               return false;
1118         }
1119     } else {
1120          return false;
1121     }
1122 }
1123
1124 void FGAIAircraft::resetPositionFromFlightPlan()
1125 {
1126     // the one behind you
1127     FGAIFlightPlan::waypoint* prev = 0;
1128     // the one ahead
1129     FGAIFlightPlan::waypoint* curr = 0;
1130     // the next plus 1
1131     FGAIFlightPlan::waypoint* next = 0;
1132
1133     prev = fp->getPreviousWaypoint();
1134     curr = fp->getCurrentWaypoint();
1135     next = fp->getNextWaypoint();
1136
1137     setLatitude(prev->latitude);
1138     setLongitude(prev->longitude);
1139     double tgt_heading = fp->getBearing(curr, next);
1140     setHeading(tgt_heading);
1141     setAltitude(prev->altitude);
1142     setSpeed(prev->speed);
1143 }
1144
1145 double FGAIAircraft::getBearing(double crse)
1146 {
1147   double hdgDiff = fabs(hdg-crse);
1148   if (hdgDiff > 180)
1149       hdgDiff = fabs(hdgDiff - 360);
1150   return hdgDiff;
1151 }
1152
1153 time_t FGAIAircraft::checkForArrivalTime(string wptName) {
1154      FGAIFlightPlan::waypoint* curr = 0;
1155      curr = fp->getCurrentWaypoint();
1156
1157      double tracklength = fp->checkTrackLength(wptName);
1158      if (tracklength > 0.1) {
1159           tracklength += fp->getDistanceToGo(pos.getLatitudeDeg(), pos.getLongitudeDeg(), curr);
1160      } else {
1161          return 0;
1162      }
1163      time_t now = time(NULL) + fgGetLong("/sim/time/warp");
1164      time_t arrivalTime = fp->getArrivalTime();
1165
1166      time_t ete = tracklength / ((speed * SG_NM_TO_METER) / 3600.0);
1167      time_t secondsToGo = arrivalTime - now;
1168      if (trafficRef->getCallSign() == fgGetString("/ai/track-callsign")) {
1169           cerr << "Checking arrival time: ete " << ete << ". Time to go : " << secondsToGo << ". Track length = " << tracklength << endl;
1170      }
1171      return (ete - secondsToGo); // Positive when we're too slow...
1172 }