1 // FGAIAircraft - AIBase derived class creates an AI aircraft
3 // Written by David Culp, started October 2003.
5 // Copyright (C) 2003 David P. Culp - davidculp2@comcast.net
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.
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.
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.
21 #ifndef _FG_AIAircraft_HXX
22 #define _FG_AIAircraft_HXX
24 #include "AIManager.hxx"
27 #include <Traffic/SchedFlight.hxx>
28 #include <Traffic/Schedule.hxx>
29 #include <ATC/trafficcontrol.hxx>
33 class PerformanceData;
35 class FGAIAircraft : public FGAIBase {
38 FGAIAircraft(FGAISchedule *ref=0);
41 virtual void readFromScenario(SGPropertyNode* scFileNode);
43 // virtual bool init(bool search_in_AI_path=false);
45 virtual void unbind();
46 virtual void update(double dt);
48 void setPerformance(const std::string& perfString);
49 void setPerformance(PerformanceData *ps);
51 void setFlightPlan(const std::string& fp, bool repat = false);
52 void SetFlightPlan(FGAIFlightPlan *f);
53 void initializeFlightPlan();
54 FGAIFlightPlan* GetFlightPlan() const { return fp; };
55 void ProcessFlightPlan( double dt, time_t now );
56 time_t checkForArrivalTime(string wptName);
58 void AccelTo(double speed);
59 void PitchTo(double angle);
60 void RollTo(double angle);
61 void YawTo(double angle);
62 void ClimbTo(double altitude);
63 void TurnTo(double heading);
65 void getGroundElev(double dt); //TODO these 3 really need to be public?
66 void doGroundAltitude();
67 bool loadNextLeg (double dist=0);
68 void resetPositionFromFlightPlan();
69 double getBearing(double crse);
71 void setAcType(const std::string& ac) { acType = ac; };
72 void setCompany(const std::string& comp) { company = comp;};
74 void announcePositionToController(); //TODO have to be public?
75 void processATC(FGATCInstruction instruction);
76 void setTaxiClearanceRequest(bool arg) { needsTaxiClearance = arg; };
77 bool getTaxiClearanceRequest() { return needsTaxiClearance; };
78 FGAISchedule * getTrafficRef() { return trafficRef; };
79 void setTrafficRef(FGAISchedule *ref) { trafficRef = ref; };
80 void resetTakeOffStatus() { takeOffStatus = 0;};
81 void setTakeOffStatus(int status) { takeOffStatus = status; };
82 void scheduleForATCTowerDepartureControl(int state);
84 //inline bool isScheduledForTakeoff() { return scheduledForTakeoff; };
86 virtual const char* getTypeString(void) const { return "aircraft"; }
88 std::string GetTransponderCode() { return transponderCode; };
89 void SetTransponderCode(const std::string& tc) { transponderCode = tc;};
91 // included as performance data needs them, who else?
92 inline PerformanceData* getPerformance() { return _performance; };
93 inline bool onGround() const { return no_roll; };
94 inline double getSpeed() const { return speed; };
95 inline double getRoll() const { return roll; };
96 inline double getPitch() const { return pitch; };
97 inline double getAltitude() const { return altitude_ft; };
98 inline double getVerticalSpeed() const { return vs; };
99 inline double altitudeAGL() const { return props->getFloatValue("position/altitude-agl-ft");};
100 inline double airspeed() const { return props->getFloatValue("velocities/airspeed-kt");};
101 std::string atGate();
103 int getTakeOffStatus() { return takeOffStatus; };
106 double calcVerticalSpeed(double vert_ft, double dist_m, double speed, double error);
108 FGATCController * getATCController() { return controller; };
114 FGAISchedule *trafficRef;
115 FGATCController *controller,
117 *towerController; // Only needed to make a pre-announcement
122 double dt_elev_count;
123 double headingChangeRate;
126 double speedFraction;
127 double groundTargetSpeed;
132 SGPropertyNode_ptr refuel_node;
135 //TODO sort out which ones are better protected virtuals to allow
136 //subclasses to override specific behaviour
137 bool fpExecutable(time_t now);
138 void handleFirstWaypoint(void);
139 bool leadPointReached(FGAIWaypoint* curr);
140 bool handleAirportEndPoints(FGAIWaypoint* prev, time_t now);
141 bool reachedEndOfCruise(double&);
142 bool aiTrafficVisible(void);
143 void controlHeading(FGAIWaypoint* curr);
144 void controlSpeed(FGAIWaypoint* curr,
147 void updatePrimaryTargetValues(bool& flightplanActive, bool& aiOutOfSight);
149 void updateSecondaryTargetValues();
150 void updatePosition();
151 void updateHeading();
152 void updateBankAngleTarget();
153 void updateVerticalSpeedTarget();
154 void updatePitchAngleTarget();
155 void updateActualState();
156 void handleATCRequests();
157 void checkVisibility();
158 inline bool isStationary() { return ((fabs(speed)<=0.0001)&&(fabs(tgt_speed)<=0.0001));}
159 inline bool needGroundElevation() { if (!isStationary()) _needsGroundElevation=true;return _needsGroundElevation;}
162 double sign(double x);
166 std::string transponderCode;
170 double prev_dist_to_go;
174 bool _getGearDown() const;
176 const char * _getTransponderCode() const;
178 bool reachedWaypoint;
179 bool needsTaxiClearance;
180 bool _needsGroundElevation;
181 int takeOffStatus; // 1 = joined departure cue; 2 = Passed DepartureHold waypoint; handover control to tower; 0 = any other state.
184 PerformanceData* _performance; // the performance data for this aircraft
186 void assertSpeed(double speed);
190 #endif // _FG_AIAircraft_HXX